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ROBONET
Operation Manual Forth Edition

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Summary of Contents for IAI RoboNet

  • Page 1 ROBONET Operation Manual Forth Edition...
  • Page 2 CAUTION 24-V Power Supply to Be Certified For UL Standards Please see below for the 24-V power supply condition for UL certification. • For UL certification, class2 power supply is required based on NEC NFPA 79 (Electrical Standard for Industrial Machinery). •...
  • Page 3 Notes on Connecting PC and Teaching Pendant to ROBONET Whose 24-V Power Supply Is Grounded at Positive Terminal If the positive terminal of the ROBONET’s 24-V power supply is grounded, use a SIO converter as shown below to connect a teaching pendant or PC to the GateWayR unit.
  • Page 4 CAUTION If the positive terminal of the ROBONET’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected directly to the GateWayR unit. If a teaching pendant or PC is connected directly to the GateWayR unit, the power supply may be short-circuited, causing the PC or teaching pendant to suffer damage.
  • Page 5 Introduction Introduction Thank you for purchasing IAI’s ROBONET. “ROBONET” is a general term for dedicated single-axis controllers used in a field network environment and characterized by their ultra-compact size, wire-saving features, and easy installation. This manual provides the information you need to know to use the ROBONET. Before using your ROBONET, peruse this manual and understand its contents fully.
  • Page 6: Safety Precautions

    Also note that this product cannot be used in any way not described in this operation manual. IAI shall not assume any liability for unwanted outcomes of operations not described herein.
  • Page 7 [4] Place subject to splashed water, oil or chemicals (2) Wiring the cables Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. Do not damage, forcibly bend, pull, loop around an object or pinch the cables or place heavy articles on top.
  • Page 8 Safety precautions Task Precautions Securely connect the cable connectors in a manner free from disconnection or looseness. Installation/startup Failure to do so may result in fire, electric shock or product malfunction. Do not cut and reconnect the cables of the product to extend or shorten the cables. Doing so may result in fire or product malfunction.
  • Page 9 Modification The customer must not modify or disassemble/assemble the product or use maintenance parts not specified in the manual without first consulting IAI. Any damage or loss resulting from the above actions will be excluded from the scope of warranty.
  • Page 10: Ce Mark

    CE Mark certification for their products. The ROBONET is designed to comply with the Low Voltage Directive on its own. As for the EMC Directives, we determine connection/installation models (conditions) for controllers, actuators and peripherals and ensure compliance of these models with the related standards under the EMC Directives.
  • Page 11 CE Mark Use Environment Item Standard Remarks Overvoltage category Pollution degree Protection code IP 20 Protection class *1 Altitude 2000 m or less Protection class I device A device in which additional safety measures are taken against electric shock, without depending solely on the basic insulation, by connecting conductors that may become contactable should the basic insulation fail to a protective grounding conductor of a fixed cable of the facility.
  • Page 12 Install it in a control panel constructed to shut off water, oil, carbon, dust, etc. (IP54). Power supply A) Use the ROBONET in an environment of overvoltage category II as specified in IEC 60664-1. Accordingly, be sure to install a circuit breaker between the power distribution board and ROBONET controller.
  • Page 13 CE Mark Clamp filter Install clamp filters of the following type on the field network cable, motor cable and encoder cable. Install them immediately near the cable connectors on the controller unit. One clamp filter is required for each gateway unit, and two for each controller unit. On the field network cable, install each clamp filter by looping it twice around the cable.
  • Page 14 Cables Take note that cables are also subject to various limitations. A) All cables connected to the ROBONET, such as the motor cable, encoder cable and various network cables, must be less than 30 m long. B) For the CC-Link cable, use a dedicated Version 1.10 cable (terminal resistance: 110 Ω).
  • Page 15: Warranty

    (2) Scope of Warranty The warranty covers only the IAI product you have purchased. If the product fails due to a defective material or poor workmanship during the above warranty period despite use in a proper condition, we will provide a replacement unit or repair the failed product free of charge.
  • Page 16: Related Manuals

    Manual revision history August 2008– First edition Integration of the ROBONET Operation Manual “Specification,” ROBONET Operation Manual “Startup/Maintenance” and operation manual of the ROBONET extension unit February 2009– Second edition Addition of UL standards application page March 2009– Third edition...
  • Page 17: Table Of Contents

    CE Mark Warranty Related manuals Manual revision history Part 1 Specification ..................1 Chapter 1 Overview of ROBONET ......................1 1.1 Overview ..............................1 1.2 Features..............................2 Chapter 2 System Configuration and General Specifications..............6 2.1 System Configuration..........................6 2.2 List of Component Units..........................6 2.3 General Specifications ..........................9...
  • Page 18 Preset Single Register (Query using FC = 06H)............130 3.9.3.5 Preset Multiple Registers (Query using FC = 10H).............147 3.9.4 Function Block ..........................165 3.9.4.1 Dedicated ROBONET Function Block ................165 3.9.4.2 What Is A Function Block? ..................176 Chapter 4 Controller Unit......................... 180 4.1 Overview ..............................180 4.1.1 Features............................180...
  • Page 19 Performing an Absolute Reset in the PC Software ..............267 4.5.2 Performing an Absolute Reset from the Host................269 Chapter 5 Network Setup......................... 270 5.1 How to Use the ROBONET Gateway Parameter Setting Tool ..............270 5.1.1 Operating Environment .......................270 5.1.2 Launching the Setting Tool ......................270 5.1.3...
  • Page 20 Table of Contents Chapter 6 Setting for External SIO Link and Other ................340 6.1 SCON/PCON-CF Settings and Signal Assignments ................340 6.2 Other ..............................341 Part 3 Maintenance..................342 Chapter 1 Troubleshooting........................342 1.1 Actions to Be Taken upon Problems .......................342 1.2 Alarms of the GateWayR unit........................343 1.2.1 Common Alarms .........................344 1.2.2...
  • Page 21: Part 1 Specification

    (hereinafter referred to as “PLC”). A ROBONET system can be configured with a desired combination of a GateWayR unit, which serves as a field network connection interface, and one or more RACON units (RAC/RCA2/RCL controllers) and RPCON unit (RCP2/RCP3 controllers).
  • Page 22: Features

    Part 1 Specification Features (1) Five Types of Component Units The five types of units specified below can be combined in a desired fashion to build a ROBONET system. The maximum number of component axes is 16. [1] GateWayR unit Four types—DeviceNet type, CC-Link type, PROFIBUS type, and RS485 SIO communication type—are available.
  • Page 23 Part 1 Specification (7) Six ROBONET operation modes The ROBONET can operate ROBO Cylinders in one of the following six modes under the control of the GateWayR unit, regardless of the type of the host fieldbus. The following three modes under [1] to [3] can be combined together. Also, the three modes under [4] to [6] can be combined.
  • Page 24 PLC. Before, axis monitor was not possible in the AUTO mode. This has become possible with the ROBONET, even when the MODE switch is set to AUTO, by connecting a dedicated touch panel to the TP connector.
  • Page 25 [3] Operation mode setting for each axis [4] Setting of reserved axes [5] Checking of occupied area information --- The ROBONET-occupied area information set on the master side can be checked. [6] Operation of parameter files Setting of the positioner 2 mode, setting of reserved axes and operation of parameter files are supported when the version of the parameter setting tool is 1.0.3.0 or later and the firmware version of the GateWayR unit is 000B or later.
  • Page 26: Chapter 2 System Configuration And General Specifications

    System Configuration and General Specifications System Configuration A ROBONET system is comprised of one GateWayR unit and up to 16 axes of controller units. The GateWayR unit is available in four types—DeviceNet specification, CC-Link specification, PROFIBUS specification, and RS485 SIO specification—to support various field networks.
  • Page 27 ROBONET Configuration (1) (Basic) Field network (DeviceNet, CC-Link, PROFIBUS) RS485 SIO Axis 0 Axis 1 Axis 2 Axis 3 Axis 14 Axis 15 GateWay RACON RPCON RAON Simple RPCON Simple RACON RPCON R unit unit unit unit absolute unit absolute...
  • Page 28 Part 1 Specification ROBONET Configuration (2) (Multi-stage layout and external SIO link) Field network (DeviceNet, CC-Link, PROFIBUS) RS485 SIO Axis 2 Axis 0 Axis 1 RPCON Gateway RAON Simple Extension RACON absolute unit unit R unit unit unit R unit...
  • Page 29: General Specifications

    All units have the same dimensions. Interconnection of units Power-supply connection plate Unit link cable or controller connection cable when the ROBONET communication connection circuit board, simple absolute connection circuit board or ROBONET extension unit is used (multi-stage layout or external SIO link)
  • Page 30 It is recommended that the ROBONET power be turned on/off on the AC power supply side (primary side of the 24-V power supply). If the ROBONET power is turned on/off on the output side of the 24-V power supply, the large current will flow for a brief moment when the power is turned on, as explained in (2).
  • Page 31: Connection Diagram

    Part 1 Specification Connection Diagram Shown below is a connection diagram of a ROBONET system comprising of a RPCON and a RACON connected to a simple absolute R unit. GateWayR unit Terminal block 24-V power supply Motor cable (CB-RCP2-MA***) Emergency stop circuit...
  • Page 32: Chapter 3 Gatewayr Unit

    The GateWayR unit is available in four types to support field networks of CC-Link, DeviceNet, PROFIBUS and RS485 SIO communication types. A total of up to 16 axes can be connected by combining dedicated ROBONET controller units (RACON/RPCON) and non-ROBONET controller units (SCON, PCON-CF, ERC2), and each axis can be monitored in the AUTO mode (only when...
  • Page 33: Gatewayr Unit And Accessories

    How to Read the Model Name Base model Supported field network Dedicated GateWayR unit for ROBONET PROFIBUS GateWayR unit and Accessories The four types of units each come with a different set of accessories appropriate for the applicable field network.
  • Page 34: General Specifications

    Part 1 Specification General Specifications 3.4.1 CC-Link This product is a maximum 4-station remote device station supporting CC-Link Version 2.00. (Its specifications vary depending on the extended cyclic setting.) This product supports the following functions of CC-Link Version 2.00: • Extended cyclic transmission •...
  • Page 35 24 VDC ± 10% Power supply Current consumption 600 mA max. Communication protocol CC-Link Version 2.00 (Version 1.10) Baud rate 10M/5M/2.5M/625k/156k [bps] (Set by a ROBONET gateway parameter) Communication method Broadcast polling method Synchronization method Frame synchronization method Encoding method NRZI...
  • Page 36: Devicenet

    Group 2 only server Network-powered insulated node Communication specification Master-slave connection Bit strobe Polling Cyclic Baud rate 500k/250k/125k [bps] (Set by a ROBONET gateway parameter) Communication cable length (*1) Maximum network Maximum branch Total branch Baud rate length length length...
  • Page 37: Profibus

    Baud rate 230.4k [bps] Error control method CRC with no parity bit (*2) Communication cable ROBONET communication connection circuit board (supplied), ROBONET extension cable (when an extension unit is used) Number of connectable units 16 axes max. Surrounding air temperature 0 to 40°C...
  • Page 38: Rs485 Sio

    230.4 k [bps] Error control method No parity bit, CRC *2 Communication cable ROBONET communication connection circuit board (supplied), ROBONET extension cable (when an extension unit is used) Number of units that can be connected 16 axes max. Surrounding air temperature 0 to 40°C...
  • Page 39: Name/Function Of Each Part And External Dimensions

    The four types of GateWayR units are exactly the same, except for the field network connector provided on top of the unit. 3.5.1 Name of Each Part Field network connector (Varies according to the network type) MODE switch LED indicators (Front cover open) TP connector User setting switches ROBONET communication connector Power-supply input terminal block EMG connector FG terminal...
  • Page 40: Led Indicators

    Part 1 Specification 3.5.2 LED Indicators These LEDs are used to monitor the status of the gateway unit. Symbol Indicator color Explanation Steady green: Operating normally. RUN/ALM Green/orange Steady orange: An error is present. This LED is lit when an emergency stop is actuated. This LED is lit when a communication error is present between the controller and ERROR T Orange...
  • Page 41 Part 1 Specification (3) PROFIBUS Name Indicator color Status Explanation Steady Online. Green STATUS 1 Blinking Online (clear command executed). Orange Blinking An error (parameter error or PROFIBUS configuration error) is present. Steady Initialization has completed. Green STATUS 0 Blinking Initialization has completed (diagnosis event has occurred).
  • Page 42: Mode Switch

    This connector is used to connect a Modbus communication line, emergency stop signal, etc., to the axis controller unit. Connection is made using the ROBONET communication connection circuit board supplied with the axis controller unit. 3.5.7 Power-supply Input Terminal Block 24-VDC power is input to this terminal block.
  • Page 43: Fg Terminal (Frame Ground)

    Part 1 Specification ROBONET communication connection circuit boards Terminal resistor circuit board Power-supply connection plates (Interconnections of ROBONET units) ROBONET communication connection circuit boards (Model JB-1) Power-supply connection plates (Model PP-1) RPCON unit RACON unit Simple absolute R unit The photographs show the parts supplied with the axis controller unit or simple absolute R unit.
  • Page 44 Part 1 Specification Recommended Emergency Stop Circuit Shown below is an example of an emergency stop circuit of a ROBONET system. The built-in drive-source cutoff relays of all axis controller units are turned ON/OFF simultaneously using the emergency stop switch of the emergency stop circuit or teaching pendant connected to the GateWayR unit.
  • Page 45: Field Network Connector

    Part 1 Specification 3.5.10 Field Network Connector This connector is used to connect the master unit of each field network. The connector varies according to the field network type. (1) CC-Link (RGW-CC) RGW-CC-end connector: MSTBA2.5/5-G-5.08AU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory RGW-CC end CC-Link communication connector...
  • Page 46 Part 1 Specification (1) DeviceNet (RGW-DV) RGW-DV-end connector: MSTBA2.5/5-G-5.08ABGYAU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory RGW-DV end Black Blue White DeviceNet communication connector Pin color Explanation Black Power-supply cable- * Blue Communication data low Shield White Communication data high...
  • Page 47 Part 1 Specification (3) PROFIBUS (RGW-PR) RGW-PR connector: D-Sub, 9-pin connector (female) PROFIBUS communication connector Pin number Signal name Explanation Not connected Not connected B-Line Communication line B (RS485) Send request Signal ground (insulated) +5 V +5-V output (insulated) Not connected A-Line Communication line A (RS485) Not connected...
  • Page 48 Part 1 Specification (4) RS485SIO (RGW-SIO) RGW-SIO connector: MC1.5/4-G-3.5 (by Phoenix Contact) Cable-end connector: MC1.5/4-ST-3.5 (by Phoenix Contact) = Standard accessory SIO communication connector Signal name Explanation Built-in terminal resistor (220 Ω) conforming Communication line A (+) Communication line B (-) to RS485 Signal ground Frame ground...
  • Page 49: External Dimensions

    Part 1 Specification 3.5.11 External Dimensions * Installable on a 35-mm DIN rail (69.3 from DIN rail surface)
  • Page 50: Operation Function List

    Part 1 Specification Operation Function List RACON/RPCON Function List Positioner 1, 2 mode Solenoid valve mode 1 and 2 O Solenoid valve mode 1 Home return operation X Solenoid valve mode 2 (Not required) Positioning operation Specify a position table number. Specify a position table number.
  • Page 51 Part 1 Specification : Direct control : Indirect control X: Not available Simple direct mode Numerical specification mode Specify position data Specify position data (32-bit signed integer). (32-bit signed integer). Set in the position table. Specify speed data (16-bit integer). Set acceleration and deceleration in the position table Specify acceleration/deceleration data (16-bit integer).
  • Page 52: Address Configuration

    Part 1 Specification Address Configuration ROBONET addresses are configured in the same manner with all four types of gateway units regardless of the type of field network. The addresses occupied by the network consist of a fixed 8-word area and a data area that changes according to the operation mode and number of axes.
  • Page 53: Examples Of Overall Address Configuration

    Part 1 Specification (3) Data Area Configuration in the Direct Numerical Specification Mode PLC output ⇒ Axis input Axis output ⇒ PLC input Number Number Upper byte Lower byte Upper byte Lower byte of words of words Position data specification (L)* Current position data (L)* Position data specification (H)* Current position data (H)*...
  • Page 54 (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input Output...
  • Page 55 Example of Overall CC-Link Address Configuration (Positioner 2 mode and Solenoid valve mode) An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input...
  • Page 56: Devicenet

    (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input Relative...
  • Page 57 Example of Overall DeviceNet Address Configuration (Positioner 2 mode and Solenoid valve mode)) An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input...
  • Page 58: Profibus

    (Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input Relative...
  • Page 59 Example of Overall PROFIBUS Address Configuration (Positioner 2 mode and Solenoid valve mode)) An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown. PLC output ⇒ ROBONET ROBONET⇒ PLC input...
  • Page 60: Rs485Sio

    (Reserved) F745 F646 (Axis 13) Push-current limiting value (Axis 13) Alarm F746 F647 (Axis13) Control signal (Axis 13) Status signal F747 * With the RS485 SIO type, the initial address is F600H (PLC ⇒ ROBONET) or F700H (ROBONET ⇒ PLC).
  • Page 61 (Axis 15) Command position number (Axis 15) Completed position number F726 F627 (Axis 15) Control signal (Axis 15) Status signal F727 * With the RS485 SIO type, the initial address is F600H (PLC ⇒ ROBONET) or F700H (ROBONET ⇒ PLC).
  • Page 62: Gateway Control/Status Signals

    In the address configuration of the GateWayR unit, the first two input words and output words are used to control the GateWayR unit. These signals can be used to perform ON/OFF control of ROBONET communication (SIO control) and monitor the communication status as well as the status of the GateWayR unit.
  • Page 63 If ERR-C occurs, the current condition is LERC maintained. This signal turns ON upon detection of a ROBONET communication (SIO ROBONET communication ERRT communication) error. The signal is error output synchronized with the ERROR-T LED on the front panel of the unit.
  • Page 64: Command Area

    Part 1 Specification 3.7.3 Command Area The eight input words and eight output words from the initial address of the gateway unit are fixed areas. With both output and input, six words in this fixed area are assigned as a command area where various commands can be used to read/write the position table, among others.
  • Page 65 Part 1 Specification (2) Command List The available command and command codes are listed below. Direct Simple Solenoid Function Positioner numerical Positioner Code Explanation direct valve mode classification 1 mode specification 2 mode mode 1 and 2 mode Handshake 0000H Clear request command Position table 1000H Write target position data write *1...
  • Page 66 Part 1 Specification (3) Commands and Data Formats The rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table constantly. [1] Position table data write commands Relative address from beginning Command name PLC output (request) PLC input (response) PROFIBUS...
  • Page 67 Part 1 Specification Relative address from beginning Command name PROFIBUS PLC output (request) PLC input (response) CC-Link DeviceNet RS485SIO *1 Write deceleration RY 2*/RX 2* +4/+5 1006H RY 3*/RX 3* +6/+7 Position number RY 4*/RX 4* +8/+9 Deceleration data *6 RY 5*/RX 5* +10/+11 RY 6*/RX 6*...
  • Page 68 Part 1 Specification [2] Position table data read commands Relative address from beginning Command name PLC output (request) PLC input (response) PROFIBUS CC-Link*6 DeviceNet RS485SIO *1 Read target position RY 2*/RX 2* +4/+5 1040H If the command has been successful, the value returned RY 3*/RX 3* +6/+7 Position number...
  • Page 69 Part 1 Specification Relative address from beginning Command name PROFIBUS PLC output (request) PLC input (response) CC-Link*6 DeviceNet RS485SIO *1 If the command has been Read deceleration RY 2*/RX 2* +4/+5 1046H successful, the value returned RY 3*/RX 3* +6/+7 Deceleration read in the response is the same as POS number...
  • Page 70 Part 1 Specification [3] Group-specific broadcast operation commands These operations can be used in the positioner mode. The axes specified by the group number are started simultaneously to the position specified by the POS number. Since these commands implement broadcast communication between the gateway and controllers, no response is returned from the controllers.
  • Page 71 Part 1 Specification (4) Error Responses If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code will be set in response data 1. Code Explanation 0101H Invalid axis number *1 0102H Invalid position number *1 0103H...
  • Page 72: Position Table

    Part 1 Specification 3.7.4 Position Table RACON and RPCON controllers can be operated in one of six modes—positioner mode 1and 2, simple direct mode, direct numerical specification mode and Solenoid valve mode 1 and 2—using one of four types of GateWayR units. To perform positioning operation in the positioner mode or simple direct mode, a position table must be created beforehand using a teaching tool.
  • Page 73 Part 1 Specification The position table is explained using the screen of the PC software as an example. (The display is different on the teaching pendant.) Positioning band Position Speed Acceleration Deceleration Push Threshold Acceleration Zone+ Zone- Command Stop Incremental Comment /deceleration mode...
  • Page 74 Part 1 Specification • Input the acceleration/deceleration at which to move the actuator (unit: [G]). Input a value (4) Acceleration/Deceleration within the rated range. (Refer to Appendix, “Specification List of Supported Actuators.”) Exercise caution when setting the acceleration/deceleration, because the input range is greater than the rated range in the catalog.
  • Page 75 Part 1 Specification “Push operation” This field defines the maximum distance traveled from the target position in push operation. Consider the mechanical variation of the load and set an appropriate positioning band so that the positioning will not complete before the actuator contacts the load. When the load is contacted, push operation is deemed complete and the position complete signal turns ON.
  • Page 76 Part 1 Specification [For Straight Slide Actuators] Current Position Set value Zone setting + : 70mm Zone signal Zone setting - : 30mm output Set value Zone setting + : 30mm Zone signal Zone setting - : 70mm output Caution Zone functions differ depending on the application version.
  • Page 77 Part 1 Specification • This field defines the acceleration/deceleration pattern characteristics. (9) Acceleration/Deceleration Mode The factory setting is “0.” 0: Trapezoid pattern 1: S-motion 2: Primary delay filter Trapezoid Pattern Speed Acceleration Deceleration Time The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the position table, respectively.
  • Page 78 Part 1 Specification Primary Delay Filter The actuator accelerates/decelerates over a curve that is more gradual than in linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don’t want the load to receive micro-vibration during acceleration/deceleration. Speed Time The primary delay level is set in parameter No. 55, “Position-command primary filter time constant.”...
  • Page 79: Assignments In The Positioner 1 Mode Or Simple Direct Mode

    Part 1 Specification 3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode Assignments in the positioner 1 mode or simple direct mode are shown below. PLC output = Axis control signal 1 word = 18 bits Address* b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2...
  • Page 80 Part 1 Specification I/O Signal List Simple Signal type Signal name Description Positioner Details direct Position data 32-bit Set as a hexadecimal number using a 32-bit 3.8.3 specification data signed integer (unit: 0.01 mm) Example) To set +25.4 mm, specify “0009EC”...
  • Page 81 Part 1 Specification I/O Signal List Simple Signal type Signal name Description Positioner Details direct Current position 32-bit Output as a hexadecimal number using a 3.8.3 data data 32-bit signed integer (unit: 0.01 mm). Example) To set +25.4 mm, specify “0009EC”...
  • Page 82 Part 1 Specification [Alarm List] Listed below are simple alarm codes that will be output when the respective alarms generate. For details, refer to Part 3, “Maintenance.” Simple alarm codes and alarm codes are given as hexadecimal numbers. Simple alarm codes are indicated by the STATUS0 to 3 LEDs on the controller unit. : ON X: OFF : Available X: Not available Simple*...
  • Page 83: Assignments In The Direct Numerical Specification Mode

    Part 1 Specification 3.7.6 Assignments in the Direct Numerical Specification Mode Assignments in the direct numerical specification mode are shown below. Set the push-current limiting value, acceleration/deceleration and speed within the ranges specified for the applicable actuator, and set the target position data within the soft stroke range. Setting units: Current-limiting value = 1%, Acceleration/deceleration = 0.01 G, or Speed = 0.1 mm/sec Position data/positioning band = 1/100 mm, PROFIBUS...
  • Page 84 Part 1 Specification PLC input = Axis status signal 1 word = 16 bits Address* PROFIBUS (Upper byte) (Lower byte) Current position data (Signed integer) Current position data (Signed integer) Actual motor current (Signed integer) Actual motor current (Signed integer) Current speed (Cannot be used.) Alarm code...
  • Page 85 If the speed setting is changed to “0” while the actuator is moving, the actuator will decelerate to a stop. Switching of setting unit is available in the Special Parameter Setting Window of ROBONET Gateway Parameter Setting Tool (Ver.1.0.4.0 or later). (The factory setting is 1.0 mm/sec.) Set as a hexadecimal number using a 16-bit integer (unit: 0.01 G).
  • Page 86 Part 1 Specification I/O Signal List Signal type Signal name Description Details Set the push-current limiting value as a hexadecimal number 3.8.3 (5) (unit: %) to set the push force. Push-current 8-bit Settable range is 00H to 1FFH, FFH = 100% and 1FFH = 200% limiting value data Example) To set 50%, specify FFH x 50% = 255 x 50% = 127...
  • Page 87 Part 1 Specification I/O Signal List Signal type Signal name Description Details The current position data is output as a hexadecimal number 3.8.3 (5) using a 32-bit signed integer (unit: 0.01 mm). Current position 32-bit Example) If the data is +25.4 mm, “000009ECH” data data (decimal number: 2540) is output.
  • Page 88: Assignment In Positioner 2 Mode

    Part 1 Specification 3.7.7 Assignment in Positioner 2 Mode Assignment in the positioner 2 mode is explained below. PLC output = Axis control signal 1 word = 16 bits Address* PROFIBUS (Upper byte) (Lower byte) Command position Number Control signal PLC input = Axis status signal Address* PROFIBUS...
  • Page 89: Solenoid Valve Mode 1

    Part 1 Specification 3.7.8 Assignment in Solenoid Valve Mode 1 Assignment in the solenoid valve mode 1 is explained below. PLC output = Axis control signal 1 word = 16 bits Address* (Upper byte) (Lower byte) Command position Number Control signal PLC input = Axis status signal Address* (Upper byte)
  • Page 90 Part 1 Specification I/O Signal List Signal type Symbol Description Details b15-b7 Cannot be used. Start position command 6 Start position command 5 Command Start position command 4 position number 3.8.2 (20) Start position command 3 Start position command 2 Start position command 1 Start position command 0 BKRL...
  • Page 91: Solenoid Valve Mode 2

    Part 1 Specification 3.7.9 Assignment in Solenoid Valve Mode 2 Assignment in the solenoid valve mode 2 is explained below. PLC output = Axis control signal 1 word = 16 bits Address* (Upper byte) (Lower byte) Command position Number Control signal PLC input = Axis status signal Address* (Upper byte)
  • Page 92 Part 1 Specification I/O Signal List Signal type Symbol Description Details b15-b3 Cannot be used. Command Intermediate point move command position number 3.8.2 (21) Front end move command Rear end move command BKRL Forced brake release 3.8.2 (19) b14-b5 Cannot be used. Control signal Servo ON command 3.8.2 (5)
  • Page 93: I/O Signals

    Part 1 Specification I/O Signals 3.8.1 I/O Signal Timings To operate the ROBO Cylinder using the PLC’s sequence program, a given control signal is turned ON. The maximum response time after the signal turns ON until the response (status) signal is returned to the PLC is calculated by the formula below: Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.) Mt = 10 (msec) x (n + 1) : SIO link (Modbus) cycle time...
  • Page 94: I/O Signal Functions

    Part 1 Specification 3.8.2 I/O Signal Functions (1) Controller Ready (CRDY) PLC Input Signal This signal turns “1” (ON) when the controller has become ready to perform control after the power is turned ON. Function This signal turns “1” (ON) when the controller has been successfully initialized and become ready to perform control after the power is turned ON, regardless of the alarm status, servo status, etc.
  • Page 95 Part 1 Specification (5) Servo ON Command (SON) PLC Output Signal Ready (SV) PLC Input Signal Turn the SON signal “1” (ON), and the servo will turn on. When the servo is turned ON, the SV LED (green) on the front panel of the controller will illuminate.
  • Page 96 Part 1 Specification (6) Home Return Command (HOME) PLC Output Signal Home Return Complete (HEND) PLC Input Signal Home return operation will start at the “0” (OFF) “1” (ON) leading edge of the HOME signal. When home return is complete, the HEND (home return complete) signal will turn “1” (ON). Turn the HOME signal “0”...
  • Page 97 Part 1 Specification (7) Positioning Start (CSTR) PLC Output Signal Upon detection of the “0” (OFF) → “1” (ON) leading edge of this signal, the controller will read the target position number consisting of a 10-bit binary code from PC1 to PC512, and perform positioning to the target position specified by the corresponding position data.
  • Page 98 Part 1 Specification (10) Pause (STP) PLC Output Signal Turn this signal “1” (ON), and the axis movement will pause (the axis will decelerate to a stop). Turn the signal “0” (OFF), and the axis movement will resume. (11) Command Position Number (PC1 to PC512) PLC Output Signal The command position number is read as a 10-bit binary number.
  • Page 99 Part 1 Specification An example is shown below. [For Index Mode of Rotary Actuators] Areas that the zone signal is ON Set Valve Set Valve Zone setting + : 70° Zone setting + : 315° Zone setting – : 315° Zone setting –...
  • Page 100 Part 1 Specification (14) Jog+ Command/Jog- Command (JOG+/JOG-) PLC Output Signal These signals function as start commands for jogging operation or inching operation. The + command starts operation in the direction opposite home, while the – command starts operation in the home direction.
  • Page 101 Part 1 Specification (15) Jogging Speed/Inching Distance Switching (JVEL) PLC Output Signal This signal switches between the parameter for specifying the jogging speed when jogging operation is selected and the parameter for specifying the inching distance when inching operation is selected. The relationships are summarized in the table below.
  • Page 102 Part 1 Specification (17) Teaching Mode Command (MODE) PLC Output Signal (Effective only in the positioner mode) Teaching Mode Status (MODES) PLC Input Signal When this signal is turned “1,” the controller will switch from the normal operation mode to the teaching mode. After switching to the teaching mode, each axis controller will output the teaching mode status (MODES) signal.
  • Page 103 Part 1 Specification (20) Start Position Command (ST0 to ST6) [Solenoid valve mode 1] PLC Output Signal Upon detection of an OFF → ON rise edge of this signal or detection of the ON level of the signal, the actuator will move to the target position set in the corresponding position data.
  • Page 104 Part 1 Specification (22) Current Position Number Signal (PE0 to PE6) [Solenoid valve mode 1] PLC Input Signal Position numbers (0 to 6) that received move command is output individually when positioning is completed. Table for Output Signal and Completed Position Output signal Completed position Position No.0...
  • Page 105: Basic Operation Timings

    Part 1 Specification 3.8.3 Basic Operation Timings (1) Ready Follow the steps below to start the system after confirming that the slider or rod is not contacting a mechanical end and the load is not contacting any peripherals, either: [1] Cancel the emergency stop or enable the motor drive power. [2] Supply the 24-VDC controller power (24-V terminal and 0-V terminal on the power-supply terminal block).
  • Page 106 Part 1 Specification Warning The RACON controller performs magnetic-pole phase detection operation during the first servo ON processing after the power has been turned ON. During this detection operation, the actuator will generally move by approx. 0.5 to 2 mm, although the specific dimension varies depending on the ball screw lead.
  • Page 107 Part 1 Specification (2) Home Return Operation This controller unit uses an incremental position detector (encoder) and therefore its mechanical coordinates will be lost once the power is cut off. After the power is turned ON, therefore, home return must be performed to establish mechanical coordinates. To perform home return operation, input the home return command signal (HOME).
  • Page 108 Part 1 Specification (3) Operation in the Positioner 1 Mode and Positioner 2 Mode Input position data in the controller’s position table beforehand, and specify a desired position number using a link register of the PLC. ■ Operation [1] Set the position number in the command position number register. [2] Next, turn the start command signal (CSTR) “1”...
  • Page 109 Part 1 Specification Command position number (PLC → GW) Start command CSTR (PLC → GW) Position complete PEND (GW → PLC) Completed position number (GW → PLC) ≤ 1Mt ≤ 1Mt Moving MOVE (GW → PLC) *1 T1: Set an appropriate time so that “T1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. *2 Yt + 2Mt + Xt ≤...
  • Page 110 Part 1 Specification (4) Operation in the Simple Direct Mode In this mode, position data is written to a link register of the PLC and other data such as speed, acceleration/deceleration, positioning band and push current-limiting value are specified by a position table. Preparation Set in the position table all position data (speed, acceleration/deceleration, positioning band, push-current limiting value, etc.) other than the target position.
  • Page 111 Part 1 Specification Position data setting (PLC → GW) Command position number (PLC → GW) twcsON twcsOFF Start command CSTR (PLC → GW) tdpf Position complete PEND (GW → PLC) Current position (GW → PLC) ≤ 1Mt ≤ 1Mt Moving MOVE (GW →...
  • Page 112 Part 1 Specification (5) Operation in the Direct Numerical Specification Mode In this mode, the actuator is operated by writing the target position data, acceleration/deceleration data, speed data, push-current limiting value data and positioning band data to link registers in the PLC, without using the position table of the controller.
  • Page 113 Part 1 Specification Target position data setting (PLC Speed and acceleration/deceleration data setting (PLC → GW) Positioning band data setting (PLC → GW) Push-current limiting value data setting (PLC → GW) Push mode PUSH (PLC → GW) Push direction (PLC → GW) [13] Start command CSTR...
  • Page 114 Part 1 Specification The target position data, acceleration/deceleration data, speed data, positioning band data and push-current limiting value data can be changed while the actuator is moving. To do so, turn the CSTR “1” (ON) and keep it “1” (ON) for tdpf or more after the data has been changed.
  • Page 115 Part 1 Specification (6) Operation by Solenoid Valve Mode 1 Enter the position data into the position table in the controller in advance, and specify the position number with the link register on PLC and operate. Operation [1] Be sure that the positioning complete (PEND) is on “1” (ON), and change the ST* signal corresponding to the position number that contains the target position of the command position number register that you desire to operate from “0”...
  • Page 116 Part 1 Specification (7) Operation by Solenoid Valve Mode 2 Enter the position data into the position table in the controller in advance, and specify the position number with the link register on PLC and operate. Operation Turn to “0” (OFF) for all the movement commands. Turn a movement command to “1”...
  • Page 117: Other Basic Operations

    Part 1 Specification 3.8.4 Other Basic Operations (1) Push operation [1] Basic operation As shown below, the actuator moves to the specified target position, and then moves at the specified push speed by up to the specified positioning band while pushing the load. The moment the push force reaches a certain value during push movement, completion of push is recognized and the position complete signal turns “1”...
  • Page 118 Part 1 Specification Push Mode Specification • In the positioner 1, 2 mode, simple direct mode, solenoid valve mode 1 or 2, set a value other than “0” (push-current limiting value) in the “Push” field of the position table. • I In the direct numerical specification mode, set a value in the push-current limiting value area (bit 8) and set “1” (ON) in the control signal PUSH (bit 12).
  • Page 119 Part 1 Specification [2] When the load was missed in push operation If the load is not contacted (the motor current does not reach the push-current limiting value) after the actuator has moved the distance corresponding to the specified positioning band, the position complete signal is not output. However, the completed position number is output.
  • Page 120 Part 1 Specification [4] When the push direction is set incorrectly If the push direction is set incorrectly, the actuator position will deviate by “positioning band x 2,” as shown below. Exercise caution. Speed Intended operation Actual operation Travel distance Positioning band Positioning band Positioning band Target position Actual position reached...
  • Page 121 Part 1 Specification (2) Pause When the pause command signal (STP) is turned “1” (ON) while the actuator is moving, the actuator will decelerate to a stop. Since the remaining travel distance is retained, the remaining travel can be resumed by turning the STP “0” (OFF) again. Command position Position start (CSTR)
  • Page 122 Part 1 Specification (3) Speed Change during Movement The actuator can be controlled at multiple speeds in a single operation. In other words, the speed can be decreased or increased at a given point. However, a position data must be set for every point at which the speed is changed. Position 1 Position 2 Position 1...
  • Page 123 Part 1 Specification Caution [1] When the start signal (CSTR) is turned “1” (ON), the position complete signal (PEND) will turn “0” (OFF) and the moving signal (MOVE) will turn “1” (ON). Turn the start signal (CSTR) “0” (OFF) after confirming that the position complete signal (PEND) has turned “0” (OFF) when CSTR is turned “1”...
  • Page 124 Part 1 Specification (4) Operation at Different Acceleration and Deceleration [1] When the controller is used in the positioner 1, 2 mode or simple direct mode, separate values can be set for acceleration and deceleration using the position table. [2] Direct numerical specification mode In this mode, separate values cannot be set for acceleration and deceleration.
  • Page 125 Part 1 Specification (5) Operation by Relative Coordinate Specification The target position in the position table can also be specified in relative coordinates. This function can be used to repeat positioning operations at equal pitches. [1] Example of operation in the positioner 1, 2 mode The following explains an example of positioning operation repeated at a 50-mm pitch, starting from position No.
  • Page 126 Part 1 Specification Command position Position 1 Position 2 Start (CSTR) Position complete (PEND) Completed position Position 1 Position 2 Position 2 Moving (MOVE) Zone signal (PZONE) Speed Actuator movement Time Distances from home * Set an appropriate time so that “T1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. [Explanation of Operation] [1] Positioning operation to position 1 (100.00 mm) is performed.
  • Page 127 Part 1 Specification [2] Notes on positioning operation If a position number specified in relative coordinates is selected/entered and a start signal is input during positioning operation, the actuator will move to the initial target position plus the relative travel distance. (If the relative travel distance is a negative value, the actuator will move to the initial target position less than the relative travel distance.) Example) If a start signal is input for positioning to position 2 while the actuator is moving to position 1, the actuator will travel to a position 40 mm from home.
  • Page 128 Part 1 Specification [3] Notes on push operation If a position number specified in relative coordinates (for which the push mode is specified) is selected/input and a start signal is input while the actuator is moving in the push mode, the actuator will move to the position at which the start signal was input, plus the relative travel distance.
  • Page 129: Command Transmission

    Part 1 Specification 3.8.5 Command Transmission A command transmission chart is shown below. The GateWayR unit analyzes each request command and returns a response every time the replacement of control/status data of all axes, which is performed constantly, is completed. The PLC and GateWayR unit perform the following actions: [1] Upon detecting a response command with zero set in it, the PLC application sets the necessary request command and data.
  • Page 130: Modbus Gateway Mode Of Rs485 Sio

    Part 1 Specification Modbus Gateway Mode of RS485 SIO 3.9.1 Overview With the RS485 SIO GateWayR unit, the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station, and the SIO through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII protocols, are available.
  • Page 131: Modbus/Rtu Protocol Specification

    Part 1 Specification 3.9.2 Modbus/RTU Protocol Specification The RS485 SIO GateWayR unit has an asynchronous serial bus interface conforming to EIA RS485 for interfacing with the host. The Modbus protocol is used for communication to receive commands from the host or reference internal information in the host.
  • Page 132 Part 1 Specification (2) Communication Method The Modbus protocol uses the single-master/multiple-slave communication method. Only the master can issue a query (to start communication). The slave receives a query, performs the specified function, and returns a response message. The master can issue a query to a specific slave or broadcast a query to all slaves. In the case of a broadcast query, the slaves only performs the specified function and do not return a response message.
  • Page 133 Part 1 Specification (4) Message Frame Query and response messages use the following message frame. Header Address Function Data Error check Trailer T1-T2-T3-T4 8 bits 8 bits N x 8 bits 16 bits T1-T2-T3-T4 * “T1-T2-T3-T4” represents a silent interval. [1] Header field The frame starts with a silent interval of 3.5 characters or more.
  • Page 134 Part 1 Specification (5) Error Check CRC check Each message contains an error check field based on the CRC method. The CRC field is used to check the content of the entire message. This check is independent of the parity check of individual characters comprising the message.
  • Page 135: Protocol Format

    The slave address is fixed to “63 (3FH)” for the RS485 SIO gateway. As for gateway registers, inputs (PLC ⇒ ROBONET) are assigned to word addresses F600 H onward in the PLC, while outputs (ROBONET ⇒ PLC) are assigned to word addresses F700 H onward in the PLC.
  • Page 136 (Axis 13) Push-current limiting value (Axis 13) Alarm F746 F647 (Axis13) Control signal (Axis 13) Status signal F747 * With the RS485 SIO unit, the initial address is “0xF600H” for PLC ⇒ ROBONET messages, and “0xF700H” for ROBONET ⇒ PLC messages.
  • Page 137: Query List

    Part 1 Specification 3.9.3.2 Query List The table below lists queries that can be used. Simple Direct Remarks Positioner Function direct numerical Details (Performable operation) mode axis mode axis mode axis [1] Read gateway status signal 0, 1 1 each 1 each 1 each 3.9.3.3 (2) [1]...
  • Page 138 Part 1 Specification Simple Direct Remarks Positioner Function Details direct numerical mode axis (Performable operation) mode axis mode axis • Forced brake release Write (BKRL) 3.9.3.4 (2) [3] • Push operation mode specification register • Push direction specification 3.9.3.4 (2) [4] Write With a move command by direct numerical specification, 3.9.3.5 (2)
  • Page 139: Read Holding Registers (Query Using Fc = 03H)

    Part 1 Specification 3.9.3.3 Read Holding Registers (Query using FC = 03H) This query reads the contents of holding registers in the slave. Broadcast is not supported. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start reading data, and the number of registers.
  • Page 140 Part 1 Specification (2) Examples of Queries/Responses Queries are implemented by reading a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. [1] Read gateway status signal 0, 1 The configuration of the completed position number register of axis (0) is shown below.
  • Page 141 Part 1 Specification Response RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 03 H Data bytes 04 H 1-word register x 2 = 4 bytes 1 each for upper Data 1 (upper) Arbitrary...
  • Page 142 Part 1 Specification [2] Read response command data 0 to 3 Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 03 H Starting address (upper) F7 H Initial address of the response command Starting address (lower) 02 H...
  • Page 143 Part 1 Specification [3] Monitor current position – Axis (0) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 03 H The addresses of current position data of axis Starting address (upper) F7 H...
  • Page 144 Part 1 Specification [4] Monitor current electrical current – Axis (1) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 03 H Starting address (upper) F7 H Address of the current electrical current of axis Starting address (lower) 0E H...
  • Page 145 In other words, the current speed is “0” in this example. The current speed is indicated in either units of 1.0 mm/sec or 0.1 mm/sec. Switching of setting unit is available in the special parameter setting of ROBONET Gateway Parameter Setting Tool. (available in the tool version 1.0.4.0 or later)
  • Page 146 Part 1 Specification [6] Monitor alarm information – Axis (1) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 03 H Starting address (upper) F7 H Alarm address of axis (1) Starting address (lower) 12 H...
  • Page 147 Part 1 Specification [7] Read completed position number status – Axis (0) The configuration of the completed position number register of axis (0) is shown below. Address Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H...
  • Page 148 Part 1 Specification [8] Read status signal status – Axis (0) The configuration of the status signal register of axis (0) is shown below. Address Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed.
  • Page 149 Part 1 Specification Actual Example After axis (0) servo ON Sent Query: 3F03F70B0001C362 Received Response: 3F03024011604D (Explanation) The CRDY, SV and PEND signals are ON. Actual Example After axis (0) home return Sent Query: 3F03F70B0001C362 Received Response: 3F03027013F58C (Explanation) The CRDY, ZONE1, ZONE2, SV, HEND and PEND signals are ON.
  • Page 150: Preset Single Register (Query Using Fc = 06H)

    Part 1 Specification 3.9.3.4 Preset Single Register (Query using FC = 06H) Data is written to (changed in) a holding register in the slave. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start writing (changing) data, and the data.
  • Page 151 Part 1 Specification (2) Examples of Queries/Responses Queries are implemented by changing (writing) a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. The following explanations use axis (0) or axis (12) in the example.
  • Page 152 Part 1 Specification [2] Output command position number A position number (= 1) is specified for axis (0). The configuration of the command position number register of axis (0) is shown below. Address Query RTU mode data Data length Field name Remarks (8 bits) (bytes)
  • Page 153 Part 1 Specification [3] Output control signals (Axis 0 = Positioner mode or simple direct mode) An example of control signals of axis (0) is explained. The configuration of the control signal register of axis (0) is shown below. Address Servo ON Command (SON) Query RTU mode data...
  • Page 154 Part 1 Specification Home Return Command (HOME) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 155 Part 1 Specification Start Command (CSTR) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 156 Part 1 Specification Pause Command (STP) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 157 Part 1 Specification Reset Command (RES) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 158 Part 1 Specification Jogging/Inching Switching Command (JISL) This signal is used to switch jogging operation and inching operation. JISL = “0”: Jogging operation JISL = “1”: Inching operation Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address...
  • Page 159 Part 1 Specification Jogging Speed/Inching Distance Switching Command (JVEL) In jogging operation and inching operation, the jogging speed and inching distance are determined by referencing the applicable control parameters. This signal is used to switch these parameters. JVEL Jogging speed of jogging operation (JISL = “0”) Inching distance of inching operation (JISL = “1”) “0”...
  • Page 160 Part 1 Specification Jog+ Command (JOG+) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 161 Part 1 Specification Jog- Command (JOG-) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 162 Part 1 Specification [Summary of Jogging Operation and Inching Operation] With both jogging operation and inching operation, the JISL, JVEL, JOG+ and JOG- signals are used in combination. The relationships of these signals are summarized in the table below. Jogging operation Inching operation JISL “0”...
  • Page 163 Part 1 Specification Teaching Mode Command (MODE) The controller will switch to the teaching mode when the MODE signal turns “1.” Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address...
  • Page 164 Part 1 Specification Position Data Load Command (PWRT) Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 06 H Starting address (upper) F6 H Address of the control signal register of axis (0) Starting address (lower) 0B H...
  • Page 165 Part 1 Specification Forced Brake Release Command (BKRL) Normally brake control is linked to the servo ON/OFF operations. However, the brake can be forcibly released while the servo is OFF, by using this command. Query RTU mode data Data length Field name Remarks (8 bits)
  • Page 166 Part 1 Specification [4] Output control signals (Axis 1 = Direct numerical specification mode) An example of control signals of axis (1) is explained. The configuration of the control signal register of axis (1) is shown below. Address The method of use is the same as in [3], except for the DIR and PUSH. The DIR and PUSH signals are used as a set when performing push operation in the direct numerical specification mode.
  • Page 167: Preset Multiple Registers (Query Using Fc = 10H)

    Part 1 Specification 3.9.3.5 Preset Multiple Registers (Query using FC = 10H) Data is changed in (written to) multiple successive holding registers in the slave. The basic query/response structures and examples of queries are shown below. (1) Basic Query/Response Structures [1] Query format The query message specifies the address of the holding register (gateway register) from which to start changing (writing) data, and the data.
  • Page 168 Part 1 Specification [2] Response format If the data has been changed (written) successfully, the response returned is a copy of the query excluding the number of bytes and new data. RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None...
  • Page 169 Part 1 Specification (2) Basic Axis Operations [1] Axis area in the direct numerical specification mode Assignments of axis control signals for axis (1) (direct numerical specification mode) are shown below. Address Position data specification (lower word) Position data specification (upper word) Positioning Band (lower word) Positioning Band (upper word) Speed...
  • Page 170 • 16-bit integer • Register size: 1 (2 bytes) • Unit: 1.0 mm/sec or 0.1 mm/sec. Establish the setting in ROBONET Gateway Parameter Setting Tool. • Settable range: 0 to 9999 mm/sec If a value exceeding the maximum actuator speed is set, an alarm will generate when a movement start command is issued.
  • Page 171 Part 1 Specification [1] Procedure In the direct numerical specification mode, the actuator is operated by writing data to the axis control signal registers (position data, positioning band, speed, acceleration/deceleration, push-current limiting value, control signals). Operation is started when the start (CSTR) signal changes from “0” to “1.” Items to note regarding this process are listed below.
  • Page 172 Part 1 Specification (3) Examples of Queries/Responses (Axis 1, direct numerical specification mode) [1] Query format for normal operation Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current limiting value) to the registers. Query RTU mode data Data length Field name Remarks...
  • Page 173 Part 1 Specification [2] Query format for normal operation where only the position is changed Use the same format in [1] by changing only the position data, to operate the axis. Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header...
  • Page 174 Part 1 Specification [3] Query format for normal operation where the position and speed are changed. In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis. The following two queries are transmitted. Query (Position data change) RTU mode data Data length...
  • Page 175 Part 1 Specification [4] Query format for push operation Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current limiting value) to the registers. Query (Position data change) RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None...
  • Page 176 Part 1 Specification (4) Use of Gateway Commands The position table can be read/written by writing request commands and data in the command area of the gateway unit. For details, refer to the specifications of the gateway unit. An address map of the command area is shown below. Register address Register address F602...
  • Page 177 Part 1 Specification [1] Write position table data An example of writing the target position, positioning band and speed data one by one to the position table under No. 10 corresponding to positioner mode axis (0) is explained. • Target position →...
  • Page 178 Part 1 Specification Positioning Band Write Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 10 H Starting address (upper) F6 H Initial request command register address of axis Starting address (lower) 02 H...
  • Page 179 Part 1 Specification Speed Write Query RTU mode data Data length Field name Remarks (8 bits) (bytes) Header None Slave address 3F H Fixed. Function code 10 H Starting address (upper) F6 H Initial request command register address of axis Starting address (lower) 02 H...
  • Page 180 Part 1 Specification [2] Read position table data In [1], the target position, positioning band and speed were written one by one to the position table under No. 10 corresponding to positioner mode axis (0). Next, an example of reading data from this position table is explained. Query Send Procedure [1] Send a position table data read query (Write command data to the request command area)
  • Page 181 Part 1 Specification <Reading of Response Command Area> Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1040 000A 27100000 0000 2E8A Position data The position data (2710H) written to the position table in [1] has been read.
  • Page 182 Part 1 Specification <Reading of Response Command Area> Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1041 000A 001E0000 0000 4C0C Positioning band data The data (001EH) written to the position table in [1] has been read.
  • Page 183 Part 1 Specification <Reading of Response Command Area> Send a register read (FC = 03H) query. Sent Query: 3F03F702000512A3 Received Response: 3F030A 1042 000A 00C80000 0000 4C0C Speed data The data (00C8H) written to the position table in [1] has been read. Caution Each gateway command must be cleared after use.
  • Page 184 Part 1 Specification In [1] and [2], the target position, positioning band and speed data were written to the position table and the write results were checked. The applicable position table in the RC PC software is shown as follows. Before Sending the Write Query After Sending the Write Query * Although acceleration/deceleration was not written, the default parameter value has been applied and written.
  • Page 185: Function Block

    IAI provides a dedicated function block for ROBONET systems. It is called “ROBONET Gateway Modbus Cyclic Communication FBL” (ROBONET GW). This function block performs the following operations between the PLC and ROBONET gateway (Modbus gateway mode): • Read gateway status signals, response commands and axis data cyclically •...
  • Page 186 Part 1 Specification The function block parameters are used to specify the following addresses of the PLC’s I/O memory to be linked with the gateway unit’s memory areas: • Initial gateway control signal address • Initial request command area address •...
  • Page 187 ROBONET Gateway Modbus Cyclic Communication FBL • Read gateway information, command responses and axis data cyclically from the ROBONET gateway. Function • Write gateway control information, command requests and axis data to the ROBONET gateway via bit overview operation. Symbols...
  • Page 188 Part 1 Specification Variable Table (Parameter Settings) The variables and parameter settings of the function block (FB) are described. [Inputs] (Input Variables) Name Variable name Data type Default Explanation of variable and parameter settings BOOL False 1 (ON): Start the FB 2 (OFF): Do not start the FB Connection source Unit_Select...
  • Page 189 Part 1 Specification [VER-IN/OUT] (Input/Output Variables) Name Variable name Data type Explanation of variable and parameter settings Gateway information GateWay INT [2] Gateway information data is returned. table Information Set the I/O memory address to be assigned to the initial status _Table signal address of the gateway.
  • Page 190 Part 1 Specification ■ Explanation of Function [1] When the “start trigger” signal is turned ON, gateway information, command responses and axis data will be read cyclically. (Constant read mode) [2] When data is set in the gateway control table and the gateway control write signal is turned ON, the gateway control data (2 words) will be written to the gateway unit at the leading edge of the signal.
  • Page 191 Part 1 Specification ■ Operation Timing Chart Timing chart Successful pattern of read-only operation Data is read from the gateway unit in each cycle. 1. Successful pattern, no request FB_Busy Reading Successful response Error response Error clear 2. Error pattern, no request If Continuation is set, operation will continue even after an error occurs.
  • Page 192 Part 1 Specification 4. Error pattern, with request If an error is received, the current communication will be interrupted. However, commands will be received continuously from the next processing. GW control command Command Data write command FB_Busy GW control write Command write Axis data write GW information read...
  • Page 193 Part 1 Specification (3) Address Association Matrix As explained in (1), “Overview,” the PLC’s I/O memory is associated with the gateway unit’s memory. Before setting the parameters or creating a ladder sequence, therefore, create an association matrix of SIO gateway addresses. An example is shown on the next page.
  • Page 194 SIO Gateway FB Address Association Matrix (PLC Output) (Example) Function Block Gateway register Description Address Variable name Set address GW control 0 GW control 1 Request command Data 0 Data 1 Data 2 Data 3 Cannot be used. (Axis 0) Position data specification (L) (Axis 0) Position data specification (H) (Axis 0) Position number (Axis 0) Control signal...
  • Page 195 SIO Gateway FB Address Association Matrix (PLC Input) (Example) Gateway register Function Block Description Address Variable name Set address GW control 0 GW control 1 Response command Data 0 Data 1 Data 2 Data 3 Cannot be used. (Axis 0) Current position data (L) (Axis 0) Current position data (H) (Axis 0) Completed position number (Axis 0) Status signal...
  • Page 196: What Is A Function Block

    Part 1 Specification 3.9.4.2 What Is A Function Block? (1) Overview A function block is a graphical program language for PLCs. It is one of the five program languages for PLCs defined by the IEC standard (IEC 61131-3). Ladder logic (or ladder language) currently adopted by the largest number of PLCs is also one of the above five program languages.
  • Page 197 Part 1 Specification (2) Function Block Configuration A function block consists of a predetermined function block definition and an instance that actually places the function block definition in a program. [1] Function block definition A program described in a function block. An algorithm is described along with a variable definition. Algorithm A typical circuit defined by variable names (not actual addresses).
  • Page 198 Part 1 Specification [3] Parameter Every time an instance is created, actual I/O memory addresses (or constants) must be set for data exchange with input/output variables. These set addresses (or constants) are called parameters. Function block definition A (example) Program Algorithm Instance of function block definition A Output source:...
  • Page 199 Part 1 Specification [4] Variable Addresses are not described as actual I/O memory addresses, but they are all described as variable names. The basic items you should know about variables are explained below. Variable Types [1] Internal variable (internals): Used only in an instance. [2] Input variables (inputs): Variables to which data can be input from parameters outside the instance.
  • Page 200: Chapter 4 Controller Unit

    Controller Unit Overview The RACON and RPCON controllers are dedicated ROBONET controllers that drive RCA* actuators (24-V servo motor type) and RCP* actuators (24-V pulse motor type), respectively. Their basic functions and performance are the same as those of the ACON/PCON controllers.
  • Page 201 Part 1 Specification <RACON Unit Configuration> RACON controller: 1 unit ROBONET communication connection circuit board (model JB-1): 1 pc Standard accessory Power-supply connection plate (model PP-1): 2 pcs Main unit ROBONET communication connection circuit board Power-supply connection plate <RPCON Unit Configuration>...
  • Page 202: Basic Specifications

    *2 The current becomes the maximum during the excited-phase detection performed when the servo is turned on for the first time following the power on. (Normal: 100 msec) *3 The operating surrounding air temperature of a ROBONET system is 0 to 40°C.
  • Page 203: Name/Function Of Each Part And External Dimensions

    RACON and RPCON. 4.3.1 Name of Each Part Axis No. setting switch Brake release switch LED indicators (Front cover open) User setting switches ROBONET communication Simple absolute connector connectors Power-supply terminal block Motor cable connector Encoder cable connector...
  • Page 204: Led Indicators

    Part 1 Specification 4.3.2 LED Indicators These LEDs are used to monitor the status of the RACON/RPCON. Symbol Indicator color Explanation SV/ALM Green/red A steady green light comes on when the servo is ON, and changes to a steady read light when an alarm is present.
  • Page 205 Part 1 Specification Alarm Indicator List STATUS Simple Alarm Alarm name RPCON RACON alarm code code Software reset command with servo ON Position number error during teaching PWRT signal detection during movement PWRT signal detection before home return Move command with servo OFF Position command before home return Absolute position move command before home return Move command during home return...
  • Page 206: Brake Release Switch

    Part 1 Specification 4.3.3 Brake Release Switch When an actuator with brake is used, this switch is used to forcibly release the brake when adjusting the actuator assembly, etc. Normally this switch is kept in the bottom (NOM) position. Switch name Status Explanation Top (RLS) position...
  • Page 207: Robonet Communication Connector

    The RACON/RPCON can be operated as an absolute controller by connecting a simple absolute R unit. This connector is used to connect the simple absolute R unit, and the connection uses the ROBONET communication connection circuit board (same board used for SIO communication) supplied with the simple absolute R unit.
  • Page 208 Part 1 Specification The photographs below show the condition before and after interconnection of units. Before connection GateWayR unit RPCON controller Simple absolute R unit RACON controller After connection...
  • Page 209: Motor Cable Connector

    Part 1 Specification 4.3.9 Motor Cable Connector This connector is used to connect the dedicated actuator motor cable. The connector is different between the RACON and RPCON. Specification Item RACON RPCON Connector name DF1E-3P-2.5DS (Hirose) 0-1376136-1 (AMP) (Cable end) (Cable end) Applicable connector DF1E-3S-2.5C (Hirose) 1-1318119-3 (AMP)
  • Page 210: Encoder Cable Connector

    Part 1 Specification 4.3.10 Encoder Cable Connector This connector is used to connect the dedicated actuator encoder cable. The connector is different between the RACON and RPCON. Item Specification RACON RPCON Connector name S18B-PHDRS (JST) S16B-PHDRS (JST) (Cable end) (Cable end) Applicable connector PHDR-18VS (JST) PHDR-16VS (JST)
  • Page 211: External Dimensions

    Part 1 Specification 4.3.11 External Dimensions The external dimensions are exactly the same between the RACON and RPCON. Take note that the motor cable connector and encoder cable connector are different. * Installable on a 35-mm DIN rail (69.3 from DIN rail surface)
  • Page 212: Parameters

    Part 1 Specification Parameters 4.4.1 Parameter List The parameters are classified into the following four types depending on their function. Types: a: Parameter relating to actuator stroke b: Parameter relating to actuator operating characteristic c: Parameter relating to external interface d: Parameter relating to servo gain adjustment Type Symbol RPCON RACON Name...
  • Page 213 Part 1 Specification Type Symbol RPCON RACON Name Unit Factory default Home check sensor input polarity (As specified at the time of order) OVRD Speed override IOV2 PIO jogging speed 2 mm/sec IOID PIO inching distance IOD2 PIO inching distance 2 HSTP1 Default acceleration/deceleration mode 0 [Trapezoid]...
  • Page 214: Parameters Relating To Actuator Stroke

    Part 1 Specification 4.4.2 Parameters Relating to Actuator Stroke Soft Limits (Nos. 3/4, LIMM/LIML) Set the + soft limit in parameter No. 3 and – soft limit in parameter No. 4. Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if necessary, such as when an obstacle is present and collision between the actuator and obstacle must be prevented.
  • Page 215 Part 1 Specification Home Return Offset (No. 22, OFST) Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain constant. The minimum setting unit is 0.01 mm. This parameter can be adjusted in the following conditions: [1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled to the equipment.
  • Page 216: Parameters Relating To Actuator Operating Characteristics

    Part 1 Specification 4.4.3 Parameters Relating to Actuator Operating Characteristics Default Speed (No. 8, VCMD) The factory setting is the rated speed of the actuator. This value is treated as the speed data corresponding to the applicable position number when a target position has been written to the unregistered position table or the current position read into the table in the teaching mode.
  • Page 217 Part 1 Specification Speed Override (No. 46, OVRD) This parameter is used if you want to move the actuator at a slower speed to prevent danger during trial operation or at startup. When issuing a move command from the PLC, you can override the travel speed set in the “Speed” field of the position table by multiplying it with the value set in parameter No.
  • Page 218 Should an excitation detection error or abnormal operation occur when the servo is turned ON for the first time after turning on the power, you can try changing the detection time set in parameter No. 29 as a possible countermeasure. Before changing this parameter, contact IAI. Pole Sensing Type (No. 30, PDIR3) <Effective only on the RACON>...
  • Page 219 Part 1 Specification Push Speed (No. 34, PSHV) This parameter defines the push speed to become effective after the target position is reached in push operation. Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator. Set an appropriate speed in parameter No.
  • Page 220 Part 1 Specification Home Check Sensor Input Polarity (No. 43, HMC) Although not equipped on the standard specification, the home check sensor can be added as an option. This parameter need not be changed in normal conditions of use. If the customer wishes to change the mode after shipment, change the value in parameter No.
  • Page 221 Part 1 Specification PIO Inching Distance (No. 48, IOID) PIO Inching Distance 2 (No. 49, IOD2) These parameters set the inching distances for inching operation. The inching distance parameter is switched according to the jogging speed/inching distance switching signal (JVEL), as follows: JVEL = “0”...
  • Page 222 Part 1 Specification Position Feed-Forward Gain (no. 71, PLFG) <Effective only on the RACON> Parameter No. Unit Input range Default 0 to 100 This parameter sets the feed-forward gain of the position control system. When this parameter is set, the servo gain will increase and the response of the position control loop will improve. Use this parameter if you want to improve the response of a system of low mechanical rigidity or mechanical system with a large load inertia ratio.
  • Page 223 Part 1 Specification Ball Screw Lead (No. 77, LEAD) This parameter defines the ball screw lead. Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator. * Do not change this parameter. Axis Operation Type (No. 78, ATYP) This parameter sets whether the actuator is a linear operation axis or rotational operation axis.
  • Page 224 Part 1 Specification If the actuator is moved sequentially from position No. 1 to Nos. 2, 3 and 4, the operation will differ as follows depending on whether or not the shortcut mode is selected. To be specific, while the actuator will reverse its direction to move from position No.
  • Page 225 Part 1 Specification [Various Settings for Rotational Operation Axis and Operation Details] The list below summarizes the operation details of a rotational operation axis. Absolute Relative Axis operation Rotational axis Rotational axis Current Encoder system position position Soft limits Push type mode selection shortcut selection...
  • Page 226: Parameters Relating To External Interface

    Part 1 Specification 4.4.4 Parameters Relating to External Interface Position complete Signal Output Mode (No. 39, PEND) This parameter defines the status of the position complete signal when the servo is turned OFF or a “position deviation” occurs while the actuator is stopped after position complete. The parameter considers the following two conditions: [1] The actuator position has deviated beyond the specified value of “positioning band”...
  • Page 227: Parameters Relating To Servo Gain Adjustment

    Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard model), vibration/noise may occur due to external conditions. In this case, the following parameters must be changed. Contact IAI for details. Note Check the following items before performing servo adjustment: 1.
  • Page 228 Part 1 Specification Speed Loop Proportional Gain (No. 31, VLPG) Parameter number Unit Input range Default 1 to 27661 Set individually in accordance with the actuator characteristics. This parameter determines the level of response with respect to a speed control loop. Increasing the setting value improves compliance with the speed command (i.e., servo rigidity increases).
  • Page 229 If the setting is changed carelessly, the stability of the control system may be affected and a very dangerous condition may result. If the actuator generates resonance noise, the noise can be suppressed by changing this parameter. Even in this case, however, always follow IAI’s instruction when changing this parameter.
  • Page 230: Notes On Robo Rotary

    Part 1 Specification Notes on ROBO Rotary (1) Home Return Direction The moving end of the output axis in counterclockwise direction becomes the home position. Actuators of multi-rotational specification can be ordered with their rotating direction reversed. On these reverse rotation models, the home return direction corresponds to the clockwise direction.
  • Page 231 Part 1 Specification (4) Home Return Operation ■ 330 ° -rotation Specification [1] Start of home return → [2] Detection of a mechanical stopper → [3] Reversing → [4] Movement by the offset → [5] Home position Operation range (330°) Home (end of rotation in forward direction)
  • Page 232: Notes On Robo Gripper

    Part 1 Specification Notes on ROBO Gripper (1) Finger Operation [1] Definition of position The home of each finger is where the finger is open. The position command specifies the travel distance of each finger from its home position toward the closing side. Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type.
  • Page 233 Part 1 Specification (2) Removing the Gripped Load This gripper is structured so that the load-gripping force will be maintained by a self-lock function even after the servo is turned OFF or the controller power is cut off. If the gripped load must be removed while the power is cut off, turn the open/close screw or take out one finger attachment to remove the load.
  • Page 234: Chapter 5 Simple Absolute R Unit

    Part 1 Specification Chapter 5 Simple Absolute R Unit Overview RPCON and RACON controller units can be used as absolute axes by connecting a simple absolute R unit. If the controller unit is used as an absolute axis, home return will not be necessary once an absolute reset is performed, even after the controller unit power is turned OFF.
  • Page 235: How To Read The Model Name

    Model PP-1, 2 pcs The simple absolute connection circuit board is used to connect the simple absolute R unit to the controller unit. The simple absolute connection circuit board is the same as the ROBONET communication connection circuit board (JB-1). Backup battery...
  • Page 236: Specifications

    Part 1 Specification Specifications 5.3.1 General Specifications Model RABU 24 VDC ± 10% Power-supply voltage Power-supply current MAX 300 mA 0 to 40 ° C Environment Surrounding air temperature Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases and dust. 0 to 40 °...
  • Page 237: Backup Battery

    Part 1 Specification 5.3.2 Backup Battery The absolute specification uses a secondary battery (nickel hydrogen battery) to retain absolute counter data in the FPGA and supply power to the encoder drive circuit even when the power is cut off. (1) Battery Specifications Item Description Classification...
  • Page 238: Name/Function Of Each Part And External Dimensions

    5.4.1 Name of Each Part Front view [1]Status indicator LEDs [4]Ni-MH battery [2]Setting switches [3]Backup battery connector [8]Host controller connector [9]ROBONET communication connector [10]ROBONET communication connector [5]Power-supply terminal block [6]RCP2 and RCP3 actuator connector [7]RCA, RCA2 and RCL actuator connector Down view...
  • Page 239: Functions

    Part 1 Specification 5.4.2 Functions [1] Status indicator LEDs RDY/ALM Indicator color Steady green Steady red System normal System error (alarm) Blinking green Blinking red Update mode STATUS 1 Operation Steady green Steady red Absolute reset completed (RDY: steady green light) Absolute reset not yet completed (RDY: steady green light) FPGA communication error...
  • Page 240 Part 1 Specification [2] Setting switches These switches are used to switch the speed setting and update mode. (The switches are arranged in the order of 1, 2, 3 and 4, from the top.) Switch Function Speed setting switch 1 Speed setting switch 2 Update mode selector switch (Keep this switch in the “OFF”...
  • Page 241 This connector enables encoder feedback to the host controller and serial communication of absolute data. [9], [10] ROBONET communication connectors These connectors are used to connect ROBONET communication (RS485 SIO) signals by the multi-drop method. Although the simple absolute unit does not use communication signals, it exchanges signals with the adjoining controllers.
  • Page 242: External Dimensions

    Part 1 Specification 5.4.3 External Dimensions 35-mm DIN rail (69.3 from DIN rail surface)
  • Page 243: Notes

    Part 1 Specification Notes (1) Notes on Changing Parameters If the following parameters are changed, an absolute error will occur. Accordingly, an absolute reset must be performed after changing any of these parameters: [1] Parameter No. 5, “Home return direction” [2] Parameter No.
  • Page 244: Chapter 6 Extension Unit

    (= multi-stage layout). Also note that while the RPCON and RACON are specified as the standard controller units that can be used in ROBONET systems, you can use extension units to also configure a ROBONET system combining SCON (positioner mode), PCON-CF and/or ERC2 controller units (= external SIO link).
  • Page 245: Specifications

    Part 1 Specification Specifications Model REXT (main unit) 24 VDC ± 10% Power-supply voltage Power-supply current MAX 100 mA 0 to 40 ° C Environment Surrounding air temperature Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases and dust. 0 to 40 °...
  • Page 246: Product Configuration

    Unit link cable CB-REXT-SIO Cable for interconnecting Figure 4 ROBONET extension units Controller connection CB-REXT-CTL SIO link connection cable Figure 5 cable Main unit Communication connection circuit board (Model: JB-1) Power-supply connection plates (Model: PP-1) Fig.1 ROBONET Extension unit (REXT)
  • Page 247 Part 1 Specification Communication connection circuit board (Model: JB-1) Power-supply connection plates (Model: PP-1) ROBONET extension unit Unit link cable Fig 2 Controller connection set (REXT-SIO) Communication connection circuit board (Model: JB-1) Power-supply connection plates (Model: PP-1) ROBONET extension unit...
  • Page 248 Part 1 Specification Harness Connection View Braided shielded wire Signal name black2/white Signal name black2/white red2/white red2/white black2/gray black2/gray red2/gray red2/gray black2/orange black2/orange red2/orange red2/orange black1/pink black1/pink red1/pink red1/pink black1/yellow black1/yellow red1/yellow red1/yellow black1/white black1/white red1/white red1/white black1/gray black1/gray red1/gray red1/gray black1/orange black1/orange...
  • Page 249 Part 1 Specification Harness Connection View Signal name Braided shielded wire Signal name white white gray gray orange orange gray gray orange orange Ground Connection Diagram indicates the cable length (L). Example) 010 = 1 m Fig. 5 Controller connection cable (CB-REXT-CTL...
  • Page 250: Name Of Each Part And External Dimensions

    This communication connector is used to connect a unit in the same row (same stage). connector It is connected using a ROBONET communication connection circuit board (JB-1). Power-supply terminal block These are 24-VDC input terminals for the unit. The top terminal is +24 V, while the bottom terminal is 0 V.
  • Page 251: External Dimensions

    Part 1 Specification Name Description Upstream unit connector This connector is used to connect a group of upstream units (units in the upper stage) using a unit link cable (CB-REXT-SIO). Downstream unit connector This connector is used to connect a group of downstream units (units in the lower stage) using a unit link cable (CB-REXT-SIO).
  • Page 252: Part 2 Startup

    Startup Chapter 1 Overview Required Tools The tools needed to configure a ROBONET system and start the system include the PC software, teaching pendant, and ROBONET gateway parameter setting tool, as specified below. PC software RCM-101-** Version 6.00.04.00 or later Teaching pendant •...
  • Page 253: Startup Procedure

    Perform an absolute reset to establish an absolute system. ↓ Set up the ROBONET (Refer to 5.2) Use the ROBONET gateway parameter setting tool to set the station number, baud rate, operation mode of each axis, etc. ↓ Set up the master in the field network (Refer to 5.3) Set various items using a dedicated tool appropriate for each field network.
  • Page 254: Chapter 2 Mounting And Installation

    Consider factors that affect the environmental resistance of the ROBONET when installing it in a control panel. Considerations to the surrounding air temperature The surrounding air temperature of the ROBONET is 0 ° C to 40 ° C. Accordingly, give consideration to the following items: •...
  • Page 255 Part 2 Startup Chapter a. AC solenoid valves, magnet switches and relays Measure --- Install a surge killer in parallel with the coils. Surge killer Keep the wiring length from each coil to a minimum. If the surge killer is installed on a terminal block, etc., an extra distance from the coils will reduce the noise elimination effect.
  • Page 256 Part 2 Startup Chapter Installation in a panel • The ROBONET should be installed only in the manner shown below. Installed correctly • Never install the ROBONET in the manners shown below. X Installed upside down X Installed sideways...
  • Page 257 Part 2 Startup Chapter X Installed face down X Installed face up...
  • Page 258: Mounting On A Din Rail

    Part 2 Startup Chapter 2.1.2 Mounting on a DIN Rail Affixing equipment Install the ROBONET using a 35-mm DIN rail. 35-mm DIN rail Fixtures (2 pieces) The DIN rail and the fixtures are provided by the customer. Procedure “Release” the DIN-rail mounting pin provided at the back of the unit ([1]), hook the tabs on the upper side of the DIN rail ([2]), and push in the bottom side of the rail ([3]).
  • Page 259 Part 2 Startup Chapter Mount all necessary units on the DIN rail. After the necessary units have been installed, be sure to set two fixtures on both ends to affix the units. Orient each fixture so that the arrow points upward. Hook the bottom of the fixtures on the DIN rail, hook the top, and then pull down the fixtures.
  • Page 260: Interconnecting Multiple Units

    All units other than the GateWayR unit come with power connection plates. Power connection plates (2) Connecting ROBONET communication connection boards Connect the adjacent units using ROBONET communication connection boards as shown below. All units other than the GateWayR unit come with ROBONET communication connection boards. Terminal resistor circuit...
  • Page 261 As shown below, place the simple absolute unit on the immediate right of the applicable controller unit and connect the two using a simple absolute connection board (same as the ROBONET communication connection board). The simple absolute R unit comes with a simple absolute connection board.
  • Page 262: Installing In A Control Panel

    The ROBONET must be installed using a DIN rail. Since the ROBONET adopts natural convection cooling, provide a clearance of 50 mm or more above and below the unit, and 100 mm or more in front of the unit, by following the correct installation method explained in 2.1.1. Take note that the above dimensions do not include wiring space.
  • Page 263: Wiring

    Part 2 Startup Chapter Wiring 2.2.1 Wiring the Power Supply Wire the 24-VDC power supply as shown below. Front view of ROBONET + 24V GateWayR unit Controller unit Use the following parts for wiring: • ∅ 1.0 single wire or 0.8-mm...
  • Page 264 Part 2 Startup Chapter Caution If multiple units of IAI’s PS24 are connected in parallel (up to five PS24s can be connected) to supply power to the ROBONET, wire them as shown below. [2] Twisted pair [1] Terminal block ROBONET...
  • Page 265: Grounding Wire

    Part 2 Startup Chapter 2.2.2 Grounding Wire Connect the FG terminal of the GateWayR unit to the copper grounding bar inside the control panel, or other appropriate part, using a grounding wire over the shortest possible distance. • Class D grounding (Formely Class-III grounding) •...
  • Page 266: Motor Cable And Encoder Cable

    2.2.4 Motor Cable and Encoder Cable (1) When the RPCON controller is of incremental specification Plug the motor cable and encoder cable into the respective connectors on the RPCON controller, as shown below. Bottom view of ROBONET Motor Encoder cable...
  • Page 267 Part 2 Startup Chapter (3) When the RACON controller is of incremental specification Plug the motor cable and encoder cable into the respective connectors on the RACON controller, as shown below. Bottom view of ROBONET Motor Encoder cable cable (4) When the simple absolute R unit is connected to the RACON controller Plug the motor cable into the connector on the RACON, and encoder cable into the connector on the simple absolute R unit, as shown below.
  • Page 268: Multi-Stage Robonet Layout

    Part 2 Startup Chapter 2.2.5 Multi-stage ROBONET Layout GatewayR unit Extension unit [1] An example of a multi-stage layout achieved by using REXT extension units is shown to the right. The units are installed on DIN rails. Each extension unit connected to...
  • Page 269 Be sure to install the RABU unit (simple absolute R unit) paired with each RPCON unit or RACON unit in the same row (stage) as the applicable controller unit. Keep the total distance of internal SIO communication lines of the ROBONET system (distance from the GateWayR unit to the terminal resistor of the last controller) to 30 m or less.
  • Page 270: External Sio Link Of Robonet

    Part 2 Startup Chapter 2.2.6 External SIO Link of ROBONET An example of implementing an external SIO GatewayR unit link using REXT extension units is shown to the right. Extension unit In this example, the first stage and second stage comprise a multi-stage layout, while the last extension unit [3] in the second stage is linked to a SCON or PCON-CF via SIO link.
  • Page 271 Install the 220- Ω terminal resistor supplied with the controller link cable to the 4-way junction at the end of the SIO link. Use twisted pair cables to connect the power supply (+24 V, 0 V) to the unit positioned at the far left in each ROBONET stage and also to the controller connected via the external SIO link (ERC2-SE or PCON-CF).
  • Page 272 Part 2 Startup Chapter <Fabrication of Junction Interconnection Cable> 2-pair shielded cable Recommended: Taiyo Electric Wire & Cable e-CON connector e-CON connector (4-1473562-4 by AMP: Green) e-CON connector [1] Strip the sheath of the 2-pair shielded cable by 15 to 20 Pressure-welded [2] Strand the shielded wires and solder them to vinyl wires of AWG22 or equivalent.
  • Page 273: Emergency Stop Circuit

    (1) An emergency stop circuit for normal layout and multi-stage layout is shown below. TP connector Extension unit GateWayR unit Axis controller unit Teaching pendant ROBONET Communication Connector TP connection detection circuit Drive-source cutoff signal Unit link cable EMG connector...
  • Page 274 (2) An emergency stop circuit for normal layout when external SIO link is used is shown below. TP connector GateWayR unit Axis controller unit Axis controller unit Teaching pendant ROBONET Communication Connector TP connection detection circuit Drive-source cutoff signal EMG connector (CPU control signal)
  • Page 275 Part 2 Startup Chapter Caution For the relay RYA, use a relay with a rated contact capacity of 160 mA or more. The relay that can be connected between EMG + and EMG - of the extension unit cannot exceed 160mA in the total of (10mA ×...
  • Page 276: Network Wiring

    Part 2 Startup Chapter 2.2.8 Network Wiring (1) CC-Link Check the operation manual for the master (PLC) for details on CC-Link. The following explains the points to note regarding network wiring. An example of network connection is shown below. Master station Slave station Slave station (Blue)
  • Page 277: Devicenet

    Part 2 Startup Chapter (2) DeviceNet Check the operation manual for the master (PLC) for details on DeviceNet. The following explains the points to note regarding network wiring. An example of network connection is shown below. DeviceNet unit (master) T-branch tap Trunk line Node Node...
  • Page 278 Part 2 Startup Chapter Nodes can be connected in one of the following two ways. Both methods can be used together in a single network. T-branch method Use a T-branch tap, etc. Multi-drop method Use a multi-drop connector to branch the line directly at the node. Communication power (24 VDC) must be supplied to each node via a 5-wire cable.
  • Page 279: Profibus-Dp

    Part 2 Startup Chapter (3) PROFIBUS-DP For details on PROFIBUS-DP, refer to the operation manual of the master (PLC) and also visit the website of the Japanese Profibus Organization. The following explains the points to note regarding network wiring. A network connection example is shown below (Node address 2) Master...
  • Page 280 Part 2 Startup Chapter [6] The RGW-PR connector is a D-Sub, 9-pin PROFIBUS-DP connector (female) recommended in the EN 50170 standard. Network connectors are not provided. Pin number Signal name Explanation Not connected Not connected B-Line Communication line B (positive side) Not connected Signal ground +5 V...
  • Page 281: Rs485Sio

    Shell Caution The polarities of corresponding pins are reversed on the ROBONET end and PLC end of the communication line. When connecting the ROBONET and PLC, connect the pins of the same polarities. SA (+) on GateWayR ⇔ SDB (+) on SCU, SB (-) on GateWayR ⇔ SDA (-) on SCU,...
  • Page 282: How To Connect Teaching Tool When Grounding Positive Terminal Of 24-V Power Supply

    24-V power supply With the ROBONET, basically the negative terminal of the 24-V power supply is grounded (= the 0-V side is grounded). Since most teaching pendants and PCs have their communication ground line and FG (frame ground) shorted internally, grounding the 24-V power supply at the positive terminal (= grounding the +24-V side) will cause the 24-V power supply to short when a teaching pendant or PC is connected to the GateWayR unit, resulting in damage to the teaching pendant or PC.
  • Page 283: Chapter 3 Controller Address Setting

    Part 2 Startup Chapter Chapter 3 Controller Address Setting The address of each controller unit is set using the address setting switch (hexadecimal rotary switch) provided on the front face of the unit. The range of settable addresses is 0 to F. After setting the operation mode of each axis using the gateway parameter setting tool (refer to 5.1), set an applicable address using the checkboxes by making sure no address duplication occurs.
  • Page 284: Chapter 4 Absolute Reset

    Part 2 Startup Chapter Chapter 4 Absolute Reset Overview of Simple Absolute System To combine the RPCON or RACON controller unit with the simple absolute R unit for use as an absolute axis, an absolute reset must be performed. Once an absolute reset is performed, home return will no longer be required every time the power to the controller unit is turned off.
  • Page 285: Setting The Configuration Switches

    Disconnect the backup battery before setting the configuration switches (piano switches). Connect the backup battery after the switch settings have been changed. (For the location of the switches, refer to 5.4.1, “Nomenclature” in “ROBONET Operation Manual – Specification.”) Configuration switches (Slide each switch to the left to turn it “ON.”) These switches are used to set the maximum motor speed at which absolute data can be stored, or change the mode.
  • Page 286 Part 2 Startup Chapter [Update-mode selector switch] Switch Function Update mode Normal mode This switch need not be used in a normal condition of use, and should therefore remain in the “OFF” position. (Do not set the switch to the “ON” position.) In the update mode, the RDY/ALM LED blinks in green and red alternately.
  • Page 287: Connecting The Backup Battery

    Part 2 Startup Chapter Connecting the Backup Battery After the configuration switches have been set, connect the backup battery to the backup battery connector. Setting the Parameters If the simple absolute R unit is installed later, the setting of a user parameter in the controller unit must be changed. (If you have purchased your controller unit and simple absolute R unit together, this parameter has already been set at the factory.) User parameters are set using the PC software or teaching pendant.
  • Page 288 Part 2 Startup Chapter Select a desired manual operation mode. Select teaching mode 1 or teaching mode 2. “0EE: Absolute encoder error (2)” generates. Axis 1 generates this alarm. Select Yes (Y) . From Position (T) [1], select Edit/Teach (E) [2], select the applicable address [3], and then select OK .
  • Page 289: Performing An Absolute Reset From The Host

    Part 2 Startup Chapter When the position data dialog box appears, click the servo ON button. After the servo has turned on properly, the servo lamp illuminates in blue. (10) Click the home return button. After the home return is successfully completed, the home lamp illuminates in blue. This completes the absolute reset.
  • Page 290: Chapter 5 Network Setup

    Connect the GateWayR unit with the PC using the communication cable that came with the PC software, and set the operation mode of the GateWayR unit to “MANU.” From the Start menu, click Programs (P) , click IAI , click ROBONET , and select ROBONET Gateway Parameter Setting Tool to launch the setting tool.
  • Page 291: Explanation Of The Main Screen

    Part 2 Startup Chapter The following main screen is displayed. In the main screen, set the station number (address), baud rate, and operation mode of each axis. 5.1.3 Explanation of the Main Screen The screen in the setting example is explained by assuming a generic window. The same screen is used with a CC-Link, DeviceNet, PROFIBUS or RS485SIO system.
  • Page 292 Part 2 Startup Chapter Button operations Tool Communication Setup Clicking this button opens the communication setup dialog box. Load Clicking this button loads the parameters from the GateWayR unit. Transfer Transfer to the GateWayR unit the parameters that have been set. Save Save the currently set parameters to a file.
  • Page 293 Part 2 Startup Chapter (10) Occupancy Information The items shown in this area are used to check the current settings. The displayed items vary depending on the network type, as shown below. Occupancy information display of the network types PROFIBUS, DeviseNet and RS485 Out ····Output data size (byte) In ·······Input data size (byte) Occupancy information display of the network types CC-Link...
  • Page 294 Part 2 Startup Chapter (11) Editing the operation mode of each axis (checkboxes) One of six operation modes can be set. Select a desired operation mode for each address using the corresponding checkbox. Left-click the applicable cell to place an asterisk (*) in the cell. The occupied I/O size per axis in each mode is as follows: Positioner 1 mode ······················································...
  • Page 295 Part 2 Startup Chapter Setting Range RS485SIO Network Type CC-Link DeviceNet PROFIBUS Modbus gateway SIO through mode mode [7] Address Desired value from 1 Desired value Desired value 63 (fixed) to 64 from 0 to 63 from 1 to 125 (Normally the master (Normally the unit has address 0.)
  • Page 296: Operating Procedures

    Part 2 Startup Chapter 5.1.4 Operating Procedures (1) Reading the parameters This tool establishes communication with the GateWayR unit when the parameters are read. Accordingly, always read the parameters if the tool or GateWayR unit has been restarted. Click the Read button. When a message box appears, asking if you want to permit a parameter read, select Yes to read the parameters.
  • Page 297 Part 2 Startup Chapter Caution If the firmware of the GateWayR unit does not support the settings of the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2, the following message will appear. If the firmware is Ver.000A or earlier If the firmware is Ver.000B...
  • Page 298 Part 2 Startup Chapter (2) Editing (setting) the parameters Edit the address, baud rate and enable operation according to the explanations given in 5.1.3. (3) Editing (setting) the operation mode of each axis Set the operation mode of each axis using the checkboxes shown on the right side of the screen. Example of using four axes operating in the simple direct mode/positioner 1 mode and four axes operating in the direct numerical specification mode (positioning mode) [1] Setting of number of axis...
  • Page 299 Part 2 Startup Chapter Example of use in the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2 If the number of axes for which the simple direct/positioner 1 mode or direct numerical specification mode (positioning mode) is set is 0, the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2 can be set. *3 Display of a cell changes in the order of space (not selected) →...
  • Page 300 Part 2 Startup Chapter (4) Writing the parameters When all necessary items have been edited (set),write the parameters to the GateWayR unit. When writing the parameters, set the operation mode of the GateWayR unit to “MANU.” Click the Write button. When a message box appears to confirm writing of parameters, click Yes (Y) .
  • Page 301 Part 2 Startup Chapter Caution If one of the following warning messages appears, the parameters contain one or more invalid settings. Correct the applicable setting or settings, and then write the parameters again. • If not all items have been selected in the editing of operation mode for each axis, the following warning message will appear and the write will stop.
  • Page 302 Part 2 Startup Chapter Remark If parameters are transferred, the following window will be displayed. The window enables to check in what number of PIO pattern the mode that was set in advance should be set on the used controller. If “Do not display this window at the transfer”...
  • Page 303 : Set the speed setting unit of the axes that are set to the direct numerical specification (position) mode from either 1.0 mm/sec or 0.1 mm/sec. Open the Special Parameter Setting window Select “Settings” from the menu in the main window of the ROBONET Gateway Parameter Setting Tool, then select “Special Parameters”. Caution...
  • Page 304 Part 2 Startup Chapter Setup the necessary items Setting items may decrease depending on the versions of ROBONET Gateway Parameter Setting Tool and the firmware. (ii) (iii) (iv) (i) Enable Operation … It is allowed to select an appropriate controller control method when the enable function is effective.
  • Page 305 Part 2 Startup Chapter (v) ROBONET communications number of retries setting … Number of retries for ROBONET communications (communications of ROBONET Gateway ⇔ each unit such as RACON) can be set in the range of 0 to 6 times. The factory setting is 0. (Firmware version 000E to)
  • Page 306 Part 2 Startup Chapter (6) Restarting the GateWayR unit The GateWayR unit must be restarted to make the transferred parameters effective. When the parameter transfer is completed, a message box appears and prompts you to restart the unit, as shown below.
  • Page 307 Part 2 Startup Chapter (7) Saving parameters Save the gateway parameters you have set. Click the Save to File button in the top left-hand corner of the window, specify the destination and file name, and then click the Save (S) button. (8) Opening saved parameters Click the Open File button in the top left-hand corner of the window, specify the file in which parameters are saved, and then click the Open (O) button.
  • Page 308 Part 2 Startup Chapter Caution The following message may appear occasionally, although it should not be displayed in normal conditions of use. 1. The following error message will appear when a file is opened, if the parameter file contains undefined data or missing data.
  • Page 309 Part 2 Startup Chapter (9) Creating new parameters Click the New File button in the top left-hand corner of the window to open the following screen. Select the network type and click the OK button. When the main screen for the selected network type appears, set each parameter.
  • Page 310 Invalid data may be displayed if it is on MANU. If the “monitor” is selected from the menu in the main window of ROBONET Gateway Parameter Setting Tool, a popup to select either I/O data or diagnosis information will appear as shown below.
  • Page 311 Part 2 Startup Chapter [2]-1 Choosing I/O data will lead to display the resister monitor window. (Initially it is displayed in hexadecimal numbers. The example below is a window of binary numbers.) Sent data to master Received data from master Data read cycle can be Display can be switched The contents of sent data and...
  • Page 312 Part 2 Startup Chapter [2]-2 Choosing diagnosis information will lead to display the number of ERR_T, C occurrences window. There may be some items that are not displayed depending on the version of ROBONET Gateway Parameter Setting Tool. Caution There is a case that ERR-T or ERR-C occurs straight after the power is turned ON.
  • Page 313 It helps to confirm in what number of PIO pattern the mode that was set in the Gateway Parameter Setting Tool should be set on the used controller. Select “help” from the menu in the main window of the ROBONET Gateway Parameter Setting Tool, then select “PIO pattern for each mode”.
  • Page 314: Setting Up The Master

    Part 2 Startup Chapter Setting Up the Master 5.2.1 CC-Link To operate a CC-Link system, the network parameters of the PLC must be set. These parameters are set using Mitsubishi Electric’s sequencer programming software GX-Developer. • Network parameters These parameters are set in the master station and include the number of CC-Link units connected, buffer memory of the master station (RX, RY, etc.), address of the CPU device to be refreshed automatically, number of retries after failed communication, and station information.
  • Page 315 Part 2 Startup Chapter (2) Setting the parameters In the project data list, double-click “Network Parameters.” When the network parameter selection dialog box appears, click the CC-Link button. When the CC-Link network parameter setting screen appears, set “1” under “Number of Units.” (Master station is set for 1 in this operation.)
  • Page 316 1 remote device station according to the occupancy information reflecting the settings of ROBONET gateway parameters (refer to 5.2.2 (3), “Setting the operation mode of each axis”). The system configuration parameters described in 5.2 are set as follows: •...
  • Page 317 Apply button at the bottom of the screen. The settings should conform to the occupancy information reflecting the settings of ROBONET gateway parameter. The ROBONET gateway parameter setting screen below applies to the example of system configuration used in 5.2.
  • Page 318 Part 2 Startup Chapter (3) Writing the parameters Write to the PLC the parameters you have set in (2). Specifying the connection destination Click Specify Connection Destination (C) from the Online (O) menu. The following connection destination specification screen appears. Confirm that the respective items are set as follows: PC I/F: Serial USB...
  • Page 319 Part 2 Startup Chapter Writing Click the PC write tool button to display the PC write dialog box. In the PC write dialog box, click the Parameters + Programs button and then select “MAIN” and “PC/Network” under “Programs” and “Parameters,” respectively. Clicking the Write button starts the writing of parameters.
  • Page 320: Devicenet

    This configurator by Omron comes preinstalled with the EDS files for Omron’s DeviceNet products. However, the EDS file for ROBONET is not preinstalled and must be installed separately. Download the EDS file for ROBONET (robonet_2_1.eds) from our website at the following address: Website: http://www.intelligentactuator.com...
  • Page 321 Part 2 Startup Chapter (2) Creating a network configuration Installing the EDS file • Select Install (I) from the EDS File (S) menu, specify the location where the EDS file is saved, and install the file. • When the installation is completed, a new “HMS Fieldbus System AB” level is created below “Vendor.”...
  • Page 322 Part 2 Startup Chapter Registering the master station Register the master station (CJ1W-DRM21 in this example) to the network. This can be done manually or via automatic recognition. Manual registration • Drag the applicable master unit (CJ1W-DRM21) to the network configuration window from below “Communication Adapter”...
  • Page 323 Part 2 Startup Chapter • When the Change Node Address dialog box appears, set “63” (a desired value can be set between 0 and 63). Normally the master unit is used with its node address set to the maximum value, or 63. (The master node address has been set to “63”...
  • Page 324 Part 2 Startup Chapter • The master station is automatically recognized and the master station (CJ1W-DRM21) is registered to the network configuration window on the right side of the screen. Registering a slave In the hardware list, select the EDS file you have registered in [1], and drag and drop the file onto the network configuration window.
  • Page 325 Part 2 Startup Chapter (3) Creating a scan list A scan list is a list of registered slave stations with which the master station will communicate via remote I/O communication over the DeviceNet network. Use the configurator to assign I/Os to each slave station and register the assignments to the master station.
  • Page 326 The settings should conform to the occupancy information reflecting the settings of ROBONET gateway parameter. The ROBONET gateway parameter setting screen below applies to the example of system configuration used in 5.2 (Axis 0: Positioner mode, Axis 1: Direct numerical specification mode).
  • Page 327 Part 2 Startup Chapter After all necessary items have been set, click the OK button. The AnyBus-CC Properties dialog box appears. Confirm the settings and click the Close button. Registering a slave station (gateway unit) to the master In the network configuration window, drag and drop a desired slave station onto the master to register the slave station to the master.
  • Page 328 Part 2 Startup Chapter In the network configuration window, double-click the master station to open the Edit Device Parameters dialog box and confirm that the list of registered devices matches the settings made in (3)-[1]. In the Edit Device Parameters dialog box accessed in the following step, check the Master I/O Assignments (OUT) tab and Master I/O Assignments (IN) tab to confirm the result of automatic assignment.
  • Page 329 Part 2 Startup Chapter Once the slave station has been registered to the master station, a return icon appears at the bottom right of the slave station, followed by a # sign and the node address of the master station.
  • Page 330 Part 2 Startup Chapter (4) Online connection From the Network (N) menu, left-click Connect to bring the unit online. (You can also achieve an online status by left-clicking the connect button in the toolbar.) When the interface settings are displayed, change them according to the settings in the screen example, and click the OK button.
  • Page 331 Part 2 Startup Chapter When the unit has successfully become online, the indicator in the status bar in the bottom right-hand corner of the screen changes to blue and the text changes from “Off-line” to “On-line.” (5) Downloading the master scan list Download to the network master station the scan list and settings you have created.
  • Page 332 Part 2 Startup Chapter When the dialog box appears and asks if you want to permit writing of device parameters, left-click the Yes button. The following dialog box is displayed while the scan list is being written. When all device parameters have been written, click the OK button.
  • Page 333: Profibus

    Part 2 Startup Chapter 5.2.3 PROFIBUS (1) Installing the GSD file An example of installation using Siemens’s STEP7 HardWare Configuration (hereinafter referred to as “HW Config”) is explained. To define a gateway, a GSD file for the gateway must be downloaded in advance. The GSD file you need is “IAIOB2F.gsd,”...
  • Page 334 Part 2 Startup Chapter (2) Inserting the PROFIBUS-DP master system Select Insert from the menu bar, select Master System in the pull-down menu, and left-click DP . The PROFIBUS-DP master system is inserted. <Inserting the master system> When the insertion has been successful, the master system is displayed as shown below. <Inserted PROFIBUS-DP master system>...
  • Page 335 Part 2 Startup Chapter (3) Inserting the gateway rack into the network Insert the rack module by dragging “ANYBUS-S PDP” in the catalog window and dropping it over the master system, as shown below. The address is set automatically. To change the address, do so in the Properties dialog box. The address of the gateway rack must correspond to the address switch setting of the gateway.
  • Page 336 Set “Out-input” under “I/O Type,” and set the output length and input length according to the occupancy information set by the ROBONET gateway parameter setting tool. In the example below, four numerical axes are connected. Since the addresses are set automatically, change them if necessary.
  • Page 337 Part 2 Startup Chapter (5) Setting the I/O data consistency Under the normal settings, consistency of I/O data is assured in units of words or bytes for in the case of a PROFIBUS system. It is important that the command area be read and written in a manner maintaining consistency between the command codes and parameters.
  • Page 338: Rs485Sio

    Set up the serial communication unit (SCU) software ↓ 2. Import the function block definitions Download the dedicated ROBONET function block file (RBNET_RW) from the website to the PC. ↓ 3. Assign the function block definitions (Generate an instance) * Insert a function block in the ladder section window.
  • Page 339 Part 2 Startup Chapter (1) Setting up the PLC Setting the switches on the serial communication unit (SCU) For details, refer to the operation manual for your PLC. The following explains an example with the serial communication unit CJ1W-SCU41-V1. Model number: CJ1W-SCU41-V1 LED indicators Terminal resistor ON/OFF switch Unit-number setting switch...
  • Page 340 Part 2 Startup Chapter Creating an I/O table Launch CX-Programmer (Version 7.0). Connect CX-Programmer to the PLC. You can connect CX-Programmer to the PLC by setting the network type, baud rate and other necessary items in an offline state, or by selecting a connection port to automatically bring the connection online. Set the PLC operation mode to “Program.”...
  • Page 341 Part 2 Startup Chapter Double-click the CPU Unit Settings tab in the PLC System Settings dialog box, and set the necessary items in the “Communication Command Settings in FB” area as follows: • Number of Resends: Set the number of times the data will be resent if the PLC has experienced a communication error while communicating with the gateway unit.
  • Page 342 Part 2 Startup Chapter Setting up the serial communication unit (SCU) software In the same condition as in the previous step (online, program mode), set the operation of the serial communication unit. Double-click “I/O Table/Unit Settings” in the workspace window to open the I/O table. Double-click the serial communication unit.
  • Page 343 Part 2 Startup Chapter When the parameter edit dialog box for the serial communication unit appears, set the communication parameters separately for the applicable port. The gateway unit and serial communication unit (CJ1W-SCU41-V1) are connected via the RS485 protocol. Accordingly, the port to be used is “1” and each item is set as follows: •...
  • Page 344 Part 2 Startup Chapter Once all necessary items have been set, click the Transfer [PC → Unit] (T) tab. When the transfer is completed, the program prompts you to restart the unit. Click Yes .
  • Page 345 Part 2 Startup Chapter (2) Importing the function block definitions Before importing the definitions, download from our website the CXF file for dedicated ROBONET function block (file name: RBNET_RW). Launch CX-Programmer and keep it offline. Select File (F) from the menu bar and click New (N) . The following screen appears.
  • Page 346 Part 2 Startup Chapter When the function block library selection dialog box appears, specify the CXF function block file (RBNET_RW) and opens the file from the location where it is saved. When the import of function block definitions is completed, click OK . One more function block (J_SerialGateway_Cyclic) is imported.
  • Page 347 Part 2 Startup Chapter If the import of function block definitions has been successful, the RBNET_RW.cxf file is now added to the function block tree. (J_SerialGateway_Cyclic is also added simultaneously.)
  • Page 348 Part 2 Startup Chapter (3) Generating an instance Generate an instance of function block definitions in the ladder section window. In the same condition as in (2) (PLC is offline), move the cursor to the location in the ladder section window where you want to generate an instance, and press the “F”...
  • Page 349 Part 2 Startup Chapter (4) Setting function block parameters Set parameters for the function block instance generated in (3) to assign I/Os for communication with external devices. Bring the cursor to the location where you want to set a parameter, and press the “P” key. When the parameter edit window opens, set a value or address appropriate for the data type.
  • Page 350 Part 2 Startup Chapter When all parameters have been set, the window should look like the one shown below. Red line EN (the FB operates when this parameter is “ON”) and ENO (this parameter turns “ON” while the FB is operating) at the top of the FB are connected using contact points and lines just like you do in a normal ladder sequence.
  • Page 351 Part 2 Startup Chapter When the cursor is moved to the next line in the function block, the red line in (2) disappears and the window looks like the one shown below. The red line disappears.
  • Page 352 Part 2 Startup Chapter SIO Through Mode If the SIO through mode is to be used, refer to the operation manual on serial communication (Modbus version). In this mode, the GateWayR unit exchanges data with the host master in units of bytes (at the specified baud rate). It also exchanges data with the controller unit at the baud rate of 230.4 kbps.
  • Page 353: Creating A Controller Position Table

    Creating a Controller Position Table If the ROBONET system is to be used in the positioner mode or simple direct mode, a position table must be registered in the controller beforehand. The items that must be set are summarized in the table below.
  • Page 355: Address Correlation Diagram

    Part 2 Startup Chapter Address Correlation Diagram The correlation between the PLC’s I/O addresses (internal addresses) and the ROBONET addresses (gateway addresses) over the network that has been set up is explained for CC-Link, DeviceNet and RS485SIO systems. 5.2 and 5.3 explained an example of network configuration and the configuration procedure. The descriptions in this section assume the settings used in this example.
  • Page 356: Address Correlation Diagram For Cc-Link System (Example)

    Part 2 Startup Chapter 5.4.1 Address Correlation Diagram for CC-Link System (Example) Gateway R unit (RGW-CC) (station number 1) Buffer memory of master station (station number 0) Input register Upper byte Lower byte Gateway status signal 0 Gateway status signal 1 Response command Data 0 Data 1...
  • Page 357 Part 2 Startup Chapter Output register Upper byte Lower byte (Axis 0) Position data specification (L) (Axis 0) Position data specification (H) (Axis 0) Position number (Axis 0) Control signal (Axis 1) Position data specification (L) (Axis 1) Position data specification (H) Refreshed automatically.
  • Page 358: Address Correlation Diagram For Devicenet System (Example)

    Part 2 Startup Chapter 5.4.2 Address Correlation Diagram for DeviceNet System (Example) Master station (station number 63) Gateway R unit (RGW-DV) (station number 0) Gateway register (PLC output) Corresponding channel PLC address (node address) (channel number) Upper byte Lower byte Gateway control signal 0 Gateway control signal 1 Request command...
  • Page 359: Address Correlation Diagram For Rs485Sio System (Example)

    Part 2 Startup Chapter 5.4.3 Address Correlation Diagram for RS485SIO System (Example) The following diagram assumes the Modbus gateway mode and use of a function block. Gateway R unit (RGW-SIO) Address assignments Function block Gateway register (PLC output) Address Variable name Set address Upper byte Lower byte...
  • Page 360: Chapter 6 Setting For External Sio Link And Other

    Set the mode selector switch on the front panel of the SCON/PCON-CF to MANU. Signal assignment The assignment of each signal for the SCON/PCON-CF is the same as with the RPCON/RACON. Refer to “ROBONET Specification.” Set the axis number using the rotary switches.
  • Page 361: Other

    Part 2 Startup Chapter Other Items to note regarding the condition of user setting switch SW1 on the GateWayR unit are given below. When SW1 = OFF (TP enable switch signal disabled) The TP enable switch signal of each connected RPCON, RACON, PCON-CF or SCON controller becomes ineffective regardless of the enable operation parameter set by the gateway parameter tool.
  • Page 362: Part 3 Maintenance

    Identify the background leading to the problem as well as the operating condition when the problem occurred Analyze the cause of problem Take appropriate actions If the problem cannot be resolved, contact IAI after conducting the checks in a to k.
  • Page 363: Alarms Of The Gatewayr Unit

    Part 3 Maintenance Alarms of the GateWayR unit The GateWayR unit indicates various alarms using the LED indicators provided on the front face of the unit. The four LEDs of RUN/ALM, EMG, ERR-T and ERR-C indicate the same conditions regardless of the gateway type (common alarm indicators).
  • Page 364: Common Alarms

    Check the ROBONET communication connection board for proper insertion. [3] Not all controllers are ready. [3] The ROBONET link is operating normally, but the CRDY signal of a specific axis is turned OFF. Monitor each axis to identify and replace the problem axis.
  • Page 365: Alarms By Field Network Type

    Part 3 Maintenance 1.2.2 Alarms by Field Network Type The alarms indicated by the STATUS0 and STATUS1 LEDs vary depending on the field network type, as shown below. (1) CC-Link Displayed LED name Condition Action color STATUS-1 Unlit [1] Normal [2] Reset process is in progress.
  • Page 366 Part 3 Maintenance (2) DeviceNet Displayed LED name Condition Action color STATUS-1 Unlit Offline/no power Communication with the master is not yet established. Check the DeviceNet communication power supply (+24 V), power supply of the gateway unit, communication cable, etc. Green The unit is online and connection has been established (normal).
  • Page 367 Part 3 Maintenance (4) RS485SIO Displayed LED name Condition Action color STATUS-1 Unlit Data send stopped Green Sending data STATUS-0 Unlit Data receive stopped Green Receiving data These are not alarm signals.
  • Page 368: Examples Of Indicator Statuses Corresponding To Representative Alarms

    The 24-V power supply of the gateway unit is turned off. The power supply of the master is turned off. The network cable is disconnected. The ROBONET communication connection board is detached. The station number setting of the gateway unit is different from the station number registered to the master.
  • Page 369: Alarms Of The Controller Unit And Simple Absolute R Unit

    Three status monitor LEDs are provided on the front face of the simple absolute R unit. When an alarm has generated or other problem has occurred, check the status of these LEDs. The details are described in 5.4.2 of “ROBONET Operation Manual – Specification.” The tables below provide an overview.
  • Page 370 If the cause of the alarm cannot be removed, or the alarm cannot be reset even after its cause has been removed, contact IAI. If the same alarm generates again after a reset, the cause of the alarm has not been removed. In this case, repeating the reset action may result in a burned motor or other undesired condition.
  • Page 371 Part 3 Maintenance Alarm List STATUS Simple Alarm Reset Alarm name RPCON RACON method code code Software reset command with servo ON Position number error during teaching PWRT signal detection during movement PWRT signal detection before home return Movement command with servo OFF Absolute position movement command before home return Movement command during home return...
  • Page 372: Alarms, Causes And Actions

    Part 3 Maintenance 1.3.2 Alarms, Causes and Actions (1) Operation-cancellation alarms (These alarms can be reset with the reset signal.) Code Alarm name Cause/action Movement Cause: A movement command was issued as a numerical command when the servo command with was OFF.
  • Page 373 [4] If the load is normal, cut off the power and move the actuator by hand to check the slide resistance. If the actuator itself is suspected, such as when a faulty encoder is a likely cause, please contact IAI.
  • Page 374 Action: Check the assembly condition of mechanical parts for any abnormality. If the actuator itself is suspected as the cause, please contact IAI. Servo error This alarm indicates that the motor could not be operated for 2 seconds or more after the (RPCON only) movement command was accepted and before the target position was reached.
  • Page 375 [2] A faulty part inside the controller Action: Check the input power-supply voltage. If the voltage is normal, please contact IAI. Control This alarm indicates that the 24-V input power-supply voltage is low (24 V - 20%: 19.2 V power-supply or below).
  • Page 376 Part 3 Maintenance Code Alarm name Cause/action Absolute encoder Cause: [1] When the power was reconnected following the completion of an absolute error (1) reset, the current position changed due to an external factor or other cause occurring while the controller was communicating with the absolute unit. [2] When an absolute reset was performed, the current position changed due to an external factor or other cause occurring while the controller was communicating with the absolute unit.
  • Page 377 (RPCON only) [4] If the load is normal, cut off the power and move the actuator by hand to check the slide resistance. If the actuator itself is suspected as the cause, please contact IAI. Overcurrent Cause: The output current from the power-supply circuit became abnormally high.
  • Page 378 [3] If the work can be moved by hand, do so to check for locations where the slide resistance increases. If [2] or [3] is the case, please contact IAI. Note: Be sure to remove the cause of the alarm before resuming the operation. If the power was cut off, wait for at least 30 minutes before turning on the power again to prevent the motor coil from burning.
  • Page 379 (As a guide, the nominal rewrite limit of the nonvolatile memory is around 100,000 times.) Action: If the alarm generates again after reconnecting the power, please contact IAI. Nonvolatile This error indicates that response was not received within the specified time after data memory write was written to the nonvolatile memory.
  • Page 380: Messages Displayed During Operation Using The Teaching Pendant Or Pc Software

    Part 3 Maintenance 1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displayed during operation using the teaching pendant or PC software. Code Message Description Invalid data An invalid value was input in a parameter. (Example) 9601 was input as the serial communication speed by mistake.
  • Page 381 Response timeout (M) [2] Change the slave station numbers to avoid duplication. If the message is still displayed after taking the above actions, please contact IAI. Packet R-QUE OV Packet S-QUE OV Memory command...
  • Page 382: Chapter2 Maintenance/Inspection

    Part 3 Maintenance Chapter2 Maintenance/Inspection Carry out daily or periodic inspection to make sure your ROBONET continues to demonstrate its functions fully. Danger Do not touch the terminals while the power is supplied. Doing so may result in electric shock.
  • Page 383: Periodic Inspection Items

    Part 3 Maintenance Periodic Inspection Items The ROBONET may suffer deterioration of electronic parts or exhibit other undesirable conditions depending on the environment. To prevent these problems, periodic inspection is necessary. The standard inspection interval is six months to one year. Shorten the interval depending on the surrounding environment.
  • Page 384: Important Information On Unit Replacement

    Important Information on Unit Replacement If any of the units comprising the ROBONET system exhibits abnormality and the unit must be replaced, take heed of the following points: • Replace the unit with the power turned off.
  • Page 385: Replacing The Backup Battery

    Part 3 Maintenance Replacing the Backup Battery The backup battery for simple absolute R unit lasts for three years. The expiration date label is attached on the front face of the battery, as shown below. Replace the backup battery if the expiration date has passed, even when the battery is not faulty.
  • Page 386: Appendix

    Appendix RACON Specification List of Supported Actuators Slider type Rated acceleration/ Maximum load capacity deceleration Stroke (mm) and maximum speed (mm/sec) *1 Horizontal Vertical Horizontal Vertical Type Rod type * The RCA-SS4/SS5/SS6 and RCACR-SA4/SA5/SA6 are the same as the SA4/SA5/SA6 above. Rated acceleration/ Maximum load capacity Rated...
  • Page 387: Rpcon Specification List Of Supported Actuators

    Appendix RPCON Specification List of Supported Actuators Slider, Ball Screw Drive Rated acceleration/ Load capacity (*2) deceleration Stroke (mm) and maximum speed (mm/sec) (*1) Horizontal Vertical Horizontal Vertical Model (*1) The figure in the elongated circle indicates the maximum speed for each stroke. Slider, Belt Drive The figures in parentheses apply to a vertical application.
  • Page 388 Appendix Rod type Rated acceleration/ Load capacity (*2) deceleration Stroke (mm) and maximum speed (mm/sec) (*1) Horizontal Vertical Horizontal Vertical Model (*1) The figure in the elongated circle indicates the maximum speed for each stroke. The figures in parentheses apply to a vertical application. (*2) The load capacity is calculated by assuming actuator operation at the rated acceleration.
  • Page 389 Appendix Correlation Diagrams of Speed and Load Capacity – Slider Type (Motor Straight Type) Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead.
  • Page 390 Appendix Correlation Diagrams of Speed and Load Capacity – Slider Type (Motor Reversing Type) Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead.
  • Page 391 Appendix Correlation Diagrams of Speed and Load Capacity – Standard Rod Type (Note 1) Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead. (Note 1) The figures for horizontal installation assume use of an external guide or guides.
  • Page 392 Appendix Correlation Diagrams of Speed and Load Capacity – Single-guide Type Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead.
  • Page 393 Appendix Correlation Diagrams of Speed and Load Capacity – Double-guide Type Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead.
  • Page 394 Appendix Correlation Diagrams of Speed and Load Capacity – Dustproof/Splashproof Type (Note1) (Note2) Horizontal installation Vertical installation Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number following the type name indicates the lead. (Note 1) The figures for horizontal installation assume use of an external guide or guides.
  • Page 398 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 © 2009. Nov. IAI Corporation. All rights reserved.

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