Page 1 DeviceNet Operation Manual, Seventh Edition ACON-C/CG/CA PCON-C/CG/CA/CFA SCON-CA/CAL DCON-CA...
Page 3 Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited.
Page 4 Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview Control number DeviceNet Operation Manual Refer to this operation manual if you are using an ME0124 XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C E-Con controller(s).
Page 5: Table Of Contents
Table of Contents Safety Guide ..........................1 Overview ................................9 ACON-C/CG, PCON-C/CG..........................10 Operation Modes and Functions....................10 Model Numbers..........................13 Interface Specifications........................ 14 DeviceNet Interface ........................15 2.4.1 Name of Each Part......................15 2.4.2 Monitor LED Indicators....................16 Selecting (Setting) the Operation Mode..................17 Setting the Node Address ......................
Page 6 3.7.7 I/O Signal Controls and Functions ................125 I/O Signal Timings........................142 Operation ........................... 143 3.10 DeviceNet Parameters....................... 151 3.11 Troubleshooting ......................... 156 3.12 CE Mark ............................. 157 SCON-CA/CAL............................. 158 Operation Modes and Functions....................158 Model Numbers.......................... 162 Interface Specifications......................163 DeviceNet Interface ........................
Page 7: Safety Guide
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 8 Operation Description Description Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Page 9 Operation Description Description Installation and (2) Cable Wiring Start Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
Page 10 Operation Description Description Installation and (4) Safety Measures Start When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
Page 11 Operation Description Description Trial Operation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
Page 12 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Page 13 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.
Page 15: Overview
The open field network DeviceNet is a multi-bit, multi-vendor network for communication of both control and data signals of the machine/line control level. A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ASEL, PSEL, SSEL, SCON, ACON and PCON controllers (hereinafter collectively and individually referred to as “Each Controller”) to a DeviceNet network.
Page 16: Acon-C/Cg, Pcon-C/Cg
ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers supporting DeviceNet can be operated in a desired operation mode selected from the following five modes. Operation Modes and Key Functions Remote I/O Position/simple Remote I/O Key function Half direct mode Full direct mode...
Page 17 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
Page 18 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G...
Page 19: Model Numbers
Model Numbers The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively: ACON-C/CG- -DV- PCON-C/CG- -DV- Printed series name ACON Front panel color PCON ACON: Dark blue PCON: Dark green...
Page 20: Interface Specifications
Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...
Page 21: Devicenet Interface
DeviceNet Interface 2.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. Status LEDs Monitor LEDs White DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AUM Light blue (PHOENIX CONTACT) Black Cable side : SMSTB2.5/5-ST-5.08AU (PHOENIX CONTACT)
Page 22: Monitor Led Indicators
2.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
Page 23: Selecting (Setting) The Operation Mode
Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 2.10, “DeviceNet Parameters.”) Number of occupied Set value...
Page 24: Communicating With The Master Station
Communicating with the Master Station 2.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. PLC output ACON or PCON input (* n indicates the node address of each axis.) ACON,PCON DI and input data register Position/simple Remote I/O mode Remote I/O mode...
Page 25 ACON or PCON output PLC input side (* n indicates the node address of each axis.) ACON or PCON DO and output data register Position/simple Remote I/O mode Remote I/O mode Half direct mode Full direct mode PLC input area direct mode (channel) Number of...
Page 26: Remote I/O Mode (Number Of Occupied Channel: 1)
2.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No.
Page 27 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. ACON or PCON ACON or PCON PLC output channel PLC input channel (port number) (port number) 0~15 0~15 (Note) Exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
Page 28 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) ACON Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode Port Category...
Page 29 ACON Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position...
Page 30 PCON Setting of Parameter No. 25 Teaching mode 256-point mode Positioning mode (standard) (teaching type) (256-point type) Port Category Symbol Signal name Symbol Signal name Symbol Signal name Command position Command position number number Command position PC16 PC16 PC16 number PC32 PC32 PC32...
Page 31 PCON Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position...
Page 32: Position/Simple Direct Mode (Number Of Occupied Channels: 4)
2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value registered in the position data table.
Page 33 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
Page 34 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
Page 35 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 36 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: 000003FFH = 1023 (decimal) 32 bits...
Page 37: Half Direct Mode (Number Of Occupied Channels: 8)
2.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are specified directly and numerically from the PLC. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
Page 38 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
Page 39 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 40 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 41 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 42 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). 16-bit data The actual allowable specification range varies from one 2.9 (2)
Page 43 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: 000003FFH = 1023 (decimal) 32-bit data...
Page 44: Full Direct Mode (Number Of Occupied Channels: 16)
2.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control ROBO Cylinder function X: Invalid...
Page 45 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas. Control signals 1 and 2 and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data.
Page 46 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 47 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion current-limiting...
Page 48 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 49 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 50 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 16-bit integer. 16-bit data Acceleration Specify the acceleration and deceleration at which to move the actuator.
Page 51 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details Push direction specification: When this signal is OFF, push-motion operation is performed in the direction of the position determined by subtracting the positioning band from the target position.
Page 52 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: 000003FF = 1023 (decimal)
Page 53: Remote I/O Mode 2 (Number Of Occupied Channels: 6)
2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No.
Page 54 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. ACON or PCON DI ACON or PCON DO PLC output channel PLC input channel and input register and output register Port number 0 to 15 Current position Occupied area Current position...
Page 55 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 56 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below.
Page 57: I/O Signal Controls And Functions
2.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
Page 58 (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED (refer to 2.4, “DeviceNet Interface”) on the front panel of the controller will illuminate in green.
Page 59 (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC input signal] When the HOME signal is turned ON, the HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically.
Page 60 (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal] The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
Page 61 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Timing at which the position complete signal turns ON Speed Target position Travel...
Page 62 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters.
Page 63 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation or inch operation. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
Page 64 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON Parameter No.
Page 65 (16) Teaching command (MODE) [PLC output signal] Teaching mode signal (MODES) [PLC input signal] When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
Page 66 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
Page 67 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
Page 68 (26) Load output judgment (LOAD) [PLC input signal] [Dedicated PCON function] This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
Page 69 (27) Torque level (TRQS) [PLC input signal] [Dedicated PCON function] This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
Page 70 (28) Stopping control mode (SMOD) [PLC output signal] [Dedicated PCON function] One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.
Page 71 (29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] [Dedicated ACON function] These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
Page 72 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal] Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the instruction manual for the controller for more information.
Page 73: I/O Signal Timings
I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.) Yt: Master station node transmission delay...
Page 74: Operation
Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full direct mode by using examples. For the operation timings in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
Page 75 Set value of target position data Specified position number Positioning start Position complete Current position Moving Positioning band Actuator movement *T1: Make sure “T1 0 ms” is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec)
Page 76 (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioning band channel, specified speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel.
Page 77 Set value of target position data Set value of positioning band data Set value of speed data Set value of acceleration/ deceleration data Set value of push-motion current-limiting value Push-motion specification Push direction specification Positioning command [14] [10] Position complete/load missed in push motion [13] Current position...
Page 78 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel.
Page 79 Set value of target position data Set value of positioning band data Set value of speed data Set value of position zone boundary data Set value of acceleration data Set value of deceleration data Set value of push-motion current-limiting value Set value of load current threshold data...
Page 80 Push-motion specification [10] Push direction specification Positioning command [17] [11] [12] [13] Position complete/load missed in push motion [16] Current position [15] [14] Moving Push Actuator operation (push motion) Positioning band Actuator operation (Normal positioning) *T1: Make sure “T1 0 ms” is satisfied by considering the scan time of the host controller.
Page 81 (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After a desired data has been changed, keep the positioning command (DSTR) signal “ON”...
Page 82: Devicenet Parameters
2.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87 and 90. Category: C: External interface parameter No. Category Symbol Name Factory-set default For parameter Nos. 1 to 83, refer to the operation manual for the controller. FMOD Fieldbus operation mode NADR Fieldbus node address...
Page 83 Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. Fieldbus I/O format (No. 90, FMIO) Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the controller and number of occupied channels in each operation mode.
Page 84 (Example ii) Set value = “1” indicates ON, while O indicates OFF. Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data...
Page 85 (Example iii) Set value = “2” indicates ON, while O indicates OFF. Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data...
Page 86 (Example iv) Set value = “3” indicates ON, while O indicates OFF. Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data...
Page 87: Troubleshooting
Cause: The module could not be detected. Fieldbus module not Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID Simple alarm code (*2) RES Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset...
Page 88: Ce Mark
2.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Page 89: Acon-Ca, Pcon-Ca/Cfa, Dcon-Ca
ACON-CA, PCON-CA/CFA, DCON-CA Operation Modes and Functions ACON-CA, PCON-CA/CFA, DCON-CA controllers (hereinafter referred to as “IAI controllers”) supporting DeviceNet can be operated in a desired operation mode selected from the following five modes. Operation Modes and Key Functions Remote I/O...
Page 90 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
Page 91 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G...
Page 92: Model Numbers
Model Numbers The model numbers of IAI controllers controller supporting DeviceNet are indicated as follows, respectively: ACON-CA- -DV- PCON-CA- -DV- PCON-CFA- -DV- DCON-CA- -DV- Printed series name ACON, PCON or DCON Front panel color ACON-CA : Dark blue PCON-CA : Dark green...
Page 93: Interface Specifications
Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...
Page 94: Devicenet Interface
DeviceNet Interface 3.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. SV/ALM Status Indicator LEDs Monitor LED White DeviceNet communication connector PCB side : MSTB2.5/5-GF-5.08AU Blue (PHOENIX CONTACT) Black Cable side : MSTB2.5/5-STF-5.08AUM (PHOENIX CONTACT)
Page 95: Monitor Led Indicators
3.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
Page 96: Selecting (Setting) The Operation Mode
Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, (Note 1) “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later).
Page 97: Communicating With The Master Station
3.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. PLC output IAI controllers input (* n indicates the node address of each axis.) ACON-CA, PCON-CA/CFA, DCON-CA DI and input data register Position/simple...
Page 98 IAI controllers output PLC input side (* n indicates the node address of each axis.) ACON-CA, PCON-CA/CFA, DCON-CA DO and output data register Position/simple Remote I/O mode Remote I/O mode Half direct mode Full direct mode PLC input area direct mode...
Page 99: Remote I/O Mode (Number Of Occupied Channel: 1)
3.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No.
Page 100 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers DI IAI controllers DO PLC output channel PLC input channel (port number) (port number) 0~15 0~15 (Note) Exercise caution to avoid node address duplication.
Page 101 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) Setting of Parameter No. 25 Teaching mode 256-point mode Positioning mode (standard) (teaching type) (256-point type)
Page 102 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position PC16...
Page 103: Position/Simple Direct Mode (Number Of Occupied Channels: 4)
Zones are set using Zone signal output parameters. PIO pattern selection (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input register output register...
Page 104 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
Page 105 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
Page 106 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 107 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: 000003FF = 1023 (decimal)
Page 108: Half Direct Mode (Number Of Occupied Channels: 8)
Pause Parameters must be Zone signal output PIO pattern selection (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input register output register Target position...
Page 109 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
Page 110 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 111 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 112 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 113 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). 16-bit data The actual allowable specification range varies from one 3.9 (2)
Page 114 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current 32-bit data (Example) Reading: 000003FF...
Page 115: Full Direct Mode (Number Of Occupied Channels: 16)
Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input register output register...
Page 116 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas. Control signals 1 and 2 and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data.
Page 117 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 118 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion current-limiting...
Page 119 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 120 Address (* “n” shows the head register address per each axis). one word = 16 bits n+10 b15 b14 b13 b12 b11 b10 b9 Total moving count (Slave Word) n+11 b15 b14 b13 b12 b11 b10 b9 Total moving count (Host Word) n+12 b15 b14 b13 b12 b11 b10 b9...
Page 121 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 122 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 16-bit integer. 16-bit data Acceleration Specify the acceleration and deceleration at which to move the actuator.
Page 123 Address Bits Symbol Function Details Acceleration/deceleration mode: MOD1 MOD1 MOD0 Function Trapezoid pattern 3.7.7 (29) S-motion MOD0 Primary delay filter Servo gain Select the servo gain parameter set to be used. Control parameter (ACON-CA GSL1 GSL1 GSL0 Function signal 1 only) Select parameter set 0.
Page 124 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details Push direction specification: When this signal is OFF, push-motion operation is performed in the direction of the position determined by subtracting the positioning band from the target position.
Page 125 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: 000003FF = 1023 (decimal)
Page 126 Signal type Bits Symbol Description Details Emergency stop: An emergency stop is actuated when this EMGS 3.7.7 (2) signal turns ON. Controller ready: This signal turns ON when the controller 3.7.7 (1) becomes ready. Zone 2: This signal turns ON when the current position is inside ZONE2 3.7.7 (12) the specified zone.
Page 127: Remote I/O Mode 2 (Number Of Occupied Channels: 6)
3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No.
Page 128 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers DI and IAI controllers DO PLC output channel PLC input channel input register and output register Port number 0 to 15 Current position...
Page 129 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 130 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below.
Page 131 3.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
Page 132 The controller servo can be turned on/off using the SON signal. While the SV signal is ON, the controller servo remains on and the actuator can be operated. The relationship of the SON signal and SV signal is shown below. (PLC IAI controllers) (IAI controllers PLC)
Page 133 ON, the HEND signal will not turn OFF until the power is turned off or a HOME signal is input again. After a home return has been performed once, another home return can be performed by turning ON the HOME signal. HOME (PLC IAI controllers) GHMS (IAI controllers PLC) HEND...
Page 134 HEND signal is OFF), the actuator will automatically return home and then move to the target position. Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns OFF. Target position (PLC IAI controllers) CSTR (PLC IAI controllers) PEND...
Page 135 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Timing at which the position complete signal turns ON Speed Target position Travel...
Page 136 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters.
Page 137 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation or inch operation. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
Page 138 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON Parameter No.
Page 139 (2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be written. (refer to the operation manual for the controller.) MODES At least 20 msec (IAI controllers PLC) PWRT (PLC IAI controllers) WEND...
Page 140 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
Page 141 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
Page 142 (26) Load output judgment (LOAD) [PLC input signal] [PCON-CA/CFA only] This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
Page 143 (27) Torque level (TRQS) [PLC input signal] [PCON-CA/CFA only] This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
Page 144 (28) Stopping control mode (SMOD) [PLC output signal] [PCON-CA/CFA only] One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.
Page 145 (29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
Page 146 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal] Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the instruction manual for the controller for more information.
Page 147 (33) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) [PLC Output Signal] [ACON-CA only] The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
Page 148: I/O Signal Timings
I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.) Yt: Master station node transmission delay...
Page 149 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full direct mode by using examples. For the Remote I/O Mode and Remote I/O Mode 2, refer to the operation manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as deemed appropriate.) (1) Operation in the position/simple direct mode...
Page 150 Set value of target position data (PLC PCON) (PLC ACON, PCON, DCON) Specified position number (PLC ACON, PCON, DCON) Positioning start CSTR (PLC ACON, PCON, DCON) Position complete PEND (ACON, PCON, DCON PLC) Current position (ACON, PCON, DCON PLC) Moving MOVE (ACON, PCON, DCON PLC) Positioning band...
Page 151 (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioning band channel, specified speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel.
Page 152 Set value of target position data (PLC ACON, PCON, DCON) Set value of positioning band data (PLC ACON, PCON, DCON) Set value of speed data (PLC ACON, PCON, DCON) Set value of acceleration/ deceleration data (PLC ACON, PCON, DCON) Set value of push-motion current-limiting value (PLC ACON, PCON, DCON)
Page 153 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel.
Page 154 Set value of target position data (PLC ACON, PCON, DCON) Set value of positioning band data (PLC ACON, PCON, DCON) Set value of speed data (PLC ACON, PCON, DCON) Set value of position zone boundary data (PLC ACON, PCON, DCON) Set value of acceleration data (PLC ACON, PCON,...
Page 155 Push-motion specification PUSH (PLC ACON, PCON, DCON) [10] Push direction specification (PLC ACON, PCON, DCON Positioning command [17] DSTR [11] (PLC ACON, PCON, DCON) [12] [13] Position complete/load missed in push motion PEND/PSFL [16] (ACON, PCON, DCON PLC) Current position (ACON, PCON, DCON PLC) [15]...
Page 156 (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After a desired data has been changed, keep the positioning command (DSTR) signal “ON”...
Page 157 3.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159. Category: C: External interface parameter No. Category Symbol Name Factory-set default For parameter Nos. 1 to 83, refer to the operation manual for the controller. FMOD Fieldbus operation mode NADR...
Page 158 Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. Fieldbus I/O format (No. 90, FMIO) Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the controller and number of occupied channels in each operation mode.
Page 159 (Example ii) Set value = “1” indicates ON, while O indicates OFF. PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data...
Page 160 (Example iii) Set value = “2” indicates ON, while O indicates OFF. PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data...
Page 161 (Example iv) Set value = “3” indicates ON, while O indicates OFF. PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode.
Page 162: Troubleshooting
Cause: The module could not be detected. Fieldbus module not Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID Simple alarm code (*2) RES Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset...
Page 163 3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Page 164 SCON-CA/CAL Operation Modes and Functions All of the operation modes described in the table below for SCON-CA Type applicable for DeviceNet and those except for the ones in the shaded area for CAL Type are available to choose from for operation. Position/ Remote I/O Position/simple...
Page 165 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
Page 166 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied channels: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G...
Page 167 [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, (Not applicable for CAL Type) directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.
Page 168: Model Numbers
Model Numbers The model numbers of SCON-CA/CAL controller supporting DeviceNet are indicated as follows, respectively: SCON-CA- -DV- SCON-CAL- -DV-...
Page 169 Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...
Page 170: Devicenet Interface
DeviceNet Interface 4.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. SCON-CA Monitor LEDs White DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AU Light blue (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AUM Black (PHOENIX CONTACT) SCON-CAL Monitor LEDs White DeviceNet communication connector...
Page 171: Monitor Led Indicators
4.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
Page 172: Selecting (Setting) The Operation Mode
Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V8.00.00.00 or later). (Refer to 4.10, “DeviceNet Parameters.”) Number of occupied Set value...
Page 173: Communicating With The Master Station
Communicating with the Master Station 4.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. PLC output SCON-CA/CAL input (* n indicates the node address of each axis.) SCON-CA/CAL DI and input data register Position/simple Remote I/O mode Remote I/O mode...
Page 174 PLC output SCON-CA/CAL input side (* n indicates the node address of each axis.) SCON-CA/CAL DI and input data register Position/simple Half direct mode 2 Remote I/O mode 3 Half direct mode 3 PLC output area direct mode 2 (channel) Number of Number of Number of occupied...
Page 175 SCON-CA/CAL output PLC input side (* n indicates the node address of each axis.) SCON-CA/CAL DO and output data register Position/simple Remote I/O mode Remote I/O mode Half direct mode Full direct mode PLC input area direct mode (channel) Number of Number of Number of Number of...
Page 176 SCON-CA/CAL output PLC input side (* n indicates the node address of each axis.) SCON-CA/CAL DO and input data register Position/simple Half direct mode 2 Remote I/O mode 3 Half direct mode 3 PLC output area direct mode 2 (channel) Number of Number of Number of occupied...
Page 177 4.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the RC PC software or teaching pendant. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 178 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CAL DI SCON-CA/CAL DO PLC output channel PLC input channel (port number) (port number) 0~15 0~15 (Note) Exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
Page 179 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode Port Category...
Page 180 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position PC16...
Page 181 Setting of Parameter No. 25 Force control mode 1 Force control mode 2 Port Category Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position Start position 2 number Start position 3 PC16 Start position 4 Not available.
Page 182: Position/Simple Direct Mode (Number Of Occupied Channels: 4)
4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value registered in the position data table.
Page 183 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 184 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
Page 185 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 186 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Page 187: Half Direct Mode (Number Of Occupied Channels: 8)
4.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are specified directly and numerically from the PLC. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
Page 188 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 189 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 190 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 191 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 192 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). 16-bit data The actual allowable specification range varies from one 4.9 (2)
Page 193 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current (Example) Reading: 000003FF...
Page 194: Full Direct Mode (Number Of Occupied Channels: 16)
4.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control Actuator function X: Invalid...
Page 195 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas. Control signals 1 and 2 and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data.
Page 196 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 197 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion current-limiting...
Page 198 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 199 b14 b13 b12 b11 b10 b9 Not available. b14 b13 b12 b11 b10 b9 Force feedback data (lower word) (Dedicated for SCON-CA) b14 b13 b12 b11 b10 b9 Force feedback data (lower word) (Dedicated for SCON-CA) If the current force feedback data is a negative value, it is indicate by a 2’s complement. b15 b14 b13 b12 b11 b10 b9 n+10 Total moving...
Page 200 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 201 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details 16-bit integer. 16-bit data Acceleration Specify the acceleration and deceleration at which to move the actuator.
Page 202 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Function Details MOD1 Acceleration/deceleration mode: 4.7.11 Trapezoid pattern when both signals are OFF, S-motion when MOD1 is OFF and MOD0 is ON, or primary delay filter when MOD0 4.7.11 (14) MOD1 is ON and MOD0 is OFF.
Page 203 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current (Example) Reading: 000003FF...
Page 204 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details Emergency stop: An emergency stop is being executed when EMGS 4.7.11 (2) the signal is ON. Controller ready: The signal turns ON when the controller 4.7.11 (1) becomes ready.
Page 205: Remote I/O Mode 2 (Number Of Occupied Channels: 6)
4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No.
Page 206 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CAL DI SCON-CA/CAL DO PLC output channel PLC input channel and input register and output register Port number 0 to 15 Port number 0 to 15 Occupied area Current position Occupied area...
Page 207 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 208 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below.
Page 209: Position/Simple Direct Mode 2 (Number Of Occupied Channels: 4)
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4) (Note) Applicable only for SCON-CA In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers. You can directly specify the target position as a numerical value by switching the control signal (PMOD signal), or use a pre-registered value in the position data.
Page 210 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 211 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
Page 212 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 213 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current (Example) Reading: 000003FFH = 1023 (decimal)
Page 214: Half Direct Mode (Number Of Occupied Channels: 8)
4.7.8 Half Direct Mode (Number of Occupied Channels: 8) (Note) Applicable only for SCON-CA In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying the target position, in-position band, speed, acceleration/deceleration and push current directly from the PLC as numerical values.
Page 215 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 216 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 217 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Force feedback data (lower word)
Page 218 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 219 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). 16-bit data The actual allowable specification range varies from one 4.9 (2)
Page 220 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current (Example) Reading: 000003FF...
Page 221: Remote I/O Mode 3 (Number Of Occupied Channels: 6)
4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6) (Note) Applicable only for SCON-CA In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers in the same manner you would using PIOs (24-V I/Os). Set position data using the RC PC software or other teaching tool.
Page 222 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA DI and SCON-CA DO and PLC output channel PLC input channel input register output register Port number 0 to 15 Port number 0 to 15 Occupied area Current position Occupied area...
Page 223 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Force feedback data (lower word)
Page 224 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below.
Page 225: Half Direct Mode 3 (Number Of Occupied Channels: 8)
4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) In this operation mode, the jog function available in the half numerical value mode is unavailable, but the vibration damping control parameter set can be changed. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
Page 226 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. Control signals and status signals are ON/OFF bit signals. The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 227 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
Page 228 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
Page 229 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
Page 230 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 16-bit integer. Specify the current-limiting value during push-motion operation. Push-current The specified range is 0 (0%) to 255 (100%). 16-bit data 4.9 (2) limiting value...
Page 231 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Page 232: I/O Signal Controls And Functions
4.7.11 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
Page 233 (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED (refer to 4.4, “DeviceNet Interface”) on the front panel of the controller will illuminate in green.
Page 234 (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC input signal] When the HOME signal is turned ON, the HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically.
Page 235 (7) Positioning start (CSTR): Used in the position/simple direct mode 1,2 [PLC output signal] The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
Page 236 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Timing at which the position complete signal turns ON Speed Target position Travel...
Page 237 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters.
Page 238 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation or inch operation. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
Page 239 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON Parameter No.
Page 240 (16) Teaching command (MODE) [PLC output signal] Teaching mode signal (MODES) [PLC input signal] When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
Page 241 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
Page 242 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
Page 243 (26) Load output judgment (LOAD) [PLC input signal] This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
Page 244 (27) Torque level (TRQS) [PLC input signal] This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
Page 245 (29) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) [PLC Output Signal] The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
Page 246 (30) Acceleration/deceleration mode (MOD1, MOD0) [PLC Output Signal] These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
Page 247 (31) Standstill Mode Selection (ASO0, ASO1) [PLC Output Signal] Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption.
Page 248 Signal input is recognized Calibration time continuously for 20 ms Turn the CLBR OFF after confirming that the CEND has turned ON. The CEND turns ON when the calibration has completed successfully. If the CLBR is OFF, the CEND remains OFF. *1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not performed.
Page 249: I/O Signal Timings
I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the PLC’s sequence program, until a response (status) signal is turned, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station slave station transmission delay time Field network transmission delay time...
Page 250: Operation
Operation Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are explained using examples of basic operations. For the remote I/O mode 1 to 3, refer to the operation manual for the controller. (In remote I/O mode 2 or 3, read the current position, command current or force feedback data from each applicable byte on the PLC side as deemed necessary.) (1) Operation in the position/simple direct mode 1, 2...
Page 251 Set value of target position data (PLC SCON-CA/CAL) Specified position number (PLC SCON-CA/CAL) Positioning start CSTR (PLC SCON-CA/CAL) Positioning complete PEND (SCON-CA/CAL PLC) Current position (SCON-CA/CAL PLC) Moving MOVE (SCON-CA/CAL PLC) Positioning band Actuator movement (Normal positioning) Work part missed in push-motion operation Push-motion operation in progress...
Page 252 (2) Operation in the half direct mode 1 to 3 Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed, acceleration/deceleration and push-current limiting specification. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
Page 253 Set value of target position data (PLC SCON-CA/CAL) Set value of positioning band data (PLC SCON-CA/CAL) Set value of speed data (PLC SCON-CA/CAL) Set value of acceleration/ deceleration data (PLC SCON-CA/CAL) Set value of push-current limiting value (PLC SCON-CA/CAL) Push specification (PLC SCON-CA/CAL) Push direction...
Page 254 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target position and positioning band. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
Page 255 Set value of target position data (PLC SCON-CA/CAL) Set value of positioning band data (PLC SCON-CA/CAL) Set value of speed data (PLC SCON-CA/CAL) Set value of position zone boundary data (PLC SCON-CA/CAL) Set value of acceleration data (PLC SCON-CA/CAL) Set value of deceleration data (PLC SCON-CA/CAL)
Page 256 Push specification PUSH (PLC SCON-CA/CAL) [10] Push direction specification (PLC SCON-CA/CAL) Positioning command [17] DSTR [11] (PLC SCON-CA/CAL) [13] [12] Positioning complete/missed load during push-motion operation PEND/PSFL [16] (SCON-CA/CAL PLC) Current position (SCON-CA/CAL PLC) [15] [14] Moving MOVE (SCON-CA/CAL PLC) Push Actuator operation (push)
Page 257 (4) Data change during movement In the half direct mode 1 to 3 and full direct mode, the values of target position data, acceleration/deceleration data, speed data, positioning band and push-current limiting value set by the PLC can be changed while the actuator is moving.
Page 258: Devicenet Parameters
4.10 DeviceNet Parameters The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and 159. Category: C: External interface parameter Category Symbol Name Factory default For parameter Nos. 1 to 83, refer to the operation manual for the controller. FMOD Fieldbus operation mode NADR...
Page 259 Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. Fieldbus I/O format (No. 90 FMIO) PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the controller and number of occupied addresses in each mode.
Page 260 (Example ii) Set value = “1” indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data...
Page 261 (Example iii) Set value = “2” indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data...
Page 262 (Example iv) Set value = “3” indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No.159 setting value Speed setting unit 0 (Set in delivery)
Page 263: Troubleshooting
Cause: The module could not be detected. Fieldbus module not Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID Simple alarm code (*2) RES Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset...
Page 264: Troubleshooting
Confirm that the applicable slave is registered in the master scan list. the master. A hardware error Contact IAI. occurred. (The DeviceNet board may have to be replaced.) Incorrect DIP switch Confirm that the baud rate of the slave is the same as the baud rate of the master.
Page 265: Eds File
EDS File Download the EDS file from the IAI homepage of which the URL is as shown below if it is necessary. Homepage http://www.iai-robot.co.jp Note There may be a case that an error message appears on the master side depending on the revision of the communication board.
Page 266: Change History
Change History Revision Date Description of Revision November 2011 First edition Contents changed in Safety Guide Caution notes added for when working with two or more persons ACON and PCON picked up from existing Operation Manual and SCON-CA added to rearrange new Operation Manual June 2012 Second edition Contents added and changed in Safety Guide...
Page 268 825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2014. Aug. IAI Corporation. All rights reserved. 14.08.000...

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IAI ACON-C Operation Manual

Safety Guide

1 Overview

4 Scon-Ca/Cal

2 Acon-C/Cg, Pcon-C/Cg

3 Acon-Ca, Pcon-Ca/Cfa, Dcon-Ca

5 Troubleshooting

6 EDS File

7 Change History

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