ROBON R NET -A Edition Eighth Ed ition Ope eration Manua al Thirteenth 12.
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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 or DVD that comes with the product contains operation manuals for IAI products.
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CAUTION 24-V Power Supply for UL Certification The 24-VDC power supply conditions for obtaining a UL certification are explained below. • • To obtain a UL certification, use a Class 2 power supply conforming to all applicable U.S. electrical wiring regulations. If one Class 2 power supply cannot supply enough current, use two or more Class 2 power supplies. In this case, wire each power supply according to the figure below (example).
CAUTION Notes on Connecting PC and Teaching Pendant to ROBONET Whose 24-V Power Supply Is Grounded at Positive Terminal If the positive terminal of the ROBONET’s 24-V power supply is grounded, use a SIO converter as shown below to connect a teaching pendant or PC to the Gateway R unit. At this time, do not connect the FG of the SIO converter. Teaching pendant Do not connect the FG of the PC to ground.
CAUTION If the positive terminal of the ROBONET’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected directly to the Gateway R unit. If a teaching pendant or PC is connected directly to the Gateway R unit, the power supply may be short-circuited, causing the PC or teaching pendant to suffer damage. Cannot be connected directly. PC GateWay R unit This teaching pendant cannot be used.
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Introduction Introduction Thank you for purchasing IAI’s ROBONET. “ROBONET” is a general term for dedicated single-axis controllers used in a field network environment and characterized by their ultra-compact size, wire-saving features, and easy installation. This manual provides the information you need to know to use the ROBONET. Before using your ROBONET, peruse this manual and understand its contents fully. x Unauthorized reproduction of this manual, whether in part or in whole, is strictly prohibited.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. UL ROBONET controller can be used in an environment of pollution degree 2 and the surrounding air temperature between 0 to 40 degree C. The upper limit for overload protection for the RPCON controller is set to 100% of the motor’s rated current. Therefore, these controllers do not meet the UL508C requirements for overload and thermal protection.
Warranty Warranty Warranty (1) Warranty Period One of Warranty the following periods, (1) Periodwhichever is shorter: 18 months after shipment from our factory One the following periods, is shorter: 12ofmonths after delivery to a whichever specified location y 18 months after shipment from our company 12 months after delivery to the specified location (2) yScope of Warranty Our products are covered by warranty when all of the following conditions are met.
Warranty (5) Conditions of Conformance with Applicable Standards/Regulations, Etc., Warranty and Applications (1) Warranty Period (1) If our product is combined with another product or any system, device, etc., used by the customer, One of the following periods, whichever is shorter: the customer must first check the applicable standards, regulations and/or rules.
Safety Guide ......................................................................................................................................... 17 Part 1 Specification Chapter 1 Overview of ROBONET 1.1 Overview............................................................................................................................ 25 1.2 Features ...........................................................................................................................
3.9 Modbus Gateway Mode of RS485 SIO 3.9.1 Overview........................................................................................................... 142 3.9.2 Modbus/RTU Protocol Specification .............................................................. 143 3.9.3 Protocol Format 3.9.3.1 Gateway Address Map .......................................................................147 3.9.3.2 Query List .......................................................................................... 149 3.
Chapter 6 Extension unit 6.1 Overview............................................................................................................................. 256 6.2 Specifications .....................................................................................................................257 6.3 Product Configuration....................................................................................................... 258 6.4 Name of Each Part and External Dimensions 6.4.1 Name of Each Part...
5.2 Setting Up the Master 5.2.1 CC-Link............................................................................................................ 328 5.2.2 DeviceNet ........................................................................................................ 334 5.2.3 Profibus............................................................................................................ 347 5.2.4 EtherNet/IP...........................................................................................
Safety Guide Safety Guide Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product. “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure read it before the operation of Industrial this product.
Safety Guide Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Operation No. Description Description Work area Work condition Ɣ Cutoff drive source Measure Article or 2 Transportation Whenofcarrying a heavy object, do the work with two or more persons Outside During Signs for starting operation Article 104 utilize equipment such as crane. Not cut off movement automatic Ɣ When the work is carried out with or more persons,etc.
Safety Guide Applicable Modes of IAI’s Industrial Robot MachinesNo. meetingOperation the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. Description Description 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
Safety Guide Notes on Safety of Our Products Operation Description 4 Task Installation (4) Safety Measures No. Note and Start Ɣ When work or is designed carried out or morehigh persons, make it clear who is 1 Model selection z This product is notthe planned for with uses2requiring degrees of safety. to itbe the leader and who toor besupport the follower(s) andnot communicate Accordingly, cannot be used to sustain life and must be used in thewell with each other to ensure the safety of the workers.
Safety Guide No. Task Note 4 Installation/ (2) Wiring the cables startup z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, Operation No. Description etc. Description z Do not damage, forcibly bend, pull, loop round or pinch the cables 6 Trial Operation Ɣ When the work is carried out withan2 object or more persons, makeorit place clear heavy who is articles on top.
Safety Guide No. Task 6 7 8 9 10 Note z When releasing the brake of the vertically installed actuator, be careful not to let the Operation actuator drop due to its dead weight, causingDescription pinched hands or damaged work part, etc. No. Description * Safety fences --- Indicate the movement range if safety fences are not provided.
Safety Guide No. Task Note z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its dead weight, causing pinched hands or damaged work part, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.
Safety Guide No. Task 6 Confirmation operation 7 Automatic operation 8 Maintenance/ inspection 9 Modification 10 Disposal 6 Note z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its dead weight, causing pinched hands or damaged work part, etc. * Safety fences --- Indicate the movement range if safety fences are not provided.
Specification P Part1 t S f t 1.1 Speciffication Overvview of RO OBONET Ove erview ““ROBONET” is s a general term m for dedicated d controllers us sed to operate R ROBO Cylinde ers (RCA/RCA2 2/RCL/RCP2/R RCP3) over a field network k connected to a host program mmable controller (hereinafterr referred to ass “PLC”).
Part 1 Specification P Part t 1 Specification S f t 1.2 (1) Features Five Ty ypes of Component Units s The five types t of units specified below can be combin ned in a desired d fashion to bu uild a ROBONE ET system. The e maximum number of o component axes a is 16.
Part 1 Specification The ROBONET can operate ROBO Cylinders in one of the following four modes under the control of the Gateway R unit, regardless of the type of the host fieldbus. The following three modes from [1] to [3] can be combined together. You can also combine the remaining three modes from [4] to [6]. However, [1] and [4] cannot be combined, and modes in the group of [1] to [3] cannot be combined with modes in the group of [4] to [6].
Part 1 Specification Part List of ROBONET Operation Functions Operation mode Item Positioner mode Axis area (both input and output) Fixed area (both input and output) Completed position number monitor Zone output monitor Simple direct mode words (The command area can be used.
Part 1 Specification With this tool, you can set the station number, baud rate, and operation mode of each axis, and also check the occupied areas. Also, reserved axes can be set in consideration of expansion of axis configuration in the future. [1] Station number setting ------------------------- Set the station number (node address) in the field network. [2] Baud rate setting -------------------------------- Set the baud rate over the field network.
Part 1 Specification Specification P Part t 1 S f t Chapter 2 2 2.1 System m Configu uration and d General Specifica ations Systtem Config guration A ROBONET system s is comp prised of one Gateway G R unit and up to 16 a axes of controlller units. The G Gateway R unitt is a available in fou ur types—Devic ceNet specifica ation, CC-Link specification, P Profibus speciffication, EtherN Net/IP specifica ation a and RS485 SIO O specification—to support va arious field nettworks.
Emergency stop circu uit Gateway y R unit RCA PCL actuator RACON unit Axis 0 RCP actuator RPCON unit Axis 1 Simple absolute R unit RCA R ,RCL actuator RAO ON unitt Axis 2 Field network (Dev viceNet, CC-Link, Profibus, P EtherNet/IP) RS485 SIO ROB BONET Configu uration (1) (Basic) Sim mple abso olute R unit u RCP actuator RPCON unit Axis 3 -31- Power-suppply connection plates ROBONET coommunication connection cirrcuit board Terminal resistor circuit board Simple abbsolute connection cir
Part 1 Specification Part 1 Specification ROBONET Configuratio C on (2) (M Multi-stage layout and external SIO link) Field ne etwork (Device eNet, CC-Link, Profibus, EtherrNet/IP) RS485 5 SIO Gateway G R unit Axis 0 Axis 1 RACON unit RPCON unit Axis 2 RAON unit Sim mple abs olute nit R un Extension unit Simple absolu ute connection circuit board Chapter 2 System Configuration and General Specifications ROBONET com mmunication connection circu uit board ates Power-supply connection pla Exten
Part 1 Specification Gen neral Specifications T The general sp pecifications off a ROBONET system are listed below. Item Power-supply voltage Power-supply current Maximum num mber of connec ctable axes Supported field networks ROBONET co ommunication protocol p Component un nits Emergency stop/enable operation Use environment Surrounding air a temperature e Surrounding humidity h Protection deg gree External dimensions of each h unit Installation me ethod 2 2.
Part 1 Specification Part Specification The method to select an appropriate -VDC power supply to be used with your ROBONET system is explained below. ( ) Current consumption of controller units when the respective axes operate simultaneously Rated RACON current x Number of RACON controllers operating simultaneously ( ) + Rated RPCON current x Number of RPCON controllers operating simultaneously ( ) --- [ ] ( ) Current consumption of other units = 0.
Part 1 Connection Diagram Shown below is a connection diagram of a ROBONET system comprising of a RPCON and a RACON connected to a simple absolute R unit. Gateway R unit 24-V power supply Terminal block Motor cable (CB-RCP2-MA***) Part 1 Specification 2.
Chapter 3 3.1 Gatew way R unit Ove erview T The Gateway R unit is a slave station with gateway g functio on for connecti ng ROBO Cyli nders to a field d network of a h host PLC a and operating the connected ROBO Cylinde ers. T The Gateway R unit is available in four type es to support fie eld networks off CC-Link, DevviceNet, Profibu us, EtherNet/IP P and RS485 SIO communication ty ypes.
Part 1 Specification How w to Read the t Model Name Bas se model Supp orted field netw work Dedicated d Gateway R unit for ROBONET 3.3 Part 1 Specification 3.2 CC DV PR EP SIO : CC‐Link : DeviceNet : PROFIBUS : EtherNet/IP : RS485SIO Gate eway R un nit and Acc cessories T The four types of units each come c with a diffferent set of accessories app propriate for the e applicable fie eld network.
Part 1 Specification Part 1 3.4 Specification General Specifications 3.4.1 CC-Link This product is a maximum 4-station remote device station supporting CC-Link Version 2.00. (Its specifications vary depending on the extended cyclic setting.) This product supports the following functions of CC-Link Version 2.00: x Extended cyclic transmission x Relaxed limitation on station link cable length Chapter 3 Gateway R unit CC-Link Version 1.
Part 1 SIO communication specification CC-Link specification Number of connectable units Ambient operating temperature Ambient operating humidity Operating ambience Storage temperature Storage humidity Vibration resistance Impact resistance Protection degree Weight External dimensions *1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit.
Specification 3.4.2 DeviceNet Item Power supply Current consumption Communication protocol Specification 24 VDC r 10% 600 mA max. (*1) An interface module certified under DeviceNet 2.0 is used.
Part 1 Specification Part 1 Specification 3.4.3 Profibus Profibus specification Item Power supply Current consumption Communication protocol Communication specification 24 VDC r 10% 600 mA max. (*1) Group 2 only server Network-powered isolated node Master-slave connection Specification Bit strobe Polling Cyclic SIO communication specification Environment conditions *1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit.
3.4.4 EtherNet/IP 24 VDC 10% 600 mA max. IEC61158 10BASE-T/100 BASE-T Baud rate (Auto negotiation setting is recommended.) Refer to EtherNet/IP specifications Communication cable length (The distance between the hub and each node must be within 100 m (Note 1)) Number of connections Varies depending on the master unit. Applicable node address 0.0.0.0 to 255.255.255.255 Category 5 or above Communications cable (Aluminum tape and braided double-shielded cable are recommended.
3.4.5 RS485 SIO Two modes are available: the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station, and the SIO through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII protocols.
(5) RS485 5SIO (RGW-S SIO) RGW-SIO O connector: Cable-end connector: MC1.5/4-G--3.5 (by Phoenix Contact) MC1.5/4-ST T-3.5 (by Phoenix Contact) = Standard acce essory Chapter 3 Gateway R unit SIO comm munication con nnector Signa al name Expla anation SA S Co ommunication line A (+) Built-in term minal resistor (2 220 ) conform ming Co ommunication line B (-) SB S to RS485 SG S Signal ground Frrame ground FG F Th his signal is con nnected to the enclosure.
Part 1 Specification Nam me/Functio on of Each Part and External E D Dimensionss T The five types of Gateway R units are exacttly the same, except e for the fi eld network co onnector provid ded on top of th he unit. 3.5.1 Name of Each h Part Field n network connecctor (Varies accorrding to the nettwork type) MODE switch Part 1 Specification 3.
Part 1 Specification Part 1 Specification 3.5.2 LED Indicators These LEDs are used to monitor the status of the gateway unit. Symbol Indicator color RUN/ALM Green/orange EMG Red ERROR T Orange ERROR C STATUS 1 STATUS 0 AUTO Orange Green/orange Green/orange Green Explanation Steady green: Operating normally. Steady orange: An error is present. This LED is lit when an emergency stop is actuated. This LED is lit when a communication error is present between the controller and internal bus.
Part 1 Specification Name STATUS 1 Indicatorr color Sta atus Ste eady Blinking Blinking Ste eady Blinking Ste eady Explanation Online. Online (clear comma nd executed). An erro or (parameter e error or Profibu us configuration n error) is present. Initializ zation has com pleted. Initializ zation has com pleted (diagno osis event has o occurred). An erro or (exceptional error) is prese ent. Sta atus Ste eady Blinking Stea ady Blinking Ste eady Blinking Explanation Online.
Part 1 Specification Part 1 Specification 3.5.3 MODE Switch This switch is used to set the operation mode of the controller. Status MANU AUTO Explanation Manual operation: The ROBONET system can be operated using a teaching pendant or PC. Auto operation: The ROBONET system is controlled via field network communication. 3.5.4 TP Connector A connector used exclusively for connecting a teaching pendant or PC. Connector: TCS7587-0121077 (by Hosiden) 3.5.
Part 1 Specification Part 1 Specification ROBONET communication connection circuit boards Terminal resistor circuit board Power-supply connection plates (Interconnections of ROBONET units) ROBONET communication connection circuit boards (Model JB-1) RACON unit RPCON unit Simple absolute R unit The photographs show the parts supplied with the axis controller unit or simple absolute R unit. 3.5.8 FG Terminal (Frame Ground) This terminal is used to connect the Gateway R unit to ground.
Part 1 Specification Part 1 Specification Recommended Emergency Stop Circuit Shown below is an example of an emergency stop circuit of a ROBONET system. The built-in drive-source cutoff relays of all axis controller units are turned ON/OFF simultaneously using the emergency stop switch of the emergency stop circuit or teaching pendant connected to the Gateway R unit.
Part 1 Specification Part 1 Specification 3.5.10 Field Network Connector This connector is used to connect the master unit of each field network. The connector varies according to the field network type. (1) CC-Link (RGW-CC) RGW-CC-end connector: MSTBA2.5/5-G-5.08AU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory RGW-CC end * The cable-end connector, “terminal resistor 110 :, 1/2 W” and “terminal resistor 130 :, 1/2 W” are supplied.
Part 1 Specification Part 1 Specification (1) DeviceNet (RGW-DV) RGW-DV-end connector: MSTBA2.5/5-G-5.08ABGYAU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.
Part 1 Specification Part 1 Specification (3) Profibus (RGW-PR) RGW-PR connector: D-Sub, 9-pin connector (female) Explanation Not connected Not connected Communication line B (RS485) Send request Signal ground (isolated) +5-V output (isolated) Not connected Communication line A (RS485) Not connected Cable shield This signal is connected to the enclosure. Caution (1) The mating (cable-end) connector (D-sub, 9-pin connector) is not supplied.
(4) EtherNet/IP (RGW-EP) Connector on RGW-EP end: 8P8C modular jack Part 1 Specification Part 1 8 1 Chapter 3 Gateway R unit EtherNet/IP Communication Connector Pin number 1 2 3 4 5 6 7 8 Signal name TD+ TDRD+ RD- Explanation Data transmitted + Data transmitted Data received + Data received - * For the Ethernet cable, use a straight STP cable of category 5e or higher.
Part 1 Specification RS485 SIO (RGW- SIO) RGW-SI O connector: Cable-end connector: MC1.5/4-G- 3.5 (by Phoenix Contact) MC1.5/4-ST -3.5 (by Phoenix Contact) = Standard accessory Part 1 Specification (5) SIO communication connector Signal name Explanation SA Communication line A (+) Built-in terminal resistor (2 20 ) conform SB Communication line B (-) to RS485 SG Signal ground Frame ground This signal is connected to the enclosure.
(5) RS485 5SIO (RGW-S SIO) RGW-SIO O connector: Cable-end connector: MC1.5/4-G--3.5 (by Phoenix Contact) MC1.5/4-ST T-3.5 (by Phoenix Contact) = Standard acce essory Chapter 3 Gateway R unit SIO comm munication con nnector Signa al name Expla anation SA S Co ommunication line A (+) Built-in term minal resistor (2 220 ) conform ming Co ommunication line B (-) SB S to RS485 SG S Signal ground Frrame ground FG F Th his signal is con nnected to the enclosure.
Part 1 Specification Part 1 Specification 3.5.11 External Dimensions (50 from DIN rail center) Chapter 3 Gateway R unit * Installable on a 35-mm DIN rail (69.
Part 1 Specification Part 1 3.6 Specification Operation Function List RACON/RPCON Function List Positioner 1, 2 mode Home return operation Positioning operation c Solenoid valve modes 1, 2 c Solenoid valve mode 1 X Solenoid valve mode 2 (not required) U Specify a position table number. U Specify a position table number. U Set in the position table. U Set in the position table. Acceleration/deceleration setting U Set acceleration and deceleration in the position table separately.
Part 1 U: Indirect control X: Not available Simple direct mode Direct numerical specification mode c c { Specify position data (32-bit signed integer). { Specify position data (32-bit signed integer). U Set in the position table. { Specify speed data (16-bit integer). U Set acceleration and deceleration in the position table separately. { Specify acceleration/deceleration data (16-bit integer). U Set acceleration and deceleration in the position table separately.
Part 1 Specification Part 1 3.7 Address Configuration ROBONET addresses are configured in the same manner with all four types of gateway units regardless of the type of field network. The addresses occupied by the network consist of a fixed 8-word area and a data area that changes according to the operation mode and number of axes. The operation modes and occupied data areas are shown below.
Part 1 Specification PLC output Axis input Upper byte Direct numerical specification area Control signal area Lower byte Position data specification (L)* Position data specification (H)* Positioning band specification (L)* Positioning band specification (H)* Speed specification Acceleration/deceleration specification Push-current limiting value Control signal Number of words 2 2 1 1 1 1 Axis output PLC input Upper byte Lower byte Current position data (L)* Current position data (H)* Current el
Part 1 Specification Part 1 Specification Example of Overall CC-Link Address Configuration (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.
Part 1 Specification *1 PLC master expanded cyclic setting 32 words x4 setting, 2 stations ROBONET PLC input Input Upper byte Lower byte register RX0F to 00 Gateway status signal 0 RX1F to 10 Gateway status signal 1 RX2F to 20 Response command RX3F to 30 Data 0 RX4F to 40 Data 1 RX5F to 50 Data 2 RX6F to 60 Data 3 RX7F to 70 (Cannot be used) Output register RWw 00H (Axis 0) Command position number RWw 01H (Axis 0) Control signal RWw 02H (Axis 1) Command position number RWw 03H (Axis 1) Control signal
Specification (2) DeviceNet Example of Overall DeviceNet Address Configuration (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.
Part 1 Specification PLC output ROBONET Upper byte ROBONET PLC input Upper byte Lower byte Gateway control signal 0 Gateway control signal 1 Request command Data 0 Data 1 Data 2 Data 3 (Cannot be used) (Axis 0) Command position number (Axis 0) Control signal (Axis 1) Command position number (Axis 1) Control signal (Axis 2) Command position number (Axis 2) Control signal (Axis 3) Command position number (Axis 3) Control signal (Axis 4) Command position number (Axis 4) Control signal (Axis 5) Command
Specification (3) Profibus Example of Overall Profibus Address Configuration (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.
Part 1 Specification Part 1 Specification Example of Overall Profibus Address Configuration (positioner 2 mode and solenoid valve modes 1 and 2) An example of connecting 16 axes in the positioner 2 mode or solenoid valve mode 1 or 2 is shown below.
Specification Relative byte * Chapter 3 Gateway R unit (3) EtherNet/IP ■ Example of overall EtherNet/IP address configuration (Positioner 1 mode/Simple direct mode + Direct numerical specification mode) An example where 12 axes in the positioner 1 mode or simple direct mode and two axes in the direct numerical specification mode are connected is shown.
■ Example of overall EtherNet/IP address configuration (Positioner 2 mode and solenoid valve modes 1, 2) An example where 16 axes in the positioner 2 mode and solenoid valve modes 1, 2 are connected is shown. ROBONET PLC input Upper byte Lower byte Gateway status signal 0 Gateway status signal 1 Response command Data 0 Data 1 Data 2 Data 3 (This area cannot be used.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification (4) (5) RS485SIO Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.
Part 1 Specification PLC output ROBONET Upper byte Lower byte Gateway control signal 0 Gateway control signal 1 Request command Data 0 Data 1 Data 2 Data 3 (Reserved) (Axis 0) Command position number (Axis 0) Control signal (Axis 1) Command position number (Axis 1) Control signal (Axis 2) Command position number (Axis 2) Control signal (Axis 3) Command position number (Axis 3) Control signal (Axis 4) Command position number (Axis 4) Control signal (Axis 5) Command position number (Axis 5) Control sign
Part 1 Specification Part Specification . . Gateway Control/Status Signals In the address configuration of the Gateway R unit, the first two input words and output words are used to control the Gateway R unit. These signals can be used to perform ON/OFF control of ROBONET communication (SIO control) and monitor the communication status as well as the status of the Gateway R unit.
Part Specification PLC output Signal type Signal name MON - RTE RMOD ECE 0-0 -0 RTE RUN LERC ERRT MOD - 0 0 0 0 W B W B W B W B W B W B W B W B W B W B LNK LNK LNK LNK LNK LNK 0 LNK LNK LNK LNK LNK LNK LNK LNK LNK LNK0 Control signal 0 Control signal PLC input Status signal 0 Status signal Description When this signal is ON ( “ ” ), control outputs from the
Part 1 Specification Part 1 Specification 3 3.7.3 Com mmand Area a T The eight inputt words and eig ght output word ds from the initiial address of tthe gateway un nit are fixed are eas. With both o output and input, six words in this fixed area a are assign ned as a comm mand area wherre various com mmands can be e used to read/w write the position table, among others. mands cannot be used in the direct numeric cal specification n mode.
Part 1 Specification Part 1 Specification (2) Command List The available command and command codes are listed below.
Commands and Da ata Formats The rewriite life of the po osition table me emory is appro ox. 100,000 tim mes. Accordingl y, do not rewrite the position table constantly y.
Part 1 Specification Write decelera ation Write push-current limiting value *7 * Write load currrent threshold **2 **3 **4 **5 **6 **7 **8 +5 + +6 + +7 + +2 + +3 + +4 + +10 0/+11 +12 2/+13 +14 4/+15 +4 4/+5 +6 6/+7 +8 8/+9 RY 5*/RX 5* RY 6*/RX 6* RY 7*/RX 7* +5 + +6 + +7 + +10 0/+11 +12 2/+13 +14 4/+15 P PLC input (resp ponse) 1006H Position num mber D Deceleration da ata *6 0 A Axis number 0 to FH Cannot be ussed.
Part 1 Specification Part 1 Specification [2] Posiition table data read commands Command name n Read target po osition P PLC output (req quest) P PLC input (resp ponse) 1040H If the e command has been succcessful, the value e returned in th he response is the same as the vvalue set in the rrequest.
Part 1 Specification Read decelera ation Read push-current-limiting value Read load currrent threshold P PLC input (resp ponse) 1046H Iff the command has been successful, the value e returned he response is the same as in th the e value set in the e request. Deceleration datta *5 Iff the command has been successful, the value e returned he response is the same as in th the e value set in the e request.
Part 1 Specification Part 1 Specification [3] Group-spe ecific broadcas st operation commands These ope erations can be e used in the po ositioner mode. The axes specified s by the e group numbe er are started simultaneously to the position specified by th he POS numbe er. Since these commands implem ment broadcast communication between the gateway and ccontrollers, no response is retturned from the co ontrollers.
Part 1 Specification If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code will be set in response data 1.
Specification 3.7.4 Position Table RACON and RPCON controllers can be operated in one of six modes—positioner mode 1, 2, simple direct mode, direct numerical specification mode and solenoid valve mode 1, 2—using one of four types of Gateway R units. To perform positioning operation in the positioner mode or simple direct mode, a position table must be created beforehand using a teaching tool.
Part 1 Specification Part 1 Specification The position table is explained using the screen of the PC software as an example. (The display is different on the teaching pendant.) Position Zone+ Speed Acceleration Deceleration Zone- Acceleration /deceleration mode Push Incremental Threshold Command mode Positioning band Stop mode Comment x A position data number is indicated. (2) Position x Input the target position to which to move the actuator [mm].
Part 1 Specification Part 1 (4) Acceleration/Deceleration Specification x Input the acceleration/deceleration at which to move the actuator (unit: [G]). Input a value within the rated range. (Refer to Appendix, “Specification List of Supported Actuators.”) Exercise caution when setting the acceleration/deceleration, because the input range is greater than the rated range in the catalog. If the transferring load vibrates during acceleration/deceleration to cause problems, decrease the set value.
Part 1 Specification Speed When the load is contacted, push operation is deemed complete and the position complete signal turns ON. Part 1 Specification “Push operation” This field defines the maximum distance traveled from the target position in push operation. Consider the mechanical variation of the work part and set an appropriate positioning band so that the positioning will not complete before the actuator contacts the work part.
Part 1 Specification Part 1 [Linear axis] Current position Set values Zone setting+: 70 mm Zone setting-: 30 mm Zone signal output Set values Zone setting+: 30 mm Zone setting-: 70 mm Zone signal output Chapter 3 Gateway R unit Specification Caution The specifics of the zone function vary depending on the application version.
Part 1 Part 1 Specification (9) Acceleration/Deceleration Mode Specification x This field defines the acceleration/deceleration pattern characteristics. The factory setting is “0.” 0: Trapezoid pattern 1: S-motion 2: Primary delay filter Trapezoid Pattern Speed Acceleration Deceleration Time The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the position table, respectively. S-motion Speed Time The S-motion level is set in parameter No.
Part 1 Specification Part 1 Specification Primary Delay Filter The actuator accelerates/decelerates over a curve that is more gradual than in linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don’t want the work part to receive micro-vibration during acceleration/deceleration. Speed Time Chapter 3 Gateway R unit The primary delay level is set in parameter No. 55, “Position-command primary filter time constant.
Part 1 Specification Assiignments in n the Positio oner 1 Mod de or Simple e Direct Mo ode A Assignments in n the positioner 1 mode or sim mple direct mod de are shown b below. PLC output = Axis A control sig gnal Addres ss* 1w word = 16 bits Profibus EtherNet/IP RS485SIO Part 1 Specification 3 3.7.
Chapter 3 Gateway R unit Specification I/O Signal List Signal type Position data specification PLC output Part 1 Specification Part 1 Command position number Control signal {: Available 68 Bit Signal name Description 32-bit data - Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) Example) To set +25.4 mm, specify “0009EC” (decimal number: 2540). z The maximum settable value is +9999.99 mm = 999999 (decimal number) = 0F423FH (hexadecimal number).
Part Specification PLC input Signal type Signal name Description Current position data -bit data - Completed position number b -b0 PM*** b b b b b b 0 b b b b b b b b b b0 EMGS CRDY ZONE ZONE PZONE MODES WEND LOAD TRQS PSFL SV ALM MOVE HEND PEND Output as a hexadecimal number using a -bit signed integer (unit: 0.0 mm). Example) To set + . mm, specify “000 EC” (decimal number: 0). The maximum settable value is + .
Part 1 Specification Part 1 [Alarm List] Listed below are simple alarm codes that will be output when the respective alarms generate. For details, refer to Part 3, “Maintenance.” Simple alarm codes and alarm codes are given as hexadecimal numbers. * Simple alarm codes are indicated by the STATUS0 to 3 LEDs on the controller unit.
Part 1 Specification Ass signments in the Direc ct Numerica al Specifica ation Mode A Assignments in n the direct num merical specific cation mode arre shown below w. S Set the push-c current limiting value, v accelera ation/deceleration and speed within the rang ges specified fo or the applicable actuator, a and set the target position da ata within the so oft stroke range e. Setting units: Curren nt-limiting value e = 1%, Accele eration/decelera ation = 0.01 G,, Speed = 1.0 m mm/sec or 0.
Part 1 Specification Part 1 Specification PLC input = Ax xis status signa al 1 word = 16 b bits Profibus Addres ss* Profibus EtherNet/IP EtherNet/IP RS485SIO RS485SIO (Lower byte) (Upper byte) Current po osition data (S igned integer) Current po osition data (S igned integer) and current valu ue (Signed inte eger) Motor comma Current spe eed (Cannot be ussed.
Part 1 Specification Signal type Position data specification Signal name 32-bit data - 32-bit data - Speed Acceleration/ deceleration 16-bit data 16-bit data - - Description Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) Example) To set +25.4 mm, specify “0009ECH” (decimal number: 2540). z The maximum settable value is +9999.99 mm = 999999 (decimal number) = 0F423FH (hexadecimal number). z If the applicable data is a negative value, specify it as a complement of 2.
Specification I/O Signal List Signal type Push-current limiting value PLC output Part 1 Specification Part 1 Chapter 3 Gateway R unit Control signal 74 Bit Signal name 8-bit data - b15 b14 b13 BKRL DIR b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 PUSH JOG+ JOGJVEL JISL SON RES b2 STP b1 b0 HOME CSTR Description Set the push-current limiting value as a hexadecimal number (unit: %) to set the push force. The setting range is 00H to FFH, where FFH and 1FFH correspond to 100% and 200%, respectively.
Part Specification Signal type PLC input Current position data Bit Signal name -bit data - Motor command current value -bit data Current speed -bit data - Alarm code -bit data - b b b b b b 0-b b b -b EMGS CRDY ZONE ZONE MEND - b PSFL Missed work part in push operation b b b b b0 SV ALM MOVE HEND PEND Ready (servo ON) Alarm present Moving Home return complete Position complete Status signal - Details . . ( ) . . ( ) . . ( ) . . . . ( ) .
3.7.7 Part 1 Specification Part 1 Specification Part 1 Specification Ass signment in n Positionerr 2 Mode A Assignment in the positioner 2 mode is explained below.
Part 1 Specification Part 1 Specification 3.7.8 Sig gnal Assignments in So olenoid Valve Mode 1 S Signal assignm ments in soleno oid valve mode 1 are shown below.
Specification I/O Signal List Signal type Command position number PLC output Part 1 Specification Part 1 Chapter 3 Gateway R unit Control signal PLC input Completed position number Status signal 78 Bit Signal Description b15-b7 - b6 ST6 Start position command 6 b5 ST5 Start position command 5 b4 ST4 Start position command 4 b3 ST3 Start position command 3 b2 ST2 Start position command 2 b1 ST1 Start position command 1 b0 ST0 Start position command 0 b15 BKRL b14-b5 -
Part 1 Specification Part 1 Specification 3.7.9 Sig gnal Assignments in So olenoid Valve Mode 2 S Signal assignm ments in soleno oid valve mode 2 are shown below. b PLC output = Axis A control sig gnal Addres ss* 1 word = 16 bitss Profibus EtherNet/IP RS485SIO (Lower byte) (Upper byte) Comm mand position number Control signa al Address* Profibus EtherNet/IP RS485SIO (Lower byte) (Upper byte) Comp pleted position number al Status signa * m indicates the first registerr address of ea ach axis.
Part 1 Specification Part 1 I/O Signal List Signal type Command position number PLC output Control signal Completed position number Chapter 3 Gateway R unit Specification PLC input Status signal 80 Bit Signal b15-b3 - Description b2 ST2 Intermediate point movement command b1 ST1 Front end movement command b0 ST0 Rear end movement command b15 BKRL b14-b5 - b4 SON Cannot be used. Forced brake release Cannot be used. Details 3.8.2. (21) 3.8.2. (19) - Servo ON command 3.8.2.
Part 1 I/O Signals 3.8.1 I/O Signal Timings To operate the ROBO Cylinder using the PLC’s sequence program, a given control signal is turned ON. The maximum response time after the signal turns ON until the response (status) signal is returned to the PLC is calculated by the formula below: Part 1 Specification 3.8 Specification Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.
Part 1 Specification Part 1 Specification 3.8.2 I/O Signal Functions (1) Controller Ready (CRDY) PLC Input Signal This signal turns “1” (ON) when the controller has become ready to perform control after the power is turned ON. Function This signal turns “1” (ON) when the controller has been successfully initialized and become ready to perform control after the power is turned ON, regardless of the alarm status, servo status, etc.
Part 1 Specification Ready (SV) PLC Input Signal Turn the SON signal “1” (ON), and the servo will turn on. When the servo is turned ON, the SV LED (green) on the front panel of the controller will illuminate. The SV signal is synchronized with this LED indicator. ڦFunction The SON signal can be used to turn ON/OFF the controller servo. The controller servo remains on and thus the controller can be operated while the SV signal is “1” (ON). The relationship of SON and SV signals is shown below.
Specification (6) Home Return Command (HOME) PLC Output Signal Home Return Complete (HEND) PLC Input Signal Home return operation will start at the “0” (OFF) Æ “1” (ON) leading edge of the HOME signal. When home return is complete, the HEND (home return complete) signal will turn “1” (ON). Turn the HOME signal “0” (OFF) after the HEND signal has turned “1” (ON). Once it turns “1,” the HEND signal will not turn “0” (OFF) until the power is turned OFF or the HOME signal is input again.
Part 1 Specification Upon detection of the “0” (OFF) o “1” (ON) leading edge of this signal, the controller will read the target position number consisting of a 10-bit binary code from PC1 to PC512, and perform positioning to the target position specified by the corresponding position data. The same procedure is followed when the target position is specified directly as a numerical value in the position data specification area.
Part 1 Specification Part 1 Specification (10) Pause (STP) PLC Output Signal Turn this signal “1” (ON), and the axis movement will pause (the axis will decelerate to a stop). Turn the signal “0” (OFF), and the axis movement will resume. (11) Command Position Number (PC1 to PC512) PLC Output Signal The command position number is read as a 10-bit binary number.
Part 1 Specification Part 1 Specification Examples are shown below.
Part 1 Specification Part 1 Specification (14) Jog+ Command/Jog- Command (JOG+/JOG-) PLC Output Signal These signals function as start commands for jogging operation or inching operation. The + command starts operation in the direction opposite home, while the – command starts operation in the home direction.
Part 1 Specification This signal switches between the parameter for specifying the jogging speed when jogging operation is selected and the parameter for specifying the inching distance when inching operation is selected. The relationships are summarized in the table below. JVEL signal “0” (OFF) “1” (ON) Jogging operation: JISL = “0” (OFF) Parameter No. 26 (Jogging speed) Parameter No. 47 (Jogging speed 2) Inching operation: JISL = “1” (ON) Parameter No. 26 (Jogging speed) Parameter No.
Part 1 Specification Part 1 Specification (17) Teaching Mode Command (MODE) PLC Output Signal (Effective only in the positioner mode) Teaching Mode Status (MODES) PLC Input Signal When this signal is turned “1,” the controller will switch from the normal operation mode to the teaching mode. After switching to the teaching mode, each axis controller will output the teaching mode status (MODES) signal. Turning the MODE signal “1” (ON) switches the normal operation mode to the teaching mode.
Part 1 Specification Upon detection of the OFF Æ ON leading edge of any of these signals or an ON level signal for such signal, the actuator starts positioning to the target position specified by corresponding position data. Before issuing a start position command, the target position, speed and other operation data must be set in the position table using a PC or teaching pendant.
Part 1 Specification Part 1 (22) Current position number signals (PE0 to PE6) [Solenoid valve mode 1] PLC input signal When positioning is complete, a signal for the position number corresponding to the movement command (0 to 6) is output separately. Correspondence table of output signals and completed positions Note) Chapter 3 Gateway R unit Specification Output signal Completed position PE0 Position No. 0 PE1 Position No. 1 PE2 Position No. 2 PE3 Position No. 3 PE4 Position No.
Part PLC Input Signal Dedicated Function for RPCON 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 inspected width range are set using the PLC's register. When the command torque (motor current) exceeds the threshold within the inspected width range, this signal is turned “ON”.
Part 1 Specification Part (25) Torque level (TRQS) Specification PLC Input Signal Dedicated Function for RPCON 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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
Part 1 Specification (1) Ready Follow the steps bellow to start the system after confirming that the slider or rod is not contacting a mechanical end and the transferring load is not contacting any peripherals, either: [1] Cancel the emergency stop or enable the motor drive power. [2] Supply the 24-VDC controller power (24-V terminal and 0-V terminal on the power-supply terminal block). [3] Initialize the minimum parameter(s) required.
Specification Warning The RACON controller performs magnetic-pole phase detection operation during the first servo ON processing after the power has been turned ON. During this detection operation, the actuator will generally move by approx. 0.5 to 2 mm, although the specific dimension varies depending on the ball screw lead. (On rare occasions, the actuator may move by up to around one-half the ball screw lead depending on the position at which the power is turned ON.
Part 1 Specification This controller unit uses an incremental position detector (encoder) and therefore its mechanical coordinates will be lost once the power is cut off. After the power is turned ON, therefore, home return must be performed to establish mechanical coordinates. To perform home return operation, input the home return command signal (HOME). Home return operation is not required if a simple absolute R unit is connected to the controller unit to make the controller an absolute axis.
Part 1 Specification Part 1 Specification (3) Operation in the Positioner 1 Mode and Positioner 2 Mode Input position data in the controller’s position table beforehand, and specify a desired position number using a link register of the PLC. ڦOperation [1] Set the position number in the command position number register. [2] Next, turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is “1” (ON).
Part 1 Specification Part 1 Specification [1] Command position number (PLC o GW) *1 [2] Start command CSTR (PLC o GW) Position complete PEND (GW o PLC) Completed position number (GW o PLC) *2 [3] [4] [6] [5] d 1Mt d 1Mt Chapter 3 Gateway R unit Moving MOVE (GW o PLC) *1 T1: Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller.
Specification (4) Operation in the Simple Direct Mode In this mode, position data is written to a link register of the PLC and other data such as speed, acceleration/deceleration, positioning band and push current-limiting value are specified by a position table. Preparation Set in the position table all position data (speed, acceleration/deceleration, positioning band, push-current limiting value, etc.) other than the target position.
Part 1 Specification Part 1 Specification [1] Position data setting (PLC o GW) [2] Command position number (PLC o GW) *1 *3 twcsON [3] Start command CSTR (PLC o GW) [4] *2 tdpf Position complete PEND (GW o PLC) *4 twcsOFF [5] [7] Chapter 3 Gateway R unit [8] Current position (GW o PLC) [6] d 1Mt d 1Mt Moving MOVE (GW o PLC) *1 Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification (5) Operation in the Direct Numerical Specification Mode In this mode, the actuator is operated by writing the target position data, acceleration/deceleration data, speed data, push-current limiting value data and positioning band data to link registers in the PLC, without using the position table of the controller. With push operation, set all of the above data.
Part 1 Specification Part 1 Specification [1] Target position data setting (PLC Æ GW) [2] Speed and acceleration/deceleration data setting (PLC o GW) [3] Positioning band data setting (PLC o GW) [4] Chapter 3 Gateway R unit Push-current limiting value data setting (PLC o GW) [5] Push mode PUSH (PLC o GW) [6] Push direction DIR (PLC o GW) [7] *1 [13] Start command CSTR (PLC o GW) Position complete/missed load in push operation PEND/PSFL (GW Æ PLC) *2 [9] [8] [11] Current position (GW o PLC) [10] d
Part 1 Specification Part 1 Specification The target position data, acceleration/deceleration data, speed data, positioning band data and push-current limiting value data can be changed while the actuator is moving. To do so, turn the CSTR “1” (ON) and keep it “1” (ON) for tdpf or more after the data has been changed. Also provide an interval of 1 Mt or more after the CSTR is turned “0” (OFF) until it is turned “1” (ON) again. An example of changing the speed and acceleration/deceleration is shown below.
Part 1 Specification Enter position data beforehand in the position table of the controller, and specify each desired position number using the corresponding link register on the PLC. ڦOperation [1] After confirming that the position complete (PEND) signal is “1” (ON), turn the ST* signal corresponding to the position number under which the target position you want to move the actuator to, which is currently stored in a command position number register, from “0” (OFF) to “1” (ON).
Part 1 Specification Part 1 Specification (7) Operation in solenoid valve mode 2 Enter position data beforehand in the position table of the controller, and specify each desired position number using the corresponding link register on the PLC. ڦOperation [1] Set all movement command bits to “0” (turn all movement command signals OFF). [2] Set the movement command bit (front end movement command in the example below) to “1” (turn the signal ON).
Part 1 Specification (1) Push operation [1] Basic operation As shown below, the actuator moves to the specified target position, and then moves at the specified push speed by up to the specified positioning band while pushing the work part. The moment the push force reaches a certain value during push movement, completion of push is recognized and the position complete signal turns “1” (ON). Part 1 Specification 3.8.
Part 1 Specification Part 1 Specification Push Mode Specification x In the positioner 1, 2 mode, simple direct mode and solenoid valve mode 1, 2, set a value other than “0” (push-current limiting value) in the “Push” field of the position table. x I In the direct numerical specification mode, set a value in the push-current limiting value area (bit 8) and set “1” (ON) in the control signal PUSH (bit 12). Push Speed Set the push speed using parameter No. 34, “Push speed.
Part 1 Specification Speed Part 1 Specification [2] When the work part was missed in push operation If the work part is not contacted (= the motor current does not reach the push-current limiting value) after the actuator has moved the distance corresponding to the specified positioning band, the position complete signal is not output. However, the completed position number is output. In this case, status signal bit 5, or the PSFL, turns “1” (ON).
Part 1 Specification Part 1 Specification [4] When the push direction is set incorrectly If the push direction is set incorrectly, the actuator position will deviate by “positioning band x 2,” as shown below. Exercise caution.
Part 1 Specification When the pause command signal (STP) is turned “1” (ON) while the actuator is moving, the actuator will decelerate to a stop. Since the remaining travel distance is retained, the remaining travel can be resumed by turning the SPT “0” (OFF) again.
Part 1 Specification Part 1 Specification (3) Speed Change during Movement The actuator can be controlled at multiple speeds in a single operation. In other words, the speed can be decreased or increased at a given point. However, a position data must be set for every point at which the speed is changed.
Part 1 Specification [1] When the start signal (CSTR) is turned “1” (ON), the position complete signal (PEND) will turn “0” (OFF) and the moving signal (MOVE) will turn “1” (ON). Turn the start signal (CSTR) “0” (OFF) after confirming that the position complete signal (PEND) has turned “0” (OFF) when CSTR is turned “1” (ON). [2] By setting a large positioning band for position 1, speed change can be implemented smoothly without causing the actuator to stop.
Part 1 Specification Part 1 Specification (4) Operation at Different Acceleration and Deceleration [1] When the controller is used in the positioner 1, 2 mode or simple direct mode, separate values can be set for acceleration and deceleration using the position table. [2] Direct numerical specification mode In this mode, separate values cannot be set for acceleration and deceleration. The acceleration and deceleration are always the same.
Part 1 Specification The target position in the position table can also be specified in relative coordinates. This function can be used to repeat positioning operations at equal pitches. [1] Example of operation in the positioner 1, 2 mode The following explains an example of positioning operation repeated at a 50-mm pitch, starting from position No. 1. The position table shown below is created. End of operation is determined based on the count managed by the PLC.
Part 1 Specification Part 1 Command position Start (CSTR) Position 1 Specification Position 2 * Position complete (PEND) Completed position Position 1 Position 2 Position 2 Moving (MOVE) Zone signal (PZONE) [1] [2] [3] [4] [5] Speed Actuator movement Chapter 3 Gateway R unit Time Distances from home * Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller. [Explanation of Operation] [1] Positioning operation to position 1 (100.
Part 1 Specification Command position Position 1 Position Position 2 Part 1 Specification [2] Notes on positioning operation If a position number specified in relative coordinates is selected/entered and a start signal is input during positioning operation, the actuator will move to the initial target position plus the relative travel distance.
Part 1 Specification Part 1 Specification [3] Notes on push operation If a position number specified in relative coordinates (for which the push mode is specified) is selected/input and a start signal is input while the actuator is moving in the push mode, the actuator will move to the position at which the start signal was input, plus the relative travel distance. Therefore, the end position becomes indeterminable.
Part 1 Specification A command transmission chart is shown below. The Gateway R unit analyzes each request command and returns a response every time the replacement of control/status data of all axes, which is performed constantly, is completed. The PLC and Gateway R unit perform the following actions: [1] Upon detecting a response command with zero set in it, the PLC application sets the necessary request command and data.
Part 1 Specification Part 1 3.9 Specification Modbus Gateway Mode of RS485 SIO 3.9.1 Overview With the RS485 SIO Gateway R unit, the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station, and the SIO through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII protocols, are available. For the operation in the SIO through mode, refer to the operation manual “ROBO CYLINDER Series – Serial Communication (Modbus Version).
Part 1 Specification The RS485 SIO Gateway R unit has an asynchronous serial bus interface conforming to EIA RS485 for interfacing with the host. The Modbus protocol is used for communication to receive commands from the host or reference internal information in the host. The Modbus protocol is a communication protocol developed by Modicon Inc. (AEG Schneider Automation International S.A.S.) for PLCs, and its specification is open to the world.
Part 1 Specification Part 1 Specification (2) Communication Method The Modbus protocol uses the single-master/multiple-slave communication method. Only the master can issue a query (to start communication). The slave receives a query, performs the specified function, and returns a response message. The master can issue a query to a specific slave or broadcast a query to all slaves. In the case of a broadcast query, the slaves only performs the specified function and do not return a response message.
Part 1 Specification Query and response messages use the following message frame. Header Address Function Data Error check Trailer T1-T2-T3-T4 8 bits 8 bits N x 8 bits 16 bits T1-T2-T3-T4 * “T1-T2-T3-T4” represents a silent interval. Part 1 Specification (4) Message Frame [1] Header field The frame starts with a silent interval of 3.5 characters or more. [2] Address field The address in the message frame. Fixed to 3FH for the RS485 SIO gateway.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification (5) Error Check CRC check Each message contains an error check field based on the CRC method. The CRC field is used to check the content of the entire message. This check is independent of the parity check of individual characters comprising the message. The CRC field consists of two bytes of 16-bit binary data. The CRC value is calculated by the sender who appends the CRC to the message.
Part 1 Specification 3.9.3.1 Gateway Address Map The slave address is fixed to “63 (3FH)” for the RS485 SIO gateway. As for gateway registers, inputs (PLC ROBONET) are assigned to word addresses F600 H onward in the PLC, while outputs (ROBONET PLC) are assigned to word addresses F700 H onward in the PLC. These word addresses are the register addresses used in communication messages. Take note that these addresses vary depending on the gateway parameter settings (assignment of each axis).
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification Example of Overall RS485SIO Gateway Address Configuration An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.
Part 1 Query List The table below lists queries that can be used. FC Remarks (Performable operation) Function 03H Read multiple registers [1] [2] [3] [4] [5] [6] [7] [8] [1] [2] [3] 1 each 1 each 2 X X X Simple Direct direct numerical mode axis mode axis 1 each 1 each 2 X X X 1 each X 2 2 1 1 1 1 X 1 { { { { { { { { { { { { { 1 each 1 1 { { { { { { { { { { { 1 { { { { { { X X X { { { { 1 each X 1 { { { { { { { { { X X 1 { { { { { { X X X { { { { 1 each X 1 { { { { { { { { { X X Details 3.9.
Part 1 Specification Part 1 FC Function Remarks (Performable operation) Write 06H register x Forced brake release (BKRL) x Push operation mode specification x Push direction specification Write With a move command by direct numerical specification, 10H multiple the following data is sent in one message: registers [1] Position data specification (2 words) simultane[2] Positioning band (2 words) ously [3] Speed command (1 word) [4] Acceleration/deceleration command (1 word) [5] Push-current limiting val
Part 1 Read Holding Registers (Query using FC = 03H) This query reads the contents of holding registers in the slave. Broadcast is not supported. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start reading data, and the number of registers.
Part 1 Specification Part 1 (2) Examples of Queries/Responses Queries are implemented by reading a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. [1] Read gateway status signal 0, 1 The configuration of the completed position number register of axis (0) is shown below.
Part 1 RTU mode data (8 bits) None 3F H 03 H 04 H Field name Header Slave address Function code Data bytes Data 1 (upper) Arbitrary Data 1 Data 2 Data 2 (lower) (upper) (lower) Arbitrary Arbitrary Arbitrary Based on calculation result None Error check (CRC) Trailer Total bytes z Actual Example Sent Query: Received Response: Data length (bytes) 1 1 1 1 each for upper and lower words 2 Part 1 Specification z Response Specification Remarks Fixed.
Part 1 Specification Part 1 [2] Read response command data 0 to 3 z Query Field name Header Slave address Function code Starting address Starting address Number of registers Number of registers Error check (upper) (lower) (upper) (lower) (CRC) Trailer Total bytes z Response Field name Chapter 3 Gateway R unit Specification Header Slave address Function code Data bytes Data 1 (upper) (lower) Data 2 (upper) Data 3 (upper) Data 4 (upper) Data 5 (upper) (lower) (lower) (lower) (lower) Error check (C
Part 1 Specification Part 1 Specification [3] Monitor current position – Axis (0) z Query RTU mode data (8 bits) None 3F H 03 H Field name Header Slave address Function code Starting address (upper) F7 H Starting address Number of registers Number of registers (lower) (upper) (lower) 08 H 00 H 02 H Based on calculation result None Error check (CRC) Trailer Total bytes z Response Header Slave address Function code Data bytes Data 1 (upper) Arbitrary Data 1 Data 2 Data 2 (lower) (upper) (lowe
Part 1 Specification Part 1 [4] Monitor current electrical current – Axis (1) z Query Field name Header Slave address Function code Starting address Starting address Number of registers Number of registers Error check (upper) (lower) (upper) (lower) (CRC) Trailer Total bytes z Response RTU mode data (8 bits) None 3F H 03 H F7 H 0E H 00 H 02 H Based on calculation result None RTU mode data (8 bits) None 3F H 03 H 04 H Field name Chapter 3 Gateway R unit Specification Header Slave address Function c
Part 1 Specification Part 1 Specification [5] Monitor current speed – Axis (1) z Query Field name Header Slave address Function code Starting address Starting address Number of registers Number of registers Error check (upper) (lower) (upper) (lower) (CRC) Trailer Total bytes z Response RTU mode data (8 bits) None 3F H 03 H F7 H 10 H 00 H 01 H Based on calculation result None Header Slave address Function code Data bytes Data 1 (upper) Arbitrary Data 1 (lower) Arbitrary Error check (CRC) Trai
Part 1 Specification Part 1 [6] Monitor alarm information – Axis (1) z Query Field name Header Slave address Function code Starting address Starting address Number of registers Number of registers Error check (upper) (lower) (upper) (lower) (CRC) Trailer Total bytes z Response RTU mode data (8 bits) None 3F H 03 H F7 H 12 H 00 H 01 H Based on calculation result None RTU mode data (8 bits) None 3F H 03 H 02 H Field name Chapter 3 Gateway R unit Specification Header Slave address Function code Data
Part 1 Specification Part 1 Specification [7] Read completed position number status – Axis (0) The configuration of the completed position number register of axis (0) is shown below.
Part 1 Specification Part 1 [8] Read status signal status – Axis (0) The configuration of the status signal register of axis (0) is shown below.
Part 1 Specification Part 1 Specification z Actual Example After axis (0) servo ON Sent Query: 3F03F70B0001C362 Received Response: 3F03024011604D (Explanation) The CRDY, SV and PEND signals are ON. z Actual Example After axis (0) home return Sent Query: 3F03F70B0001C362 Received Response: 3F03027013F58C (Explanation) The CRDY, ZONE1, ZONE2, SV, HEND and PEND signals are ON.
Part 1 Specification Part 1 3.9.3.4 Preset Single Register (Query using FC = 06H) Data is written to (changed in) a holding register in the slave. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start writing (changing) data, and the data.
Part 1 Specification Queries are implemented by changing (writing) a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. The following explanations use axis (0) or axis (12) in the example. [1] Write gateway control signals 0, 1 MON (bit 15 of control signal 0) is the only applicable control signal. Always turn this signal ON to enable the applicable control.
Part 1 Specification Part 1 Specification [2] Output command position number A position number (= 1) is specified for axis (0). The configuration of the command position number register of axis (0) is shown below.
Part 1 Specification Part 1 Specification [3] Output control signals (Axis 0 = Positioner mode or simple direct mode) An example of control signals of axis (0) is explained. The configuration of the control signal register of axis (0) is shown below. Address Servo ON Command (SON) z Query Field name (upper) (lower) (upper) (lower) (CRC) Data length (bytes) 1 1 2 Remarks Fixed.
Part 1 Specification Part 1 Home Return Command (HOME) z Query Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H 00 H 12H 16 bits None Data length (bytes) 1 1 2 Remarks Fixed.
Part 1 Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H 00 H 11 H 16 bits None Data length (bytes) 1 1 Part 1 Specification Start Command (CSTR) z Query Specification Remarks Fixed. 2 Address of the control signal register of axis (0) 2 The SON and CSTR signals are “1.
Part 1 Specification Part 1 Pause Command (STP) z Query Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H 00 H 14 H 16 bits None Data length (bytes) 1 1 Remarks Fixed. 2 Address of the control signal register of axis (0) 2 The SON and STP signals are “1.
Part Field name Header Slave address Function code Starting address (upper) Starting address (lower) New data (data written) (upper) New data (data written) (lower) Error check (CRC) Trailer Total bytes RTU mode data ( bits) None F H 0 H F H 0B H 00 H 0 H bits None Data length (bytes) Part 1 Specification Reset Command (RES) Query Specification Remarks Fixed. Address of the control signal register of axis (0) The RES signal is “ .
Part 1 Specification Part 1 Jogging/Inching Switching Command (JISL) This signal is used to switch jogging operation and inching operation.
Part 1 Specification JVEL “0” “1” Jogging speed of jogging operation (JISL = “0”) Parameter No. 26 (Jogging speed) Parameter No. 47 (Jogging speed 2) z Query Field name (upper) (lower) (upper) (lower) (CRC) Data length (bytes) 1 1 Remarks Fixed. 2 Address of the control signal register of axis (0) 2 Used in combination with the JISL, JOG+/- and SON signals.
Part 1 Specification Part 1 Jog+ Command (JOG+) z Query Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H Arbitrary Arbitrary 16 bits None Data length (bytes) 1 1 Specification Remarks Fixed. 2 Address of the control signal register of axis (0) 2 Used in combination with the JISL and JVEL signals.
Part 1 Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H Arbitrary Arbitrary 16 bits None Data length (bytes) 1 1 Part 1 Specification Jog- Command (JOG-) z Query Specification Remarks Fixed. 2 Address of the control signal register of axis (0) 2 Used in combination with the JISL and JVEL signals.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification [Summary of Jogging Operation and Inching Operation] With both jogging operation and inching operation, the JISL, JVEL, JOG+ and JOG- signals are used in combination. The relationships of these signals are summarized in the table below.
Part 1 Specification Part 1 Specification Teaching Mode Command (MODE) The controller will switch to the teaching mode when the MODE signal turns “1.” z Query Field name Header Slave address Function code Starting address Starting address New data (data written) New data (data written) Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 06 H F6 H 0B H 04 H 10 H 16 bits None Data length (bytes) 1 1 Remarks Fixed.
Part 1 Specification Part 1 Position Data Load Command (PWRT) z Query RTU mode data Field name (8 bits) Header None Slave address 3F H Function code 06 H Starting address (upper) F6 H Starting address (lower) 0B H New data (data written) (upper) 06 H New data (data written) (lower) 10 H Error check (CRC) 16 bits Trailer None Total bytes Data length (bytes) 1 1 Specification Remarks Fixed. 2 Address of the control signal register of axis (0) 2 The MODE, PWRT and SON signals are “1.
Part Specification Query Field name Header Slave address Function code Starting address (upper) Starting address (lower) New data (data written) (upper) New data (data written) (lower) Error check (CRC) Trailer Total bytes RTU mode data ( bits) None F H 0 H F H 0B H 0 H 00 H bits None Data length (bytes) Remarks Part 1 Specification Forced Brake Release Command (BKRL) Normally brake control is linked to the servo ON/OFF operations.
Part 1 Specification Part 1 Specification [4] Output control signals (Axis 1 = Direct numerical specification mode) An example of control signals of axis (1) is explained. The configuration of the control signal register of axis (1) is shown below. Address The method of use is the same as in [3], except for the DIR and PUSH. The DIR and PUSH signals are used as a set when performing push operation in the direct numerical specification mode.
Part 1 Preset Multiple Registers (Query using FC = 10H) Data is changed in (written to) multiple successive holding registers in the slave. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start changing (writing) data, and the data.
Specification [2] Response format If the data has been changed (written) successfully, the response returned is a copy of the query excluding the number of bytes and new data. Field name Header Slave address Function code Starting address Starting address Number of registers Number of registers Error check Trailer Total bytes (upper) (lower) (upper) (lower) (CRC) RTU mode data (8 bits) None 3F H 10 H Arbitrary Arbitrary Arbitrary Arbitrary 16 bits None Data length (bytes) 1 1 2 Remarks Fixed.
Part 1 Specification Part 1 Specification (2) Basic Axis Operations [1] Axis area in the direct numerical specification mode Assignments of axis control signals for axis (1) (direct numerical specification mode) are shown below. Address Position data specification (lower word) Position data specification (upper word) Positioning Band (lower word) Positioning Band (upper word) Speed Acceleration/deceleration Refer to the section on gateway specifications for the detailed explanation of signals.
Part 1 Specification Part 1 Specification Speed x 16-bit integer x Register size: 1 (2 bytes) x The unit is 1.0 mm/sec or 0.1 mm/sec. Set either unit as deemed appropriate using the ROBONET Gateway parameter setting tool. x Settable range: 0 to 9999 mm/sec If a value exceeding the maximum actuator speed is set, an alarm will generate when a movement start command is issued. Acceleration/Deceleration x 16-bit integer x Register size: 1 (2 bytes) x Unit: 0.
Part 1 Specification z The control signal register has been cleared to zero after the initialization following the power on. z The default controller parameters are not referenced. z In normal operation, the axis will not operate unless position data, positioning band, speed and acceleration/deceleration are all written to the registers. (If any one of these data is missing, an alarm 085 will generate.) z In push operation, push-current limiting value must also be written in addition to the above data.
Part 1 Specification Part 1 (3) Examples of Queries/Responses (Axis 1, direct numerical specification mode) [1] Query format for normal operation Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current limiting value) to the registers.
Part 1 Specification Part 1 Specification [2] Query format for normal operation where only the position is changed Use the same format in [1] by changing only the position data, to operate the axis.
Part 1 Specification Part 1 [3] Query format for normal operation where the position and speed are changed. In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis. The following two queries are transmitted.
Part 1 Specification z Query (Position data change) (upper) New data 1 (lower) B0 H New data 2 (upper) 00 H New data 2 (lower) 00 H New data 3 (upper) 01 H New data 3 (lower) F4 H New data 4 (upper) 00 H New data 4 (upper) 00 H New data 5 (upper) 00 H New data 5 (upper) 32 H New data 6 (upper) 00 H New data 6 (upper) 1E H New data 7 (upper) 00 H New data 7 (upper) 7F H New data 8 (upper) 30 H New data 8 (upper) 11 H Error check Trailer Total bytes (CRC) 16
Part 1 Specification Part 1 Specification (4) Use of Gateway Commands The position table can be read/written by writing request commands and data in the command area of the gateway unit. For details, refer to the specifications of the gateway unit. An address map of the command area is shown below.
Part 1 Specification z Target Position Write Query (upper) New data 1 (lower) 00 H New data 2 (upper) 00 H New data 2 (lower) 0A H New data 3 (upper) 27 H New data 3 (lower) 10 H New data 4 (upper) 00 H New data 4 (upper) 00 H New data 5 (upper) 00 H New data 5 (upper) 00 H Error check Trailer Total bytes (CRC) 16 bits None Header Slave address Function code Starting address Starting address Number of registers Number of registers Bytes (upper) (lower) (upper) (lower) Dat
Chapter 3 Gateway R unit Part 1 Specification Part 1 z Positioning Band Write Query New data 1 (upper) RTU mode data (8 bits) None 3F H 10 H F6 H 02 H 00 H 05 H 0A H 10 H New data 1 (lower) 01 H New data 2 (upper) 00 H New data 2 (lower) 0A H New data 3 (upper) 00 H New data 3 (lower) 1E H New data 4 (upper) 00 H New data 4 (upper) 00 H New data 5 (upper) 00 H New data 5 (upper) 00 H Error check Trailer Total bytes (CRC) 16 bits None Field name Header Slave address Functi
Part 1 (upper) New data 1 (lower) 02 H New data 2 (upper) 00 H New data 2 (lower) 0A H New data 3 (upper) 00 H New data 3 (lower) C8 H New data 4 (upper) 00 H New data 4 (upper) 00 H New data 5 (upper) 00 H New data 5 (upper) 00 H Error check Trailer Total bytes (CRC) 16 bits None Header Slave address Function code Starting address Starting address Number of registers Number of registers Bytes (upper) (lower) (upper) (lower) Data length (bytes) 1 1 Remarks Fixed.
Part 1 Specification Part 1 Specification [2] Read position table data In [1], the target position, positioning band and speed were written one by one to the position table under No. 10 corresponding to positioner mode axis (0). Next, an example of reading data from this position table is explained. Query Send Procedure [1] Send a position table data read query (Write command data to the request command area) [2] Send a response command area read query.
Part 1 Specification The position data (2710H) written to the position table in [1] has been read. Part 1 Specification Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1040 000A 27100000 0000 2E8A Position data Caution Each gateway command must be cleared after use.
Part 1 Specification Part 1 Specification Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1041 000A 001E0000 0000 4C0C Positioning band data The data (001EH) written to the position table in [1] has been read. Caution Each gateway command must be cleared after use.
Part 1 Specification The data (00C8H) written to the position table in [1] has been read. Part 1 Specification Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1042 000A 00C80000 0000 4C0C Speed data Caution Each gateway command must be cleared after use.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification In [1] and [2], the target position, positioning band and speed data were written to the position table and the write results were checked. The applicable position table in the RC PC software is shown as follows. Before Sending the Write Query After Sending the Write Query * Although acceleration/deceleration was not written, the default parameter value has been applied and written.
Part 1 Specification 3.9.4.1 Dedicated ROBONET Function Block (1) Overview IAI provides a dedicated function block for ROBONET systems. It is called “ROBONET Gateway Modbus Cyclic Communication FBL” (ROBONET GW). This function block performs the following operations between the PLC and ROBONET gateway (Modbus gateway mode): x Read gateway status signals, response commands and axis data cyclically x Write gateway control signals, request commands and axis data Part 1 Specification 3.9.
Part 1 Specification Part 1 Specification The function block parameters are used to specify the following addresses of the PLC’s I/O memory to be linked with the gateway unit’s memory areas: x Initial gateway control signal address x Initial request command area address x Initial axis data specification area address x Initial gateway status signal address x Initial response command area address x Initial axis status area address The PLC’s I/O memory areas that can be set by parameters include W (internal
Part 1 Specification Name ROBONET Gateway Modbus Cyclic Communication FBL Function overview x Read gateway information, command responses and axis data cyclically from the ROBONET gateway. x Write gateway control information, command requests and axis data to the ROBONET gateway via bit operation.
Chapter 3 Gateway R unit Part 1 Specification Part 1 Specification Variable Table (Parameter Settings) The variables and parameter settings of the function block (FB) are described.
Part 1 Axis data read table DataRead _Table Data type INT [2] INT [2] INT [6] INT [6] INT [64] INT [64] Explanation of variable and parameter settings Gateway information data is returned. Set the I/O memory address to be assigned to the initial status signal address of the gateway. Gateway control data is placed. Set the I/O memory address to be assigned to the initial control signal address of the gateway. Request command data is placed.
Part 1 Specification Part 1 Specification ڦExplanation of Function [1] When the “start trigger” signal is turned ON, gateway information, command responses and axis data will be read cyclically. (Constant read mode) [2] When data is set in the gateway control table and the gateway control write signal is turned ON, the gateway control data (2 words) will be written to the gateway unit at the leading edge of the signal.
Part 1 Specification Part 1 Specification ڦOperation Timing Chart Timing chart Successful pattern of read-only operation Data is read from the gateway unit in each cycle. 1. Successful pattern, no request FB_Busy Reading Successful response Error response Error clear 2. Error pattern, no request If Continuation is set, operation will continue even after an error occurs. FB_Busy Reading Chapter 3 Gateway R unit Successful response Error response Error clear 3.
Part 1 Specification Part 1 4. Error pattern, with request Specification If an error is received, the current communication will be interrupted. However, commands will be received continuously from the next processing.
Part 1 Specification As explained in (1), “Overview,” the PLC’s I/O memory is associated with the gateway unit’s memory. Before setting the parameters or creating a ladder sequence, therefore, create an association matrix of SIO gateway addresses. An example is shown on the next page. This example assumes the following conditions: z Gateway Address Assignments x Axis (0) – Positioner mode x Axis (1) – Numerical specification mode z PLC I/O Memory Use W (internal auxiliary relays) and D (data memory).
182 Variable name Set address Function Block SIO Gateway FB Address Association Matrix (PLC Output) (Example) Gateway register Chapter 3 Gateway R unit 184 -206- (Axis 1) Control signal (Axis 1) Push-current limiting value (Axis 1) Acceleration/deceleration specification (Axis 1) Speed specification (Axis 1) Positioning band specification (H) (Axis 1) Positioning band specification (L) (Axis 1) Position data specification (H) (Axis 1) Position data specification (L) (Axis 0) Control signal
Set address Function Block Variable name Gateway register Chapter 3 Gateway R unit -207- (Axis 1) Status signal (Axis 1) Alarm Cannot be used. (Axis 1) Current speed data (Axis 1) Current electrical current (H) (Axis 1) Current electrical current (L) (Axis 1) Current position data (H) (Axis 1) Current position data (L) (Axis 0) Status signal (Axis 0) Completed position number (Axis 0) Current position data (H) (Axis 0) Current position data (L) Cannot be used.
Part 1 Specification Part 1 3.9.4.2 Specification What Is Function Block? (1) Overview A function block is a graphical program language for PLCs. It is one of the five program languages for PLCs defined by the IEC standard (IEC 61131-3). Ladder logic (or ladder language) currently adopted by the largest number of PLCs is also one of the above five program languages.
Part 1 Specification A function block consists of a predetermined function block definition and an instance that actually places the function block definition in a program. [1] Function block definition A program described in a function block. An algorithm is described along with a variable definition. z Algorithm A typical circuit defined by variable names (not actual addresses). z Variable definition A table describing the types (input, output or internal) and attributes (data type, etc.) of variables.
Part 1 Specification Part 1 Specification [3] Parameter Every time an instance is created, actual I/O memory addresses (or constants) must be set for data exchange with input/output variables. These set addresses (or constants) are called parameters. Function block definition A (example) Algorithm Program Instance of function block definition A Input source: 0.00 Output source: 2.00 Input source: 3.
Part 1 Specification Variable Types [1] Internal variable (internals): Used only in an instance. [2] Input variables (inputs): Variables to which data can be input from parameters outside the instance. “EN” (Enable) for inputting input conditions is generated by default. [3] Output variables (outputs): Variables that can output data to parameters outside the instance. “ENO” (EnableOut) for outputting instance execution status is generated by default.
Part 1 Specification Part Chapter . Specification Controller Unit Overview The RACON and RPCON controllers are dedicated ROBONET controllers that drive RCA actuators ( -V servo motor type) and RCP actuators ( -V pulse motor type), respectively. Their basic functions and performance are the same as those of the ACON/PCON controllers. The RACON/RPCON controllers are operated by the Gateway R unit explained in Chapter , by means of field bus/Modbus communication. . .
Part 1 Part 1 Specification RACON controller: 1 unit ROBONET communication connection circuit board (model JB-1): 1 pc Power-supply connection plate (model PP-1): 2 pcs Specification Standard accessory Main unit ROBONET communication connection circuit board Power-supply connection plate Chapter 4 Controller Unit RPCON controller: 1 unit ROBONET communication connection circuit board (model JB-1): 1 pc Power-supply connection plate (model PP-1):
4.2 Specification Basic Specifications The basic specifications are the same between the RACON and RPCON. Item Number of controllable axes Power-supply voltage Power-supply current 1 axis 24 VDC r 10% RACON unit RCA2 RCA Part 1 Specification Part 1 Specification Actuator SA4ySA5yRA4 (20W) type SA6yRA4 (30W) type RA3 (20W) type SA3 (10W) type SA5yTA6 (20W) type Standard specification, high acceleration/deceleration type Energy-saving type Rating Max. *1 Rating Max. *1 1.3 A 4.4 A 1.3 A 2.
Part 1 Name/Function of Each Part and External Dimensions. The name/function of each part and external dimensions are exactly the same with both the RACON and RPCON. However, the connector is different between the RACON and RPCON. 4.3.1 Name of Each Part Part 1 Specification 4.
Part 1 Specification Part 1 Specification 4.3.2 LED Indicators These LEDs are used to monitor the status of the RACON/RPCON. Symbol SV/ALM Indicator color Green/red TX/RX Green /yellow STATUS 3 STATUS 2 STATUS 1 STATUS 0 BK (RLS) Green Green Green Green Yellow Explanation A steady green light comes on when the servo is ON, and changes to a steady read light when an alarm is present.
Part 1 Specification 3 STATUS 2 1 0 Simple alarm code { z { 2 { { z z 3 { z { { 4 { z z { 6 { z z z 7 z { { { 8 z { { z 9 z { z z B z z { { C z z { z D z z z { E z z z z F {: Off 90 91 92 93 80 82 83 84 85 A7 F4 A1 A2 A3 B6 B7 B8 BA BE C0 C8 C9 CA CB CC CE D8 D9 DC A4 C1 D2 E0 F0 E5 E8 E9 EA ED EE EF FA FC F5 F6 F8 Alarm name RPCON RACON { { { { { { { { { { { { { { X X { { { { X { { X { { { { { { { X X X { { { { { { { { { { { { { { { { {
Part 1 Specification Part 1 Specification 4.3.3 Brake Release Switch When an actuator with brake is used, this switch is used to forcibly release the brake when adjusting the actuator assembly, etc. Normally this switch is kept in the bottom (NOM) position. Switch name BK Status Top (RLS) position Explanation The brake is forcibly released. Normal operation mode. The brake is always effective and can be released only Bottom (NOM) position while the servo is ON.
Part 1 Specification This connector is used to connect RACON/RPCON controllers via SIO link below the Gateway R unit. It connects to the SIO communication (Modbus) signal and emergency stop signal. RACON/RPCON controllers are connected using the ROBONET communication connection circuit boards supplied with the controllers. The photograph below shows the ROBONET communication connection circuit board supplied with the controller. The same board is used for connecting the simple absolute R unit.
Part 1 Specification Part 1 Specification The photographs below show the condition before and after interconnection of units.
Part 1 Specification This connector is used to connect the dedicated actuator motor cable. The connector is different between the RACON and RPCON. Item Connector name Applicable connector Maximum connection length Specification RACON MOT DF1E-3P-2.5DS (Hirose) (Cable end) DF1E-3S-2.5C (Hirose) Contact: DF1E-2022SC Terminal assignments Applicable cable CB-ACS-MA*** RPCON MOT 0-1376136-1 (AMP) (Cable end) 1-1318119-3 (AMP) 20 m No. 1 2 3 Part 1 Specification 4.3.
Part 1 Specification Part 1 4.3.10 Encoder Cable Connector This connector is used to connect the dedicated actuator encoder cable. The connector is different between the RACON and RPCON. Item RACON PG S18B-PHDRS (JST) Connector name Applicable connector Maximum connection length Chapter 4 Controller Unit Specification Terminal assignments Applicable cable (Cable end) PHDR-18VS (JST) Contact: SPHD-001T-P0.5 (JST) RPCON PG S16B-PHDRS (JST) (Cable end) PHDR-16VS (JST) Contact: SPHD-001T-P0.
Part 1 Specification Part 1 Specification 4.3.11 External Dimensions (50 from DIN rail center) The external dimensions are exactly the same between the RACON and RPCON. Take note that the motor cable connector and encoder cable connector are different. * Installable on a 35-mm DIN rail Chapter 4 Controller Unit (69.
Chapter 4 Controller Unit Part 1 Specification Part 1 4.4 Specification Parameters 4.4.1 Parameter List The parameters are classified into the following four types depending on their function. Types: a: Parameter relating to actuator stroke b: Parameter relating to actuator operating characteristic c: Parameter relating to external interface d: Parameter relating to servo gain adjustment *2 No.
Part 1 Specification Type Unit Factory default 43 b Symbol RPCON RACON HMC { { Home check sensor input polarity Name - (As specified at the time of order) 46 b OVRD { { Speed override % 100 47 b IOV2 { { PIO jogging speed 2 mm/sec 100 48 b IOID { { PIO inching distance mm 0.1 49 b IOD2 { { PIO inching distance 2 mm 0.
Part 1 Specification Part 1 Specification 4.4.2 Parameters Relating to Actuator Stroke z Soft Limits (Nos. 3/4, LIMM/LIML) Set the + soft limit in parameter No. 3 and – soft limit in parameter No. 4. Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if necessary, such as when an obstacle is present and collision between the actuator and obstacle must be prevented.
Part 1 Specification Part 1 Specification z Home Return Offset (No. 22, OFST) Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain constant. The minimum setting unit is 0.01 mm. This parameter can be adjusted in the following conditions: [1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled to the equipment.
Part 1 Specification Part 1 Specification 4.4.3 Parameters Relating to Actuator Operating Characteristics z Default Speed (No. 8, VCMD) The factory setting is the rated speed of the actuator. This value is treated as the speed data corresponding to the applicable position number when a target position has been written to the unregistered position table or the current position read into the table in the teaching mode.
Part 1 Specification This parameter is used if you want to move the actuator at a slower speed to prevent danger during trial operation or at startup. When issuing a move command from the PLC, you can override the travel speed set in the “Speed” field of the position table by multiplying it with the value set in parameter No. 46. Actual travel speed = [Speed set in the position table] x [Value of parameter No.
Part 1 Specification Part 1 Specification z Excited Phase Signal Detection Time (No. 29, PDIR2) The excited phase is detected when the servo is turned ON for the first time after turning on the power. This parameter defines the time of this detection (excitation switching period). Before shipment, this parameter has been set to a detection time appropriate for the standard specification of the actuator, and thus the setting need not be changed in normal conditions of use.
Part 1 Specification Part 1 Specification z Push Speed (No. 34, PSHV) Speed This parameter defines the push speed to become effective after the target position is reached in push operation. Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator. Set an appropriate speed in parameter No. 34 by considering the material and shape of the work part, etc.
Part 1 Specification Part 1 Specification z Home Check Sensor Input Polarity (No. 43, HMC) Although not equipped on the standard specification, the home check sensor can be added as an option. This parameter need not be changed in normal conditions of use. If the customer wishes to change the mode after shipment, change the value in parameter No. 43.
Part 1 Specification Part 1 Specification z PIO Inching Distance (No. 48, IOID) PIO Inching Distance 2 (No. 49, IOD2) These parameters set the inching distances for inching operation. The inching distance parameter is switched according to the jogging speed/inching distance switching signal (JVEL), as follows: JVEL = “0” Æ Parameter No. 48 (PIO inching distance) JVEL = “1” Æ Parameter No. 49 (PIO inching distance 2) Set an optional value according to the specific purpose. The maximum limit is “1” [min].
Part 1 Specification Part 1 Specification In the S-motion mode, a sine wave is drawn where the acceleration time corresponds to one cycle. Specify a desired amplitude level using parameter No. 56. Setting of parameter No. 56 [%] Amplitude level 0 [Factory setting] No S-motion (dotted line in the figure below) 100 Sine wave amplitude x 1 (two-dot chain line in the figure below) 50 Sine wave amplitude x 0.5 (one-dot chain line in the figure below) 10 Sine wave amplitude x 0.
Part 1 Specification This parameter defines the current-limiting value to be applied while the actuator is at standstill after missing the work in push operation. The definition varies between RACON and RPCON controllers as shown below.
Part 1 Specification Part 1 Specification z Rotational Axis Shortcut Selection (No. 80, ATYP) Select the shortcut mode if the actuator is a rotational axis operating in the index mode and you want to rotate the actuator in the direction closer to the target position. 0: Do not select 1: Select By selecting the shortcut mode, you can rotate the rotational axis in a specific direction. This is explained using an example of position table operation. Position No. 1 Position No.
Part 1 Specification The list below summarizes the operation details of a rotational operation axis. Axis operation Rotational axis type mode selection (No. 78) (No. 79) 0 Linear operation axis 1 Rotational operation axis Current Rotational axis Encoder system position shortcut selection ABS INC display range (No. 80) Absolute position command range Relative position command range Soft limits Push (+, -) operation Disable Disable { { -9999.99q to +9999.99q 0.15q to +9999.5q -9999.30q to +9999.
Part 1 Specification Part 1 4.4.4 Parameters Relating to External Interface z Position complete Signal Output Mode (No. 39, PEND) This parameter defines the status of the position complete signal when the servo is turned OFF or a “position deviation” occurs while the actuator is stopped after position complete. The parameter considers the following two conditions: [1] The actuator position has deviated beyond the specified value of “positioning band” due to an external force applied when the servo was ON.
Part 1 Specification Since the servo has been adjusted at the factory to stabilize positioning operation at the maximum payload capacity of the actuator, the servo gain need not be changed in normal conditions of use. In actual use, however, the load condition may not be always ideal (where there is no resonance, vibration, load fluctuation, etc.
Part 1 Specification Part Specification Speed Loop Proportional Gain (No. , VLPG) Parameter number Unit - Input range to Default Set individually in accordance with the actuator characteristics. This parameter determines the level of response with respect to a speed control loop. Increasing the setting value improves compliance with the speed command (i.e., servo rigidity increases). The greater the load inertia, the higher the setting value should be.
Part 1 Specification Parameter number 33 Unit - Input range 1 to 2500 Default Set individually in accordance with the actuator characteristics. This parameter determines the filter time constant applicable to the torque command. If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor will vibrate. This mechanical resonance can be suppressed by increasing the setting of this parameter.
Part 1 Specification Part 1 4.5 Specification Notes on ROBO Rotary (1) Home Return Direction The moving end of the output axis in counterclockwise direction becomes the home position. Actuators of multi-rotational specification can be ordered with their rotating direction reversed. On these reverse rotation models, the home return direction corresponds to the clockwise direction.
Part 1 Specification Part 1 Specification (4) Home Return Operation ڦ330q-rotation Specification [1] Start of home return o [2] Detection of a mechanical stopper o [3] Reversing o [4] Movement by the offset o [5] Home position Operation range (330q) [1] Home (end of rotation in forward direction) [5] [2] [4] [3] Offset Mechanical stopper Rotational axis 330q-rotation specification RTB/RTC Home return [1] Home (end of rotation in forward direction) [5] [4] [2] Offset [3] Home sensor position
Part 1 Specification Part 1 4.6 Specification Notes on ROBO Gripper (1) Finger Operation [1] Definition of position The home of each finger is where the finger is open. The position command specifies the travel distance of each finger from its home position toward the closing side. Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type. With the 2-finger type, the specified stroke indicates the sum of travel distances of both fingers.
Part 1 Specification Part 1 Specification (2) Removing the Gripped Work Part This gripper is structured so that the work part-gripping force will be maintained by a self-lock function even after the servo is turned OFF or the controller power is cut off. If the gripped work part must be removed while the power is cut off, turn the open/close screw or take out one finger attachment to remove the work part. [2-finger Type] Turn the open/close screw or take out one finger attachment.
Part 1 Specification Part 1 Chapter 5 5.1 Specification Simple Absolute R Unit Overview RPCON and RACON controller units can be used as absolute axes by connecting a simple absolute R unit. If the controller unit is used as an absolute axis, home return will not be necessary once an absolute reset is performed, even after the controller unit power is turned OFF.
Part 1 Part 1 Specification 5.
Part 1 Specification Part 1 5.3 Specification Specifications 5.3.1 General Specifications Model Power-supply voltage Power-supply current Environment Ambient operating temperature Ambient operating humidity Operating ambience Surrounding storage temperature Surrounding storage humidity 0 to 40qC 95% RH max. (non-condensing) Free from corrosive gases and dust. 0 to 40qC (If a battery is included, approx. 20qC is desired.) 95% RH max. (non-condensing) XYZ directions: 10 to 57 Hz, half amplitude – 0.
Part Specification The absolute specification uses a secondary battery (nickel hydrogen battery) to retain absolute counter data in the FPGA and supply power to the encoder drive circuit even when the power is cut off. ( ) Battery Specifications Item Description Classification Cylindrical sealed nickel hydrogen battery Manufacturer Sanyo Electric Co., Ltd. Model Nominal voltage Rated capacity Average life Weight Charge time Part 1 Specification . . Backup Battery AB- . V ( .
Part 1 Specification Part 1 5.4 Specification Name/Function of Each Part and External Dimensions 5.4.
Part 1 Specification Part 1 Specification 5.4.
Part 1 Specification Part Specification [ ] Setting switches These switches are used to switch the speed setting and update mode. (The switches are arranged in the order of , , and , from the top.) Switch Function Speed setting switch Speed setting switch Update mode selector switch (Keep this switch in the “OFF” position.) Model selector switch (Keep this switch in the “ON” position.
Part 1 Specification Part 1 Specification [5] Power-supply terminal block + side of the 24-V power supply - side of the 24-V power supply Use the supplied power-supply connection plate to connect to the power-supply terminal block of the paired controller. [6] RCP2 connector (white) This connector is used to connect the PG cable of the RCP2 actuator. [7] RCA connector (red) This connector is used to connect the PG cable of the RCA actuator.
Specification 5.4.3 External Dimensions (50 from DIN rail center) Part 1 Specification Part 1 Chapter 5 Simple Absolute R Unit 35-mm DIN rail (69.
Part 1 Notes (1) Notes on Changing Parameters If the following parameters are changed, an absolute error will occur. Accordingly, an absolute reset must be performed after changing any of these parameters: [1] Parameter No. 5, “Home return direction” [2] Parameter No. 22, “Home return offset” [3] Parameter No. 77, “Ball screw lead” [4] Parameter No. 78, “Axis operation type” Part 1 Specification 5.
Part 1 Specification Part 1 Chapter 6 6.1 Specification Extension unit Overview Basically, a ROBONET system is used by installing a Gateway R unit in the far left position and arranging RPCON and/or RACON controller units along a single line to its right. However, the controllers may not be arranged in a single line due to physical limitations such as the width of the control panel. In this case, you can use extension units (optional) to arrange the controllers in multiple lines (= multi-stage layout).
Part 1 Part 1 Specification 6.2 Specification Specifications Model Power-supply voltage Power-supply current Environment REXT (main unit) 24 VDC r 10% MAX 100 mA Ambient operating temperature Ambient operating humidity Operating ambience Surrounding storage temperature Surrounding storage humidity Vibration resistance Protection degree Weight Outer diameter Impact resistance IP20 140 g (main unit only) 34 W x 100 H x 73.3 D [mm] 0 to 40qC 95% RH max.
Part 1 Specification Part 1 6.
Part 1 Specification Part 1 Specification Communication connection circuit board (Model: JB-1) Power-supply connection plates (Model: PP-1) ROBONET extension unit Unit link cable Fig 2 Controller connection set (REXT-SIO) Chapter 6 Extension unit Communication connection circuit board (Model: JB-1) Power-supply connection plates (Model: PP-1) ROBONET extension unit Controller connection cable Fig 3 Controller connection set (REXT-CTL) 237 -259- 235
Specification Part 1 Specification Part 1 Harness Connection View Braided shielded wire Chapter 6 Extension unit Signal name black2/white red2/white black2/gray red2/gray black2/orange red2/orange black1/pink red1/pink black1/yellow red1/yellow black1/white red1/white black1/gray red1/gray black1/orange red1/orange black2/white red2/white black2/gray red2/gray black2/orange red2/orange black1/pink red1/pink black1/yellow red1/yellow black1/white red1/white black1/gray red1/gray black1/orange red1/ora
Part 1 Specification Part 1 Specification Harness Connection View Signal name Chapter 6 Extension unit Braided shielded wire Signal name white gray orange white gray orange gray orange gray orange Ground Connection Diagram indicates the cable length (L). Example) 010 = 1 m Fig.
Part 1 Specification Part 1 6.4 Specification Name of Each Part and External Dimensions 6.4.1 Name of Each Part [3] [4] [1] Chapter 6 Extension unit [2] [5] No. [1] [2] [3] Name Description ROBONET communication This communication connector is used to connect a unit in the same row (same stage). connector It is connected using a ROBONET communication connection circuit board (JB-1). Power-supply terminal block These are 24-VDC input terminals for the unit.
Part 1 [4] Name Upstream unit connector Downstream unit connector [5] [6] FG terminal block Description This connector is used to connect a group of upstream units (units in the upper stage) using a unit link cable (CB-REXT-SIO). This connector is used to connect a group of downstream units (units in the lower stage) using a unit link cable (CB-REXT-SIO). To establish connection via external SIO link, use a controller connection cable (CB-REXT-CTL).
Part 2 Startup Chapter Part 2 Part 2 Chapter 1 1.1 Startup Chapter Startup Chapter Overview Required Tools The tools needed to configure a ROBONET system and start the system include the PC software, teaching pendant, and ROBONET gateway parameter setting tool, as specified below. [1] [2] [3] PC software RCM-101-** Version 6.00.04.00 or later Teaching pendant x RCM-T/TD Version 2.06 or later x RCM-E/P Version 2.08 or later x CON-T/TD Version 1.
Part 2 Startup Procedure Part 2 Startup Chapter 1.2 Startup Chapter The basic startup procedure for a ROBONET system is shown below. (1) Installation (Refer to 2.1) Mount on a DIN rail the Gateway R unit, controller unit and/or simple absolute R unit as required, interconnect the units, and install the units in a control panel. p (2) Wiring (Refer to 2.2) Wire the ROBONET 24-V power supply, field network, actuator drive line and encoder line.
Chapter 2 Mounting and Installation Part 2 Startup Chapter Part 2 Chapter 2 2.1 Startup Chapter Mounting and Installation Installation 2.1.1 Important Information and Items to Note To enhance the reliability of your ROBONET and allow it to demonstrate its functions fully, consider the following items before installing the ROBONET.
Part 2 Startup Chapter a. AC solenoid valves, magnet switches and relays Part 2 Startup Chapter Measure --- Install a surge killer in parallel with the coils. Surge killer Keep the wiring length from each coil to a minimum. If the surge killer is installed on a terminal block, etc., an extra distance from the coils will reduce the noise elimination effect. b. DC solenoid valves, magnet switches and relays Measure --- Install a diode in parallel with the coils.
Part 2 Part 2 Startup Chapter [3] Installation in a panel x The ROBONET should be installed only in the manner shown below. { Installed correctly Never install the ROBONET in the manners shown below.
Part 2 Startup Chapter Part 2 Startup Chapter X Installed face down Chapter 2 Mounting and Installation X Installed face up 247 -269- 245
Part 2 Startup Chapter Part 2 Startup Chapter 2.1.2 Mounting on a DIN Rail Affixing equipment Install the ROBONET using a 35-mm DIN rail. 35-mm DIN rail Affixing equipment (2 pieces) * Chapter 2 Mounting and Installation Procedure (1) The DIN rail and affixing equipment are provided by the customer. “Release” the DIN-rail mounting pin provided at the back of the unit ([1]), hook the tabs on the upper side of the DIN rail ([2]), and push in the bottom side of the rail ([3]).
Part 2 Startup Chapter Mount all necessary units on the DIN rail. (4) After the necessary units have been installed, be sure to set two affixing equipments on both ends to affix the units. Part 2 Startup Chapter (3) 249 -271- 247 Chapter 2 Mounting and Installation Orient each affixing equipment so that the arrow points upward. Hook the bottom of the end plate on the DIN rail, hook the top, and then pull down the plate. Tighten the screws to affix the end plate in place.
Chapter 2 Mounting and Installation Part 2 Startup Chapter Part 2 Startup Chapter 2.1.3 Interconnecting Multiple Units (1) Connecting 24-V power supply terminal blocks Connect the power-supply terminal blocks (24 V, 0 V) of adjacent units using power connection plates, as shown below. All units other than the Gateway R unit come with power connection plates.
Part 2 Startup Chapter Part 2 Startup Chapter x (3) x Unit connection board Connects adjacent units. Terminal resistor board Installed in the unit at the far right.
Part 2 Startup Chapter Part 2 Startup Chapter 2.1.4 Installing in a Control Panel The ROBONET must be installed using a DIN rail. Since the ROBONET adopts natural convection cooling, provide a clearance of 50 mm or more above and below the unit, and 100 mm or more in front of the unit, by following the correct installation method explained in 2.1.1. Take note that the above dimensions do not include wiring space. Increase the clearances by the required wiring space.
Part Wiring Part 2 Startup Chapter . Startup Chapter . . Wiring the Power Supply Wire the -VDC power supply as shown below. Front view of ROBONET + V 0V Chapter 2 Mounting and Installation Gateway R unit Controller unit Use the following parts for wiring: Terminal M round terminal of mm or less in width (Example) V . - (AWG to ) V -MS (AWG to ) Manufactured by JST Wire Select a cable that can suit to the terminal.
Part 2 Startup Chapter Part Startup Chapter Caution If multiple units of IAI’ s PS are connected in parallel (upto five PS s can be connected) to supply power to the ROBONET, wire them as shown below. [ ] Twisted pair Chapter 2 Mounting and Installation [ ] [ ] Terminal block Twisted pair ROBONET GatewayR unit [ ] [ ] As shown above, connect all PS s in parallel at the terminal block. [ ] Use a twisted pair cable to wire each power supply to the terminal block.
Part Startup Chapter . . Grounding Wire Bottom view of Gateway R unit Part 2 Startup Chapter Connect the FG terminal of the Gateway R unit to the copper grounding bar inside the control panel, or other appropriate part, using a grounding wire over the shortest possible distance. Class D grounding (former class grounding) Wire .0 to . mm Screw M EMG connector FG terminal Connect the emergency-stop circuit (refer to . . in Part , “Specifications” ) to the EMG o c nnector plug (MC .
Part 2 Startup Chapter Part 2 2.2.4 Motor Cable and Encoder Cable (1) When the RPCON controller is of incremental specification Plug the motor cable and encoder cable into the respective connectors on the RPCON controller, as shown below.
Part 2 (3) Startup Chapter When the RACON controller is of incremental specification Part 2 Startup Chapter Plug the motor cable and encoder cable into the respective connectors on the RACON controller, as shown below. Bottom view of ROBONET Motor cable When the simple absolute R unit is connected to the RACON controller Plug the motor cable into the connector on the RACON, and encoder cable into the connector on the simple absolute R unit, as shown below.
Part 2 Part 2 Startup Chapter 2.2.5 Multi-stage ROBONET Layout Chapter 2 Mounting and Installation An example of a multi-stage layout achieved by using REXT extension units is shown to the right. (1) The units are installed on DIN rails. (2) Each extension unit connected to the downstream side (stage below) is placed at the far right in each stage. (Extension units [1] and [3]) (3) Each extension unit connected to the upstream side (stage above) is placed at the far left in each stage.
Part 2 (7) Startup Chapter Connect the power supply (+24 V, 0 V) to the unit positioned at the far left in each stage using a twisted pair cable. The power rise timing should be the same for all stages. Part 2 Startup Chapter [1] Example of supplying power from one power supply GatewayR unit Extension unit 24-V power supply Extension unit Chapter 2 Mounting and Installation [2] Example of supplying power from multiple power supplies 24-V power supply 24-V power supply Caution 1. 2. 3.
Part 2 Startup Chapter Part 2 Startup Chapter 2.2.6 External SIO Link of ROBONET An example of implementing an external SIO link using REXT extension units is shown to the right. In this example, the first stage and second stage comprise a multi-stage layout, while the last extension unit [3] in the second stage is linked to a SCON or PCON-CF via SIO link. (1) (2) The units are installed on DIN rails. The multi-stage layout of the first stage and second stage is the same as in 2.2.5. Refer to 2.2.5.
Part 2 (7) *1 The terminal resistor supplied with the Gateway R unit is not used (not installed to the ROBONET controller). Install the 220-: terminal resistor supplied with the controller link cable to the 4-way junction at the end of the SIO link. Use twisted pair cables to connect the power supply (+24 V, 0 V) to the unit positioned at the far left in each ROBONET stage and also to the controller connected via the external SIO link (ERC2-SE or PCON-CF).
Part 2 Startup Chapter Chapter 2 Mounting and Installation Part 2 Startup Chapter 2-pair shielded cable Recommended: Taiyo Electric Wire & Cable e-CON connector [1] Strip the sheath of the 2-pair shielded cable by 15 to 20 mm. [2] Strand the shielded wires and solder them to vinyl wires of AWG22 or equivalent. [3] Slide a cable protection tube onto the cable.
Part 2 Startup Chapter Part 2 Startup Chapter 2.2.7 Emergency Stop Circuit (1) An emergency stop circuit for normal layout and multi-stage layout is shown below.
Part 2 Startup Chapter Part 2 Startup Chapter (2) An emergency stop circuit for normal layout when external SIO link is used is shown below.
Part 2 Startup Chapter 1. 2. 3. 4. For the relay RYA, use a relay with a rated contact capacity of 160 mA or more. Relays that can be connected between the EMG+ and EMG- terminals of the extension unit are subject to limitations in that the total sum of “10 mA x number of controllers connected to the extension unit” and “coil current of the relay connected between the EMG+ and EMG- terminals” must not exceed 160 mA.
Part 2 Startup Chapter Part 2 Startup Chapter 2.2.8 Network Wiring (1) CC-Link Check the operation manual for the master (PLC) for details on CC-Link. The following explains the points to note regarding network wiring. An example of network connection is shown below.
Part 2 Startup Chapter (2) DeviceNet DeviceNet unit (master) Node T-branch tap Part 2 Startup Chapter Check the operation manual for the master (PLC) for details on DeviceNet. The following explains the points to note regarding network wiring. An example of network connection is shown below.
Part 2 Nodes can be connected in one of the following two ways. Both methods can be used together in a single network. [1] T-branch method Use a T-branch tap, etc. [2] Multi-drop method Use a multi-drop connector to branch the line directly at the node. Communication power (24 VDC) must be supplied to each node via a 5-wire cable. A terminal resistor must be installed on both ends of a trunk line. The Gateway R unit (RGW-DV) does not come with a terminal resistor.
Part 2 Startup Chapter (3) Profibus-DP Master (Node address 2) Terminal resistor Terminal resistor Slave (Node address 3) Slave (Node address 4) Slave Slave (Node address (5) (Node address (6) Red Green Cable Line B (positive side) Line A (negative side) Shield [5] The network connectors are D-sub, 9-pin connectors conforming to the EN 50170 standard.
Part 2 Startup Chapter Part 2 Startup Chapter [6] The RGW-PR connector is a D-Sub, 9-pin Profibus-DP connector (female) recommended in the EN 50170 standard. Network connectors are not provided.
Part 1 Specification Part 1 Specification (4) EtherNet/IP For details, check the operation manual for the master (PLC) and ODVA documents. An example of network connection is shown below. PLC (EtherNet/IP master unit) Hub EtherNet cable* EtherNet cable* EtherNet cable* Other slaves Other slaves * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required.
Part 2 Startup Chapter Part 2 Startup Chapter (5) RS485SIO Using the 2-wire method, connnect the Gateway R unit (RG W-SIO) to the RS-422A/485 port on the serial communication unit (SCU) of the PLC, as shown below. Gateway R unit PLC-SCU RS--422A/485 connector Chapter 2 Mounting and Installation Cable connector (supplied) MC1.5/4-ST-3.
Startup P tPart 2 S St t Chaptert (5) RS485SIO O Ga ateway R unit PLC-SCU RS--422A/485 con nnector Cable connector (sup pplied) 5/4-ST-3.5 (manufactured by MC1.5 Phoen nix Contact) (D-sub b 9-pin male co onnector as viewed d from the sold dered side) Shield Sh hell Ca aution 2. The pollarities of the communication c n lines may be the other way around depen nding on the SC CU of PLC. .
Part 2 Startup Chapter Part 2 Startup Chapter 2.2.9 How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power Supply If the positive terminal of the 24-V power supply is grounded (= the +24-V side is grounded), use a SIO converter as shown below to connect a teaching pendant or PC to the Gateway R unit. At this time, do not connect the FG of the SIO converter. Teaching pendant Do not connect the FG of the PC to ground.
Part 2 Controller Address Setting The address of each controller unit is set using the address setting switch (hexadecimal rotary switch) provided on the front face of the unit. The range of settable addresses is 0 to F. After setting the operation mode of each axis using the gateway parameter setting tool (refer to 5.1), set an applicable address using the checkboxes by making sure no address duplication occurs. An example of setting is shown below.
Part 2 Startup Chapter Part 2 Chapter 4 4.1 Absolute Reset Overview of Simple Absolute System To combine the RPCON or RACON controller unit with the simple absolute R unit for use as an absolute axis, an absolute reset must be performed. Once an absolute reset is performed, home return will no longer be required every time the power to the controller unit is turned off. An internal block diagram of the simple absolute R unit is shown below.
Part Setting the Configuration Switches Part 2 Startup Chapter . Startup Chapter The configuration switches are used to change the level of retention function with respect to absolute data. Disconnect the backup battery before setting the configuration switches (piano switches). Connect the backup battery after the switch settings have been changed. (For the location of the switches, refer to . . , “Nomenclature” in “ROBONET Operation Manual – Specification.
Startup Chapter [Update-mode selector switch] Switch Function 3 ON Update mode OFF Normal mode This switch need not be used in a normal condition of use, and should therefore remain in the “OFF” position. (Do not set the switch to the “ON” position.) In the update mode, the RDY/ALM LED blinks in green and red alternately. [Model selector switch] Switch Function 4 ON Keep this switch in the “ON” position (default setting).
Part 2 Connecting the Backup Battery After the configuration switches have been set, connect the backup battery to the backup battery connector. 4.4 Setting the Parameters If the simple absolute R unit is installed later, the setting of a user parameter in the controller unit must be changed. (If you have purchased your controller unit and simple absolute R unit together, this parameter has already been set at the factory.) Part 2 Startup Chapter 4.
Part 2 Startup Chapter Part 2 (5) Select a desired manual operation mode. Select teaching mode 1 or teaching mode 2. (6) “0EE: Absolute encoder error (2)” generates. Startup Chapter Axis 1 generates this alarm. Select Yes (Y). (8) From Position (T) [1], select Edit/Teach (E) [2], select the applicable address [3], and then select OK.
Part 2 (9) Startup Chapter When the position data dialog box appears, click the servo ON button. Part 2 Startup Chapter After the servo has turned on properly, the servo lamp illuminates in blue. (10) Click the home return button. This completes the absolute reset. 4.5.2 Performing an Absolute Reset from the Host An absolute reset is performed by inputting the home return signal from the host PLC through the Gateway R unit, followed by home return operation.
Part 2 Startup Chapter Part 2 Chapter 5 5.1 Startup Chapter Network Setup How to Use the ROBONET Gateway Parameter Setting Tool This section explains the parameter setting tool of Version 1.0.4.0 or later. To set up the network, use this tool to set the following items on the ROBONET side: [1] Station number [2] Baud rate over the field network [3] Operation mode of each axis Before setting the above items, install the “gateway parameter setting tool” software in the PC.
P tPart 2SttStartup t t Chapter (5) The follow wing main screen is displayed d. Part 2 Startup Chapter In the main m screen, se et the station nu umber (address), baud rate, a and operation m mode of each a axis. 5.1.3 Exp planation of the Main Screen S Chapter 5 Network Setup T The screen in the t setting exa ample is explain ned by assumin ng a CC-Link ssystem. T The same scre een is used with h a DeviceNet,, Profibus, Ethe erNet/IP or RS4 485SIO ssystem.
Startup P tPart 2 S St t Chaptert Part 2 Startup Chapter Button operations o [1] [2] [3] [4] [5] [6] Tool T Communication Setup Clicking C this bu utton opens the e communicatio on setup dialog g box. Load L Clicking C this bu utton loads the parameters fro om the Gatewa ay R unit. Transfer T Transfer T to the e Gateway R un nit the parametters that have b been set. Save S Save S the currently set parame eters to a file. Open O Open O the saved parameters. New N Create C new parameters.
Part 2 [10] Startup Chapter Occupancy Information z Part 2 Startup Chapter The items shown in this area are used to check the current settings. The displayed items vary depending on the network type, as shown below.
Part 2 Startup Chapter Part 2 [11] Startup Chapter Editing the operation mode of each axis (checkboxes) One of four operation modes can be set. Select a desired operation mode for each address using the corresponding checkbox. Left-click the applicable cell to place an asterisk (*) in the cell.
Part 1 Specifications [8] Baud rate DeviceNet PROFIBUS EtherNet/IP A value from 1 to 64 can be set. (Normally 1 represents the master unit.) 156 kbps 625 kbps 2.5 Mbps 5 Mbps 10 Mbps A value from 0 to 63 can be set. (Normally 63 represents the master unit.) Set automatically. A value from 1 to 125 can be set. 0.0.0.0 to 255.255.255.255 [10] Displayed occupancy information and I/O sizes (bytes) RS485SIO Modbus SIO through gateway mode mode Fixed to 63. - Set Set 9.6 kbps automatically.
Startup Chapter 5.1.4 Operating Procedures (1) Loading the parameters This tool establishes communication with the Gateway R unit when the parameters are loaded. Accordingly, always load the parameters if the tool or Gateway R unit has been restarted. Chapter 5 Network Setup Part 2 Startup Chapter Part 2 [1] Click the Load button. When a message box appears, asking if you want to permit a parameter load, select Yes to load the parameters.
Part 2 Startup Chapter If the firmware of the Gateway R unit does not support the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2, the following message will appear: Part 2 Startup Chapter Caution When the firmware version is 000A or older Chapter 5 Network Setup When the firmware version is 000B 287 -311- 285
Part 2 Startup Chapter Part 2 (2) Startup Chapter Editing (setting) the parameters Edit the address, baud rate and enable operation according to the explanations given in 5.1.3. (3) Editing (setting) the operation mode of each axis Set the operation mode of each axis using the checkboxes shown on the right side of the screen.
Part 2 Startup Chapter Can be set when the values in these fields are 0. Part 2 Startup Chapter Example of Using in Positioner 2 Mode, Solenoid Valve Mode 1 or Solenoid Valve Mode 2 If a 0 number of axis is set in the simple direct/positioner 1 mode or direct numerical specification mode (positioning mode), the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2 can be set.
(4) Transferring the parameters Startup Chapter When all necessary items have been edited (set), transfer the parameters to the Gateway R unit. When transferring the parameters, set the operation mode of the Gateway R unit to “MANU.” [1] Click the Transfer button. [2] When a message box appears to confirm writing of parameters, click Yes (Y). [3] When all parameters have been written, click the OK button.
Part 2 Startup Chapter Part 2 Startup Chapter Caution If one of the following warning messages appears, the parameters contain one or more invalid settings. Correct the applicable setting or settings, and then transfer the parameters again. x If not all items have been selected in the editing of operation mode for each axis, the following warning message will appear and the transfer will stop.
Chapter 5 Network Setup Part 2 Startup Chapter Part 2 Startup Chapter z Reference Once the data has been transferred, the following screen opens. You can check on this screen the PIO pattern number of the applicable controller you should set for the specified mode. If the “Do not show this screen after the transfer” check box is selected in the bottom left-hand corner of the screen, this screen will no longer appear from the next transfer.
Part 2 Startup Chapter If the parameter transfer has failed, the following warning messages will appear. Part 2 Startup Chapter (5) Other settings (Special parameters) Perform the settings explained in this section if the following functions are used. (i) Enable operation: Specify the control method of the controller to be applied when an enable operation is performed.
Part 2 Part 2 Startup Chapter [2] * Startup Chapter Set the necessary items. Fewer setting items may be available depending on the versions of the ROBONET gateway parameter setting tool and firmware. (i) (ii) (iii) (iv) (v) Enable operation --If the enable function is enabled, you can select the control method of the controller to be applied when an enable operation is performed.
Part 2 Startup Chapter Unit of speed (Limited to the direct numerical specification (positioning) mode) --You can set either 1.0 mm/sec or 0.1 mm/sec as the unit of speed for axes for which the direct numerical specification (positioning) mode is set. The factory setting is 1.0 mm/sec.
(6) Startup Chapter Restarting the Gateway R unit The Gateway R unit must be restarted to make the transferred parameters effective. [1] When the parameter transfer is completed, a message box appears and prompts you to restart the unit, as shown below. Click Yes (Y). [2] After the unit has been restarted, a message box appears again, prompting you to load the parameters. Click Yes (Y). [3] When the parameter load is completed, click the OK button. Confirm that the displayed parameters are correct.
Part 2 (7) Saving parameters Save the gateway parameters you have set. Click the Save to File button in the top left-hand corner of the window, specify the destination and file name, and then click the Save (S) button. Part 2 Startup Chapter Opening saved parameters Click the Open File button in the top left-hand corner of the window, specify the file in which parameters are saved, and then click the Open (O) button.
Part 2 Startup Chapter Part 2 Startup Chapter Caution The following message may appear occasionally, although it should not be displayed in normal conditions of use. 1. The following error message will appear when a file is opened, if the parameter file contains undefined data or missing data. Chapter 5 Network Setup 2. The following error message will appear if an attempt is made to open a parameter file created or saved with the setting tool of a newer version than the tool currently used.
Part 2 (9) Startup Chapter Creating new parameters Part 2 Startup Chapter Click the Open File button in the top left-hand corner of the window to open the following screen. Select the network type and click the OK button. When the main screen for the selected network type appears, set each parameter. When CC-Link is selected as the network type Chapter 5 Network Setup Caution The parameters created here can be transferred.
Part 2 Startup Chapter Part 2 Startup Chapter (10) Monitor Function y y You can monitor data received from the master and data sent to the master. You can also check how many communication errors (ERR-T, ERR-C) have occurred. Caution To use the monitor function, be sure to set the MODE switch on the Gateway R unit to the AUTO position. If this switch is in the MANU position, invalid data is displayed.
Part 2 [2]-1 Startup Chapter Received data from master Sent data to master Part 2 Startup Chapter Select [I/O Data], and the register monitor screen will appear. (The default display mode is hexadecimal. The sample screen shown below is in the binary display mode.) Chapter 5 Network Setup Data read cycle can be changed. (100 to 500 ms) Display can be switched between binary and hexadecimal number displays. The contents of sent data and received data scroll together if this box is checked.
Part 2 Part 2 Startup Chapter [2]-2 * Startup Chapter Select [Diagnostic Information], and the screen showing the number of occurrences of ERR-T/C will appear. Some items may not be displayed depending on the version of the ROBONET gateway parameter setting tool. Caution Chapter 5 Network Setup ERR-T and ERR-C may occur immediately after the power is turned on, but these errors will not affect operations.
Part 2 Startup Chapter (11) Auxiliary Setting Function [1] Click [Help] from the menu bar on the main screen of the ROBONET gateway parameter setting tool, and then select [PIO Pattern for Each Mode]. [2] Adjust the PIO pattern of the applicable controller (set by a parameter) to the mode you have just set. Part 2 Startup Chapter You can check the PIO pattern number of the applicable controller you should set for the mode set with the gateway parameter setting tool.
Part 2 Startup Chapter Part 2 5.2 Startup Chapter Setting Up the Master 5.2.1 CC-Link To operate a CC-Link system, the network parameters of the PLC must be set. These parameters are set using Mitsubishi Electric’s sequencer programming software GX-Developer. x Network parameters These parameters are set in the master station and include the number of CC-Link units connected, buffer memory of the master station (RX, RY, etc.
Part 2 (2) Startup Chapter Setting the parameters In the project data list, double-click “Network Parameters.” When the network parameter selection dialog box appears, click the CC-Link button. [2] When the CC-Link network parameter setting screen appears, set “1” under “Number of Units.” (Master station is set for 1 in this operation.
Part 2 Set other parameters as shown below. “Mode Setting” should be set to “Remote Network Version 1 Mode,” because the master is set as a version 1 remote device station according to the occupancy information reflecting the settings of ROBONET gateway parameters (refer to 5.2.2 (3), “Setting the operation mode of each axis”). Chapter 5 Network Setup Part 2 Startup Chapter [3] Startup Chapter The system configuration parameters described in 5.2 are set as follows: x “First I/O No.
Part 2 Startup Chapter [5] Save the project. Chapter 5 Network Setup Click the Station Information button to open the edit screen for station information unit 1, set the remote station as shown below, and then click the Apply button at the bottom of the screen. The settings should conform to the occupancy information reflecting the settings of ROBONET gateway parameter. The ROBONET gateway parameter setting screen below applies to the example of system configuration used in 5.2.
(3) Startup Chapter Writing the parameters Write to the PLC the parameters you have set in (2). [1] Chapter 5 Network Setup Part 2 Startup Chapter Part 2 Specifying the connection destination Click Specify Connection Destination (C) from the Online (O) menu. The following connection destination specification screen appears.
Part 2 [2] Startup Chapter Part 2 Startup Chapter Writing Click the PC write tool button to display the PC write dialog box. Chapter 5 Network Setup In the PC write dialog box, click the Parameters + Programs button and then select “MAIN” and “PC/Network” under “Programs” and “Parameters,” respectively. Clicking the Write button starts the writing of parameters. When all parameters have been written, a confirmation message box appears. Click OK and then Close to complete the parameter write.
Part 2 Startup Chapter Part 2 Startup Chapter 5.2.2 DeviceNet Slave addresses are assigned using DeviceNet Configurator (addresses can be assigned freely). This configurator by Omron comes preinstalled with the EDS files for Omron’s DeviceNet products. However, the EDS file for ROBONET is not preinstalled and must be installed separately. Download the EDS file for ROBONET (robonet_2_1.eds) from our website at the following address: Website: http://www.intelligentactuator.
Part 2 (1) Startup Chapter Part 2 Startup Chapter PLC online connection [1] Launching CX-Programmer x Connect the PLC and PC using a dedicated RS232C cable, and turn the PLC power on. x Launch CX-Programmer. x Select [PLC] from the menu bar, select [Automatic Online Connection], and then select [Direct Connection]. [2] Connecting with the PLC x Select “Serial connection” in the [Direct Connection] screen. x Select the COM port number to which the PLC is connected in the “PC serial port” field.
(2) Startup Chapter Creating an I/O table [1] Change the PLC operation mode to the “program mode.” x Select [PLC] from the CX-Programmer menu bar, select [Operation Modes], and then select [Program]. Chapter 5 Network Setup Part 2 Startup Chapter Part 2 x * When the dialog box appears, click [Yes]. Dialog boxes may not appear depending on the CX-Programmer environment settings.
Part 2 Startup Chapter The I/O table window appears. x Select [Options] from the menu bar in the I/O table window, and then select [Create I/O Table]. x When the following dialog box appears, click [Yes]. x When the following dialog box appears, click [Yes]. Chapter 5 Network Setup x Part 2 Startup Chapter [2] Creating an I/O table x Select [PLC] from the CX-Programmer menu bar, select [PLC Information], and then select [I/O Table/Unit Settings].
Part 2 Startup Chapter Part 2 Startup Chapter [3] Transferring an I/O table x When the [Transfer [PLC o PC]] dialog box appears, select the checkboxes for [I/O Table] and [High-Function CPU Unit Settings Data], and click [Transfer]. x x Chapter 5 Network Setup x When the transfer has been successful, the [Transfer Result] dialog box will appear. If the result shows “Transfer successful: 1 unit” and “Transfer failed: 0 unit,” the I/O table has been successfully created.
Part 2 Installing the EDS file [1] Launching CX-Integrator x Launch CX-Integrator. x If the “Compo List window” is not displayed, select [Display] from the menu bar, select [Window] and then select [Compo List]. Part 2 Startup Chapter (3) Startup Chapter Compo List window Online connection information [2] Installing the EDS file x [Tools] from the menu bar, select [EDS File] and then select [Install]. Chapter 5 Network Setup x * Select the EDS file to be installed, “robonet_2_1.
Part 2 Startup Chapter Part 2 (4) Startup Chapter Creating a network configuration [1] Registering the master unit online x Select [Insert] from the CX-Integrator menu bar, and select [Network]. x Chapter 5 Network Setup x When the “Wizard – Network/Compo Setup” dialog box appears, select [DeviceNet] and click [Next]. Select the checkbox for [Not used] for Network address, and click [Finish]. x Select [Insert] from the menu bar, and then select [Compo].
Part 2 Startup Chapter When the “Node address setup” dialog box appears, enter the node address and click [OK]. x Confirm that the master unit has been registered to the Network configuration window. Part 2 Startup Chapter x [2] Registering a controller x Select [Insert] from the menu bar, and select [Compo]. Chapter 5 Network Setup x Select the slave unit to be connected from the Compo list, and click [Finish]. The slave unit location will be as follows.
(5) Startup Chapter Setting the configuration device [1] Registering the node address of the registration destination x With the slave unit icon selected, right-click and select [Properties]. x When the dialog box for the connected slave unit appears, select the [I/O Information] tab and click [Edit].
Part 2 Startup Chapter x With the slave unit selected in the Network configuration window, right-click and select [Register to Another Compo], and then select [Master Unit]. x Confirm that the node address of the registration destination is displayed with the slave unit icon in the Network configuration window. x Right-click the master unit icon, and select [Parameters] and then select [Edit].
Part 2 When the [Edit Device Parameters] dialog box appears, confirm that the slave unit has been registered to the [List of Registered Devices], and the [Out Size] and the [In Size] fields show the values that were entered, and click [OK]. * The sizes are set to [24 bytes] in the figure below as the I/O sizes are set to “24 bytes.
Part 2 Transferring the Settings Part 2 Startup Chapter (5) Startup Chapter Bring the PLC connection online and transfer the settings. If the CX-Programmer and other connections are online, bring them offline or terminate the connections. When the settings have been successfully transferred, a remote I/O communication will start automatically. [1] Transferring the settings to the PLC x Select [Network] from the menu bar, and then select [Automatic Online Connection].
Part 2 Part 2 Startup Chapter x Confirm that [DeviceNet] in the “Online Connection Information window” has been brought to online (set to the icon). Caution: Chapter 5 Network Setup x Startup Chapter If online connection cannot be established, check the connection status of CX-Programmer and bring it offline, and perform this procedure again from the beginning after checking the cable connection and connection configuration settings.
Part 2 Startup Chapter 5.2.3 Profibus Installing the GSD file An example of installation using Siemens’s STEP7 HardWare Configuration (hereinafter referred to as “HW Config”) is explained. To define a gateway, a GSD file for the gateway must be downloaded in advance. The GSD file you need is “IAIOB2F.gsd,” which can be downloaded from our website. In this section, the procedure is explained using the following system configuration as an example.
(2) Startup Chapter Inserting the Profibus-DP master system Select Insert from the menu bar, select Master System in the pull-down menu, and left-click DP. The Profibus-DP master system is inserted. Chapter 5 Network Setup Part 2 Startup Chapter Part 2 When the insertion has been successful, the master system is displayed as shown below.
Part 2 (3) Startup Chapter Inserting the gateway rack into the network (4) Setting I/O assignments – Inserting the universal module Insert the universal module into the rack described in the preceding step, as shown below. Since the universal module provides only up to 64 input bytes and 64 output bytes, another universal module must be inserted if 10 or more axes are used.
Part 2 Startup Chapter Part 2 Startup Chapter Double-clicking the inserted universal module opens the Properties dialog box shown below. Set “Out-input” under “I/O Type,” and set the output length and input length according to the occupancy information set by the ROBONET gateway parameter setting tool. In the example below, four numerical axes are connected. Since the addresses are set automatically, change them if necessary.
Part 2 (5) Startup Chapter Setting the I/O data consistency Chapter 5 Network Setup Double-click or select Object Properties in the pull-down menu. Set “Total length,” not a unit (Byte or Word), under “Consistent over.” 327 -351- Part 2 Startup Chapter Under the normal settings, consistency of I/O data is assured in units of words or bytes for in the case of a Profibus system.
Part 2 Startup Chapter Part 2 Startup Chapter 5.2.4 EtherNet/IP This setup procedure is intended to demonstrate how to establish Ethernet/IP communication between an Allen Bradley Logix Controller, a ROBONET RGW-EP, and a Programming P.C. utilizing the Allen Bradley RSLogix5000 software alongside the IAI RCPC programming application. The following illustration demonstrates the small example network that will be instituted. There will be a ROBONET RGW-EP installed at IP 192.168.1.1, a programming P.C.
Part 2 Startup Chapter The first step is to add the ROBONET RGW-EP connection with the Logix Controller. Do this through the I/O Configuration section of the Controller Organizer in the RSLogix5000 software. Select the Ethernet/IP communication present in the Logix controller’s network, module and add a new module type as a slave to this controller.
Chapter 5 Network Setup Part 2 Startup Chapter Part 2 Startup Chapter From the available communications types, select the Generic Ethernet Module type. Set the parameters for the ROBONET RGW-EP as a Generic Ethernet Remote I/O connection to the Logix controller as shown below. The Input, Output, and Configuration Assembly instances of 100, 150, and 1 are critical settings and must be entered accordingly.
Part 2 Startup Chapter Previously, the ROBONET RGW-EP had been configured to operate in the “Direct Numerical Specification Mode” of operation. Section 3.7 explains the memory map of the ROBONET, which are unique to each of the four operating modes. Provide the IP address for the ROBONET EtherNet/IP interface, which should match that previously established in the ROBONET RGW-EP and provide a name for the connection.
The second step for configuring the Logix controller is define UDT(s) that define how the input and output from the ROBONET RGW-EP will be utilized. This makes addressing the ROBONET RGW-EP much easier from within the Logix environment. In this example, two UDT are configured, one for inputs, called “CON_EIP_IN,” and another for the outputs, called “CON_EIP_OUT.” The inputs are the words and bits that the Logix controller will send to the ROBONET RGW-EP controller as commands.
Part 2 Startup Chapter Part 2 Startup Chapter Chapter 3 Gateway R uni -357-
Part 2 Startup Chapter Part 2 Startup Chapter 5.2.4 5.2.5 5.2.5 RS485SIO 1. Modbus gageway mode The procedures for setting and starting the master are explained below. If function blocks are to be used, download the following file in advance from our website. Dedicated ROBONET function block file: RBNET_RW Website: http://www.iai-robot.co.jp 1.
Part 2 (1) Startup Chapter Setting up the PLC Setting the switches on the serial communication unit (SCU) For details, refer to the operation manual for your PLC. The following explains an example with the serial communication unit CJ1W-SCU41-V1. Part 2 Startup Chapter [1] Model number: CJ1W-SCU41-V1 LED indicators Terminal resistor ON/OFF switch Unit-number setting switch 2/4-wire mode selector switch Port 1 RS-422A/485 Setting switches Port 1 is used.
Part 2 Part 2 Startup Chapter [2] z Creating an I/O table Launch CX-Programmer (Version 7.0). Connect CX-Programmer to the PLC. You can connect CX-Programmer to the PLC by setting the network type, baud rate and other necessary items in an offline state, or by selecting a connection port to automatically bring the connection online. [c] Set the PLC operation mode to “Program.” [d] Double-clicking “I/O Table/Unit Settings” in the workspace window opens the I/O table dialog box.
Part 2 Startup Chapter [d] When the above items have been set, transfer the settings to the PLC. Click Options (O), and click Transfer [PC Æ PLC] (P). Chapter 5 Network Setup Double-click the CPU Unit Settings tab in the PLC System Settings dialog box, and set the necessary items in the “Communication Command Settings in FB” area as follows: x Number of Resends: Set the number of times the data will be resent if the PLC has experienced a communication error while communicating with the gateway unit.
Part 2 Part 2 Startup Chapter [4] Setting up the serial communication unit (SCU) software In the same condition as in the previous step (online, program mode), set the operation of the serial communication unit. Double-click “I/O Table/Unit Settings” in the workspace window to open the I/O table. Double-click the serial communication unit.
Part 2 [b] Startup Chapter x x x x x x x x The gateway unit and serial communication unit (CJ1W-SCU41-V1) are connected via the RS485 protocol. Accordingly, the port to be used is “1” and each item is set as follows: Port 1 optional setting: Optional setting Port 1 serial communication mode: Serial gateway Port 1 data length: 8 bits Port 1 stop bit: 1 bit Port 1 parity: None Port 1 baud rate: Set the same baud rate specified for the gateway unit.
Startup Chapter Chapter 5 Network Setup Part 2 Startup Chapter Part 2 [c] Once all necessary items have been set, click the Transfer [PC o Unit] (T) tab. When the transfer is completed, the program prompts you to restart the unit. Click Yes.
Part 2 [1] [2] [3] [4] Before importing the definitions, download from our website the CXF file for dedicated ROBONET function block (file name: RBNET_RW). Launch CX-Programmer and keep it offline. Select File (F) from the menu bar and click New (N). The following screen appears. In the above screen, right-click the “Function Blocks” icon, click Insert Function Block (I), and click Library File (F).
Part 2 [5] When the function block library selection dialog box appears, specify the CXF function block file (RBNET_RW) and opens the file from the location where it is saved. [6] When the import of function block definitions is completed, click OK. Part 2 Startup Chapter Chapter 5 Network Setup Startup Chapter One more function block (J_SerialGateway_Cyclic) is imported. Be careful not to delete this function block.
Part 2 [7] Startup Chapter Part 2 Startup Chapter If the import of function block definitions has been successful, the RBNET_RW.cxf file is now added to the function block tree. (J_SerialGateway_Cyclic is also added simultaneously.
Part 2 Startup Chapter Part 2 (3) Startup Chapter Generating an instance Generate an instance of function block definitions in the ladder section window. [1] In the same condition as in (2) (PLC is offline), move the cursor to the location in the ladder section window where you want to generate an instance, and press the “F” key. The window to call a new function block opens. Bring the cursor to the location where you want to generate an instance.
Part 2 (4) Startup Chapter Setting function block parameters Chapter 5 Network Setup Bring the cursor to the location where you want to set a parameter. A red line is displayed along the left edge of the window until all parameters are set. 339 -369- Part 2 Startup Chapter Set parameters for the function block instance generated in (3) to assign I/Os for communication with external devices. [1] Bring the cursor to the location where you want to set a parameter, and press the “P” key.
Part 2 When all parameters have been set, the window should look like the one shown below. Chapter 5 Network Setup Part 2 Startup Chapter [2] Startup Chapter Red line z z EN (the FB operates when this parameter is “ON”) and ENO (this parameter turns “ON” while the FB is operating) at the top of the FB are connected using contact points and lines just like you do in a normal ladder sequence.
Part 2 [3] Startup Chapter Chapter 5 Network Setup The red line disappears. Part 2 Startup Chapter When the cursor is moved to the next line in the function block, the red line in (2) disappears and the window looks like the one shown below.
Part 2 Startup Chapter Part 2 2. Startup Chapter SIO Through Mode If the SIO through mode is to be used, refer to the operation manual on serial communication (Modbus version). In this mode, the Gateway R unit exchanges data with the host master in units of bytes (at the specified baud rate). It also exchanges data with the controller unit at the baud rage of 230.4 kbps.
Part 2 Creating a Controller Position Table If the ROBONET system is to be used in the positioner mode or simple direct mode, a position table must be registered in the controller beforehand. The items that must be set are summarized in the table below. Position Speed Acceleration Deceleration Positioning band * Positioner mode { { { { { Simple direct mode X* { { { { Part 2 Startup Chapter 5.
344 342 -374- Chapter 5 Network Setup Part 2 Startup Chapter
Part 2 Address Correlation Diagram The correlation between the PLC’s I/O addresses (internal addresses) and the ROBONET addresses (gateway addresses) over the network that has been set up is explained for CC-Link, DeviceNet and RS485SIO systems. 5.2 and 5.3 explained an example of network configuration and the configuration procedure. The descriptions in this section assume the settings used in this example. A PLC sequence for ROBONET operation can be created based on the applicable settings.
Part 2 Startup Chapter Part 2 Startup Chapter 5.4.1 Address Correlation Diagram for CC-Link System (Example) Buffer memory of master station (station number 0) Gateway R unit (RGW-CC) (station number 1) Input register Upper byte Lower byte Gateway status signal 0 Gateway status signal 1 Response command Data 0 Data 1 Refreshed automatically.
Part 2 Startup Chapter Part 2 Startup Chapter Output register Upper byte Lower byte (Axis 0) Position data specification (L) (Axis 0) Position data specification (H) (Axis 0) Position number (Axis 0) Control signal (Axis 1) Position data specification (L) (Axis 1) Position data specification (H) Refreshed automatically.
Part 2 Startup Chapter Part 2 Startup Chapter 5.4.2 Address Correlation Diagram for DeviceNet System (Example) Master station (station number 63) Gateway register (PLC output) Upper byte Lower byte Gateway control signal 0 Gateway control signal 1 Request command Data 0 Data 1 Data 2 Data 3 (Cannot be used) PLC address (channel number) Refreshed automatically. Chapter 5 Network Setup Gateway R unit (RGW-DV) (station number 0) PLC address (channel number) Refreshed automatically.
Part 2 Startup Chapter 5.4.3 Address Correlation Diagram for RS485SIO System (Example) Part 2 Startup Chapter The following diagram assumes the Modbus gateway mode and use of a function block.
Part 2 Startup Chapter Part Chapter . Setting for External SIO Link and Other SCON/PCON-CF Settings and Signal Assignments SCON controllers can be operated only in the positioner mode. They cannot be operated in the pulse-train input mode. For SCON controllers, set the parameters as follows. ( ) User parameters No.
Part 2 Other Items to note regarding the condition of user setting switch SW1 on the Gateway R unit are given below. (1) When SW1 = OFF (TP enable switch signal disabled) The TP enable switch signal of each connected RPCON, RACON, PCON-CF or SCON controller becomes ineffective regardless of the enable operation parameter set by the gateway parameter tool.
Chapter 1 Troubleshooting Part 3 Maintenance Part 3 Part 3 Maintenance Chapter 1 Troubleshooting 1.1 Maintenance Actions to Be Taken upon Problems If you encountered a problem, follow the procedure below for speedy recovery and to prevent the same problem from occurring again: a. Check the LED indicators on the Gateway R unit RUN/ALM, ERROR-T, ERROR-C, STATUS-0, STATUS-1, EMG b. Check the host controller (PLC master station) for abnormality c.
Part 3 1.2 Maintenance Alarms of the Gateway R unit LED indicators MODE switch Common alarm indicators (Indicated conditions are the same with all Gateway types.) Part 3 Maintenance The Gateway R unit indicates various alarms using the LED indicators provided on the front face of the unit. The four LEDs of RUN/ALM, EMG, ERR-T and ERR-C indicate the same conditions regardless of the gateway type (common alarm indicators).
Part 3 Maintenance 1.2.1 Common Alarms Chapter 1 Troubleshooting Part 3 Maintenance The table below lists the alarms and their descriptions. LED name RUN/ALM Displayed color Green Orange EMG Red ERROR-T Unlit Unlit Orange ERROR-C Unlit Orange Condition Action Normal An alarm is present (applicable to all alarms). An emergency stop is actuated. An emergency stop is not actuated.
Part 3 Maintenance 1.2.2 Alarms by Field Network Type The alarms indicated by the STATUS0 and STATUS1 LEDs vary depending on the field network type, as shown below. Part 3 Maintenance (1) CC-Link LED name STATUS-1 Displayed color Unlit Orange Unlit Action [1] Normal [2] Reset process is in progress. [1] CRC error (*1) [2] A station number setting error occurred after a reset. (*2) [3] A baud rate setting error occurred after a reset.
Part 3 (2) DeviceNet Part 3 Maintenance LED name STATUS-1 Displayed color Unlit Green Blinking green (1 Hz) STATUS-0 Chapter 1 Troubleshooting Maintenance (3) Orange Blinking orange (1 Hz) Alternating red/green Unlit Condition Action Offline/no power Communication with the master is not yet established. Check the DeviceNet communication power supply (+24 V), power supply of the gateway unit, communication cable, etc. The unit is online and connection has been established (normal).
Part 3 Maintenance Part 3 (4) EtherNet/IP Displayed color Condition Unlit The power is turned off or IP address is not yet set. Green Blinking green NS Red Blinking red Unlit Blinking green MS Connection has been established and proper communication is in progress. The system is online but connection is not Check the status of the master unit. yet established. Communication is stopped (the network is normal). Check the IP address setting, wiring condition of A communication error is present.
Part 3 Maintenance Chapter 1 Troubleshooting Part 3 Maintenance 1.2.3 Examples of Indicator Statuses Corresponding to Representative Alarms Examples of indicator statuses corresponding to representative alarms are shown for CC-Link and DeviceNet systems. (1) CC-Link z: Lit {: Unlit ~: Blinking Gateway unit Master Operation/condition ERR ERROR-T ERROR-C STATUS-1 STATUS-0 (Orange) (Orange) (Orange) (Orange) (Red) { { { z { Normal { { { { z The 24-V power supply of the gateway unit is turned off.
Part 3 1.3 Maintenance Alarms of the Controller Unit and Simple Absolute R Unit 1.3.1 Overview of Alarms The status monitor LEDs shown below are provided on the front face of the RACON and RPCON units. When an alarm generates, the nature of the alarm can be checked using these LEDs. Symbol Explanation Front face of unit This LED illuminates in red when an alarm is present or emergency stop is actuated (if an emergency stop is actuated, STATUS0 to 3 remain SV/ALM unlit).
Part 3 Maintenance Part 3 Maintenance Alarms are classified into two levels based on the symptoms associated. Alarm level ALM lamp ALM signal logic Condition of generation Operation cancellation Lit “1” After deceleration stop Servo OFF Cold start Lit “1” After deceleration stop Servo OFF Reset method Input the alarm reset signal (RES) from the PLC. Perform a reset action from the PC/teaching pendant. Reconnect the power. * The ALM signal uses the positive logic.
Part 3 Alarm List Maintenance * STATUS 3 2 1 0 Simple code z { 2 { { z z 3 { z { { 4 { z z { 6 { z z z 7 z { { { 8 z { { z 9 z { z z B z z { { C z z { z D z z z { E z z z z F 83 84 85 A7 F4 A1 A2 A3 B6 B7 B8 BA BE C0 C8 C9 CA CB CC CE D8 D9 DC C1 D2 E0 F0 E5 E8 E9 EA ED EE EF FA F5 F6 F8 Software reset command with servo ON Position number error during teaching PWRT signal detection during movement PWRT signal detection before home return Moveme
Part 3 Maintenance 1.3.2 Alarms, Causes and Actions Part 3 Maintenance (1) Operation-cancellation alarms (These alarms can be reset with the reset signal.
Part 3 Code 0A2 0A7 Cause/action [1] A movement command was input when a target position was not set in the “Position” field. [2] The target position in the “Position” field exceeds the specified soft limits. Action: [1] Set a target position first. [2] Change the target position to a value within the specified soft limits. Position Cause: The speed or acceleration/deceleration in the numerical command exceeds the command data maximum setting.
Chapter 1 Troubleshooting Part 3 Maintenance Part 3 Code 0BA Alarm name Home sensor not detected 0BE Home return timeout 0C0 Excessive actual speed 0C1 Servo error (RPCON only) 0C9 Motor power-supply overvoltage Cause/action This alarm indicates that the actuator equipped with the home check sensor has not yet successfully completed the home return operation. Cause: [1] The work part contacted a surrounding equipment or structure during home return.
Part 3 Code 0CC 0D2 0D8 0DC 0ED Cause/action This alarm indicates that the 24-V input power-supply voltage is excessively high (24 V + 20%: 28.8 V or above). Cause: [1] The 24-V input power-supply voltage is high. [2] A faulty part inside the controller Action: Check the input power-supply voltage. If the voltage is normal, please contact IAI. Control This alarm indicates that the 24-V input power-supply voltage is low (24 V - 20%: 19.2 V power-supply or below).
Part 3 Alarm name Absolute encoder Cause: error (2) Part 3 Maintenance Code 0EE Action: Chapter 1 Troubleshooting 0EF Absolute encoder Cause: error (3) Action: Cause/action [1] The power was turned on for the first time after the battery connection. [2] When the detail code is H’0001: The battery voltage dropped to a level where the encoder counter in the absolute unit could no longer be retained.
Part 3 (2) Cold start level Alarm name Parameter error Unsupported motor/encoder type 0B4 Inconsistent electrical angle 0B7 Indeterminable magnetic pole (RACON only) 0B8 Excitation detection error (RPCON only) 0C8 Overcurrent (RACON only) 0CA Overheat Cause: Action: The position deviation counter has overflowed. Check the load conditions such as whether the work part is contacting any nearby object and whether the brake is released.
Part 3 Part 3 Maintenance Code 0CB 0E0 Alarm name Current-sensor offset adjustment error (RACON only) Overload (RACON only) Cause/action When the controller is started, the condition of the current detection sensor in the controller is checked as part of the initialization process. This alarm indicates that an error was found in this sensor during the check. Cause: [1] Faulty current detection sensor or surrounding part [2] Inappropriate offset adjustment.
Part 3 Code 0E8 0EA Driver logic error (RACON only) 0F4 Unmatched PCB 0F5 Nonvolatile memory write verification error 0F6 Nonvolatile memory write timeout 0F8 Damaged nonvolatile memory 0FA CPU error Chapter 1 Troubleshooting 0F0 Cause/action Encoder signals cannot be detected correctly. Cause: [1] Loose or disconnected encoder-extension cable connector [2] Piano switch 4 of the simple absolute R unit is set incorrectly.
Part 3 Maintenance Part 3 Maintenance 1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displayed during operation using the teaching pendant or PC software.
Part 3 20E 210 Soft limit over HOME-ON during operation 221 301 Write prohibited in monitor mode Operation prohibited n monitor mode Overrun error (M) 302 Framing error (M) 304 SCIR-QUE OV (M) 305 SCIS-QUE OV (M) 306 R-BF OV 308 Response timeout (M) 30A Packet R-QUE OV 223 30B Packet S-QUE OV 307 309 Memory command denied Write address error 30C No connected axis Description This message indicates that a start command signal (CSTR) was changed to “1” by the PLC while the actuator wa
Part Chapter Maintenance Maintenance/Inspection Part 3 Maintenance Carry out daily or periodic inspection to make sure your ROBONET continues to demonstrate its functions fully. Chapter 2 Maintenance/Inspection Danger Caution Do not touch the terminals while the power is supplied. Doing so may result in electric shock. Connect the backup battery correctly. Do not charge, disassemble, heat, throw into fire, short-circuit or solder the backup battery.
Part 3 2.1 Maintenance Periodic Inspection Items No. Inspection item Description 1 Supply voltage Measure the voltage at the power-supply terminal block to check if the voltage fluctuation meets the judgment criterion. 2 Surrounding Ambient temperature environment (If a panel is used, the temperature inside the panel represents the ambient temperature.) Ambient humidity (If a panel is used, the humidity inside the panel represents the surrounding humidity.
Chapter 2 Maintenance/Inspection Part 3 Maintenance Part 3 No. Inspection item Description Judgment criterion 4 Connection Loose wiring connectors Not loose. condition (motor cable, encoder cable, field network cable, emergency-stop circuit) Broken wiring cables 5 Air-cooling fan 6 Backup battery 2.2 No exterior abnormality. Operating.
Part 3 2.3 Maintenance Replacing the Backup Battery Part 3 Maintenance The backup battery for simple absolute R unit lasts for three years. The expiration date label is attached on the front face of the battery, as shown below. Replace the backup battery if the expiration date has passed, even when the battery is not faulty.
Part Maintenance Part 3 Maintenance (3) Pull the ROBONET communication PCBs (2 pieces) to front to detach them, and then take out the backup battery. ROBONET communication PCB Chapter 2 Maintenance/Inspection Removed Backup Battery (4) Attached the backup battery for replacement and then put the ROBONET communication PCBs (2 pieces) back on. (5) Plug the connector on the backup battery to the connector on Simple Absolute R Unit.
Appendix * Appendix List of Specifications of Connectable Actuators Caution x x x x The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline. Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize. Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.
Appendix * Appendix Actuator series Type RGD4C Feed screw Ball screw Encoder resolution 800 Lead [mm] Mounting direction Maximum speed [mm/s] 10 Horizontal/ vertical 458 (at ~250 st) 350 (at 300 st) 5 Horizontal/ vertical 250 (at 50 ~200 st) 237 (at 250 st) 175 (at 300 st) Horizontal 125 (at 50 ~200 st) 118 (at 250 st) 87 (at 300 st) Vertical 114 2.
Appendix Actuator series Type Feed screw Encoder resolution Lead [mm] 12 Ball screw 800 6 3 12 SA6C Ball screw 800 6 3 12 SA6R Ball screw 800 6 3 16 RCP2 (slider type) SA7C Ball screw 800 8 4 16 SA7R Ball screw 800 8 4 12 SS7C Ball screw 800 6 3 12 SS7R Ball screw 800 6 3 Maximum speed [mm/s] Horizontal 600 Vertical Horizontal 300 Vertical Horizontal 150 Vertical Horizontal Maximum acceleration/ deceleration [G] 0.3 0.2 0.3 0.2 0.2 0.
Appendix Actuator series Type Feed screw Encoder resolution Lead [mm] Maximum speed [mm/s] Horizontal 666 (at 50 ~800 st) 625 (at ~ 900 st) 515 (at ~ 1000 st) 0.3 Vertical 600 (at 50 ~800 st) 600 (at ~ 900 st) 515 (at ~ 1000 st) 0.2 Horizontal 333 (at 50 ~800 st) 310 (at ~ 900 st) 255 (at ~ 1000 st) 0.3 Vertical 300 (at 50 ~800 st) 300 (at ~ 900 st) 255 (at ~ 1000 st) 0.2 Horizontal 165 (at 50 ~800 st) 155 (at ~ 900 st) 125 (at ~ 1000 st) 0.
Appendix Actuator series Maximum acceleration/ deceleration [G] Minimum Maximum push force push force [N] [N] Rated push speed [mm/s] Type GRSS - 800 Gear ratio: 1/30 - 78 - 4 14 20 GRLS - 800 Gear ratio: 1/30 - 600q/s - 1.8 6.4 5q/s GRS - 800 Gear ratio: 1 - 33.3 - 9 21 5 GRM - 800 Gear ratio: 1 - 36.7 - 23 80 5 - 800 1.05 (standard) - 34 - 15 40 5 - 800 2.27 (high speed) - 75 - 7.
Appendix Actuator series Type * Appendix RTCL RTBB RCP2 (rotary type) RTBBL RTCB RTCBL RA2AC RA2BC Feed screw - - - - - Lead screw Lead screw 800 800 800 800 800 Maximum speed [mm/s] Maximum acceleration/ deceleration [G] Gear ratio: 1/20 - 600q/s - - - - Gear ratio: 1/30 - 400q/s - - - - Gear ratio: 1/20 - 600q/s - - - - Gear ratio: 1/30 - 400q/s - - - - Gear ratio: 1/20 - 600q/s - - - - Gear ratio: 1/30 - 400q/s - - - - Gear ratio: 1/20
Appendix Actuator series Type Feed screw SA2AR Lead screw Lead screw Mounting direction 4 800 800 2 Horizontal Maximum speed [mm/s] 180 (at 25 st) 200 (at 50 ~ 100 st) 100 1 50 6 180 (at 25 st) 280 (at 50 st) 300 (at 75 ~ 150 st) 4 Horizontal 180 (at 25 st) 200 (at 50 ~ 100 st) SA3C Ball screw 800 4 2 6 SA3R Ball screw 800 4 2 RCP3 (slider type) 10 SA4C Ball screw 800 5 2.5 10 SA4R Ball screw 800 5 2.
Appendix Actuator series Type Feed screw Encoder Lead [mm] resolution * Appendix 12 SA6C Ball screw 800 6 3 RCP3 (slider type) 12 SA6R Ball screw 800 6 3 6 TA3C Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 6 TA4C Ball screw 800 4 2 RCP3 (table type) 6 TA4R Ball screw 800 4 2 10 TA5C Ball screw 800 5 2.5 10 TA5R Ball screw 800 5 2.5 Maximum acceleration/ deceleration [G] Mounting direction Maximum speed [mm/s] Horizontal 600 (at 50 ~ 550 st) 540 (at ~ 600 st) 0.
Appendix Actuator series Type Feed screw Encoder Lead [mm] resolution 12 Ball screw 800 6 3 12 TA6R Ball screw 800 6 3 RCP3 (table type) 12 TA7C Ball screw 800 6 3 12 TA7R Ball screw 800 6 3 Maximum speed [mm/s] Horizontal 560 0.3 Vertical 500 0.2 Horizontal Vertical Horizontal Vertical 300 150 0.3 0.2 0.2 0.2 Horizontal 560 0.3 Vertical 500 0.2 Horizontal Vertical Horizontal Vertical 300 150 0.3 0.2 0.2 0.2 Horizontal 600 0.3 Vertical 580 0.
Appendix [RACON] * Appendix Actuator series Type RA3C RGS3C RGD3C Feed screw Ball screw Ball screw Ball screw Encoder Motor output [W] resolution 20 20 20 800 800 800 RCA (rod type) RA3D RGS3D RGD3D RA3R RGD3R Ball screw Ball screw Ball screw Ball screw Ball screw 20 20 20 20 20 800 800 800 800 800 Lead [mm] Mounting direction Maximum stroke [mm] 10 Horizontal/vertical 500 5 Horizontal/vertical 250 2.
Appendix Actuator series Type Feed screw Encoder Motor output [W] resolution 20 Ball screw 30 800 Mounting direction Maximum stroke [mm] 12 Horizontal/ vertical 600 6 Horizontal/ vertical 3 Horizontal/ vertical 150 12 Horizontal/ vertical 600 6 3 12 20 RGS4C 800 3 Ball screw 12 30 RCA (rod type) 6 800 RGD4C 800 800 6 6 12 RA4D 800 6 3 Ball screw 12 30 800 Horizontal/ vertical Horizontal/ vertical 3 3 20 Horizontal/ vertical Horizontal/ vertical 12 30 Horizon
Appendix Actuator series Type Feed screw Encoder Motor output [W] resolution * Appendix 20 RGS4D Ball screw 30 20 RGD4D 800 800 800 Ball screw 30 800 RCA (rod type) 20 RA4R Ball screw 30 20 RGD4R 800 800 800 Ball screw 30 800 Lead [mm] Mounting direction Maximum stroke [mm] Maximum acceleration/ deceleration [G] 12 Horizontal/ vertical 600 0.3 6 Horizontal/ vertical 300 0.3 3 Horizontal/ vertical 150 0.2 12 Horizontal/ vertical 600 0.
Appendix Actuator series Feed screw SRA4R Ball screw 20 800 SRGS4R Ball screw 20 800 Ball screw 20 800 SRGD4R SA4C Ball screw 20 800 Lead [mm] 5 2.5 5 2.5 5 2.5 SA4D 20 800 20 800 SA5C Ball screw 20 800 SA5D 20 800 20 800 Horizontal/ vertical 165 5 5 Ball screw 30 800 Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Maximum acceleration/ deceleration [G] 0.3 0.2 0.2 0.2 0.3 0.2 0.2 0.2 0.
Appendix Actuator series Type * Appendix SA6D SA6R RCA2 (slider type) SS4D SS5D SS6D SA4R Feed screw Ball screw Ball screw Ball screw Ball screw Ball screw Ball screw Motor output [W] 30 30 20 20 30 Encoder resolution 800 800 800 800 800 Lead [mm] Mounting direction Maximum stroke [mm] Maximum acceleration/ deceleration [G] Minimum push force [N] Maximum push force [N] Rated push speed [mm/s] 12 Horizontal/ vertical 800 (at 50~450 st) 760 (at 500 st) 640 (at 550 st) 540
Appendix Actuator series Feed screw Motor output [W] Encoder resolution RN3N Lead screw 10 1048 Lead screw 10 Lead screw 10 RP3N GS3N GD3N SD3N Lead [mm] 4 2 1 4 1048 2 1 4 1048 2 1 4 Lead screw 10 Lead screw 10 1048 2 1 4 1048 2 1 6 RCA2 (rod type) Ball screw 4 2 20 RN4N 1048 6 Lead screw 4 2 6 Ball screw 4 2 20 RP4N 1048 6 Lead screw 4 2 Mounting direction Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Horizontal/ vertical Ma
Appendix Actuator series Type Feed screw Motor output [W] Encoder resolution Lead [mm] 6 * Appendix Ball screw 4 2 GS4N 20 1048 6 Lead screw 4 2 6 Ball screw RCA2 (rod type) 4 2 20 GD4N 1048 6 Lead screw 4 2 6 Ball screw 4 20 SD4N 1048 2 6 Lead screw 4 2 6 SA3C Ball screw 10 800 4 2 RCA2 (slider type) 6 SA3R Ball screw 10 800 4 2 Mounting direction Maximum stroke [mm] Maximum acceleration/ deceleration [G] Minimum push force [N] Maximum push force [N] Rated push
Appendix Actuator series Type Feed screw Motor output [W] Encoder resolution Lead [mm] 10 SA4C 20 800 5 2.5 10 SA4R Ball screw 20 800 5 2.
Appendix Actuator series Type Feed screw Motor output [W] Encoder resolution Lead [mm] 6 * Appendix Ball screw 4 2 TC4N 20 1048 6 Lead screw 4 2 6 Ball screw 4 2 20 TW4N 1048 6 Lead screw 4 2 RCA2 (table type) 6 Ball screw 4 2 20 TF4N 1048 6 Lead screw 4 2 6 TA4C Ball screw 10 800 4 2 6 TA4R Ball screw 10 800 4 2 Mounting direction Maximum stroke [mm] Maximum acceleration/ deceleration [G] Minimum push force [N] Maximum push force [N] Rated push speed [mm/s] Horiz
Appendix Actuator series Type Feed screw Motor output [W] Encoder resolution Lead [mm] 10 Ball screw 20 800 5 2.5 10 TA5R Ball screw 20 800 5 2.5 12 TA6C Ball screw 20 800 6 3 RCA2 (table type) 12 TA6R Ball screw 20 800 6 3 12 TA7C Ball screw 30 800 6 3 12 TA7R Ball screw 30 800 6 3 Maximum stroke [mm] Maximum acceleration/ deceleration [G] Minimum push force [N] Maximum push force [N] Rated push speed [mm/s] Horizontal 465 0.3 - - - Vertical 400 0.
Appendix * Appendix Actuator series RCL Type Feed screw Motor output [W] Encoder resolution Lead [mm] Mounting direction Maximum stroke [mm] Maximum acceleration/ deceleration [G] Minimum push force [N] Maximum push force [N] Rated push speed [mm/s] RA1L 715 Horizontal/ vertical 300 2 0.75 2 2 RA2L 855 Horizontal/ vertical 340 2 1.
Appendix Correlation diagram of speed and payload capacity for the slider type (motor-straight type) Vertical installation Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix High-speed type Horizontal installation Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indica
Appendix Correlation diagram of speed and payload capacity for the slider type (motor-reversing type) Payload capacity (kg) Payload capacity (kg) High-speed type Vertical installation Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix Horizontal installation Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indi
Appendix Correlation diagram of speed and payload capacity for the standard rod type Vertical installation Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix High-speed type Horizontal installation (Note 1) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the
Appendix Correlation diagram of speed and payload capacity for the single-guide type Payload capacity (kg) Payload capacity (kg) High-speed type Vertical installation Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix Horizontal installation Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and payload capacity for the double-guide type Vertical installation Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix High-speed type Horizontal installation Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and payload capacity for the dustproof/splash-proof type Payload capacity (kg) Payload capacity (kg) High-speed type Vertical installation (Note 2) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Payload capacity (kg) Payload capacity (kg) Speed (mm/sec) Low-speed type * Appendix Horizontal installation (Note 1) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the typ
Appendix Push Force and Current-limiting Value Caution x x x RCP2 Series Rod Type Push force (N) RA2C Type Push force (N) Push force (N) High-speed type Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) Push force (N) Push force (N) Low-speed type Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) Push force (N) Push force (N) Medium-speed type Current-l
Appendix Push force (N) Short Type Lead 2.
Appendix Gripper Gripping force (N) * Appendix Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) Current-limiting value (ratio, %) Standard type High-speed type Current-limiting value (ratio, %) 402 405 -435-
Appendix Gripping force (N) Gripping force (N) 3-finger Gripper Current-limiting value (ratio, %) Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) * Appendix RCP2 Series Current-limiting value (ratio, %) Current-limiting value (ratio, %) 403 406 -436-
Appendix RCP3 Series Slim, Compact Rod Type RA2BC/RA2BR Lead 2 Push force (N) * Appendix Push force (N) RA2AC/RA2AR Lead 1 Current-limiting value (ratio, %) RA2AC/RA2AR Lead 2 RA2BC/RA2BR Lead 4 Push force (N) Push force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2BC/RA2BR Lead 6 Push force (N) Push force (N) RA2AC/RA2AR Lead 4 Current-limiting value (ratio, %) Current-limiting value (ratio, %) 404 407 -437-
Appendix RCP3 Series Slider Type SA4C Type Push force (N) Push force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) SA5C/SA6C Type Current-limiting value (ratio, %) RCP3 Series Slim, Compact Table Type TA3C/TA3R Type TA4C/TA4R Type Lead 4 Lead 6 Push force (N) Push force (N) Lead 2 RCP3 Series Lead 2 Lead 4 Lead 6 Current-limiting value (ratio, %) Current-limiting value (ratio, %) Table Type TA5C Type TA6C/TA7C Type Push force (N) Push force (N
Appendix Micro-cylinder * Appendix Push force (N) RCL Series Current-limiting value (ratio, %) 406 409 -439-
Appendix Change History Change History Revision Date Description of Revision August 00 First edition • Maintenance at Startup Section and Specifications Section integrated January 00 Second edition • Addition of UL standards application page June 00 Third edition • Electromagnetic valve mode and added, velocity unit switchover function added, corresponded to parameter create tool version update October 00 Fourth edition • Transportation notes in Caution for Safety changed, RTE Signal
Revision Date July 2012 Description of revision Thirteenth edition October 2012 Contents changed in UL Thirteenth-A edition Addition of EtherNet/IP specifications -441-
408 -442-
Manual No.: ME0208-12A (April 2012) Manual No.:ME0208-13A-A(October2012) 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.
