ACON-C/CG PCON-C/CG/CA/CFA SCON-CA
CompoNet Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
CompoNet
CompoNet Table of Contents Safety Guide .............................................................................................................................................................1 Handling Precaution .................................................................................................................................................8 1. Overview.....................................................................................................................................
CompoNet 3.8 3.9 3.10 3.11 3.12 I/O Signal Timings................................................................................................................................. 143 Operation............................................................................................................................................... 144 CompoNet Related Parameters ........................................................................................................ 152 Troubleshooting.................
CompoNet Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
CompoNet No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
CompoNet No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
CompoNet No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
CompoNet No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
CompoNet No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
CompoNet Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
CompoNet Handling Precautions 1. Registration Table Function Omron’s Master Unit includes the “Registration Table function” that adds only the slaves that are registered in advance to the network. However, this function is only available in the remote I/O mode. * It is not available in remote I/O modes 2 or 3.
CompoNet 1. Overview 1. Overview CompoNet, which is an open field network, is a global open network that combines controls and data on a machine/line control level. By connecting to CompoNet, ACON, PCON, and SCON-CA controllers (hereinafter referred to collectively as “controllers” or individually as a “controller”) can be used to configure a system based on minimal wiring. Each controller is treated as a word mixed slave on CompoNet.
CompoNet 2. ACON-C/CG, PCON-C/CG 2. ACON-C/CG, PCON-C/CG 2.1 Operation Modes and Functions ACON or PCON applicable to CompoNet can be operated by means of selecting one mode out of the following five operation modes.
CompoNet 6 @ 2 E % CC + 2 E 1 1 5 ) C 1 '? [3] Half Direct Value Mode: This is the operation method with the “Speed”, “Acceleration/Deceleration”, “Pressing Current Value” set up directly using the numerical values, in addition to the “Target Position”.
CompoNet 2. ACON-C/CG, PCON-C/CG [4] Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly by using the numerical values. Number of occupied bytes: 32 bytes [5] Remote I/O Mode 2:This is the operation method using CompoNet, instead of PIO (24V I/O). The current position and command current value reading functions are added to the functions of [1].
CompoNet 2.2 Model Numbers The Model numbers of ACON and PCON applicable to CompoNet are described as follows. Printed Series Name ACON PCON 2.
CompoNet 2.3 Interface Specifications 2.
CompoNet 2.4 2.4.1 CompoNet Interface Names of the Parts 2. ACON-C/CG, PCON-C/CG The names of each section related to CompoNet are described as follows.
CompoNet 2.4.2 Monitor LED indications 2. ACON-C/CG, PCON-C/CG The node conditions of each controller, as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. LEDs are 2-colored illumination type (orange / green), and the colors show the status as listed below.
CompoNet 2.5 Wiring Example 2.5.1 Connection Diagram 2. ACON-C/CG, PCON-C/CG An example for wiring is as shown below.
CompoNet 2.6 Setting 2. ACON-C/CG, PCON-C/CG 2.6.1 Operation Mode Selecting The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “FMOD: Field Bus Operation Mode” using the RC PC software (V6.00.08.00 or later). (Refer to 2.10, "CompoNet Related Parameters”.
CompoNet 2.7 Communicating with the Master Station 2.7.1 Operation Modes and Corresponding PLC I/O Areas x PLC Output o ACON/PCON input (* “n” shows the node address of each axis.
CompoNet x ACON/PCON outputoPLC Input Side (* “n” shows the node address of each axis.) 2.
CompoNet 2.7.2 Remote I/O Mode (Number of occupied channels 1CH) Value set in parameter No. 25 0 1 Operation Mode 2. ACON-C/CG, PCON-C/CG This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.
CompoNet 2. ACON-C/CG, PCON-C/CG (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 0 ACON/PCON DI(Port No.) 0 to 15 PLC output CH n+0 ACON/PCON DO(Port No.) 0 to 15 PLC input CH n+0 (Note) Be careful of using duplicated node addresses. (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. x Each channel is controlled by ON/OFF bit signals.
CompoNet (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) ACON PLC Output ACON Input ACON Output PLC Input Port No. Parameter No. 25 setting Teaching mode 1 Symbol Signal Name Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 PC4 Command position No. Command position No.
CompoNet 2. ACON-C/CG, PCON-C/CG ACON Category PLC Output ACON Input ACON Output PLC Input Port No. 512-point mode 3 Symbol Signal Name Parameter No.
CompoNet PCON Category 256-point mode 2 Symbol Signal Name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 PC32 6 - MODE Teaching Mode Command PC64 JISL Jog/inching selector PC128 7 - Command position No. Unavailable PC4 Command position No. PC4 Command position No.
CompoNet 2. ACON-C/CG, PCON-C/CG PCON Category PLC Output PCON Input PCON Output PLC Input Port No. 512-point mode 3 Symbol Signal Name Parameter No.
CompoNet 2.7.3 Position/Simplified Direct Value Mode (Number of occupied channels 4CH) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause {:Direct control ٌ:Indirect control x:Disable { { Remarks ٌ ٌ ٌ These items must be set in the position data table.
CompoNet 2. ACON-C/CG, PCON-C/CG (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 2. ACON-C/CG, PCON-C/CG Current Position (lower word) Current Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. Completed Position No.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 2. ACON-C/CG, PCON-C/CG Signal Type Bit Target Position 32-bit data Specified position number 16-bit data b15 b14 PLC Output b13 b12 b11 b10 b9 Control signal b8 b7 b6 b5 b4 b3 30 Symbol Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit Completed Position No. (Simple alarm code) 16-bit b15 PLC Input b14 Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 16-bit integer It is moved to the target position and the positioning completed position No.
CompoNet 2. ACON-C/CG, PCON-C/CG 2.7.4 Half Direct Value Mode (Number of occupied channels 8CH) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
CompoNet (2) I/O Signal Allocation for each Axis Set Value 127 Push-motion current-limiting value z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA). z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec). z The alarm code is expressed using 1-word (16 bits) binary data. 33 2. ACON-C/CG, PCON-C/CG The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.
CompoNet 2. ACON-C/CG, PCON-C/CG PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (lower word) Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 2. ACON-C/CG, PCON-C/CG Current Position (lower word) Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) PLC Output 2. ACON-C/CG, PCON-C/CG Signal Type 36 Bit Symbol Target Position 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 16-bit data b15 b14 b13 PLC Output b12 Symbol Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 2. ACON-C/CG, PCON-C/CG Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
CompoNet 2.7.5 Full Direct Value Mode (Number of occupied channels 16CH) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection (1) {:Direct control x:Disable { { { { { { { { { x PLC channel configuration (* “n” shows the node address of each axis.) ParameterNo.
CompoNet (2) I/O Signal Allocation for each Axis 2. ACON-C/CG, PCON-C/CG The I/O signals of each axis consist of 16 input words (channels) and 16 output words (channels) in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 2. ACON-C/CG, PCON-C/CG Target Position (lower word) Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits (lower word) Zone boundary – (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. Acceleration Deceleration Pressing Current Limit Value ( *2 ) ASO0 Control Signal 1 ASO1 Load current threshold ( *3) ( *1 ) 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 2. ACON-C/CG, PCON-C/CG Current Position (lower word) Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the current speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 2. ACON-C/CG, PCON-C/CG Signal Type Target Position 32-bit data 32-bit data Symbol Contents Details - 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Examle) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Acceleration Bit Symbol - 16-bit data - Pressing Current Limit Value 16-bit data - Load current threshold 16-bit data - b15 b14 b13 b12 b11 - PLC Output Deceleration ACON b10 b9 Control Signal 1 b8 - PCON SMOD b6 b3 - Select stop mode while standing by ASO1 ASO0 Functions Disable OFF OFF (Servo is ON at all times) Sever turns OFF in time OFF ON set in Parameter No.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 2. ACON-C/CG, PCON-C/CG Address Bit Symbol Function Push direction specification: “OFF” for the direction reducing the positioning band from the target position “ON” for the direction adding the positioning band to the target position Push-motion specification : Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Contents Details - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR Controller ready : This signal turns ON when the controller becomes ready. 2.7.7 (1) b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 2.7.
CompoNet 2. ACON-C/CG, PCON-C/CG 2.7.6 Remote I/O Mode 2 (Number of occupied channels 6CH) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 Port No.0 to 15 4 Occupied area ACON/PCON DO and output register Port No.0 to 15 Occupied area Current Position Command Current PLC input CH n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 2. ACON-C/CG, PCON-C/CG 1 word (1CH) = 16 bits Controller output port number Unavailable Current Position (lower word) Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.7.2 (3). Details PLC Input - - 51 2. ACON-C/CG, PCON-C/CG The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm.
CompoNet 2. ACON-C/CG, PCON-C/CG 2.7.7 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body.
CompoNet (5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal 53 2. ACON-C/CG, PCON-C/CG When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 2.4, "CompoNet Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
CompoNet (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal 2. ACON-C/CG, PCON-C/CG When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
CompoNet (7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal When this signal is issued in the condition where the home return operation has not performed at all after the power injection (HEND signal OFF), the positioning to the target position is performed after the home return operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (HEND) signal has been turned “OFF”.
CompoNet (10) Positioning completion signal (PEND) PLC input signal 2. ACON-C/CG, PCON-C/CG This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Target Position Velocity Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
CompoNet (12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”. The Zone 2 Signal is set using the parameter No. 23 “Zone Boundary 2 “+” Side” and No. 24 “Zone Boundary 2 “–“ Side”.
CompoNet (13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal 2. ACON-C/CG, PCON-C/CG This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
CompoNet (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No.
CompoNet 2. ACON-C/CG, PCON-C/CG (16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
CompoNet (19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal Controller MODE Controller MODE Switch = AUTO Switch = MANU RMOD signal = OFF AUTO mode MANU mode (AUTO mode is specified) (RMDS=OFF) (RMDS=ON) RMOD signal = ON MANU mode MANU mode (MANU mode is specified) (RMDS=ON) (RMDS=ON) (Note) In MANU mode, the startup of the operation from PLC is not available.
CompoNet 2. ACON-C/CG, PCON-C/CG (23) Pressing and a Miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “2.
CompoNet (26) Load output judgment(LOAD) PLC input signal Dedicated PCON function Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range Velocity 2. ACON-C/CG, PCON-C/CG This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation.
CompoNet (27) Torque level (TRQS) PLC input signal Dedicated PCON function 2. ACON-C/CG, PCON-C/CG This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
CompoNet (28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function x Full-servo control mode By means of servo control of the pulse motor, the holding current can be reduced. The reduction level varies depending on the actuator type or load conditions. However, generally, the holding current will be 1/2 to 1/4. The actual holding current can be confirmed in the current monitor window in the PC software.
CompoNet (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function 2. ACON-C/CG, PCON-C/CG This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
CompoNet (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Functions Disabled Automatic Servo OFF Method Parameter No. 36 is valid for T Automatic Servo OFF Method Parameter No. 37 is valid for T Automatic Servo OFF Method Parameter No. 38 is valid for T F C ) CC 2. ACON-C/CG, PCON-C/CG Select the stop mode for the duration before the movement to the next position after a positioning is completed.
CompoNet 2. ACON-C/CG, PCON-C/CG 2.8 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Maximum response time (msec)㧩Yt+xt+3+ command processing time (operation time, etc.
CompoNet 2.9 Operation (1) Operation in the position/simple-direct mode It is operated with the position data written in the PLC's register and the speed, acceleration /deceleration, positioning band and pressing current limit value, etc. set using the position table. z Example of operation (normal positioning operation) (Preparation) Set the position data items (speed, acceleration/deceleration, positioning band, etc) except for the target position item, in the position table.
CompoNet [1] 2. ACON-C/CG, PCON-C/CG Set value of target position data [2] Specified position number *T1 Positioning Start [3] [4] *tdpf [5] Positioning completion [7] Current Position [6] Moving Positioning Width Actuator movement *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CompoNet (2) Operation in the half direction mode z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 6 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 71 2.
CompoNet [1] Set value of target position data [2] 2.
CompoNet (3) Operation in the full direct mode z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 9 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 73 2.
CompoNet [1] 2.
CompoNet [9] Push-motion specification 2. ACON-C/CG, PCON-C/CG [10] Push direction specification *T1 [17] Positioning command [11] *tdpf [12] [13] Positioning completion / Pressing and a Miss [16] Current Position [15] [14] Moving Actuator operation (Pressing) Pressing Positioning Width Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CompoNet (4) Data change during movement 2. ACON-C/CG, PCON-C/CG In the half direct mode or full direct mode, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
CompoNet 2.10 CompoNet Related Parameters Parameters relating to CompoNet are No. 84 to No. 85 and No. 90. No. Category Symbol 1 Default Value set in the Factory before Delivery Refer to Operation Manual for the controller for the parameters No. 1 through No. 83. ~ 83 84 85 86 87 90 Name 2.
CompoNet z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. 2. ACON-C/CG, PCON-C/CG z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No.
CompoNet (Example ii) Set value = “1” indicates ON, while indicates OFF. Input resister 2.
CompoNet (Example iii) Set value = “2” 2. ACON-C/CG, PCON-C/CG Input resister Hexadecimal data Output CH Hexadecimal data Output resister Hexadecimal data Input CH Hexadecimal data 80 indicates ON, while indicates OFF.
CompoNet (Example iv) Set value = “3” indicates ON, while indicates OFF. 2.
CompoNet 2. ACON-C/CG, PCON-C/CG 2.11 Troubleshooting z Alarm Description and Cause/Treatment [1] When an alarm is issued, the completed position No. (4 bits for PMᾀᴾ to PM8) shows the simplified alarm code in the Remote I/O Mode or Remote I/O Mode 2. In the position/simple direct mode, this simple alarm code is output to the (n+4, n+5) bytes. In the half direct mode and full direct mode, this simple alarm code is output to the (n+12, n+13) bytes.
CompoNet [2] If the alarm is occurred, checking the network status on the display of monitor LEDs is possible. {: Illuminating, x: OFF, ڏ: Flashing NS x - { GN Item No power supply input Cause of error occurrence Specified power voltage is not supplied. Unit operation after error detection Measure ACON / PCON stop Remove the cause of no power supply the operation. input and input the power supply again.
CompoNet 2.12 CE Mark 2. ACON-C/CG, PCON-C/CG If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
CompoNet 3. PCON-CA/CFA 3.1 Operation Modes and Functions PCON-CA/CFA applicable to CompoNet can be operated by means of selecting one mode out of the following five operation modes.
CompoNet 3. SCON-CA/CFA [2] Position / Simplified Direct Value Mode: This is the operation mode with the position No. set up. Whether the target position is set directly by means of the changeover of the control signal, or the value registered on the position data is used can be selected. For “Speed”, “Acceleration/Deceleration” and “Positioning Band”, use the values already registered on the position data. The settable No. of position data items is max 768 points.
CompoNet [4] Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly by using the numerical values. Number of occupied bytes: 32 bytes 3. SCON-CA/CFA PCON-CA/CFA applicable to CompoNet [5] Remote I/O Mode 2:This is the operation method using CompoNet, instead of PIO (24V I/O). The current position and command current value reading functions are added to the functions of [1].
CompoNet 3.2 Model Numbers The Model numbers of PCON-CA/CFA applicable to CompoNet are described as follows. 3.
CompoNet 3.3 Interface Specifications Item Specification CompoNet specialized protocol Communication type Remote I/O communication Baud rate Automatically set to the same value as the baud rate set in the master Communication Cable Length Refer to CompoNet specifications Slave type Word mixed slave Applicable note address 0 to 63 (set by controller parameter) Communications cable Connector 3.
CompoNet 3.4 3.4.1 CompoNet Interface Names of the Parts 3. SCON-CA/CFA The names of each section related to CompoNet are described as follows.
CompoNet 3.4.2 Monitor LED indications The node conditions of each controller, as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. LEDs are 2-colored illumination type (orange / green), and the colors show the status as listed below. LED Color MS GN RD 㧙 NS GN RD 㧙 3.
CompoNet 3.5 Wiring Example 3.5.1 Connection Diagram An example for wiring is as shown below. x Wiring Example 3.
CompoNet 3.6 Setting 3.6.1 Operation Mode Selecting (Note) Refer to instruction manual of RC PC Software for the applicable version. Operation Mode Number of occupied bytes 0 (Factory setting) Remote I/O Mode 2 1 Position / Simplified Direct Value Mode 8 2 Half Direct Value Mode 16 3 Full Direct Value Mode 32 4 Remote I/O Mode 12 Set Value * 3.6.2 Entering any value except for the ones described above will cause an “Excessive Input Value Error”. Station No.
CompoNet 3.7 Communicating with the Master Station 3. SCON-CA/CFA The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No. 3.7.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows.
CompoNet x PCON-CA/CFA outputoPLC Input Side (* “n” shows the node address of each axis.) DO on the PCON-CA/CFA side and Output Data Register PLC input area (CH) n㧗2 n㧗3 n㧗4 n㧗5 n㧗6 n㧗7 n㧗8 n㧗9 n㧗10 n㧗11 n㧗12 n㧗13 n㧗14 n㧗15 Current Speed Current Speed Alarm Code Status Signal Alarm Code Command Current Occupied area Total moving count Total moving distance Status Signal 1 Status Signal 2 (Note) The Occupied area shows the area to be occupied with the operation mode setting.
CompoNet 3.7.2 Remote I/O Mode (Number of occupied channels 1CH) 3. SCON-CA/CFA This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.(Refer to Operation Manual for the controller main body for more information.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 0 PCON-CA/CFA DI(Port No.) 0 to 15 PLC output CH n+0 PCON-CA/CFA DO(Port No.) 0 to 15 PLC input CH n+0 (Note) Be careful of using duplicated node addresses. I/O Signal Allocation for each Axis 3. SCON-CA/CFA (2) The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. x Each channel is controlled by ON/OFF bit signals.
CompoNet (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Teaching mode 1 Positioning mode 0 3. SCON-CA/CFA Category Port No. PCON -CA/CFA Output PLC Input Signal Name Symbol Signal Name Signal Name Command position No. PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position No. PC4 Command position No.
CompoNet 512-point mode 3 Category PCON -CA/CFA Output PLC Input Symbol 0 Signal Name Electromagnetic valve mode 2 5 Symbol Signal Name Symbol Signal Name PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 - Unavailable 4 PC16 ST4 Start position 4 - 5 PC32 ST5 Start position 5 - 6 PC64 ST6 Start position 6 - 7 PC128 - 8 PC256 - Command
CompoNet 3. SCON-CA/CFA 3.7.3 Position/Simplified Direct Value Mode (Number of occupied channels 4CH) This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
CompoNet (2) I/O Signal Allocation for each Axis PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (lower word) Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. Specified position number Control Signal 101 3. SCON-CA/CFA The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) Current Position (lower word) Current Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. Completed Position No. Status Signal 102 ALML 3.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit data Specified position number 16-bit data b15 b14 PLC Output b13 b12 b11 b10 b9 Control signal b8 b7 b6 b5 b4 b3 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.40mm”, set it as “2540”. If the value larger than the value (0.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Contents - Completed Position No. (Simple alarm code) 16-bit PM1 to PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 Zone 1:“ON” for the current position within the zone set range Position zone: PZONE This signal turns ON when the current position is inside the specified position zone. Teaching mode Signal: This signal is ON while the teaching mode is MODES selected.
CompoNet 3.7.4 Half Direct Value Mode (Number of occupied channels 8CH) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
CompoNet (2) I/O Signal Allocation for each Axis 3. SCON-CA/CFA The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (lower word) 3. SCON-CA/CFA Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) Current Position (lower word) Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the Current Speed is shown using the negative figure, it is expressed using the complement of 2. Alarm Code Status Signal 108 ALML 3.
CompoNet (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 32-bit data Details 3.9 (2) 3.9 (2) 3.9 (2) 3.9 (2) 109 3. SCON-CA/CFA Target Position Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 3. SCON-CA/CFA Pressing Current Limit Value Bit 16-bit data b15 b14 b13 PLC Output b12 Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 32-bit data 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
CompoNet 3.7.5 Full Direct Value Mode (Number of occupied channels 16CH) 3. SCON-CA/CFA This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
CompoNet (2) I/O Signal Allocation for each Axis Set Value Push-motion current-limiting value z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary data. The figures from 0 (0%) to 255 (100%) can be set in PLC. (Refer to the graph of push-motion current-limiting value (above graph).) z Zone Boundary “+” and Zone Boundary “–“ are expressed using 2-word (32 bits) binary data. The figures from -999999 to +999999 can be set in PLC.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 3. SCON-CA/CFA 1 word (1CH) = 16 bits Target Position (lower word) Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Zone boundary – (lower word) 3. SCON-CA/CFA Zone boundary – (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the current speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet 1 8 4 2 1 b6 b5 b4 b3 b2 b1 b0 n+14 b15 b14 b13 b12 b11 b10 b1 b0 b0 PEND b1 HEND b2 MOVE b3 ALM b4 SV b5 PSFL b6 PUSH b7 GHMS b8 RMDS TRQS LOAD PZONE ZONE1 ZONE2 PWR EMGS b15 b14 b13 b12 b11 b10 b9 ALML b2 b3 b4 b5 b6 b7 b8 b9 65,536 b0 131,072 b1 262,144 b2 524,288 b3 b4 b5 b6 b7 b8 b9 2,048 4,096 8,192 16,384 32,768 65,536 2 16 b7 131,072 4 32 b8 262,144 8
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 3. SCON-CA/CFA Target Position 32-bit data 32-bit data Symbol Contents Details - 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Examle) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Acceleration Bit 16-bit data Symbol - - Pressing Current Limit Value 16-bit data - Load current threshold 16-bit data - b15 b14 b13 b12 b11 - b10 SMOD PLC Output 16-bit data b9 ASO1 Control Signal 1 b8 ASO0 b7 MOD1 b6 MOD0 b5 b4 - b3 INC Unavailable Stop Mode 0 3.9 (3) 3.9 (3) 3.9 (3) - Stopping control mode: When this signal is ON, servo control is performed during stopping.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol Push direction specification: “OFF” for the direction reducing the positioning band from the target position “ON” for the direction adding the positioning band to the target position Push-motion specification : Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - Total moving count Total moving distance 32-bit data 32-bit data - Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
CompoNet PLC Input 3. SCON-CA/CFA Signal Type 122 Bit Symbol Contents Details b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON. 3.7.7 (2) b14 PWR Controller ready : This signal turns ON when the controller becomes ready. 3.7.7 (1) b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 3.7.7 (12) b12 ZONE1 Zone 1:“ON” for the current position within the zone set range 3.7.
CompoNet 3.7.6 Remote I/O Mode 2 (Number of occupied channels 6CH) Value set in parameter No. 25 0 1 2 3 4 5 Operation Mode I/O Specification Positioning mode Teaching mode 64 positioning points and two zone output points are available. 64 positioning points and one zone output point are available. Positioning operation and jog operation are supported. The current position can be written to a specified position. 256-point mode 256 positioning points and one zone output point are available.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 PLC output CH N+0 n+1 n+2 n+3 n+4 n+5 PCON-CA/CFA DI and input register Port No.0 to 15 3. SCON-CA/CFA 4 Occupied area PCON-CA/CFA DO and output register Port No.0 to 15 Occupied area Current Position Command Current PLC input CH n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 3. SCON-CA/CFA Controller output port number Unavailable Current Position (lower word) Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.23mm Position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
CompoNet 3.7.7 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body.
CompoNet (5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal 3. SCON-CA/CFA When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 3.4, "CompoNet Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
CompoNet (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal HOME (PLC PCON) GHMS (PCON PLC) HEND (PCON PLC) PEND (PCON PLC) MOVE (PCON PLC) Actuator operation Mechanical end Stop at the Home Position Caution: In the Remote I/O mode, Remote I/O Mode 2 and Position/Simplified Direct Value Mode, when the positioning command is issued without performing the home return operation after the power injection, the positioni
CompoNet (7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal 3. SCON-CA/CFA This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
CompoNet (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Velocity 3. SCON-CA/CFA Timing at which the position complete signal turns ON Target Position Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
CompoNet (12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. 3. SCON-CA/CFA [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”.
CompoNet (13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. 3. SCON-CA/CFA [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
CompoNet (14) Jog-speed/inch-distance switching (JVEL) PLC output signal 3. SCON-CA/CFA This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Controller ready Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) Inch operation: JISL=ON Parameter No.
CompoNet (16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal (17) Position Data Import Command (PWRT) Position data import complete (WEND) PLC output signal PLC input signal The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”. Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the position number set to the specified position number resister of the PLC (*2).
CompoNet (19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal 3. SCON-CA/CFA The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
CompoNet (23) Pressing and a Miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this signal) (24) Incremental Command (INC) PLC output signal 3.
CompoNet 3. SCON-CA/CFA (26) Load output judgment(LOAD) PLC input signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
CompoNet (27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The velocity available for the pressing varies depends on the motor and leads, it is required to adjust the parameters. 3.
CompoNet (28) Stopping control mode (SMOD) PLC output signal 3. SCON-CA/CFA One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD=ON :Full Servo Control System is used in the standby condition.
CompoNet (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD0 OFF ON OFF ON Pattern name Trapezoid Pattern S-shaped Motion First-Order Lag Filter Unavailable Remarks Factory setting 3.
CompoNet (30) Stop Mode Selection (ASO1, ASO0) PLC output signal 3. SCON-CA/CFA Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Functions Disabled Automatic Servo OFF Method Parameter No.
CompoNet 3.8 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Master Stationψ For the master station -> slave transmission delay (Yt) and slave o master station transmission delay (xt), refer to the Operation Manuals for the CompoNet master unit and PLC installed in the master unit.
CompoNet 3. SCON-CA/CFA 3.9 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described. For the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
CompoNet [1] Setvalue valueof of target target Set position data position (PLC PCON) [2] 3.
CompoNet (2) Operation in the half direction mode 3. SCON-CA/CFA It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
CompoNet [1] value of target SetSet value of target position data position data (PLC PCON) [2] 3.
CompoNet (3) Operation in the full direct mode 3. SCON-CA/CFA The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
CompoNet [1] Set value value of Set oftarget target position positiondata data (PLC PCON) [2] 3.
CompoNet [9] Push-motion Push-motionspecification specification PUSH (PLC PCON) [10] 3.
CompoNet (4) Data change during movement Set value of speed or acceleration/ Set value of speed or acceleration/deceleration deceleration [1] (PLC PCON) [2] [3] DSTR (PLC PCON) PEND DSTR (PCON PLC) (PLC PCON) MOVE (PCON PLC) Velocity n3 Velocity n2 Actuator speed Actuator speed twcsON Yt㧗xt㧗3(msec) twcsOFF Yt㧗xt㧗3(msec) *Yt㧗xt tpdf Yt㧗xt㧗3(msec) Caution 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm is not issued. 2.
CompoNet 3.10 CompoNet Related Parameters Parameters relating to CompoNet are No. 84 to No. 85 and No. 90. Category:C:External interface parameter 3. SCON-CA/CFA No. Category Symbol 1 Default Value set in the Factory before Delivery Refer to Operation Manual for the controller for the parameters No. 1 through No. 83.
CompoNet z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. 3.
CompoNet H C 2) 1 - E E 3.
CompoNet H C 5 F & K L O ? E 1 G P ? E 2) 1 - E E 3.
CompoNet H C F 5 F & K L O ? E 1 G 2) 1 - E E 3. SCON-CA/CFA , H ? C ), , H ? C 2) 1 E E , H ? C - ), , H ? C z FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. 156 Parameter No. 159 Setting Value Speed Setting Unit 0 (Set in delivery) 1 1mm/sec 0.
CompoNet 3.11 Troubleshooting Code Error name ID (*1) RES (*2) 0F2 Field bus module error 05 x 0F3 Field bus module not detected 04 x Cause/Treatment Cause: The filed bus module error is detected Treatment: Confirm the parameter. Cause: The module can not be detected. Treatment: Turn ON the power again. If the error is not removed, contact our company. (*1) IDψSimple alarm code (*2) RESψ Whether or not the alarm can be reset {: Alarm can be reset / x: Alarm cannot be reset 157 3.
CompoNet [2] If the alarm is occurred, checking the network status on the display of monitor LEDs is possible. {: Illuminating, x: OFF, 䃩: Flashing NS x - Item No power supply input Cause of error occurrence Specified power voltage is not supplied. Unit operation after error detection PCON stop the operation. 3. SCON-CA/CFA MS { GN { GN { RD 158 Remote I/O communication that ڏCommunication the connection was set up with PCON continue the the master unit has stopped by operation.
CompoNet 3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. 3.
CompoNet 4. SCON-CA 4.1 Operation Modes and Functions SCON-CA controllers supporting CompoNet can be operated in a desired operation mode selected from the following nine modes. 4.
CompoNet [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used. Up to 768 position data points can be set.
CompoNet 4. SCON-CA [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: 50.00 mm Zone-: 30.
CompoNet [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead. This mode also supports force control. Number of occupied bytes: 16 bytes 6 @ 2 E % CC 2 E @ 9 % CC 5 5 % CC E '?? * ? % + 2 EE @ ) % 4.
CompoNet 4.2 Model Numbers The model numbers of SCON-CA controller supporting CompoNet are indicated as follows, respectively: 4.
CompoNet 4.3 Interface Specifications Item Specification CompoNet specialized protocol Communication type Remote I/O communication Baud rate Automatically set to the same value as the baud rate set in the master Communication Cable Length Refer to CompoNet specifications Slave type Word mixed slave Applicable note address 0 to 63 (set by controller parameter) Communications cable Connector 4.
CompoNet 4.4 4.4.1 CompoNet Interface Names of the Parts 4. SCON-CA The names of each section related to CompoNet are described as follows.
CompoNet 4.4.2 Monitor LED indications The node conditions of each controller, as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. LEDs are 2-colored illumination type (orange / green), and the colors show the status as listed below. 167 4.
CompoNet 4.5 Wiring Example 4.5.1 Connection Diagram An example for wiring is as shown below. x Wiring Example 4. SCON-CA PLC (CompoNet Master Unit) Slave unit Terminal Resistance x Connecting Example Master Unit x Main cables Round0type cable I/ II or flat type cable I/ II Terminal Resistance Slave Slave Slave I/O Power supply Communication Power Supply *1: *2: 168 SCON-CA for CompoNet specifications does not require the communication power supply.
CompoNet 4.6 Setting 4.6.1 Operation Mode Selecting The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “FMOD: Field Bus Operation Mode” using the RC PC software (V8.00.00.00 or later). (Refer to 4.10, "CompoNet Related Parameters”.
CompoNet 4.7 Communicating with the Master Station 4.7.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. 4. SCON-CA x PLC Output o SCON-CA input (* “n” shows the node address of each axis.
CompoNet x PLC output o SCON-CA Input Side (* “n” shows the node address of each axis.) DI on the SCON-CA side and Output Data Register PLC input area (CH) n n㧗1 n㧗3 n㧗4 n㧗5 n㧗6 n㧗7 n㧗8 n㧗9 n㧗10 n㧗11 n㧗12 n㧗13 n㧗14 n㧗15 Specified position number Control Signal Positioning Band 4.
CompoNet x SCON-CA output o PLC input (* “n” shows the node address of each axis.) DO on the SCON-CA side and Output Data Register PLC output area (CH) 4.
CompoNet x SCON-CA outputoPLC Input Side (* “n” shows the node address of each axis.) DO on the SCON-CA side and Output Data Register PLC input area (CH) n n㧗1 n㧗3 n㧗4 n㧗5 n㧗6 n㧗7 n㧗8 n㧗9 n㧗10 n㧗11 n㧗12 n㧗13 n㧗14 n㧗15 Current speed Alarm code Status signal Force feedback data 4.
CompoNet 4.7.2 Remote I/O Mode (Number of occupied channels 1CH) 4. SCON-CA This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.(Refer to Operation Manual for the controller main body for more information.) Value set in parameter No.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 0 SCON-CA DI(Port No.) 0 to 15 PLC output CH n+0 SCON-CA DO(Port No.) 0 to 15 PLC input CH n+0 (Note) Be careful of using duplicated node addresses. (2) I/O Signal Allocation for each Axis PLC output (* “n” shows the node address of each axis.) Channel 1 word (1CH) = 16 bits Controller input port number PLC input (* “n” shows the node address of each axis.
CompoNet (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Teaching mode 1 Positioning mode 0 4. SCON-CA Category PLC Output ψ SCON Input Port No. Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 PC32 6 - 7 - 8 - Signal Name Command position No.
CompoNet 512-point mode 3 Category SCON Output PLC Input Electromagnetic valve mode 2 5 Port No. Symbol Symbol Signal Name Symbol Signal Name 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 Start position 2 2 PC4 ST2 Start position 2 ST2 3 PC8 ST3 Start position 3 - 4 PC16 ST4 Start position 4 - 5 PC32 ST5 Start position 5 - 6 PC64 ST6 Start position 6 - 7 PC128 - 8 PC256 - Command position No.
CompoNet 4. SCON-CA Category Port No. 0 1 2 3 4 5 6 PLC Output 7 8 SCON Input 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 SCON Output 8 PLC Input 9 10 11 12 13 14 15 Setting of parameter No. 25 Force control mode 1 Force control mode 2 6 7 Symbol Signal name Symbol Signal name PC1 ST0 Start position 0 PC2 ST1 Start position 1 Command position number PC4 ST2 Start position 2 PC8 ST3 Start position 3 PC16 ST4 Start position 4 Cannot be used. Cannot be used.
CompoNet 4.7.3 Position/Simplified Direct Value Mode (Number of occupied channels 4CH) This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
CompoNet (2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Current Position (lower word) 4. SCON-CA Current Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. Completed Position No.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit data Specified position number 16-bit data 4. SCON-CA Target Position b15 b14 PLC Output b13 b12 b11 b10 b9 Control signal b8 b7 b6 b5 b4 b3 182 Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit Completed Position No. (Simple alarm code) 16-bit b15 PLC Input b14 Details Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) 4.9 (1) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
CompoNet 4.7.4 Half Direct Value Mode (Number of occupied channels 8CH) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. 4.
CompoNet (2) I/O Signal Allocation for each Axis Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question. z The pressing current limit value is expressed using 1-word (16 bits) binary data.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 4. SCON-CA Target Position (lower word) Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Current Position (lower word) 4. SCON-CA Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 4. SCON-CA Target Position 188 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Pressing Current Limit Value Bit 16-bit data b14 b13 PLC Output b12 Details 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 4. SCON-CA Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
CompoNet 4.7.5 Full Direct Value Mode (Number of occupied channels 16CH) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. ROBO cylinder function (1) 4.
CompoNet (2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of 16 input words (channels) and 16 output words (channels) in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (lower word) 4. SCON-CA Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Zone boundary – (lower word) 4. SCON-CA Zone boundary – (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Current Position (lower word) 4. SCON-CA Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the current speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet Force feedback data (lower word) > > > > > > >$ ># >" >! > > > > > > > > > > > >$ ># >" >! > > > > > > Force feedback data (upper word) If the force feedback data is a negative value, it is expressed by a 2’s complement.
CompoNet (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC Output 32-bit data Details 4.9 (3) 4. SCON-CA Target Position Contents 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
CompoNet (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol 16-bit data - Function 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01 G, while the specifiable range is 1 to 300. (Example) To set 0.30 G, specify “30.” If a move command is issued by specifying “0” or a value exceeding the maximum acceleration or maximum deceleration, an alarm will occur. 16-bit integer.
CompoNet Address Bit b3 INC b2 DIR b1 PUSH b0 - b15 BKRL b14 RMOD b13 b12 b11 b10 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR Control signal 2 Function Incremental specification: Absolute position command when the signal is OFF, or incremental position command when the signal is ON.
CompoNet (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32 bit data - Command current 32-bit data - PLC input 4.
CompoNet (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 LOAD b9 TRQS b8 RMDS b7 GHMS b6 PUSHS b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND Status signal 2 Description Emergency stop: An emergency stop is being executed when the signal is ON. Controller ready: The signal turns ON when the controller becomes ready.
CompoNet 4.7.6 Remote I/O Mode 2 (Number of occupied channels 6CH) 4. SCON-CA This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No. 84 4 SCON-CA DI and input register Port number 0 to 15 PLC output address Occupied area Current position Command current PLC input address n+0 n+1 n+2 n+3 n+4 n+5 4. SCON-CA n+0 n+1 n+2 n+3 n+4 n+5 SCON-CA DO and output register Port number 0 to 15 Occupied area (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 4. SCON-CA Controller output port number Unavailable Current Position (lower word) Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). Details - PLC Input 4. SCON-CA The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.
CompoNet 4. SCON-CA 4.7.7 Position/Simplified Direct Value Mode (Number of occupied channels 4CH) In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc.
CompoNet (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 4. SCON-CA Current Position (lower word) Current Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. 208 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 RMDS BALM PUSHS PSFL SV ALM MOVE HEND PEND LOAD PZONE/ ZONE2 ZONE1 CEND PWR Status signal b15 b14 b13 b12 b11 b10 EMGS n 3 TRQS Completed Position No.
CompoNet (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Symbol Target position 32-bit data - Specified position number 16-bit data PC1 to PC512 b15 BKRL b14 RMOD b13 b12 - b11 PMOD b10 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 CSTR Control signal Description 32-bit signed integer. Specify the target position on the absolute coordinates.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 4. SCON-CA Current Position Completed Position No. (Simple alarm code) Bit 32-bit 16-bit PLC Input Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
CompoNet 4.7.8 Half Direct Value Mode (Number of occupied channels 8CH) In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as numerical values. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
CompoNet (2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (lower word) 4. SCON-CA Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 4. SCON-CA Current Position (lower word) Current Position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. 1 word (1CH) = 16 bits 2 Force feedback data (lower word) 3 Force feedback data (upper word) If the force feedback data is a negative value, it is expressed by a 2’s complement.
CompoNet (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 32-bit data Details 4.9 (2) 4. SCON-CA Target Position Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 4. SCON-CA Pressing Current Limit Value Bit 16-bit data b15 b14 b13 PLC Output b12 b11 b10 Control Signal Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 32-bit data 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
CompoNet 4.7.9 Remote I/O Mode 2 (Number of occupied channels 6CH) 4. SCON-CA In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CompoNet (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No. 84 7 SCON-CA DI and input register Port number 0 to 15 PLC output address n+0 n+1 n+2 n+3 n+4 n+5 Occupied area SCON-CA DO and output register Port number 0 to 15 Occupied area Current position Force feedback data PLC input address n+0 n+1 n+2 n+3 n+4 n+5 4. SCON-CA (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits 4. SCON-CA Controller output port number Cannot be used Unavailable Current Position (lower word) Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). PLC Input Details 4. SCON-CA The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents 32-bit signed integer The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.
CompoNet 4.7.10 Half Direct Value Mode 3 (Number of occupied channels 8CH) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. 4.
CompoNet (2) I/O Signal Allocation for each Axis Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question. z The pressing current limit value is expressed using 1-word (16 bits) binary data.
CompoNet PLC output Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. Positioning band (lower word) Positioning band (upper word) Speed Acceleration/ deceleration Control signal 224 MOD0 Push-current limiting value MOD1 4.
CompoNet PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) = 16 bits Current Position (lower word) 4. SCON-CA Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2. Command Current (lower word) Command Current (upper word) Current Speed (lower word) Current Speed (upper word) When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.
CompoNet (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 4. SCON-CA Target Position 226 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 Description 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator. (Refer to the catalog or operation manual for each actuator.
CompoNet (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 4. SCON-CA Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
CompoNet 4.7.11 * (1) I/O Signal Controls and Function ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Modes 1 and 2, Half Direct Value Modes 1 to 3 and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Modes 1 to 3, refer to the Operation Manual for the controller main body.
CompoNet (5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal 4. SCON-CA When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 4.4, "CompoNet Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
CompoNet (6) Home return (HOME) Home return completion (HEND) Under Home return Operation (GHMS) PLC output signal PLC input signal PLC input signal Actuator operation Mechanical end Stopped at the home position Caution: In the Remote I/O Modes 1 to 3 and Position/Simplified Direct Value Modes 1 and 2, when the positioning command is issued without performing the home return operation after the power injection, the positioning is performed after the automatic home return operation.
CompoNet (7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
CompoNet (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Target Position Velocity 4. SCON-CA Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
CompoNet (12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. 4. SCON-CA [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”.
CompoNet (13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. 4. SCON-CA [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
CompoNet (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. 4. SCON-CA Controller ready Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No.
CompoNet (16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal (17) Position Data Import Command (PWRT) Position data import complete (WEND) PLC output signal PLC input signal The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”. Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the position number set to the specified position number resister of the PLC (*2).
CompoNet (19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows. 4.
CompoNet (23) Pressing and a Miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. Refer to Item (2) Operation in Half Direct Value Modes 1 to 3 in 4.
CompoNet 4. SCON-CA (26) Load output judgment(LOAD) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
CompoNet (27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The velocity available for the pressing varies depends on the motor and leads, it is required to adjust the parameters. 4.
CompoNet (28) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal 4. SCON-CA With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
CompoNet (30) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD0 OFF ON OFF ON Pattern name Trapezoid Pattern S-shaped Motion First-Order Lag Filter Unavailable Remarks Factory setting 4.
CompoNet (31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals 4. SCON-CA Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption. For details, refer to the operation manual for your controller. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Functions Disabled Automatic servo OFF method Parameter No.
CompoNet (32) Load Cell Calibration Command (CLBR) PLC Output Signal Load Cell Calibration Complete (CEND) PLC Input Signal Caution: Normal operation commands are not accepted while the CLBR signal is ON. Signal input is recognized continuously for 20 ms*1 Calibration time*2 Turn the CLBR OFF after confirming that the CEND has turned ON. The CEND turns ON when the calibration has completed successfully. If the CLBR is OFF, the CEND remains OFF.
CompoNet 4.8 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the actuator using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. 4. SCON-CA Maximum response time (msec)㧩Yt+xt+3+ command processing time (operation time, etc.
CompoNet 4.9 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2 , Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described. For the Remote I/O Mode 1 to 3, refer to the Operation Manual for the controller main body. (In remote I/O mode 2 and 3, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
CompoNet [1] Set value of target position data [2] 4. SCON-CA Specified position number Positioning start [3] [4] [5] Positioning complete [7] Current position [6] Moving Positioning band Actuator movement Actuator movement (Normal positioning) Work part missed in push-motion operation Push-motion operation in progress Push Actuator moving (push) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CompoNet (2) Operation in the half direction mode 1 to 3 z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 6 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 249 4.
CompoNet [1] Set value of target position data [2] Set value of positioning band data [3] 4.
CompoNet (3) Operation in the full direct mode z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 9 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 251 4.
CompoNet [1] Set value of target position data [2] 4.
CompoNet [9] Push specification [10] Push direction specification 4. SCON-CA [17] Positioning command [11] Positioning complete/missed load during push-motion operation [12] [13] [16] Current position [15] [14] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CompoNet (4) Data change during movement 4. SCON-CA In the half direct mode or full direct mode 1 to 3, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
CompoNet 4.10 CompoNet related parameters Parameters relating to CompoNet are No. 84 to No. 85, No. 90 and No.159. Category:C:External interface parameter No. Category Symbol 1 Default Value set in the Factory before Delivery ~ Refer to Operation Manual for the controller for the parameters No. 1 through No. 83. C C C C C C FMOD NADR FBRS NTYP FMIO FBVS Field bus operation mode Field bus node address Field bus baud rate Network type Field I/O format FB Half Direct Mode Speed Unit 4.
CompoNet z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. 4.
CompoNet (Example ii) Set value = “1” indicates ON, while indicates OFF. SCON Input resister Hexadecimal data 4.
CompoNet (Example iii) Set value = “2” SCON Input resister 4. SCON-CA Hexadecimal data Output CH Hexadecimal data SCON Output resister Hexadecimal data Input CH Hexadecimal data 258 indicates ON, while indicates OFF.
CompoNet (Example iv) Set value = “3” indicates ON, while indicates OFF. SCON Input resister Hexadecimal data 4. SCON-CA Output CH Hexadecimal data SCON Output resister Hexadecimal data Input CH Hexadecimal data z FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No.159 setting value 0 (Set in delivery) 1 Speed setting unit 1.0 mm/sec 0.
CompoNet 4.11 Troubleshooting 4. SCON-CA z Alarm Description and Cause/Treatment [1] When an alarm is issued, the completed position No. (4 bits for PMᾀto PM8) shows the simplified alarm code in the Remote I/O Mode 1 to 3. In the position/simple direct mode 1 and 2, this simple alarm code is output to the (n+4, n+5) bytes. In the half direct mode 1 to 3 and full direct mode, this simple alarm code is output to the (n+12, n+13) bytes. 1) Confirm the alarm code using the PLC's monitor function, etc.
CompoNet [2] If the alarm is occurred, checking the network status on the display of monitor LEDs is possible. {: Illuminating, x: OFF, 䃩: Flashing MS NS x - No power supply input Cause of error occurrence Specified power voltage is not supplied. Unit operation after error detection SCON stop the operation. Remote I/O communication that ڏCommunication the connection was set up with SCON continue the the master unit has stopped by operation. RD Error timeout.
CompoNet 5. Change History Revision Date May 2009 November 2011 5. Change History June 2012 November 2012 262 Description of Revision First edition Third edition Contents changed in Safety Guide Caution notes added for when working with two or more persons Added Chapter 3, “SCON-CA.
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