CC-Link RCM-GW-CC Gateway Unit Operation Manual First Edition IAI America Inc.
Table of Contents 1. 2. 3. 4. 5. 6. 7. Outline ････････････････････････････････････････････････････････････････････････････････････････････････1 1.1 CC-Link gateway unit ･･････････････････････････････････････････････････････････････････････････････1 1.2 What is CC-Link････････････････････････････････････････････････････････････････････････････････････2 1.3 Application example of gateway unit････････････････････････････････････････････････････････････････3 1.
8. System build-up ･････････････････････････････････････････････････････････････････････････････････････ 90 8.1. Communication setting for controller･･････････････････････････････････････････････････････････････ 90 8.2. CC-Link communication setting ･･････････････････････････････････････････････････････････････････ 91 8.3. Master PLC address assignment ･････････････････････････････････････････････････････････････････ 93 8.4.
1. Outline 1.1 CC-Link gateway unit CC-Link Gateway Unit (hereinafter, referred to as CC-Link gateway or gateway unit) is a unit to connect the network of CC-Link communication protocol for an upper programmable controller (hereinafter, referred to as PLC) and SIO communication network (Modbus communication protocol) for a controller (for robo-cylinder) which is a sub-network. Physical standard for SIO communication network is RS-485, and slave addresses on this network are 1-16.
1.2 What is CC-Link (1) System of FA communication For FA communication, communication specifications depend on equipment on the communicating end, content of information and its purpose, however, are roughly divided into information level, controller Information level level and field level as shown in the following diagram.
(5) CC-Link CC-Link has become wide spread mainly for FA as an open network for device level. Communication specifications are open to the public, therefore, equipment in compliance with CC-Link can be communicated without a program regardless of manufacturer. Presently, CC-Link is spread and operated by CC-Link association (CLPA: CC-Link Partner Association), which is a non-profitable organization. Main features are as follows.
1.4 Features For CC-Link gateway, operation modes of the following four patterns can be selected. (1) Position data limit designation mode Only position data can be directly designated, and the maximum connecting axis number totals 14 axes. Further, various status signals can be input and output, and present position data can be read. Speed, acceleration and deceleration can be set for parameters for each axis as fixed values. (2) Position No. designation mode This is a mode to designate No.
Operation mode and primary functions Positioning data designated Primary functions Position data designated operation Position data Position No. limit designated designated Normal Push mode mode positioning operation mode mode mode Simple direct value/Position No. designated mode ○ × ○ ○ ○ × × ○ ○ × × ○ × ○ ○ ○ ○ ○ Speed, acceleration and deceleration direct designation Push operation Present position reading Position No. designated operation Completed position No.
1.
2. Specifications and name of each part 2.1 General specifications Item Specification 24V DC ±10% Consuming current 300mA max. SIO communication specification CC-Link specification Power supply Communications standard CC-Link Ver1.10 (*1) Communications speed 10M/5M/2.
(Mounting dimension) 2.
2.3 Name and function of each part [1] Gateway status indication LED RUN: Normal G.ER: Error C.ER: CC-Link error T.
[1] Gateway status indication LED Indicating status RUN Lit in green Unlit Description Indicates that the CPU of the gateway is operating. Indicates CPU operation stop status, and indicates that there is an error in the CPU of the gateway when this is not lit even if power is turned on. G.ER C.ER Lit in red Gateway CPU is in error, major fault stop status. Unlit Normal A status that CC-Link is in error, or CC-Link connection is not recognized from the gateway CPU.
[3] Mode setting switch This switch sets the operation mode of the CC-Link gateway. Turn off the power for the CC-Link gateway to operate this switch. When selecting No.1, No.3 and No.4, setting of the position table for the controller is disabled. SW1 No. Description 1 2 3 4 × × × 3 × × ○ 2 × ○ × 1 × × × 4 5 × × ○ × ○ × × ○ 6 × × ○ 7 ○ × ○ × Position data limit designating mode Position No.
[7] CC-Link setting switch Switch Description [Baud rate setting switch] This switch sets the communication rate. Setting of 5 or higher is prohibited. BR SA × 10 SA × 1 [Station No. setting switch] This switch sets with decimal two digits, however, effective setting is from 1 to 64. Positions of SA × 10 ･･･10 are set. Positions of SA × 1･･･1 are set. (Example) When setting station No. 12, set 1 to SA × 10, and set 2 to SA × 1.
[9] Port switch This is a switch to enable the connector (T.P.) for teaching box and personal computer (PORT ON=Communication start). When connecting and disconnecting the teaching box and the communication cable connector for personal computer supporting software, turn OFF this switch. When using this switch, turn ON after connecting the connector. (Also pay attention to signal status of the port switching input [4].
3. Installation and Noise Elimination Pay sufficient attention to the installation environment. 3.1 Installation Environment a. Since the gateway unit is not dust-proof or waterproof (oil proof), avoid using the gateway unit in a place subject to significant dust, oil mist or splashes of cutting oil. b. Do not expose the gateway unit to direct sunlight or radiating heat from a large heat source such as heat treatment furnace. c.
b. Precautions regarding wiring method Separate the communication lines for the gateway unit and the wiring for the CC-Link communication line from high-power lines such as a cable connecting to a power circuit. (Do not bundle together wiring for the communication lines with high-power lines or place them in the same cable duct.) c. Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern when building up a system.
3.4 Installation Design the control box size, installing position of the gateway unit and cooling method of the control box in such a way that the temperature around the gateway unit will not exceed 40°C. Install the gateway unit vertically on a wall, as shown below, and provide a minimum clearance of 50mm above and below the gateway unit and a minimum clearance of 100mm on the front for wiring.
24V power supply Teaching box Gateway unit Terminal resistor Host system (PLC master station) SIO communication network Terminal resistor 4-direction junction Slave station Terminal resistor 4. Wiring 4.1 Overall Configuration The following diagram shows an example of configuration to build a CC-Link by using a gateway unit.
SIO communication connection is allowed even by multi-drop method using terminal blocks as follows.
Reference Outline of CC-Link network configuration For details of the CC-Link, refer to the Operation Manual for the master side (PLC). describes a point for network wiring. The following diagram shows an example of network connection.
4.2 Input and output signal of gateway unit (1) Connection diagram Gateway unit (Blue) (White) CC-Link cable (Yellow) (Not colored) Connector for teaching box and personal computer Teaching box Port switch Teaching box Emergency stop signal output Allowable load voltage: 30V DC Allowable load current: 1A Gateway power supply 24V DC±10% 300mA max.
(2) Port control and emergency stop signal output The connector port for the teaching box and personal computer can be also turned ON/OFF by an external signal other than the ON/OFF signal from the port switch on the gateway unit main body. Further, since the contact signal from the emergency stop pushbutton switch on the teaching box is outputted to the outside while the port is ON, this signal can be incorporated into the emergency stop circuit for the whole system.
22 CC-Link communication connector SIO communication connector Power supply input connector Internally connected. CC-Link Ver. 1.10 supporting dedicated cable (Such as FANC-SBH, FANC-SB) Two-paired twist shielded cable (AWG22) Recommended brand: Taiyo Electric Wire & Cable HK-SB/20276 XL 2P × AWG22 Set GND (ground) level to that of controller or ERC actuator to be connected. Internally connected to frame. 0.08 – 1.5mm2 AWG 28 - 16 0.08 – 1.5mm2 AWG 28 - 16 0.8 – 1.
4.3 Building of SIO communication network (SIO communication) 4.3.1 Wiring (1) Basic Item Number of connecting units Communication cable length Communication cable Terminal resistor Contents 16 axes max. (Depends on the operation mode. Refer to “1.4 Features”) Total cable length 100m or shorter Two-paired twisted pair shielded cable Recommended cable: Taiyo Electric Wire & Cable CAUTION 1. Provide a communication path via a bus connection, and be sure to connect a terminal resistor at the end.
a. Detail Connection Diagram The diagram below shows the details of the SIO communication connection. The controller link cables are optionally prepared, but the communication main line must be prepared by the customer.
c. Controller Link Cable (CB-RCB-CTL002) * Controller’s option Controller end E-Con connector 3-1473562-4 (Housing color: Orange) Mini DIN connector Signal SGA No 1 SGB 2 +5V 3 ENB 4 EMGA 5 +24V 6 GND 7 EMGB 8 Yellow Orange Blue No 1 Signal SGA 2 SGB 3 GND 4 The following parts are provided together: [1] Four-way junction Model: 5-1473574-4, Manufacturer: MP, Quantity: 1 [2] E-Con connector Model: 4-1473562-4, Manufacturer: MP, Quantity: 1 Compatible wire coating outline: 1.
(3) Link connection for ERC2-SE SIO communication main line Gateway unit (Incorporating terminal resistor) First axis Second axis th n axis Terminal resistor e-CON connector (AMP made 4-1473562-4: Green) e-CON connector (AMP made 3-1473562-4: Orange) Junction (AMP made 3-1473574-4:) Recommended brand: Taiyo Electric Wire & Cable 26
Detail connection diagram Connection between the gateway unit and four-way junction is the same as in item (2). Connection between each ERC2-SE and four-way junction is as shown in the following diagram. For details, refer to the Operation Manual for the ERC2-controller.
(5) Wiring of emergency stop (EMG) circuit When incorporating an emergency stop switch on the teaching box connected to the gateway unit into an emergency stop circuit, emergency stop signal output outputted from the “S1” and “S2” terminals for the gateway unit can be used. The controller for all of the connected robo-cylinders can be put into an emergency stop status by the emergency stop switch on the teaching box connected to the gateway unit. CAUTION 1.
Example of drive signal shutdown Teaching box EMG push button EMG reset switch Gateway unit T.P.
[2] Example of motor drive power shutdown Teaching box EMG push button EMG reset switch Gateway unit T.P.
4.3.2 Setting of axis No. For PCON-SE, ACON-SE and ERC2-SE Set axis No. for slave station No. on the SIO link. th Set the axis No. in a hexadecimal of 0 to F so that the first axis No. is 0, and 16 axis No. is F. Axis No. is set by the teaching box or personal computer supporting software. ◎ Operation of personal computer supporting software [1] Open the main screen. [2] Click the setting (S). [3] Move the cursor to the controller setting (c). [4] Move the cursor to the axis No. assignment (N) and click.
5. Outline of CC-Link 5.1 Data communication A scheme for basic data communication of the CC-Link is as shown in the following diagram. For slave to master station of the PLC, there are remote I/O stations which handle bit information only and remote device stations which handle bit information and word information (numeric data). The master station has a buffer memory which is divided into remote input RX, remote output RY and remote register RWw/RWr.
* CPU internal user device for PLC Bit device Input: X Output: Y Internal relay: M Word device Data register: Link register: D W 5.2 Address assignment of master PLC Number of maximum link points per one system is respectively 2048 points for remote input and output (RX, RY) and 256 points for remote register (RWw, RWr), and a buffer memory for this size is available. Address assignment for the master station buffer memory is as shown in a diagram on the next page.
CC-Link memory map (MITSUBISHI Q series) PLC-CPU Master station buffer memory Internal device Remote station I/O station Device station Remote input (RX) (2 words) for one station Automatic refresh Remote input Bit data Remote output (RY) (2 words) for one station Automatic refresh Remote output Bit data Remote register (RWw) (2 words) for one station Automatic refresh Remote register Word data (numeric data) Remote register (RWr) (2 words) for one station Automatic refresh Remote register W
6. Address configuration of gateway As described in 1.4 Features of gateway unit, actuators can be roughly operated by five modes. Address configuration as a slave depends on each mode. 6.1 Gateway control signal This is a signal to control the gateway, and consists of respective two words of word register for input and output. It is recommended to use data of this word register on the bit register by performing transmission processing.
Details of input and output signal Signal type PLC output Control signal 0 Control signal 1 36 Bit Signal name 15 MON 14 - 8 - 7 6 5 4 3 2 1 NPS4 NPS3 NPS2 NPS1 NPS0 PPS2 PPS1 0 PPS0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 CFG15 CFG14 CFG13 CFG12 CFG11 CFG10 CFG9 CFG8 CFG7 CFG6 CFG5 CFG4 CFG3 CFG2 CFG1 CFG0 Contents Link communication starts at ON, and stops at OFF. When all of CFG15 to 0 (link connection axis selection) are OFF, do not turn ON MON signal.
Signal type Bit Signal name Contents Gateway unit now normally operating output 15 RUN Gateway unit error detection output 14 G.ER SIO link communication error detection output 13 T.ER Port switch ON output PLC input Control signal 0 Control signal 1 12 TPC 11 10 9 8 MOD4 MOD3 MOD2 MOD1 7 Major V.4 6 Major V.2 5 Major V.1 4 Minor V.16 3 Minor V.8 2 Minor V.4 1 Minor V.2 0 Minor V.
6.2 Position data limit designation mode This is an operation mode in which function of the controller is limited only to positioning, and allows for control of a maximum 14 axes. Position data for positioning is directly written in the data register of the PLC, and operation is performed. Communication for setting of speed, acceleration and deceleration cannot be performed. Speed, acceleration and deceleration are set to parameter No.8 “Speed initial value” and No.
(1) Address configuration In this mode, gateway control signal/status signal consists of two words respectively for input and output word register (RWr, RWw), and control signal/status signal for each axis consists of one byte respectively for input and output bit register (RX, RY) and one word for input and output word register (RWr, RWw). Numeric values in parentheses represent axis Nos.
(2) Assignment for each axis Input and output signal for each signal consists of one byte respectively for input and output bit register (RX, RY) and one word for input and output word register (RWr, RWw). Control signal and status signal are ON/OFF signals in bit units.
Details of input and output signal Signal name SON STP HOME CSTR RES Bit Control signal F/7 E/6 D/5 C/4 B/3 A/2 9/1 8/0 Position data designation 16 bit data - F/7 E/6 D/5 EMGS PWR C/4 SV B/3 A/2 9/1 8/0 MOVE HEND PEND ALM 16 bit data - PLC output Signal type PLC input Status signal Present position data Contents Detail Cannot be used. Cannot be used. Cannot be used. Servo on command Pause command Home return command Start command Reset command 16 bit integer with sign (unit: 0.
6.3 Position No. designation mode This is an operation mode to operate by designating position No. of the position table, and allows for control of a maximum 14 axes. It is necessary to set the position table for each axis by personal computer supporting software or teaching box. Operation is performed by writing the position No. into the data register of the PLC. Positions which can be designated are 64 points of No.0 to No.63, however, number of points depends on setting mode for each axis.
(1) Address configuration In this mode, the input and output signal for gateway control signals consist of two words respectively, and control signals for each axis consist of one byte respectively for input and output bit register and one byte respectively in input and output word register. Numeric values in the parentheses represent axis Nos.
(2) Assignment for each axis Input and output signal for each axis consists of one byte respectively for input and output bit register and one byte respectively for input and output word register. Control signal and status signal are ON/OFF signals in bit units. Command position No. and completed position No. are handled in binary data of one byte (8 bits). Set the command position No. in a range of position number set by the controller for each axis.
Details of input and output signal Position data designation F/7 E/6 D/5 C/4 B/3 A/2 9/1 8/0 Signal name SON STP HOME CSTR RES Position data designation 16 bit data - F/7 E/6 D/5 EMGS PWR C/4 SV B/3 A/2 9/1 8/0 MOVE HEND PEND ALM b15/b17 ZONE2 b14/b6 ZONE1 6 bit data (b13-8/b50) PM32 – PM1 PLC output Signal type PLC input Status signal Zone signal output 2 Zone signal output 1 Completed position No. (Alarm output) Application Contents Detail Cannot be used. Cannot be used.
[List of alarm content] This list shows alarm content to be outputted (binary code) in PM8 to PM1 while an alarm occurring. details of alarm content, refer to the Operation Manual for the controller.
6.4 Position/speed/acceleration and deceleration designation This is an operation mode to perform operation by directly writing position data, acceleration and deceleration and speed in the register of the PLC, and allows for control of a maximum seven axes. Further, it is always possible to read present position data. Setting of position table for each axis is unnecessary. Primary functions controllable in this mode are as shown in the following table.
(1) Address configuration In this mode, input and output for gateway control signal consist of two words respectively, and control signal for each signal consists of one word respectively for input and output bit register and two words respectively for input and output word register. Numeric values in the parentheses represent axis Nos.
(2) Assignment for every axis Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration are set by binary data of one byte (8 bits). Further, speed, position data designation and present position data can be handled in binary data of one word (16 bits), and the PLC can handle numeric values of –32,768 to +32,767. Set the acceleration and deceleration and speed in a range of specification of the actuator, and set position data in a range of soft stroke.
Details of input and output signal Signal type Signal name Acceleration and deceleration designation 8 bit data Control signal 7 6 5 4 3 2 1 0 SON STP HOME CSTR RES Speed designation 16 bit data - Position data designation 16 bit data PLC output 50 Bit Contents Set acceleration and deceleration in hexadecimal number. (Unit: 0.01G) Example) When setting to 0.2G, designate 14H (RynC and RynA are ON). C8H (decimal 200) at maximum 2G.
Signal type PLC input Status signal Present position data 7 6 5 Signal name EMGS PWR 4 SV 3 2 1 0 MOVE HEND PEND ALM 16 bit data - Bit Contents On emergency stop Cannot be used. Controller preparation completion Operation preparation completion (Servo on status) On moving Home return completion Positioning completion Alarm occurring 16 bit integer with sign (Unit: 0.01mm) Set position data in hexadecimal number. Example) In the case of +25.4mm, it is set to 09ECH (decimal 2540).
6.5 Push operation enable mode This is an operation mode to perform operation by directly writing current limit value (%) and positioning width for push in addition to direct designation of position data, acceleration and deceleration and speed into the register of the PLC, and allows for control of a maximum 3 axes. Further, it is always possible to read present position data. Setting of position table for each axis is unnecessary.
(1) Address configuration In this mode, input and output for gateway control signal consist of two words respectively, and control signal for each axis consists of six words respectively for input register and three words respectively for output register. Further, axis No.0 uses bit register, and axis No.1 and 2 use word register. Numeric values in the parentheses represent axis Nos.
(2) Assignment for each axis Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration are set by binary data of one byte (8 bits). Designations of speed, position and positioning width and present position data handle numeric values in binary data of 1.5 words (24 bits). It is recommended to use control signal and status signal on bit register by performing transmission processing.
PLC input 1 word = 16 bits Position data designation Present position data Cannot be used Present position data (integer with sign) CAUTION 1. 24 bit binary data with a sign of PLC output and input is handled as a negative number when the uppermost bit is “1.” However, note that the data is handled as normal numeric data on the PLC.
Details of input and output signal PLC input Signal type 56 Application Signal name Position data designation 24bit data - Current limit value 8bit data - Speed designation 24bit data - Acceleration and deceleration 8bit data - Contents 24 bit integer with sign (unit: 0.01mm) Set position data in hexadecimal number of 24 bits. Example) In the case of +25.4mm, designate 0009ECH (decimal 2540).
Signal type Positioning width designation Application Signal name Contents 24 bit integer (Unit: 0.01mm) Set it in hexadecimal number. Example) In the case of +25.4mm, designate it as 0009ECH (decimal 2540). ● Set position data in a range of soft stroke. ● Designate push operation direction in DIR. ● When positioning width designating data is not set, note that setting of parameter No.10 “Positioning width initial value” is not set.
6.6 Simple direct value/Position No. designation mode This is an operation mode for operation by mixing a mode to operate by designating position No. and a simple direct value mode in which target position data is designated by numeric value and the other movement parameters are designated by position No. However, this mode is allowed only for CC-Link Ver. 2, and not used for Ver. 100 and Ver. 1.10. Primary controllable functions are as shown in the following table.
6.6.1 Overall address configuration Input and output for gateway control signal are two words respectively, and only in this mode, patterns of position No. designated axes and number of axes are set by PPS0 to PPS2 and NPS0 to NPS4 of control word 0. Subsequently, command input and output regions are exclusive, and gateway control signal and input and output are in a fixed region together with command region. Control region for each axis is assigned after fixed region, however, position No.
PLC output⇒Gateway unit⇒Each axis input Output register Higher byte Lower byte Each axis output⇒Gateway unit⇒PLC input Input register Higher byte Lower byte Gateway control signal 0 Gateway control signal 0 Gateway control signal 1 Gateway control signal 1 Request command Response command Data 0 Data 0 Data 1 Data 1 Data 2 Data 2 Data 3 Data 3 Data 4 (Reserve) Data 4 (Reserve) Data 5 (Reserve) Data 5 (Reserve) Fixed region (10 word) (20 word) (24 word) Output (writing) Register=W
6.6.2 Assignment for each axis Input and output signals for each axis position No. designated mode and those in simple direct value mode are different from each other in size of region and its content. Further, in the position No. designated mode, meaning of each bit depends on the pattern set by gateway control signal PPS. (1) Control signal and status signal of position No. designated axis Pattern 0 (Standard) Control signal Command position No.
Detail of input and output signal Signal type b12 b11 b10 b9 b8 b7 b6 Signal name SON RES CSTR PWRT STP HOME BKRL JOGJOG+ JISL MOD Pattern No. 0–4 0–4 0, 2, 3 1 0–4 0–4 0, 2 – 4 1 1 1 1 b8–b0 PC*** 0–3 b6–b0 b15 b14 b13 ST0-ST6 BALM ALM EMGS 4 0–4 0–4 0–4 b12 SV 0–4 b11 PEND 0, 2 – 4 b11 WEND 1 b10 b9 b8 b7 b7 b6 HEND RMDS PZONE ZONE1 MODS MOVE 0–4 0–4 0, 2 – 4 0, 4 1 0, 1 b8-b0 PM*** b6-b0 PE0-PE6 Bit b15 b14 PLC output b13 Control signal 0 PLC input Command position No.
Simple direct value designated axis Each axis consists of four words for output and three words for input as shown below. Position data designation and present data are hexadecimal numbers of 32 bit integer with the sign in units of 0.01mm. PLC output = Control signal (Sign) Position data designation Present position data (integer with sign) Movement parameter position No.
Details of input and output signal PLC output Signal type 32 bit data Movement parameter position No 16 bit data - b15-b13 b12 b11 b10 b9 b8 b7-b0 SON STP HOME CSTR RES - 32 bit data - b15-b9 - b8 PMSS b7 b6 b5 EMGS PSFL PWR b4 SV b3 b2 b1 b0 MOVE HEND PEND ALM signal Present position data PLC input Signal name Target position data Control 64 Bit Position data designation - Contents Detail This is a 32 bit integer with sign (Unit: 0.01mm), and is set in hexadecimal number.
CAUTION Setting of the “Parameter initial value” is not applied to the movement data which must be directly designated in numeric value from the PLC. Therefore, note that if it is not designated in numeric value, operation is not performed or alarm occurs. The following summarizes how to designate movement data for each operation mode. Designated data Position Speed Position data limit designation PLC numeric value designation Parameter Position No.
6.6.3 Command region When request command RY (2F-20) and data RY (8F-30) related to the request command are outputted from the PLC, response command (2F-20) and data related to the response command are inputted to the PLC input. The request command and response command respectively consist of one word, and the request data and response data respectively consist of seven words, however, actually use five words. (Refer to the overall address configuration.
(2) Each command and data format [1] Position table data write command Command name *1 PLC output (request) Target position write +2 1000H 3 Position No. Position data 4 (24 bit integer with sign) 5 6 Axis No. 0 to FH (0-15) 7 0 8 0 Position width write +2 1001H 3 Position No. 4 Positioning width data (24 bit integer) 5 6 Axis No. 0 to FH 7 0 8 0 Speed write +2 1002H 3 Position No. 4 Speed data (24 bit integer) 5 6 Axis No. 0 to FH 7 0 8 0 Individual zone +2 1003H boundary + side write 3 Position No.
Command name Deceleration write Current limit value write at push *2 Load current threshold value write *1 +2 3 4 5 6 7 8 +2 3 4 5 6 7 8 +2 3 4 5 6 7 8 PLC output (request) 1006H Position No. Deceleration data (8 bit integer) 0 Axis No. 0 to FH (0-15) 0 0 1007H Position No. 0000 to 00FFH (00FFH: Maximum current) 0 Axis No. 0 to FH 0 0 1008H Position No. 0000 to 00FFH (00FFH: Maximum current) 0 Axis No.
[2] Position table data read command Command name *1 PLC output (request) Target position read +2 1040H 3 Position No. 4 0 5 0 6 Axis No. 0 to FH (0-15) 7 0 8 0 Positioning width read +2 1041H 3 Position No. 4 0 5 0 6 Axis No. 0 to FH 7 0 8 0 Speed read +2 1042H 3 Position No. 4 0 5 0 6 Axis No. 0 to FH 7 0 8 0 Individual zone +2 1043H boundary + side read 3 Position No. 4 0 5 0 6 Axis No. 0 to FH 7 0 8 0 Individual zone +2 1044H boundary - side read 3 Position No. 4 0 5 0 6 Axis No.
Command name Deceleration read Current limit value read at push *5 Load current threshold value read *1 +2 3 4 PLC output (request) 1046H Deceleration reading POS No. 0 5 6 7 8 +2 3 4 5 6 7 8 +2 3 4 5 6 7 8 0 Axis No. 0 to FH 0 0 1047H Position No. 0 0 Axis No. 0 to FH 0 0 1048H Position No. 0 0 Axis No. 0 to FH 0 0 * 1) Relative RY and relative RX from the head 2) 24 bit integer data with sign 3) 24 bit integer data 4) 8 bit integer data 5) This is not enabled unless push operation is set.
[3] Position table data ROM writing command Command name *1 PLC output (request) Position table data ROM +2 0DA0H writing coil write 3 0 4 Coil ON/OFF 00FFH = ON 0000H = OFF 5 0 6 Axis No. 0 to FH 7 0 8 0 Position table data ROM +2 02E0H writing completion coil 3 0 read 4 0 5 6 7 8 0 Axis No. 0 to FH 0 0 [4] Presently occurring alarm code read command Command name *1 PLC output (request) Presently occurring +2 0342H alarm code read 3 0 4 0 5 0 6 Axis No.
[5] Group designated broadcast POS movement start This command simultaneously starts an axis designated by group No. to a position designated by POS No. This command performs communication between gateway and controller by broadcast, therefore, response from the controller does not return. The response result displayed on the PCL input means that communication to the controller normally ended, and does not indicate status of the controller. Determine the status from the status signal to each axis.
(3) Error response When command error occurs, the uppermost bit (b15) is turned ON. Further, the following error codes are set to the response data 1. Code 0101H 0102H 0103H 0201H 0202H Description Invalid axis No. *1 Invalid position No. *1 Invalid request command *1 Communication fault Controller execution impossible *1) If data from the PLC is checked and this is found, an error code is set to the response data without transmitting to the controller.
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7. Contents of communication signal 7.1 Outline of timing for communication signal In order to operate robo-cylinder by the sequence program for the PLC, any of the control signals is turned ON, and maximum response time until the response (status) returns to the PLC is expressed by the following equation.
7.2 (1) Communication signal and operation timing Controller preparation completion (PWR) This is turned ON when the controller becomes controllable after power is turned on. ■ Function This is turned ON when the controller has been normally initialized and becomes controllable after power is turned on regardless of the status of the alarm and status of the servo. This is ON if the controller is controllable even when it is in an alarm status.
(5) Direct numeric value designated operation (Position data, present position data, CSTR, PEND, MOVE, acceleration and deceleration data, speed data) This is a function to operate the robo-cylinder by directly writing position data, acceleration and deceleration data, speed data onto the link register on the PLC without using the position table for the controller.
Position data measurement value [1] [4] [2] [3] [4] [6] Present position [5] 78 [7]
b. Acceleration and deceleration, speed data designation This is an effective function when the positioning data designated mode is selected. [1] Set the acceleration and deceleration, and speed data designation to each designated register at the same time when setting the target position data in a. or before setting it. Note that setting of parameter No.9 “Acceleration and deceleration initial value” is not applied unless the acceleration and deceleration is set.
Speed, acceleration and deceleration set value [1] [2] [3] Speed n3 Speed n2 Actuator speed 80
(6) Positioning data designated mode push operation (Position data, acceleration and deceleration data, speed data, current limit value, positioning width, present position data, DIR, PUSH, CSTR, PEND, MOVE) This is a function to operate to push the actuator by directly writing position data, acceleration and deceleration data, speed data, current limit value and positioning width onto the link register on the PLC without using the position table for the controller.
[1] Position data set value [2] Speed, acceleration and deceleration set value [3] Positioning width value set value [4] Current limit value set value [5] [6] [7] [13] [9] [8] [11] Present position [10] 82 [12]
(7) Position No. designated operation (Command position No., completion position No., CSTR, PEND, MOVE) This is an effective function when the position No. designated operation mode is selected. ■ Function Enter position data into the position table of the controller in advance, and designate a position No. with the link register on the PLC to operate.
[1] Command position No. [2] [3] [4] [6] Completion position No.
(8) Pause (STP, MOVE) This is a function to perform pause during movement of axis. ■ Function Axis movement can be stopped and restarted by the STP (pause) signal. Axis movement stops while the STP signal is ON. A relationship between the STP signal and MOVE (on-moving) signal is as follows. Depends on acceleration and deceleration. (9) Servo on (SON, SV) This is a signal to put the motor into an operable status. When the servo is turned on, the LED (green) for SV on the front of the controller is lit.
(10) Home return (HOME, HEND) Home return is executed at ON edge (at startup of signal) of HOME (Home return). When home return is completed, the HEND (Home return) signal is turned ON. Turn OFF the HOME signal when the HEND signal is turned ON. Home return by the HOME signal is also effective after home return is completed. CAUTION 1. The position No.
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7.3 Command transmission and reception The diagram below shows a timing chart for command transmission and reception. The gateway analyzes the request command and responds at every time when control and status data exchange for all axes which are always performed are ended. The PLC and gateway unit execute the following. [1] The PLC application confirms zero of the response command, then sets the necessary request command and data.
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8. System build-up It is necessary to set as follows in order to make the controller communicate with the CC-Link Master (PLC) and controller through the gateway unit. [1] Controller setting for SIO communication (Modbus communication) between the gateway unit and controller [2] Setting of PLC side and gateway unit for CC-Link communication between the PLC and gateway unit 8.1.
8.2. CC-Link communication setting It is necessary to set as follows in order to make the gateway communicate with master station. As for this setting, a gateway unit must accord with the master station. Item Communication speed Station No. Station type Number of exclusive stations/Mode ○: ON Setting of gateway unit Baud rate setting switch Station No.
For an example of the CC-Link setting in GX Developer V8, refer to the 9.5.2 (2). Number of exclusive stations, expanded cyclic setting and size of data area are as shown in the table below. CC-Link version Direct value designation POS designation Direct value/speed/acceleration and deceleration designation Direct value/speed/acceleration and deceleration/positioning width/push % Simple direct value/Position No. designation Small Simple direct value/Position No.
8.3. Master PLC address assignment The basic concept of address assignment (memory map) for the CC-Link master PLC has been explained in 5.2. This section explains a case when the gateway unit is a remote station. If the gateway unit is a remote device station (remote station which handles bit information and word information), the number of exclusive stations depends on the operation mode. Operation mode Position data limit designation Position No.
The following shows an example that a remote I/O exclusive one station is set to the station No.1 and gateway unit is set to the station No.2. (1) Remote I/O [1] Master station ← Gateway unit Master station Buffer address Remote I/O station (Station No. 1: Exclusive one station) Gateway unit RCM-GW-CC (Station No. 2: Exclusive four stations) Remote input (RX) For station No. 1 Output For station No. 2 For station No. 3 For station No. 4 For station No. 5 For station No. 6 For station No.
(2) Remote register [1] Master station ← Gateway unit Master station Buffer address Remote I/O station (Station No. 1: Exclusive one station) Gateway unit RCM-GW-CC (Station No. 2: Exclusive four stations) Remote register (RWr) For station No. 1 Output For station No. 2 For station No. 3 For station No. 4 For station No. 5 For station No. 6 For station No. 7 For station No.
[2] Master station ← Gateway unit Master station Buffer address Remote I/O station (Station No. 1: Exclusive one station) Gateway unit RCM-GW-CC (Station No. 2: Exclusive four stations) Remote register (RWw) For station No. 1 Input For station No. 2 For station No. 3 For station No. 4 For station No. 5 For station No. 6 For station No. 7 For station No.
8.4. CSP file When using GX Configurator –CC (Mitsubishi Electric), download the following CSP file from our website. Website http://www.iai-robot.co.jp To download it, open the “File for field network setting” from the “Download & Support” menu on the website to select the CSP file. For how to set the remote station (CC-Link gateway unit) to the master station, refer to the Operation Manuals for the master station, PLC to be mounted and peripheral equipment.
9. CC-Link operation case 9.1 Outline of configuration (Mitsubishi) Station No. 0 Power Gateway unit Switch Indication lamp Operation Positioning completed Operation preparation completed Servo on Operation Alarm Pause Emergency stop release Pause Emergency stop release Emergency stop Remote I/O Input 8 points Output 8 points Station No. 5 PCON-CY controller RCP2 actuator First axis Gateway unit Station No.
9.2 Actuator operating pattern Prepare position tables for all of the three axes, and designate position No. from the PLC to operate. Position Axis First axis Second axis Third axis 9.3 (1) Various settings on SIO link side Setting of SIO link [1] Connect personal computer (supporting software) or teaching box to the gateway unit and turn ON the port switch. (Note) Perform SIO link only on axis to be set. In other words, connect only axis to be set to the four-way junction.
(3) Creation of position table Start from the personal computer software initial screen subsequently from (2). [1] Click the [Position (T)] → [Edit/Teach (E)]. [2] Select the axis 0 → click the > → click the OK . [3] Position data edit screen for the axis 0 appears, then enter the data. [4] Transmit the data to the controller, and exit the edit screen with × . [5] Select the axis 1 at [1] to [4] to execute. [6] Exit the personal computer supporting software.
9.4 Setting of gateway unit (1) Mode setting for gateway unit As operation is performed in the position No. designated mode, set the mode setting switch (SW1) as follows. 1: OFF 2: ON 3: OFF 4: OFF (2) Setting of node address and communication speed for gateway unit Station No. =1 Communication speed = 625kbps Since the setting is as above, set the DIP switch as follows. Station No. SA × 10 :0 SA × 1 : 1 Baud rate BR: 1 9.
9.5.2 Parameter setting In order to make the CC-Link operate, it is necessary to set network parameters and automatic refresh parameters. Set them by GX-Developer, and write into the parameter area for the PLC-CPU. ･ Network parameters These parameters are set to the master station, and there is a CC-Link connected unit number, communication retry times and station information, etc.
(2) Parameter setting [1] Double-click the [Network param] from the project data list, and network parameter select dialog box appears, then click the CC-Link button. [2] Network parameter setting screen for CC-Link appears, then set the unit sheet number to one. (Master station is one sheet in this operational example.
[3] Set parameters as shown below from now. Mode setting should be “Remote net [Ver. 1 mode].” Parameters different from initial setting are as follows. ･ “Start I/O No”････････････ I/O address of master unit, 0080 ･ “All connect account” ････ Number of remote stations, 2 ･ “Remote input (RX) Refresh device” ･････････X100 Install master station buffer ･ Remote output (RY) ･････････････････････････Y100 memory to an internal device ･ Remote register (RWr) ･･････････････････････D200 of the PLC-CPU.
[4] Click the Station information button to display the station information unit 1 edit screen, and set the remote station as follows, then click the End button at the lower part of the screen. ･ The station No. 1 is the gateway unit and is used in the position No. designated mode, therefore, it becomes the remote device station exclusively four stations. ･ The station No. 5 is remote I/O (AJ65SBTB1), and is a remote I/O station exclusively for one station. [5] Save the project.
(3) Writing parameters Write parameters set in (2) into the PLC. [1] Transfer setup Click the [Online (O)]→[Transfer setup (C)] menu, then the following transfer setup designated screen appears. I/F PC side: Serial USB I/F PLC side: PLC module Other station: No specification Check the above setting, and click 106 OK .
[2] Writing Click write to PLC tab to display the following PLC write screen. Click Param+Prog button on the PLC write screen, and select the “MAIN” for program and the “PC/Network” for parameter. Click Execute button, then write is performed, and when it is completed, dialog box for confirmation appears. Click OK → Close , and then write is completed. [3] PLC-CPU reset Parameters become effective by resetting the CPU for the PLC.
108 Automatic refresh Automatic refresh Master station buffer memory (Station No. 0) 9.
109 Automatic refresh Automatic refresh Cannot be used Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone signal + Zone signal Completion positionCompletion position + Zone
9.7 Ladder Sequence Flowchart Operation flowchart for the second axis (axis 0) and third axis (axis 1) which are DeviceNet slave axes is as follows. Insides of parentheses are SIO link axis Nos. Gateway unit normal SIO link axis designation SIO link start Axes (0)(1) PWR check Turn on servo for axes (0)(1) [2] Command P.No.
[1] Command P.
9.8 Ladder Sequence Emergency stop Emergency stop release Emergency stop Master unit Master unit abnormality ready Master data link Station No. Station No. normal normal Remote I/O input 1 Remote I/O output 1 Remote I/O input 2 Remote I/O output 2 Gateway Gateway Gateway GW control signal 1 GW control signal 1 GW control signal 0 No.2 (Axis 0) start No.2 (Axis 0) Operation lamp 112 (Axis) 0ALM Emergency stop No.
No.2 (Axis 0) (Axis 0) Operation PWR lamp No.2 (Axis 0) Servo on lamp Axis (0) Servo on No.2 (Axis 0) SRDY lamp Axis (0) Servo on (Axis 0) SV (Axis 0) HEN No.
Flag Axis (0) Operation flag Axis (0) MOVE Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis (0) MOVE Axis (0) PEND Axis (0) CSTR Axis (0) PO start flag Flag Flag Axis (0) PEND 114 Completion Completion Completion Completion Completion Completion P.No P.No P.No P.No P.No P.
Axis (0) PO completion 1 second 1 second Axis (0) operation flag Axis (0) MOVE Axis (0) P1 setting flag Axis (0) P1 setting flag Axis (0) P1 setting flag Axis command position No. Axis command position No. Axis command position No. Axis command position No. Axis command position No. Axis command position No.
Axis (0) PEND Completion Completion Completion Completion Completion Completion P.No P.No P.No P.No P.No P.No Axis (0) P1 completion Axis (0) P1 completion 1 second Axis (0) P0 start flag Axis (0) CSTR Axis (0) P1 start flag Axis (0) P0 completion No.2 (Axis 0) positioning completed lamp Axis (0) P1 completion No.
Axis (0) pause No.2 (Axis 0) pause lamp Axis (0) STP No.3 (Axis 1) start Axis (1) ALM No.3 (Axis 1) operation lamp Axis (1) PWR Emergency stop No.3 (Axis 1) operation lamp No.3 (Axis 1) servo on lamp Axis (1) servo on No.3 (Axis 1) SRDY lamp Axis (1) servo on Axis (1) SV Axis (1) HEND No.
Flag Axis (1) operation flag Axis (1) MOVE 1 second Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis (1) MOVE Axis (1) PEND Axis (1) CSTR Axis (1) P0 start flag Flag Flag Axis (1) PEND 118 Completion Completion Completion Completion Completion Completion P.No P.No P.No P.No P.No P.
Axis (1) PO completion 1 second 1 second Axis (1) operation flag Axis (1) MOVE Axis (1) P1 setting flag Axis (1) P1 setting flag Axis (1) P1 setting flag Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis (1) MOVE Axis (1) PEND Axis (1) P1 start flag 119
Axis (1) PEND Completion Completion Completion Completion Completion Completion P.No P.No P.No P.No P.No P.No Axis (1) P1 completion Axis (1) P1 completion 1 second Axis (1) PO start flag Axis (1) CSTR Axis (1) P1 start flag Axis (1) P0 completion No.3 (Axis 1) positioning completion lamp Axis (1) P1 completion flag No.3 (Axis 1) pause No.3 (Axis 1) pause button No.3 (Axis 1) pause button No.3 (Axis 1) pause No.3 (Axis 1) pause reset No.3 (Axis 1) pause reset No.3 (Axis 1) pause No.
No.3 (Axis 1) pause No.3 (Axis 1) pause lamp No.
10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Trouble Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure speedy recovery and prevent recurrence of the problem. a. Check the status of various LED indications for gateway unit. [1] Gateway unit status indication LED (RUN, G.ER, C.ER, T.ER) [2] SIO communication status (TxD, RxD) [3] CC-Link communication status (RUN, ERR, RD, SD) b.
10.2 Troubleshooting Statuses of failures are classified into the following three types. a. Abnormality of gateway unit b. Abnormality of SIO communication c. Abnormality of CC-Link 10.2.1 Abnormality of gateway unit There occurs a control abnormality of the gateway unit if the RUN (Green) on the gateway status indication LED is unlit or G.ER (Red) is lit in a state that the determined power is supplied. ★ Check the power voltage of the gateway unit.
10.2.3 Abnormality of CC-Link communication When the CC-Link communication is abnormal, C.ER (Red) on the gateway status indication LED is lit. Further, details of communication status can be checked by RUN (Green), ERR (Red), SD (Green) and RD (Green) on the CC-Link communication status LED. When any abnormality occurs, check the operation status with the status indication list on the next page. ★ Check the communication status LED, and check the following depending on each status.
CC-Link communication status indication list ○: Lit ●: Unlit ◎: Flashing RUN (Green) ERR (Red) SD (Green) RD (Green) ○ ◎ ◎ ○ ○ 0.4s◎ ◎ ○ ○ ○ ○ ○ ○ ○ ○ ● ● ● ● ● ● ◎ ◎ ◎ ● ● ● ● ◎ ◎ ◎ ◎ ● ● ◎ ● ● ◎ ◎ ● ● ◎ ◎ ● ● ◎ ◎ ● ○ ● ○ ● ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ● ● ● ● ● ● ● ○ ○ ● ● ● ● ○ ● ● Operation Communication is normally performed, however, CRC(*) error frequently occurs due to noise. Baud rate or station No. has changed from baud rate for reset release or station No. setting.
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Manual No.: ME0169-1A (December 2011) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
