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IAI x-sel Operation Manual
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IAI x-sel Operation Manual

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Operation Manual, Eighth Edition

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  • Page 1 Operation Manual, Eighth Edition...
  • Page 2 Table of Contents...
  • Page 5 The open field network ProfiBus-DP is a multi-bit, multi-vendor network for communication of both control and data signals of the machine/line control level. A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ACON, PCON, SCON, ASEL, PSEL and SSEL controllers (hereinafter collectively and individually referred to as “Each Controller”) to a ProfiBus-DP network.
  • Page 6 Specifications Interface Specifications The table below lists the specifications of the ProfiBus-DP interface. Item Specification Remarks Communication profile ProfiBus-DP Communication method Hybrid method Master/slave method with token passing Number of connectable 32 stations per segment Up to 126 stations can be connected if a stations repeater is used.
  • Page 7 ProfiBus-DP Board Types and Installation Positions in the X-SEL There are six types of X-SEL controllers that support ProfiBus-DP, as listed below. The installation position of the ProfiBus-DP board is different depending on whether the X-SEL controller is of PR0 type or PR1 type.
  • Page 8 (1) Compact type (J type) *2, *3 1-axis specification 2-axis specification 3/4-axis specification ProfiBus-DP board ProfiBus-DP board Expansion slot ProfiBus-DP board (Installed in the standard slot.) Fig. 3.1 *1) An I/O board cannot be installed in 1-axis and 2-axis specifications, because the ProfiBus-DP board occupies the only slot available.
  • Page 9 [8] IA-IO-3205-PN (48 input points + 48 output points, PNP specification) (Note) [5] and [6] are used exclusively for the K, P and Q types, while [7] and [8] are used exclusively for the J type. For specification details, refer to “Operation Manual for X-SEL Controller.” SIO board Mode...
  • Page 10 Expansion slots 2 and 3 ProfiBus-DP board (Installed in expansion slot 1.) Standard I/O board Fig. 3.3 (3) P/Q types The ProfiBus-DP board is installed in the installation position of field network board. Standard I/O ProfiBus-DP board ProfiBus-DP board Expansion I/O Standard I/O Fig.
  • Page 11 Setting a ProfiBus-DP Board (Slave Station) (1) Name of each part J/K/JX/KX/ type P/Q/PX/QX type Monitor LEDs ProfiBus-DP communication connector Termination switch Address setting dials Address setting dials Termination switch Monitor LEDs ProfiBus-DP communication connector...
  • Page 12 (2) ProfiBus-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170. Connector Pin No. Description Contents B-Line RxD TxD (Positive signal line) Shield A-Line /RxD /TxD (Negative signal line) Housing Shield * Pins 1, 2, 4, 6, 7 and 9 are not used (they need not be wired).
  • Page 13 (4) Node address settings <Set by the address setting dials> The address of each ProfiBus-DP slave station is set using the “x10” and “x1” rotary switches shown in the figure under (1). Set a desired address according to the following rule: Node address number = (“Value set by x10”...

  • Page 14: Parameter No

    Setting X-SEL I/O Parameters (Assigning I/O Ports) Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.”...

  • Page 15: Table Of Contents

    (2) K/KX type Parameter No. 6 Parameter No. 8 Parameter No. 2 No. 7 No. 9 No. 3 No. 12 No. 13 No. 10 Parameter No. 4 No. 5 No. 11 Note) One ProfiBus-DP board occupies two slots. Accordingly, Nos. 4 and 5 are set to “-1,” and No. 11 to “0,” when a ProfiBus-DP board is set in the slots denoted by A above.

  • Page 16: Parameter No

    3.3.2 Factory-set Parameters (Default Settings) (1) Factory-set parameters for the J/K/JX/KX types • I/O Parameter Settings Parameter name Input range Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 17 (2) Factory-set parameters for the P/PX/Q/QX types Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module → Slot 1 (standard 0 ~ 20 I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 18: Parameter No

    3.3.3 Automatically Assigning X-SEL I/Os Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.”) This manual covers the representative setting method as explained below.
  • Page 19 X-SEL (K type) Input port Nos. 000 to 015 Not used Output port Nos. 300 to 315 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20...
  • Page 20 ProfiBus-DP slave station already occupies 300 to 555 (total 256 points), “556” is automatically assigned as the initial output port number expansion slot I/O1 based on fixed assignment. X-SEL (J type, 3/4-axis specification) Input port Nos. 256 to 287 Input port Nos. 000 to 255 Output port Nos.
  • Page 21 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 22: Parameter No

    [9] Since the maximum numbers of input and output points of the ProfiBus-DP slave station are 256 and 256, respectively, enter “256” in I/O parameter Nos. 14 and 15, “Input/output ports used.” The settings are complete. X-SEL (K type) Input port Nos. 000 to 031 Input port Nos. 032 to 287 Output port Nos.
  • Page 23 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 24 16 output points, each from the beginning, by leaving other I/O ports unused, just like when a standard X-SEL I/O board (50-pin connector) is used. [1] Enter “1” in I/O parameter No. 1 to specify automatic assignment. (Default setting) [2] Set I/O parameter No.
  • Page 25 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Parameter name Setting Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module → Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 26: Parameter No

    (2) Setting example when a ProfiBus-DP board is used with a standard I/O board (automatic assignment) Example: These settings are used when 256 input points and 256 output points are assigned, both from the initial standard I/O ports, to the ProfiBus-DP board, and the remaining I/O port numbers are assigned to the standard I/O board.
  • Page 27 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Parameter name Setting Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module → Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 28 (3) Setting example when a ProfiBus-DP board is used with a standard I/O board (fixed assignment) In automatic assignment, the initial I/O port numbers (No. 0 or greater for input / No. 300 or greater for output) must be set on the standard I/O board. By using fixed assignment, however, you can set the initial I/O port numbers on expansion I/O board 1 to 3 (No.
  • Page 29 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Setting Parameter name Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module → Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 30 3.3.6 X-SEL I/O Port Numbers The standard I/O port numbers of the X-SEL are listed below. The port numbers and function assignments of the X-SEL can be changed using I/O parameters. (For details, refer to “Operation Manual for X-SEL Controller.”) Port No.
  • Page 31 When the X-SEL’s ProfiBus-DP board I/Os are assigned in the input/output (memory) areas of the PLC, the areas that occupy the PLC memory will change depending on the numbers of I/O points set on the X-SEL side. ProfiBus-DP board I/Os are assigned in units of 16 bits (16 I/O points); i.e., they are assigned in units of words.
  • Page 32 Address assignment in the master station When setting the configuration in 1) using a configurator, the numbers of inputs and outputs of the X-SEL set for slave station 2 must be determined. (Here, it is assumed that the number of occupiable slave stations is set to 16 words in the master station.)
  • Page 33 I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows.
  • Page 34 Description example of bit addresses --- Fuji Electric The inputs and outputs of the X-SEL are respectively assigned I/O addresses (word addresses) as viewed from the PLC. The bit address description rules are specified below. Bus station Prefix Word number...
  • Page 35 Reference When bit addresses are set in the PLC, port numbers are assigned in units of 16 points, starting from the channels corresponding to the node address set by the DIP switches. (This does not apply when a configurator is used.) (Input) (Output) (Input)
  • Page 36 Tabletop Robot TT Model Models: TT- -I- -PR Maximum numbers of network I/O points: 240/240 ProfiBus Board Standard I/O board A ProfiBus board is installed in the installation position for field network board.
  • Page 37 ProfiBus Board 4.2.1 Name of Each Part Monitor LEDs Address setting dials ProfiBus-DP communication connector Termination switch...
  • Page 38 4.2.2 ProfiBus-DP Communication Connector The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Pin No. Signal name Explanation Not connected Not connected B-Line Communication line B (positive side) Not connected Signal ground +5-V output...
  • Page 39 4.2.4 Address Setting Dials (Node Address Settings) The address of each ProfiBus-DP slave station is set using the left (x1) and right (x10) address setting dials. These rotary switches set the node address of the applicable controller. Each of these two switches can be set to a desired value in a range of 0 to 9. Set a desired address according to the following rule: Node address number = (Address setting dial x10) + (Address setting dial x1) Example)
  • Page 40 I/O Parameter Settings (I/O Port Assignments) The TT I/O ports used by ProfiBus are set. (1) Board installation position (slot) and parameter numbers Standard I/O board ProfiBus Board Parameter No. 14 No. 15 64 input ports and 64 output ports are set at the factory for use with ProfiBus.
  • Page 41 (2) Factory-set parameters for the TT type Factory-set Parameter name Input range Remarks value Input/output port assignment type Read only 0: Fixed assignment Standard I/O1 fixed assignment: 0 + (multiple of 8) (The parameter is invalid if -1 ~ 599 Initial input port number a negative value is set.) Standard I/O1 fixed assignment:...
  • Page 42 (3) Example of parameter settings for the tabletop robot TT The settings below assume that 240 input points and 240 output points are assigned on the ProfiBus board as general-purpose I/O ports. With the TT, the initial I/O port numbers are fixed. Initial input port number: 48 Initial output port number: 348 Ports to be used are assigned in units of 16 points.
  • Page 43 I/O Parameters for TT Type Factory-set Parameter name Input range Set value Remarks value Input/output port assignment 0: Fixed assignment Read only type Standard I/O1 fixed 0 + (multiple of 8) (The parameter is assignment: Initial input port Read only invalid if a negative value is set.) number Standard I/O1 fixed...
  • Page 44 I/O Port Numbers for TT The I/O port numbers applicable to the TT are shown below. (For details, refer to the “Operation Manual for Tabletop Robot TT.”) Port No. Function Port No. Function Start ALM (front panel LED) (Software reset) RDY (front panel LED) (Servo ON) EMG (front panel LED)
  • Page 45 Reference When bit addresses are set in the PLC, port numbers are assigned in units of 16 points, starting from the channels corresponding to the node address set by the DIP switches. (This does not apply when a configurator is used.) (Input) (Output) (Input)
  • Page 46 RCS-C, E-Con and SCON Models External views (front views) of the RCS, E-Con and SCON controllers that support ProfiBus-DP are shown below. (1) RCS-C Models: RCS-C- -PR- I/O points: Eight dedicated input points, 10 dedicated output points RCS-C 24-V type RCS-C 100/200-V type...
  • Page 47 (2) E-Con Models: ECON- - -PR- I/O points: 10 dedicated input points, 12 dedicated output points (3) SCON Models: SCON-C- -PR- - I/O points: 16 dedicated input points, 16 dedicated output points...

  • Page 48: This Is A 9-Pin, Female D-Sub Connector Recommended By The Profibus-Dp Standard En

    Setting a ProfiBus-DP Board (Slave Station) (1) Name of each part Address setting dials Monitor LEDs Termination switch A) ProfiBus-DP communication connector (2) ProfiBus-DP communication connector interface specifications <Specifications of the ProfiBus-DP communication connector (1) A)> This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170. Connector Pin No.
  • Page 49 (3) Bus termination settings <Set using the termination switch (1) B)> Among the units connected to a ProfiBus-DP network, the devices at both ends require termination to prevent reflected waves from entering the bus line again. This ProfiBus-DP module provides a termination switch that makes this termination easy. The user need not install a separate terminal resistor.
  • Page 50 (5) Monitor LED indications <Set by the monitor LEDs (1) C)> Of the LEDs provided on the front face of the board, the two LEDs, ERR and POWER, can be used to check the operating condition of the communication module. The board has three LEDs, whose conditions and their meanings are explained below.
  • Page 51 (6) Input/output (I/O) signal assignments The RCS-C, E-Con and SCON have the following numbers of inputs and outputs, respectively: [1] RCS-C 8 dedicated input points, 11 dedicated output points (100/200-V specification) or 10 dedicated output points (24-V specification) [2] E-Con 10 dedicated input points, 13 dedicated output [3] SCON 16 dedicated input points, 16 dedicated output...
  • Page 52 [2] E-Con signal assignments Input number Signal name Output number Signal name Command position 1 Completed position 1 Command position 2 Completed position 2 Command position 4 Completed position 4 Command position 8 Completed position 8 Command position 16 Completed position 16 Command position 32 Completed position 32 Not used...
  • Page 53 [3] SCON signal assignments The SCON has 16 dedicated input points and 16 dedicated output points. The details of inputs and outputs are shown below. Signals are assigned in one of six patterns in accordance with the setting of SCON parameter No.
  • Page 54 Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position...
  • Page 55 (7) Correspondence of RCS-C, E-Con and SCON I/O port numbers and PLC addresses In the assignment of the RCS-C, E-Con or SCON’s ProfiBus-DP board I/Os in the input/output (memory) areas of the PLC, one word of input/output area is occupied by 16 I/O points (dedicated inputs/outputs) of the slave station.
  • Page 56 I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows.
  • Page 57 Reference 1 When bit addresses are set in the PLC, inputs and outputs are sequentially assigned to the channels corresponding to the node address set by the DIP switches. (Input) (Output) Input number Output number Node address * The settings in ( ) apply to the E-Con. The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
  • Page 58 Reference 2 Example of address assignment rules --- Fuji Electric Bus station Prefix Word number Bit address number Prefix Input bit address (address per bit) Input word address (address per word) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the ProfiBus-DP board in the PLC.
  • Page 59 ASEL, PSEL, SSEL ASEL, PSEL and SSEL controllers of ProfiBus type can support up to 256 input points and 256 output points. Models 6.1.1 ASEL, PSEL ASEL and PSEL controllers of ProfiBus type are indicated by the following model numbers: 1-axis type ASEL-C-1- -PR- PSEL-C-1- -PR-...
  • Page 60 6.1.2 SSEL SSEL controllers of ProfiBus type are indicated by the following model numbers: 1-axis type SSEL-C-1- -PR- 2-axis type SSEL-C-1- -PR- External view Status LEDs ProfiBus communication connector Front panel color Dark gray Printed series name...
  • Page 61 ProfiBus Interface (1) Name of each part • ASEL, PSEL • SSEL Status LEDs ProfiBus communication connector (2) Status LED indications The operating condition of the ProfiBus board, as well as the network condition, can be checked using the two LEDs (STATUS0 and STATUS1) provided on the front side of the board.
  • Page 63 (3) ProfiBus-DP communication connector The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Pin No. Signal name Explanation Not connected Not connected B-Line Communication line B (positive side) Not connected Signal ground +5-V output...
  • Page 64 I/O Parameter Settings Set the node address, I/O ports and other parameters of the ASEL, PSEL and SSEL used with ProfiBus. (1) Network type setting I/O parameter No. 225, “Network I/F module: Control” has been set to 3H (ProfiBus) at the factory. (No additional setting is required.) (2) Node address Set the node address using I/O parameter No.
  • Page 65 ASEL, PSEL and SSEL Network I/O Parameter List Factory-set Parameter name Input range Remarks value Input/output port assignment 0: Fixed assignment 0 ~ 20 type 1: Automatic assignment Network I/F module: Remote 0 ~ 256 Multiple of 8 input ports used Network I/F module: Remote 0 ~ 256 Multiple of 8...
  • Page 66 I/O Port Numbers and ProfiBus-DP Address Assignments ASEL, PSEL and SSEL controllers operate in the program mode and positioner mode, but the principles of assignment are the same with both modes. To be specific, I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address.
  • Page 67 (2) Positioner mode Regardless of the settings of I/O parameter Nos. 1, 16 and 17, physical ports are assigned from No. 0 for input ports and from No. 300 for output ports. As shown in the I/O port table on the next page and subsequent pages, input ports of Nos. 0 to 23 and output ports of Nos.
  • Page 68 ASEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position input 11 Input 11 Position input 8 Axis 2 jog+...
  • Page 69 PSEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position input 11 Input 11 Position input 8 Axis 2 jog+...
  • Page 70 SSEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position No. 2000 Position input 11 Input 11 Position input 8...
  • Page 71 ACON, PCON Operation Modes and Functions ACON and PCON controllers supporting ProfiBus-DP can be operated in a desired operation mode selected from the following five modes. Operation Modes and Key Functions Remote I/O Position/simple Remote I/O Key function Half direct mode Full direct mode mode direct mode mode 2...
  • Page 72 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
  • Page 73 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes (16 words) Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G...
  • Page 74 Models The models of ACON and PCON controller supporting ProfiBus-DP are indicated as follows, respectively: ACON-C/CG- -PR- PCON-C/CG- -PR- Printed series name ACON Front panel color PCON ACON: Dark blue PCON: Dark green...
  • Page 75 ProfiBus-DP (Slave Station) Settings (1) Name of each part The name of each part relating to ProfiBus-DP is shown. Status indicator LEDs STATUS Status LEDs ProfiBus-DP communication connector (2) ProfiBus-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170. Connector Pin No.
  • Page 76 (3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to the ProfiBus-DP communication connector as shown below or use a connector with terminal resistor. Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact) Connecting the terminal resistor Board-end female Network-end male connector...
  • Page 77 (6) Status LED indications The board operating condition and network condition can be checked using the two LEDs provided on the front side of the controller. Indicator Color Description of indication (Meaning of indication) condition The board is online with the fieldbus network and communicating normally.
  • Page 78 Communication with the Master Station 7.4.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below. • PLC output → ACON/PCON input (* n indicates the initial output address for each axis.) ACON/PCON DI and input data resister PLC output Remote I/O Position/simple...
  • Page 79 • ACON/PCON output → PLC input (* n indicates the initial input address for each axis.) ACON/PCON DO and output data resister PLC input Remote I/O Position/simple Remote I/O Half direct mode Full direct mode address (word mode direct mode mode 2 address) Number of...
  • Page 80 Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Bus station Prefix Word number Bit address number Prefix Input bit address (address per bit) Input word address (address per word) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the ProfiBus-DP master unit within the PLC units is indicated.
  • Page 81 7.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the RC PC software or teaching pendant. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
  • Page 82 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter ACON/PCON DI ACON/PCON DO PLC output address PLC input address No. 84 (port number) (port number) 0 to 15 0 to 15 Pay attention to use of duplicate addresses. (2) I/O signal assignments for each axis An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses.
  • Page 83 (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) ACON Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode Category Port No.
  • Page 84 ACON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
  • Page 85 PCON Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Command position Command position number number Command position PC16 PC16 PC16 number PC32 PC32 PC32 Teaching mode MODE PC64 command...
  • Page 86 PCON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
  • Page 87 7.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target position directly as a value or use a value registered in the position data table, by switching a control signal (PMOD signal).
  • Page 88 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses. Control signals and status signals are bit ON/OFF signals. The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
  • Page 89 PLC input (* n indicates the initial input address for each axis.) address 1 word = 2 bytes = 16 bits Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Complete position number...
  • Page 90 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
  • Page 91 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm. Current position 32 bit (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm 7.6 (1)
  • Page 92 7.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
  • Page 93 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses. Control signals and status signals are bit ON/OFF signals. The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
  • Page 94 PLC output (* n indicates the initial output address for each axis.) address 1 word = 2 bytes = 16 bits Target position (upper word) Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (upper word)
  • Page 95 PLC input (* n indicates the initial input address for each axis.) address 1 word = 2 bytes = 16 bits Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word)
  • Page 96 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
  • Page 97 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 16-bit integer. Specify the current-limiting value during push-motion operation. Push-current The specified range is 0 (0%) to 255 (100%). 16-bit data 7.6 (2) limiting value...
  • Page 98 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm. Current position 32-bit data (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm 7.6 (2)
  • Page 99 7.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, etc.) directly as values from the PLC. Set each value in an I/O address. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
  • Page 100 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses. Control signals 1 and 2 and status signals are bit ON/OFF signals. The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
  • Page 101 PLC output (* n indicates the initial output address for each axis.) address 1 word = 2 bytes = 16 bits Target position (upper word) Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (upper word)
  • Page 102 PLC output (* n indicates the initial output address for each axis.) address 1 word = 2 bytes = 16 bits Zone boundary- (upper word) Zone boundary- (lower word) If the zone boundary- is a negative value, it is expressed by a 2’s complement. Acceleration Deceleration Push-current...
  • Page 103 PLC input (* n indicates the initial input address for each axis.) address 1 word = 2 bytes = 16 bits Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word)
  • Page 104 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol Function Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
  • Page 105 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol Function Details 16-bit integer. Specify the acceleration and deceleration at which to move the Acceleration 16-bit data actuator.
  • Page 106 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol Function Details Push direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the target position is 7.4.7 (22) used.
  • Page 107 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm Current position 32 bit data 7.6 (3)
  • Page 108 7.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the RC PC software or teaching pendant. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
  • Page 109 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter ACON/PCON DI and ACON/PCON DO and PLC output address PLC input address No. 84 input register output register Port number 0 to 15 Port number 0 to 15 Occupied area Current position Occupied area...
  • Page 110 (* n indicates the initial input address for each axis.) PLC input 1 word = 2 bytes = 16 bits address Controller output port number Cannot be used. Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word)
  • Page 111 (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 7.4.2, “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol Description Details 32-bit signed integer indicating the current position.
  • Page 112 7.4.7 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode, half direct mode and full direct mode.
  • Page 113 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED (refer to (6) in 7.3) on the front side of the controller illuminates in green.
  • Page 114 (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) PLC input signal When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and home return operation will be performed automatically.
  • Page 115 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position (*). Whether to use the target position corresponding to the specified position number or PLC’s target position (*) is determined by the control signal b11 (position/simple direct switching (PMOD) signal).
  • Page 116 (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. Timing at which the positioning complete signal turns ON Speed Target position Travel...
  • Page 117 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE 2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters.
  • Page 118 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home.
  • Page 119 (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected. The relationships of applicable parameters are shown below.
  • Page 120 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned ON, the normal operation mode switches to the teaching mode. When the mode switches to teaching, the controller of each axis turns ON the MODES signal. The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
  • Page 121 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. RMOD signal and mode switch combinations, and corresponding operation modes, are shown below.
  • Page 122 (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the positioning band in the controller’s position table or PLC’s positioning band (refer to 7.4.1) during push-motion operation.
  • Page 123 (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is valid only during push-motion operation. To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the push-motion operation must be recognized. The load threshold and certification band are set by the PLC, and this signal will turn ON when the command torque (motor current) exceeds the threshold inside the certification band.
  • Page 124 (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is valid only during push-motion operation. This signal turns ON when the motor current has reached the load threshold during push-motion operation (while the actuator is moving inside the positioning band). Since the current is monitored by level, when the current changes the ON/OFF status of this signal will also change.
  • Page 125 (28) Standstill control mode (SMOD) PLC output signal Dedicated PCON function One general characteristic of pulse motors is that their holding current in a standstill state is greater than that of AC servo motors. Accordingly, a means to reduce power consumption in a standstill state is provided as an energy-saving measure to address situations where the actuator remains standstill for a long period at a standby position.
  • Page 126 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Cannot be used.
  • Page 127 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the PLC’s sequence program, until a response (status) signal is turned, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station →...
  • Page 128 Operation Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using examples of basic operations. For the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. (In remote I/O mode 2, read the current position and current speed from the PLC as deemed necessary.) (1) Operation in the position/simple direct mode Operate the actuator by writing the position data to the PLC’s target position, while specifying the speed,...
  • Page 129 Set value of target position data Specified position number Positioning start Positioning complete Current position Moving Positioning band Actuator movement *T1: Make sure “T1 ≥ 0 ms” is satisfied by considering the scan time of the host controller.
  • Page 130 (2) Operation in the half direct mode Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed, acceleration/deceleration and push-current limiting specification. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
  • Page 131 Set value of target position data Set value of positioning band data Set value of speed data Set value of acceleration/ deceleration data Set value of push-current limiting value Push specification Push direction specification Positioning command [14] [10] Positioning complete/missed load during push-motion operation [13] Current position...
  • Page 132 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target position and positioning band. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
  • Page 133 Set value of target position data Set value of positioning band data Set value of speed data Set value of position zone boundary data Set value of acceleration data Set value of deceleration data Set value of push-current limiting value data Set value of load current threshold data...
  • Page 134 Push specification [10] Push direction specification Positioning command [17] [11] [13] [12] Positioning complete/missed load during push-motion operation [16] Current position [15] [14] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) *T1: Make sure “T1 ≥ 0 ms” is satisfied by considering the scan time of the host controller.
  • Page 135 (4) Data change during movement In the half direct mode and full direct mode, the values of target position data, acceleration/deceleration data, speed data, positioning band and push-current limiting value set by the PLC can be changed while the actuator is moving.
  • Page 136 ProfiBus-DP Parameters The parameters relating to ProfiBus-DP are parameter Nos. 84 to 87 and 90. Category: C: External interface parameter Category Symbol Name Factory default For parameter Nos. 1 to 83, refer to the operation manual for the controller. FMOD Fieldbus operation mode NADR Fieldbus node address...
  • Page 137 Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. Fieldbus I/O format (No. 90 FMIO) PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the controller and number of occupied addresses in each mode.
  • Page 138 (Example ii) Set value = “2” indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data...
  • Page 139 (Example iii) Set value = “1” indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data...
  • Page 140 (Example iv) Set value = “0” indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data...
  • Page 141 Fieldbus module Cause: The module could not be detected. non-detection error Action: Reconnect the power. If the problem persists, contact IAI. (*1) ID → Simple alarm code (*2) RES → Whether or not the alarm can be reset : Alarm can be reset / X: Alarm cannot be reset...
  • Page 142 ACON and PCON controllers are designed to comply with the Low Voltage Directive on their own. (2) EMC Directives The EMC Directives apply to the entire equipment including IAI’s controllers as well as other control devices and electrical parts used in the equipment. IAI determines connection/installation models (conditions) combining controllers/actuators and peripherals and use these models to ensure compliance with all related standards under the EMC Directives.
  • Page 143 7.9.3 Configuration of Peripherals Control panel AC power supply bus @Earth 24-VDC Circuit Power-supply power leakage breaker terminal supply breaker2 Surge protector* (Affixed by an affixing bolt on the controller) (Manufacturer: Okaya Electric Industries...
  • Page 144 (1) Environment Use the ACON and PCON in an environment conforming to pollution degree 2 or 1 as specified in IEC 60664-1. Example) Installation in a control panel whose structure does not permit entry of water, oil, carbon, dust, etc. (IP54).
  • Page 145 (5) Surge protector Install a surge protector on the primary side of the 24-VDC power supply. Manufacturer: Okaya Electric Industries Model: R-A-V-781BWZ-4 Resin Case Lead-out wire External View of Surge Protector (6) Cable All cables connected to the ACON and PCON, such as the motor cable, encoder cable and various network cables, must have lengths not exceeding 30 m.
  • Page 146 For connection cables, use type A cables conforming to the ProfiBus standard. Useful Function When Adjusting an X-SEL Controller (1) If a standard or expansion I/O board is installed in an X-SEL K-type controller, the controller can be started alone without connecting a 24-VDC I/O power supply.
  • Page 149 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright © 2008 Sep. IAI Corporation. All rights reserved.

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