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IAI X-SEL-J*-1-CC0 series Instructions Manual

Cc-link x-sel series; rcs-c series; e-con series
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CC-Link
Instruction Manual
Ver. 5.0
X-SEL
RCS-C
E-Con
IAI Corporation

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Summary of Contents for IAI X-SEL-J*-1-CC0 series

  • Page 1 CC-Link Instruction Manual Ver. 5.0 X-SEL RCS-C E-Con IAI Corporation...
  • Page 2 CC-Link Safety Precautions Read these “Safety Precautions” carefully before selecting a model and to ensure proper use of the product. The precautions shown below allow you to use the product safely and prevent harm to you and others and damage to property from occurring. Be sure to observe these precautions as well as the safety regulations of JIS B 8433 (Industrial Robot Safety egulations).
  • Page 3 CC-Link Installation ● Do not use the product in any place where there are dangerous objects such as combustibles, inflammables, and explosives. Failure to do so may result in ignition, inflammation, or explosion. ● Avoid use in any place where drops of water or oil droplets drip onto the main unit or controller. ●...
  • Page 4 CC-Link ● In the event of a power failure, turn off the power. Failure to do so may result in personal injury or product damage due to abrupt movement of the product during recovery from the power failure. ● When abnormal heat, smoke, or offensive odors occur in the product, turn off the power immediately. Continued use of the product may result in product damage or fire.
  • Page 5 CC-Link ● When installing the product, do not hold its moving parts or cables. Failure to do so may result in personal injury. ● Be sure to use our genuine cable product between the actuator and controller. For components such as the actuator, controller and teaching box, use a combination of our genuine products.

  • Page 6: Table Of Contents

    CC-Link Contents 1. Overview ············································································································ 1 2. Interface Specifications ······················································································ 2 3. X-SEL················································································································· 3 Remote device station······················································································································· 3 3.1.1 Models ··································································································································· 3 (1) Compact type (J type)············································································································ 4 (2) General type (K type)············································································································· 5 3.1.2 CC-Link board························································································································ 6 (1) Names of each part ··············································································································· 6 (2) Rotary switches ·····················································································································...
  • Page 7 CC-Link 4. RCS-C and E-Con···························································································· 47 Models ············································································································································ 47 (1) RCS-C ································································································································· 47 (2) E-Con ·································································································································· 47 CC-Link interface ···························································································································· 48 (1) Names of each part ············································································································· 48 (2) Rotary switches ··················································································································· 49 (3) Display of monitor LEDs ······································································································ 50 Input and output (I/O) ······················································································································...

  • Page 8: Overview

    CC-Link Overview CC-Link stands for Control & Communication Link, which is a field network system. It is possible to construct the systems of X-SEL, RCS-C, and E-Con with wire saving by connecting each of these controllers to this CC-Link. The X-SEL controller has two types of remote device station and remote I/O station. Each of the RCS-C and E-Con controllers is handled as a remote I/O station, which allows for communications of I/O data.

  • Page 9: Interface Specifications

    CC-Link Interface Specifications Item Specification Communications standard CC-Link Ver1.0 (*1) Communications speed 10M/5M/2.5M/625k/156kbps (Selection with rotary switch) Communications system Broadcast polling system Synchronization system Frame synchronization system Encoding system NRZI Transmission path format Bus format (EIA RS485 conformance) Transmission format HDLC conformance Error control system CRC (X...

  • Page 10: X-Sel

    CC-Link X-SEL The CC-link compatible X-SEL controller has the following two types: a. Remote device station: Number of I/O points = Max. 256 points each b. Remote I/O station: Number of I/O points = 16 points each 3.1 Remote device station 3.1.1 Models The CC-Link compatible X-SEL controller handled as a remote device station has one type each of J and K as follows:...

  • Page 11: Compact Type (J Type)

    CC-Link Compact type (J type) For single axis For two axes For three and four axes CC-Link board CC-Link board Expansion slot CC-Link board X-SEL-J□-1-CC0-□ X-SEL-J□-2-CC0-□ X-SEL-J□-3-CC0-□ X-SEL-J□-4-CC0-□ Note: For items of single axis and two axes, a PIO board cannot be installed. For those of three and four axes, an (*1) expansion I/O board can be inserted into the expansion slot.

  • Page 12: General Type (K Type)

    CC-Link General type (K type) ● The CC-link board is inserted into the standard slot (I/O1: leftmost). (*1) (*2) ● Either of an expansion I/O board or SIO board can be inserted into the expansion slot. (*1) ● When an expansion I/O board is not used, it is not required to supply 24V DC to the IO 24V power connector.

  • Page 13: Cc-Link Board

    CC-Link 3.1.2 CC-Link board Names of each part CC-Link communications connector Communications speed setting rotary switch Station number setting rotary switch Monitor LED...

  • Page 14: Rotary Switches

    CC-Link Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed Setting of station number In the CC-Link, a maximum of 64 stations can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA ×...

  • Page 15: Display Of Monitor Leds

    CC-Link Setting of communications speed The communications speed is set by the rotary switch BR. Rotary switch selection number Communications speed 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
  • Page 16 CC-Link...

  • Page 17: Setting Of I/O Parameters (Assignment Of I/O Ports)

    CC-Link 3.1.3 Setting of I/O parameters (assignment of I/O ports) The X-SEL I/O ports used in the CC-Link are set. X-SEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the X-SEL Controller Instruction Manual.) The typical setting methods are shown below in this Manual.

  • Page 18: Factory-Configured Parameters (Standard Setting)

    CC-Link Factory-configured parameters (standard setting) Input Parameter name Remarks range value I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...

  • Page 19: Cc-Link Connection With Standard I/O Ports

    CC-Link CC-Link connection with standard I/O ports The following are settings in cases where 16 points each for input and output are used from the first standard I/O ports of X-SEL and other I/O ports are not used. X-SEL (J type) Not used Input port No.
  • Page 20 CC-Link X-SEL I/O parameter Default Input Parameter name Setting Remarks (reference) range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...

  • Page 21: Combined Use Of Cc-Link Board And I/O Board

    CC-Link Combined use of CC-Link board and I/O board The following is the setting in the case where automatic assignment allocates 256 points each for input and output to the CC-Link board as the standard I/O ports as well as 32 points for input and 16 points for output to the expansion I/O board IA-103-X-32 from the subsequent I/O port numbers.
  • Page 22 CC-Link X-SEL I/O parameter Default Input Parameter name Setting Remarks (reference) range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...
  • Page 23 CC-Link The following is the setting in the case where fixed assignment makes the expansion I/O board IA-103-X-32 (input: 32 points, output: 16 points) used as the standard I/O ports and 256 points each for input and output assigned to the CC-Link board as the general I/O ports. The J type has the same setting.
  • Page 24 CC-Link X-SEL I/O parameter Default Input Parameter name Setting Remarks (reference) range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...
  • Page 25 CC-Link...

  • Page 26: X-Sel I/O Port Numbers

    CC-Link X-SEL I/O port numbers The standard I/O port numbers of X-SEL are shown below. The X-SEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the X-SEL Controller Instruction Manual.) Port Port Function Function Program start...

  • Page 27: Correspondence Between X-Sel I/O Port Number And Plc Address

    CC-Link Correspondence between X-SEL I/O port number and PLC address PLC sets the X-SEL CC-Link board as a remote device. The number of occupied stations of the remote device varies according to the setting of the number of I/O points on the X-SEL side. The table below indicates the correspondence between the I/O port number and PLC address according to the settings of I/O parameters No.
  • Page 28 CC-Link When the number of I/O points is set to 208 or more and 256 or less: Configured as three remote devices. (Three stations occupied) I/O parameter X-SEL side DI X-SEL side DO PLC side PLC side (Port No.) (Port No.) No.

  • Page 29: Data In Remote Registers

    CC-Link Data in remote registers Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set on the CC-Link board and the number of occupied stations set by the PLC parameter, in steps of 16 points (one word) in order of X-SEL port number.
  • Page 30 CC-Link Transmission and receipt of signals in remote I/O areas The transmission and receipt of signals in remote I/O areas are irrelevant to the setting of the I/O parameter No. 120. ●: On, ○: OFF X-SEL port No. (Input) 015 014 013 012 011 010 009 008 007 006 005 004 003 002 001 000 ●...
  • Page 31 CC-Link Transmission and receipt of signals in remote register areas The I/O parameter No. 120 allows the data in one word (16 bits) to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits). (a) When the I/O parameter No.
  • Page 32 CC-Link (b) When the I/O parameter No. 120 is set to “0” ●: On, ○: OFF X-SEL port No. (Input) 079 078 077 076 075 074 073 072 071 070 069 068 067 066 065 064 ● ○ ○ ○ ○...
  • Page 33 CC-Link Reference ■ When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in order of port number.
  • Page 34 CC-Link Reference Remote register When the I/O parameter No. 120 is set to “1” (Input) (Output) (Input) (Output) Port No. Port No. RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.
  • Page 35 CC-Link Reference When the I/O parameter No. 120 is set to “0” (Input) (Output) (Input) (Output) Port No. Port No. tation No tation No RWrm and RWwm are the remote register addresses in PLC that correspond to the station number. The remote register is comprised of one word (16 bits), but the data order of the higher-order 8 bits (higher-order byte) and the lower-order 8 bits (lower-order byte) is reversed under this setting.

  • Page 36: Csp File

    When using the GX Configurator-CC (manufactured by Mitsubishi Electric Corporation), download the CSP file from our Web site shown below if required. Web site: http://www.iai-robot.co.jp The CSP file to be used is different according to the number of ports used (number of I/O ports) set by the I/O parameters No.

  • Page 37: Remote I/O Station

    CC-Link 3.2 Remote I/O station 3.2.1 Models The CC-Link compatible X-SEL controller handled as the remote I/O station has three types as shown below. The single CC-Link board allows communications through 16 points each for input and output. The model of X-SEL varies according to the installation positions and number of boards. ●...
  • Page 38 CC-Link Standard I/O board CC-Link board Expansion slots X-SEL-K□-□-CC2-□ Fig. 3-2-2 Standard I/O board CC-Link board X-SEL-K□-□-CC3-□ Fig. 3-2-3...
  • Page 39 CC-Link (*1) CC-Link board Model: IANT-3201-CC (*2) Expansion I/O board Model (1): IA-103-X-32 (Input: 32 points, Output: 16 points) Model (2): IA-103-X-16 (Input: 16 points, Output: 32 points) For further information on specifications, refer to the X-SEL Controller Instruction Manual. (*3) SIO board Model (1): IA-105-X-MW-A...

  • Page 40: Cc-Link Board

    CC-Link 3.2.2 CC-Link board Names of each part CC-Link communications connector Monitor LED Station number setting rotary switch Communications speed setting rotary switch...

  • Page 41: Rotary Switches

    CC-Link Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches.

  • Page 42: Display Of Monitor Leds

    CC-Link Setting of communications speed The communications speed is set by the rotary switch BR. Rotary switch selection number Communications speed 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

  • Page 43: Setting Of I/O Parameters (Assignment Of I/O Ports)

    CC-Link 3.2.3 Setting of I/O parameters (assignment of I/O ports) The X-SEL I/O ports used in the CC-Link are set. X-SEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the X-SEL Controller Instruction Manual.) The typical setting methods are shown below in this Manual.

  • Page 44: Factory-Configure Parameters

    CC-Link Factory-configured parameters A: X-SEL-K□-□-CC1-□ B: X-SEL-K□-□-CC2-□ C: X-SEL-K□-□-CC3-□ Set value Input Parameter name Remarks range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...

  • Page 45: Cc-Link Connection With Standard I/O Ports

    CC-Link CC-Link connection with standard I/O ports When only three CC-link boards are used The following is the setting of a case where standard I/O ports are assigned to the CC-Link boards from the first port without using a standard I/O board. Input port No.
  • Page 46 CC-Link X-SEL I/O parameter Default Input Parameter name Setting Remarks (reference) range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...
  • Page 47 CC-Link When a standard I/O board is used as general I/O When a standard I/O board is used as general I/O (input: 32 points, output: 16 points) with the setting of a, the number becomes 048 for the I/O parameter No. 2, 348 for No. 3, and 1 for No. 10 in the table on the previous page for the following assignments: Input port No.

  • Page 48: General I/O Connection Of Cc-Link Boards

    CC-Link General I/O connection of CC-Link boards The following is a case where a standard I/O board is used as standard I/O ports and 48 points each for input and output are assigned to three CC-link boards as general I/O ports: Input port No.
  • Page 49 CC-Link X-SEL I/O parameter Default Input Parameter name Setting Remarks (reference) range I/O port assignment type 0 – 20 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 —) * The ports only in the continuous installation range from slot 1 are assigned for safety.) Standard I/O: -1 –...
  • Page 50 CC-Link...

  • Page 51: X-Sel I/O Port Numbers

    CC-Link X-SEL I/O port numbers The standard I/O port numbers of X-SEL are shown below. The X-SEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the X-SEL Controller Instruction Manual.) Port Port Function Function Program start...
  • Page 52 CC-Link Reference Addresses in PLC are assigned to the remote I/O addresses that correspond to the station number set by the rotary switch and the station number set by the PLC parameter, in steps of 16 points in order of port number.

  • Page 53: Troubleshooting

    CC-Link 3.3 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again.

  • Page 54: Rcs-C And E-Con

    CC-Link RCS-C and E-Con 4.1 Models The CC-Link compatible RCS-C and E-Con controllers are shown below. RCS-C Model: RCS-C-□□□□-□□-CC-□ Number of I/O points = Dedicated input: 8 points, Dedicated output: 10 points 24V type 100V and 200V type E-Con Model: ECON-□-□-CC-□ Number of I/O points = Dedicated input: 10 points, Dedicated output: 12 points...

  • Page 55: Cc-Link Interface

    CC-Link 4.2 CC-Link interface Names of each part Communications speed setting rotary switch Station number setting rotary switch Monitor LED CC-Link communications connector...

  • Page 56: Rotary Switches

    CC-Link Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches.

  • Page 57: Display Of Monitor Leds

    CC-Link Setting of communications speed The communications speed is set by the rotary switch BR. Rotary switch selection number Communications speed 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

  • Page 58: Input And Output (I/O)

    CC-Link 4.3 Input and output (I/O) The input and output points of each of RCS-C and E-Con are as follows: RCS-C = Dedicated input: 8 points, Dedicated output: 10 points E-Con = Dedicated input: 10 points, Dedicated output: 12 points For further information on each signal, refer to the RCS Series of Robo Cylinder Controller RCS-C Type Instruction Manual and the E-Con Controller Instruction Manual.

  • Page 59: E-Con Signal Assignment

    CC-Link E-Con signal assignment 8 bit input 10 bit output Input No. Signal name Output No. Signal name Commanding position 1 Completion position 1 Commanding position 2 Completion position 2 Commanding position 4 Completion position 4 Commanding position 8 Completion position 8 Commanding position 16 Completion position 16 Commanding position 32...
  • Page 60 CC-Link Reference For both RCS-C and E-Con, bit addresses in PLC are assigned to the remote I/O addresses that correspond to the station number set by the rotary switch and the station number set by the PLC parameter, in numerical order. (Input) (Output) Input port No.

  • Page 61: Troubleshooting

    CC-Link 4.4 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below and remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cable, and setting of rotary switches before turning on the power to the controller main unit again.

  • Page 62: Common Items And Others

    CC-Link Common Items and Others 5.1 Communications cable Use the dedicated cable compatible with the CC-Link Ver. 1.10 (FANC-SBH, FANC-SB, etc.) for the CC-Link communications cable. 5.2 Connection of communications cable connector Connect the communications cable according to the following connector table: Pin No.

  • Page 63: Useful Functions For X-Sel Controller Adjustment

    CC-Link 5.4 Useful functions for X-SEL controller adjustment (1) When a standard or expansion I/O board is installed onto the K-type controller, X-SEL can individually be started up without connection of the 24V DC power for I/O. (2) When a CC-Link board is installed, X-SEL can individually be started up without establishment of the network.
  • Page 64 Ober der Röth 4, D-65824 Schwalback am Taunus, Germany TEL 06196-88950 FAX 06196-889524 Portions of the descriptions in this Manual are subject to change without prior notice due to product improvements. Copyright © Oct. 2003 IAI Corporation. All rights reserved. 03. 05. 840...

This manual is also suitable for:

X-sel-j*-2-cc0 seriesX-sel-j*-3-cc0 seriesX-sel-j*-4-cc0 seriesEcon-*-*-cc seriesRcs-c-****-**-cc series

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