IAI ACON Operation Manual
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IAI ACON Operation Manual

Ethernet/ip
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EtherNet/IP
Operation Manual, Second
Edition
ACON
PCON
SCON-CA
IAI America Inc.

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Summary of Contents for IAI ACON

  • Page 1 EtherNet/IP Operation Manual, Second Edition ACON PCON SCON-CA IAI America Inc.
  • Page 3 Information contained in this operation manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this operation manual without permission is prohibited.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ..............................1 Overview..............................7 EtherNet/IP Specifications......................8 ACON, PCON ............................9 Operation Modes and Functions ....................9 Model Numbers ...........................12 EtherNet/IP Interface ........................13 2.3.1 Names of the Parts......................13 2.3.2 Monitor LED Indications .....................14 Wiring Example ...........................15 2.4.1 Connection Diagram......................15 2.4.2 Connector Pin Layout ......................15...
  • Page 6 Communicating with the Master Station..................92 3.6.1 Operation Modes and Corresponding PLC I/O Areas............92 3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ............96 3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8)......101 3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16)..........106 3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) ..........

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 8 Operation Description Description Transportation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Consider well so that it is not bumped against anything or dropped during the transportation.
  • Page 9 Operation Description Description Installation and (3) Grounding Start Make sure to perform the grounding of type D (Former Type 3) for the controller. The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
  • Page 10 Operation Description Description Teaching When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the teaching operation from outside the safety protection fence, if possible.
  • Page 11 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is to be and Inspection the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
  • Page 12 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product is Danger Danger not handled correctly, will result in death or serious injury.

  • Page 13: Overview

    EtherNet/IP is an open field network. It is a standardized global open network specified by the IEC 61158 series of international standards. You can connect ACON and PCON controllers (hereinafter referred to as “the controllers”) to EtherNet/IP to build a system with minimum wiring.

  • Page 14: Ethernet/Ip Specifications

    EtherNet/IP Specifications Item Specification Communication standards IEC61158 (IEEE802.3) 10BASE-T/100 BASE-T Baud rate (Auto negotiation setting is recommended.) Refer to EtherNet/IP specifications Communication cable length Note 1 (The distance between the hub and each node must be within 100 m Number of connections Varies depending on the master unit.

  • Page 15: Acon, Pcon

    ACON, PCON Operation Modes and Functions ACON and PCON controllers equipped with EtherNet/IP can be operated in the following five operational modes: Operation Modes and Main Functions Position/ Remote I/O Half direct Full direct Remote I/O Main functions Simplified direct...
  • Page 16 Target position: 100.00mm Speed Acceleration Deceleration Push Position No. 0 ACON or PCON applicable to EtherNet/IP Actuator [3] Half direct value mode: In this operation mode, “Speed”, “Acceleration/Deceleration,” and “Pressing Current Values,” are directly established along with the “Target Position.”...
  • Page 17 Pressing current value: 50% Load current threshold: 0 Zone +: 50.00 mm Zone -: 30.00 mm ACON or PCON applicable to Actuator EtherNet/IP [5] Remote I/O mode 2: In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). The use of this mode expands the functionality of “Remote I/O Mode”...

  • Page 18: Model Numbers

    Model Numbers The Model numbers of ACON and PCON applicable to EtherNet/IP are described as follows. ACON-C/CG-…-EP-… PCON-C/CG-…-EP-… Printed series name Front panel color y ACON y ACON: Dark blue y PCON y PCON: Dark green...

  • Page 19: Ethernet/Ip Interface

    EtherNet/IP Interface 2.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. Status LEDs 16 /(' Status indicator LEDs 06 /(' EtherNet/IP port...

  • Page 20: Monitor Led Indications

    Check if the scanner (master) is idle. A hardware error is present. RED (Illuminating) The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. RED (Flashing) The problem can be resolved by, for example, setting the problem...

  • Page 21: Wiring Example

    PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves ACON/PCON ACON/PCON * 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. 2.4.2...

  • Page 22: Occupied Bytes

    Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: RC PC-compatible software: V8.02.00.00 or later CON-T/TG: V1.10 or later CON-PT/PD/PG:...

  • Page 23: Setting The Subnet Mask

    2.5.4 Setting the Subnet Mask Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 2.9, “EtherNet/IP Parameters.”] Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 255.255.255.0.) 2.5.5 Setting the Default Gateway If necessary, set parameter No.

  • Page 24: Communicating With The Master Station

    Operation Modes and Corresponding PLC I/O Areas The addresses allocated for each operation mode are described as follows. PLC output ACON/PCON input (* “n” indicates the first output address of each axis.) DI on the ACON or PCON side and input data register Position/simplified...

  • Page 25: Port No.0 To 15

    ACON/PCON output PLC input side (* “n” indicates the first input address of each axis.) DO on the ACON or PCON side and output data register PLC input Position/simplified Half direct value Full direct value Remote I/O mode Remote I/O mode...
  • Page 26 2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.
  • Page 27 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter ACON/PCON PLC output ACON/PCON PLC input address No.84 DI (Port No.) address (bytes) DO (Port No.) (bytes) 0 to 15 n+0, n+1 0 to 15 n+0, n+1 (Note) Be careful of using duplicated node addresses.
  • Page 28 PC32 PC32 Teaching mode MODE PC64 command Unavailable Jog/inching selector JISL PC128 PLC output +Jog JOG+ Unavailable ACON input Forced brake release BKRL -Jog JOG- Forced brake release BKRL Operating mode Operating mode Operating mode RMOD RMOD RMOD selector selector...
  • Page 29 PC16 Start position 4 PC32 Start position 5 Unavailable PC64 Start position 6 PLC output PC128 Unavailable PC256 ACON input Forced brake release BKRL Forced brake release BKRL Forced brake release BKRL Operating mode Operating mode Operating mode RMOD RMOD...
  • Page 30 PCON Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Command position Command position Command position No. PC16 PC16 PC16 PC32 PC32 PC32 Teaching mode MODE PC64 command Unavailable Jog/inching selector...
  • Page 31 PCON Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic 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 32: Target Position

    Zone signal output parameters. PIO pattern selection (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter PLC output PLC input ACON/PCON input register ACON/PCON output register No.84 address (bytes) address (bytes) n+0, n+1 n+0, n+1...
  • Page 33 (2) I/O signal allocation for each axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2 words (32 bits) binary data.
  • Page 34 PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed position No.
  • Page 35 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 36 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current position: 32-bit signed Integer. The setting unit is 0.01mm. Current (Example) 32-bit 2.8 (1) position Reading:000003FF =1023 (decimal)=10.23mm When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.

  • Page 37: Positioning Band

    Parameters must be set. PIO pattern selection (1) PLC address configuration. (* "n" indicates the first address of each axis.) Parameter PLC output PLC input ACON/PCON input register ACON/PCON output register No.84 address (bytes) address (bytes) n, n+1 n, n+1...
  • Page 38 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 39 PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (Lower word) n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 40 PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Command current...
  • Page 41 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 42 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing 16-bit The allowable specification range is 0 (0%) to 255 (100%). current-limiting 2.8 (2) data...
  • Page 43 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FF =1023 (decimal) Current 32-bit 2.8 (2) =10.23mm position data...

  • Page 44: Occupied Area

    Pause Zone signal output PIO pattern selection (1) PLC address configuration (* "n" indicates the first address of each axis.) Parameter PLC output PLC input ACON/PCON input register ACON/PCON output register No.84 address (bytes) address (bytes) n, n+1 n, n+1...
  • Page 45 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data.

  • Page 46: Zone Boundary

    PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...

  • Page 47: Acceleration

    (*1) Signal assignment for b10 of n+28, n+29 (*2) Signal assignment for b7 and b6 of n+28, n+29 Symbol Symbol Controller ACON PCON Controller ACON PCON SMOD MOD1 MOD0 (*3) This is a dedicated function for PCON controllers. It is not available with ACON controllers.
  • Page 48 When the current speed is shown using the negative figure, it is expressed using the complement of 2. n+12, n+13 Alarm code n+14 ~ n+29 Unavailable n+30, n+31 Status signal (*1) Signal assignment for b10 and b9 of n+30, n+31 Symbol Controller ACON PCON LOAD TRQS...
  • Page 49 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.

  • Page 50: Acon

    The allowable specification range is 0 (0%) to 255 (100%). If threshold judgment is not required, enter “0”. Unavailable ACON Unavailable Stopping control mode: When this signal is ON, servo control 2.6.7 PCON SMOD is performed during stopping.
  • Page 51 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol Function Details Pressing direction specification: “OFF” for the direction reducing the positioning band from the target position 2.6.7 (22) “ON” for the direction adding the positioning band to the target Control position signal 1...
  • Page 52 PZONE This signal turns ON when the current position is inside the specified position 2.6.7 (12) zone. ACON Unavailable (ON/OFF is undefined) Load output judgment: When this signal is ON, the specified load has been reached. When the signal PCON LOAD 2.6.7 (26)
  • Page 53 2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using the teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
  • Page 54 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter ACON/PCON DI and PLC output address ACON/PCON DO and PLC input address No.84 input register (bytes) output register (bytes) Port No.0 to 15 n, n+1 Port No.0 to 15...
  • Page 55 PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 56 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.6.2 (3). The signal allocation for the Command current and Current position is shown in the following table. Signal type Symbol Contents...

  • Page 57: I/O Signal Controls And Function

    2.6.7 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described as follows.
  • Page 58 Using the “SON” signal, the turning ON/OFF of the controller is available. While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes available. The relationship between the “SON” signal and “SV” signal is as follows. (PLC ACON, PCON) (ACON, PCON PLC)
  • Page 59 OFF or the HOME signal is input again. Even after the completion of the home return operation, when the “HOME” signal is turned “ON”, the home return operation can be performed. (PLC ACON, PCON) (ACON, PCON PLC) (ACON, PCON...
  • Page 60 Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”. Target position (PLC ACON, PCON) (PLC ACON, PCON) (ACON, PCON PLC) (8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning to the target position input in the PLC's target position register is performed.
  • Page 61 (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Speed Target position Travel...
  • Page 62 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set domain and turned OFF when the current position is out of the set domain. [1] Zone 1, Zone 2 The zone is set using the user parameters.
  • Page 63 (13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 64 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. JVEL signal Jog operation: JISL=OFF Inch operation: JISL=ON...
  • Page 65 (*1) Turn it on for 20msec or more. If the time is shorter than 20msec, the writing is not completed. (*2) When the data items except for the position have not been defined, the parameter initial values are written. (Refer to the operation manual for the controller main body) (ACON, PCON PLC) 20 msec or more...
  • Page 66 (19) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 67 (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”.
  • Page 68 (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 69 (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”...
  • Page 70 (28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures.
  • Page 71 (29) Acceleration/deceleration mode (MOD1 MOD0) PLC output signal Dedicated ACON function This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-shaped motion...
  • Page 72 Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed.

  • Page 73: I/O Signal Timings

    (Xt), refer to the operation manuals for the EtherNet/IP master unit and PLC installed in the master unit. PLC sequence program Control signal Status signal Master station Slave Slave Master station transmission delay time (Yt) Transmission delay time (Xt) ACON, PCON Control signal Status signal Command processing time...

  • Page 74: Operation

    Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described. For the Remote I/O mode and Remote I/O mode 2, refer to the controller’s operational manual. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.) (1) Operation in the position/simple-direct mode...
  • Page 75 Set value of target position data Specific position number Positioning start Positioning completion Current position Moving Positioning band Actuator moving * T1: Considering the scanning time of the host controller, set it so that “T1 • 0ms”. * Yt+Xt ” tdpf ” Yt+Xt+3 (msec)
  • Page 76 (2) Operation in the half direction mode It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. z Example of operation (Pressing operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register.
  • Page 77 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 pressing current-limiting value Pressing specification Push direction specification * T1 Positioning command [14] Positioning completion/ [10] pressing and a miss PEND/PSFL...
  • Page 78 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register.
  • Page 79 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 pressing current-limiting value Set value of load current threshold data...
  • Page 80 Pressing specification [10] Push direction specification Positioning command [17] [11] [12] [13] Positioning completion/ pressing and a miss PEND/PSFL [16] Current position [15] [14] Moving Pressing Actuator operation (Pressing) Positioning band Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 •...
  • Page 81 (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and pressing current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON”...

  • Page 82: Ethernet/Ip Related Parameters

    EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90 and No. 140 to 142. Category: C: External interface parameter Default value set in the No. Category Symbol Name factory before delivery Refer to operation manual for the controller for the parameters No.
  • Page 83 3 (Factory setting) slave words. In addition, the upper word and lower word are swapped for word resisters. (Refer to “Example iv”.) z indicates ON, while c indicates OFF (Example i) Set value = “0” ACON, PCON Input resister Hexadecimal...
  • Page 84 ON, while c indicates OFF (Example ii) Set value = “1” ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data...
  • Page 85 ON, while c indicates OFF (Example iii) Set value = “2” ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal ACON, PCON Output resister Hexadecimal data PLC: Input CH Hexadecimal data...
  • Page 86 ON, while c indicates OFF (Example iv) Set value = “3” ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data...

  • Page 87: Troubleshooting

    Cause: The module could not be detected. Fieldbus module Action: Reconnect the power. If the problem non-detection error persists, please contact IAI. (*1) ID Simple alarm code (*2) RES Alarm can/cannot be reset – O: Alarm can be reset / X: Alarm cannot be reset...

  • Page 88: Scon-Ca

    SCON-CA Operation Modes and Functions SCON-CA controllers supporting Ethernet/IP can be operated in a desired operation mode selected from the following nine modes. Operation modes and key functions Position/ Position/ Half Full Remote Half Remote Half Remote simple simple Key function direct direct direct...
  • Page 89 [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.
  • Page 90 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G...
  • Page 91 [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and pressing current, in addition to the target position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.

  • Page 92: Model Numbers

    Model Numbers The model numbers of SCON-CA controller supporting EtherNet/IP are indicated as follows, respectively: z SCON-CA-…-EP-…...

  • Page 93: Ethernet/Ip Interface

    EtherNet/IP Interface 3.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. NS LED EtherNet/IP Port...

  • Page 94: Monitor Led Indications

    Check if the scanner (master) is idle. A hardware error is present. RED (Illuminating) The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. RED (Flashing) The problem can be resolved by, for example, setting the problem...

  • Page 95: Wiring

    Wiring 3.4.1 Connection Diagram PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves SCON-CA SCON-CA * 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. 3.4.2 Connector Pin Layout Pin number...

  • Page 96: Setting

    Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: RC PC-compatible software: V8.01.01.00 or later CON-T/TG: V1.10 (Planned) CON-PT/PD/PG:...

  • Page 97: Setting The Ip Address

    3.5.3 Setting the IP Address Set parameter No. 140, “IPAD: IP address.” [Refer to 3.9, “EtherNet/IP Parameters.”] Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.) (Note 1) Exercise caution to avoid IP address duplication. For details, refer to the operation manuals of the master unit and PLC in which in the master unit is installed.

  • Page 98: Communicating With The Master Station

    Communicating with the Master Station 3.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. PLC output SCON-CA input (* “n” indicates the byte address of each axis.) DI on the SCON-CA side and input data register Position/ Remote I/O Half direct value...
  • Page 99 PLC output SCON-CA input side (* “n” indicates the byte address of each axis.) DO on the SCON-CA side and output data register PLC input Position/Simplified Half direct value Half direct value Remote I/O mode 3 area direct value mode 2 mode 2 mode 3 (bytes)
  • Page 100 SCON-CA output PLC input (* “n” indicates the byte address of each axis.) DO on the SCON-CA side and output data register Position/ Remote I/O Half direct value Full direct value Remote I/O Simplified direct PLC output mode mode mode mode 2 value mode area (bytes)
  • Page 101 SCON-CA output PLC input Side (* “n” indicates the byte address of each axis.) DO on the SCON-CA side and output data register PLC input Position/Simplified Half direct value Remote I/O node 3 Half direct value node 3 area direct value mode 2 mode 2 (bytes) Number of occupied...
  • Page 102 3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as PC software. The number of operable positions varies depending on the parameter No.
  • Page 103 (1) PLC address configuration (* “n” indicates the node address of each axis.) PLC output PLC input Parameter SCON-CA SCON-CA address address No.84 DI(Port No.) DO(Port No.) (bytes) (bytes) 0 to 15 n+0, n+1 0 to 15 n+0, n+1 (Note) Be careful of using duplicated node addresses. (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input (1 word=2 bytes) and one output word (channel) in the I/O areas.
  • Page 104 (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Category Port No.
  • Page 105 Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic 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 106 Setting of parameter No. 25 Force control mode 1 Force control mode 2 Port Category Signal name Symbol Signal name Symbol Start position 0 Start position 1 Command position number Start position 2 Start position 3 PC16 Start position 4 Cannot be used.

  • Page 107: Position/Simplified Direct Value Mode (Number Of Occupied Bytes: 8)

    3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
  • Page 108 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 109 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0 n+1 n+0, n+1 Current position (lower word) n+2, n+3 n+2 n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 n+4 n+5 Completed...
  • Page 110 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 111 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Current Position: 32-bit signed Integer. The setting unit is 0.01mm. Current (Example) 32-bit 3.8 (1) position Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.

  • Page 112: Half Direct Value Mode (Number Of Occupied Bytes: 16)

    3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos.
  • Page 113 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 114 PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 115 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Command current...
  • Page 116 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 117 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing The allowable specification range is 0 (0%) to 255 (100%). 16-bit 3.8 (2) current-limiting...
  • Page 118 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current 32-bit (Example) Reading: 000003FFH=1023 (decimal) 3.8 (2) position data =10.23mm...

  • Page 119: Full Direct Value Mode (Number Of Occupied Bytes: 32)

    3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 120 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 121 PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0 n+1 Target position (lower word) n+2, n+3 n+2 n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4 n+5 n+4, n+5 Positioning...
  • Page 122 Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 n+16 n+17 Zone boundary - (lower word) n+18, n+19 n+18 n+19 Zone boundary - (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. n+20 n+21 n+20, n+21 Acceleration...
  • Page 123 PLC input Channel (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0 n+1 Current position (lower word) n+2, n+3 n+2 n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 n+4 n+5 Command...
  • Page 124 n+16, n+17 n+16 n+17 Force feedback data (lower word) n+18, n+19 n+18 n+19 Force feedback data (upper word) If the force feedback data is a negative value, it is expressed by a 2’s complement. n+20 ~ n+27 n+20 n+27 Cannot be used n+28, n+29 n+28 n+29...
  • Page 125 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
  • Page 126 (* 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 127 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol Function Details Incremental specification: Absolute position command when the signal is OFF, or 3.6.11 (24) incremental position command when the signal is ON. Pressing direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the...
  • Page 128 (* 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) Current 32 bit data 3.8 (3)
  • Page 129 (* 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 Emergency stop: An emergency stop is being executed EMGS 3.6.11 (2) when the signal is ON. Controller ready: The signal turns ON when the controller 3.6.11 (1) becomes ready.

  • Page 130: Remote I/O Mode 2 (Number Of Occupied Bytes: 12)

    3.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No.
  • Page 131 (1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter SCON-CA DI and input PLC output address SCON-CA DO and PLC input address No. 84 register (bytes) output register (bytes) Port number 0 to 15 n+0, n+1 Port number 0 to 15 n+0, n+1 n+2, n+3...
  • Page 132 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0 n+1 n+0, n+1 Controller output port number n+2 n+3 n+2, n+3 Cannot be used n+4, n+5 n+4 n+5 Current position (lower word) n+6, n+7 n+6 n+7...
  • Page 133 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.6.2 (3). The signal allocation for the Command Current and Current Position, is shown in the following table. Signal type Symbol Contents...

  • Page 134: Position/Simplified Direct Value Mode 2 (Number Of Occupied Bytes: 8)

    3.6.7 Position/Simplified Direct Value Mode 2 (Number of Occupied Bytes: 8) In this mode, the actuator is operated by means of force control (pressing operation based on feedback of load cell values) and also by specifying position numbers. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected.
  • Page 135 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (4 words = 8 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 136 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0 n+1 Current position (lower word) n+2, n+3 n+2 n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 b15 b14 b13 b12 b11 b10 Completed...
  • Page 137 (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 138 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Current 32-bit 3.8 (1) Reading:000003FFH=1023 (decimal)=10.23mm position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.

  • Page 139: Half Direct Value Mode 2 (Number Of Occupied Bytes: 16)

    3.6.8 Half Direct Value Mode 2 (Number of Occupied Bytes: 16) In this mode, the actuator is operated by means of force control (pressing operation based on feedback of load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration and pressing current directly as numerical values.
  • Page 140 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 141 PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0 n+1 Target position (lower word) n+2, n+3 n+2 n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 n+4 n+5 Positioning...
  • Page 142 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0 n+1 Current position (lower word) n+2, n+3 n+2 n+3 Current position (upper word) When the current position is a negative figure, it is expressed using the complement of 2. 1 Word = 2 bytes =16 bits n+4, n+5 n+4 n+5...
  • Page 143 (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 144 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing Pressing operation. current- 16-bit The allowable specification range is 0 (0%) to 255 (100%). 3.8 (2) limiting data...
  • Page 145 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) Current 32-bit 3.8 (2) =10.23mm position data...

  • Page 146: Remote I/O Mode 3 (Number Of Occupied Bytes: 12)

    3.6.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No.
  • Page 147 (1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter SCON-CA DI and input PLC output address SCON-CA DO and PLC input address No. 84 register (bytes) output register (bytes) Port number 0 to 15 n+0, n+1 Port number 0 to 15 n+0, n+1 n+2, n+3...
  • Page 148 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Cannot be used n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 149 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.6.2 (3). The signal allocation for the Command Current and Current Position, is shown in the following table. Signal type Symbol Contents...

  • Page 150: Half Direct Value Mode 3 (Number Of Occupied Bytes: 16)

    3.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos.
  • Page 151 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data.
  • Page 152 PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 153 PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2 n+4, n+5 Command current...
  • Page 154 (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 155 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Description Details 16-bit integer. Specify the current-limiting value during pressing operation. Pressing The specified range is 0 (0%) to 255 (100%). current-limiting 16-bit data The actual specifiable range varies with each actuator.
  • Page 156 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) Current 32-bit 3.8 (2) =10.23mm position data...

  • Page 157: I/O Signal Controls And Function

    3.6.11 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Modes 1 and 2, Half Direct Value Modes 1 to 3 and Full Direct Value Mode, are described as follows.
  • Page 158 (5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 3.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in green.
  • Page 159 (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically.
  • Page 160 (7) Positioning start (CSTR):Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
  • Page 161 (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns on Speed Target position Travel...
  • Page 162 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set domain and turned OFF when the current position is out of the set domain. [1] Zone 1, Zone 2 The zone is set using the user parameters.
  • Page 163 (13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 164 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Jog operation: JISL=OFF Inch operation: JISL=ON Parameter No.
  • Page 165 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON.
  • Page 166 (19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 167 (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”.
  • Page 168 (26) Load output judgment (LOAD) PLC input signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 169 (27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON” or “OFF”.
  • Page 170 (29) Vibration damping mode selection 0, 1 (NTC0, NTC1) PLC output signals The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
  • Page 171 (30) Acceleration/deceleration mode (MOD1 MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid Pattern Factory setting S-shaped Motion First-Order Lag Filter Unavailable Trapezoid Pattern Speed...
  • Page 172 Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed.
  • Page 173 (31) Standstill mode selection (ASC0, ASC1) PLC output signals Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption.
  • Page 174 (32) Load cell calibration command (CLBR) PLC output signal Load cell calibration complete (CEND) PLC input signal The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration.

  • Page 175: I/O Signal Timings

    I/O Signal Timings When any of the control signal is turned ON to perform the operation of the actuator using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Maximum response time (msec) Yt+Xt+3+ command processing time (operation time, etc.) Yt: Master Station slave transmission delay time Filed Network Transmission...

  • Page 176: Operation

    Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2 , Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described. For the Remote I/O Mode 1 to 3, refer to the Operation Manual for the controller main body. (In remote I/O mode 2 and 3, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.) (1) Operation in the position/simple-direct mode 1 and 2...
  • Page 177 Set value of target position data Specified position number * T1 Positioning start * tdpf Positioning complete Current position Moving Positioning band Actuator movement Actuator movement (Normal positioning) Work part missed in pressing operation Pressing operation in progress Pressing Actuator operation (push) *T1: Considering the scanning time of the host controller, set it so that “T1 •...
  • Page 178 (2) Operation in the half direction mode 1 to 3 It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register.
  • Page 179 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 pressing current-limiting value Push specification Pressing direction specification * T1 Positioning command [14] * tdpf [10] Positioning complete/missed load during pressing operation...
  • Page 180 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register.
  • Page 181 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 pressing current-limiting value data Set value of load current threshold data...
  • Page 182 Push specification [10] Push direction specification * T1 Positioning command [17] [11] * tdpf [12] [13] Positioning complete/missed load during pressing operation [16] Current position [15] [14] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) * T1: Considering the scanning time of the host controller, set it so that “T1 •...
  • Page 183 (4) Data change during movement In the half direct mode or full direct mode 1 to 3, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and pressing current-limiting value, can be changed while the actuator is moving.

  • Page 184: Ethernet/Ip Related Parameters

    EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84 to No. 87 and No. 90. Category: C: External interface parameter Default value set in the No. Category Symbol Name factory before delivery Refer to operation manual for the controller for the parameters No. 1 through No.
  • Page 185 z Fieldbus baud rate (No. 86: FBRS) Specify the baud rate in parameter No. 86. Set value Baud rate 0 (Factory setting) Auto negotiation (recommended) 10 Mbps, half-duplex 10 Mbps, full-duplex 100 Mbps, half-duplex 100 Mbps, full-duplex Other than the above Baud rate setting error z Network type (No.87 NTYP) The network module type is set for the parameter No.
  • Page 186 z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC.
  • Page 187 z indicates ON, while c indicates OFF (Example ii) Set value = “1” SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data...
  • Page 188 ON, while c indicates OFF (Example iii) Set value = “2” ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data...
  • Page 189 z indicates ON, while c indicates OFF (Example iv) Set value = “3” SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data...
  • Page 190 z IP address (No. 140: NADR) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) z Subnet mask (No. 141: SNMK) Specify the subnet mask in parameter No. 141. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) z Default gateway (No.

  • Page 191: Troubleshooting

    Cause: The module could not be detected. Fieldbus module Action: Reconnect the power. If the problem non-detection error persists, please contact IAI. (*1) ID Simple alarm code (*2) RES Alarm can/cannot be reset – O: Alarm can be reset / X: Alarm cannot be reset...

  • Page 192: Appendix

    [4] Configuration software: CX-One V4.0 or later, Network Configurator V3.20 or later [5] Commercially available switching hub (supporting 100BASE-TX) [6] IAI controller of EtherNet/IP specification [7] Straight LAN cable (category 5, 5e or larger) x 2 pcs 4.1.1 Connection Example A setting example based on the following connection configuration is given.

  • Page 193: Setting The Plc (1) [Cx-Programmer]

    4.1.3 Setting the PLC (1) [CX-Programmer] [1] Set “NODE No.” rotary switches “x16 ” and “x16 ” to “0” and “A,” respectively, on the front face of the CJ2M-CPU31 unit, and start the PLC. [2] Start CX-Programmer and click the [Connect Directly] button on the toolbar to connect to the PLC. [3] When the following message appears, select the [Also transfer I/O table and high-function unit settings] check box and click the [Yes] button.
  • Page 194 [6] In the “PLC I/O Table” window, double-click “Built-in Ports/Inner Boards” and then double-click “[1500] CJ2M-EIP21.” [7] In the “CJ2M-EIP21 [Edit Parameters]” dialog box, select the “TCP/IP” tab and set as follows, and then click the [Transfer [PC Æ Unit]] button to transfer the parameters to the PLC. Keep the default settings on other tabs.

  • Page 195: Setting The Plc (2) [Network Configurator]

    4.1.4 Setting the PLC (2) [Network Configurator] [1] Start Network Configurator and click the [Connect] button on the toolbar to connect to the PLC. [2] In the “Select Connection Network Port” dialog box, select “TCP:2” and click the [OK] button. [3] Right-click “CJ2M-EIP21”...
  • Page 196 [4] Right-click each device in the main window and select [Change Node Address] in the pop-up menu to set the IP address.
  • Page 197 PLC’s IP Address Controller’s IP Address...
  • Page 198 [5] Double-click “Anybus-CC EtherNet/IP” in the main window and set the controller device parameters as follows: Item Set value 0001 Output Size 0002 Input Size 0003 RPI Range 10000 (default value) [6] Double-click “CJ2M EIP21” in the main window to open the PLC’s “Edit Device Parameters” dialog box, and select “Anybus-CC EtherNet/IP”...
  • Page 199 [7] Once the device is registered, “Anybus-CC EtherNet/IP” moves to “List of Registered Devices.” Double-click “Anybus-CC EtherNet/IP” you have just registered.
  • Page 200 [8] In the “Assign Connection” dialog box, click the [Edit Tag Set] button next to “Input Tag Set” in the Originator Device area.
  • Page 201 [9] In the “Edit Tag Set” dialog box, click the [Edit Tag] button. [10] In the “Edit Tag” dialog box, click the [New] button.
  • Page 202 [11] In the “Set Tag” dialog box, set as follows and click the [Register] button. [12] When tag “W0’” has been registered in the “Set Tag” dialog box, close the “Set Tag” dialog box. (No other tag is registered continuously.) Click the [OK] button in the “Edit Tag”...
  • Page 203 [14] In the “Assign Connection” dialog box, set as follows and click the [Register] button. Confirm that the values in the “Target Device” area match those set in step [5]. [15] When the registration in “Assign Connection” is complete, the “Assign Connection” dialog box opens again. Click the [Close] button to close the dialog box.
  • Page 204 [17] Upon establishment of link, the LEDs on the PLC and controller change their statuses as follows: LED statuses on PLC LED statuses on Controller Status Status Steady green light Steady green light Steady green light Steady green light COMM Steady orange light Link/Activity Blinking green light...

  • Page 205: Checking The I/O Data On The Plc

    4.1.5 Checking the I/O Data on the PLC [1] Start CX-Programmer. [2] Click the [Switch Watch Window] button on the toolbar. [3] Register the tag names “W0” and “W1” in the “Address” fields of the “Watch Window,” and the current values of the registered tags will appear in the “Value”...

  • Page 206: Example Of Connection Settings With Keyence's Master

    (Example) KV-5500 (with built-in EtherNet/IP) [2] Configuration software: (Example) KV-STUDIO Ver 6.10 or later [3] Commercially available switching hub (supporting 100BASE-TX) [4] IAI controller of EtherNet/IP specification [5] Straight LAN cable (category 5, 5e or larger) x 2 pcs 4.2.1 Connection Example A setting example based on the following connection configuration is given.

  • Page 207: Setting The Plc

    4.2.3 Setting the PLC [1] Start Keyence’s ladder support software “KV-STUDIO.” [2] Start the Unit Editor and set the baud rate, IP address setting method, IP address, subnet mask and default gateway on the “CPU Unit Settings (2)” tab. When all items have been set, click the button to start “EtherNet/IP Setup.”...
  • Page 208 [4] When the device is registered in the tree below the PLC, the “Default Adapter Settings” dialog box appears. Set the IP address and node address here. * The node address is an internal address used by the PLC. It has nothing to do with the IP address. Assign a unique value to each PLC.
  • Page 209 [6] In the “Set Connection” dialog box, set the connection type and send trigger. Select “Point-to-Point” for the connection type for both IN and OUT, and select “Cyclic” for the send trigger. [7] Click the “Set Parameters” button in the “Set Connection” dialog box and set the numbers of input and output bytes.
  • Page 210 [8] Click the “Assign Device” button in the “Set Connection” dialog box to open the “Set Devices” dialog box. In this dialog box, set the devices to assign I/O data to. In this example, set W0000 for IN data and W0002 for OUT data using the “Auto Setting”...
  • Page 211 [10] Click the “Apply” button in the bottom right-hand corner of the “Unit Editor” to update the EtherNet/IP setting information. Next, click the OK button to close the “Unit Editor.” Next, you must transfer the “Unit Settings” to the PLC to reflect the settings you have just made. [11] From the KV-STUDIO menu, select “Monitor/Simulator”...

  • Page 212: Checking The I/O Data On The Plc

    4.2.4 Checking the I/O Data on the PLC [1] Start KV-STUDIO in the “Monitor Mode.” [2] In the “Workspace” window, right-click “Anybus-CC EtherNet/IP” registered in the tree under KV-5500, and select “Sensor I/O Monitor.” [3] After “Sensor I/O Monitor” has been selected, the “Sensor I/O Monitor” dialog box appears. In this dialog box, you can monitor the devices to which I/O data has been assigned.

  • Page 213: Change History

    Change History Revision date Description of revision February 2011 First edition November 2011 Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons SCON-CA added...
  • Page 216 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2011. Nov. IAI Corporation. All rights reserved. 11.11.000...

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