IAI ACON-C ACON-CG First Step Manual page 3

Operation Modes and Functions (Common to Each Fieldbus)
The machine can be operated selecting one of the following five operation modes.
(1) Remote I/O Mode : This is the method whereby operation replicates hard wire PIO operation
through field bus bit manipulation.
(2) Position/ : This is the method where the machine is operated by means of directly
Simple Direct specifying the target position using numerical values.
Value Mode For the speed, acceleration, deceleration, or positioning width, the already
registered position data values are used.
(3) Half Direct Value Mode : In this operation mode, in addition to the target position, the speed,
acceleration, deceleration and push current value are directly specified
using numerical values.
(4) Full Direct Value Mode : In this operation mode, all the values related to the position control, are
directly specified using numerical values.
(5) Remote I/O Mode 2 : Here, current position and current speed feedback functions are added to
the remote I/O mode.
Operation Modes and Main Functions
Position/
Remote I/O Half Direct
Main Functions Simple Direct
Mode Value Mode
Value Mode
No. of Occupied Bytes 2 8
Operation with the Position No.
○ ○
Specified
Operation with the Position Data
× ○ (Note)
Specified
Speed and Acceleration Direct Setup × ×
Pressing Operation ○ ○
Current Position Read × ○
Current Speed Read × ×
Completion Position No. Read ○ ○
Max. Number of position table 512 768 Not Applicable
(Note) The actuator is operated by specifying all position data, other than the position, using a position number.
EtherCAT®
Specification
●
Item Specification
Communication Protocol IEC61158Type12
Physical Layer 100BASE-TX (IEEE802.3)
Communication Frequency Automatically follows the Master
Communication Cable Length Depends on EtherCAT® Specification (Distance between each node: 100m max.)
Slave Type I/O slave
Applicable Node Address 0 to 127
(17 to 80 : When connected to the master (CJ1W-NC*82) manufactured by OMRON)
Communication Cable Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector × 2pcs (Input × 1, Output × 1)
Connection Daisy chain only
● Interface Section
Status Display LED
Status LED (RUN/ERR)
EtherCAT® Output Port
Link/Activity LED (Output)
EtherCAT® Input Port
Link/Activity LED (Input)
(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.
EtherCAT® Connector
●
Pin No. Signal Name
1 Data sending +
8
2
Data sending −
3 Data receiving +
4 Not used
5 Not used
6 Data receiving −
1
7 Not used
8 Not used
RJ45 8-pin
Connector Hood Security grounding
Modular Connector
(Controller side)
● Operation Mode Setting and Address Allocation
The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to "MANU" side and set the parameter No. 84
"FMOD: Field Bus Operation Mode" using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
● Node address setting
Node address can be set with the parameter.
Set Parameter No. 85 "NADR: Fieldbus Node Address" with a teaching tool such as PC software for RC.
Settable Range : 0 to 127 (It is set to 17 which is the I/O slave top address of EtherCAT® at the delivery.)
● Communication Speed Setting
The setting for the communication speed is not required because it automatically follows the master's
communication speed.
(Note) After parameter setting, reset the controller mode change witch to "AUTO" side, and then cycle the controller power.
Specification
●
Item
Communication Protocol
Physical Layer
Communication Cable Length
Number of Connection
Applicable Node Address
Communication Cable
Connector
Interface Section
●
Full Direct Remote I/O
Value Mode Mode 2
16 32 12
× × ○
○ ○ ×
○ ○ ×
○ ○ ○
○ ○ ○
(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.
○ ○ ○
● EtherNet/IP Connector
× × ○
Not Applicable 512
8
1
RJ45 8-pin
Modular Connector
(Controller side)
● Operation Mode Setting and Address Allocation
The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to "MANU" side and set the parameter No. 84
"FMOD: Field Bus Operation Mode" using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
● Communication Speed Setting
The Communication speed can be set with the parameter. A special setting is not necessary since it is set
to automatic negotiation when the product is delivered. However, when a fixed speed is required, change
the setting to the desired speed in Parameter No. 86 "FBRS: Fieldbus Communication Speed" of the
teaching tool in the PC software for RC.
[Refer to the Instruction Manual for the details]
● IP Address Setting
IP Address can be set with the parameter.
Set Parameter No. 140 "IPAD: IP Address" with a teaching tool such as PC software for RC.
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to "192.168.0.1" when the machine is delivered
from the factory.)
● Settings for Subnet Mask
Subnet Mask can be set with the parameter.
Set Parameter No. 141 "SNMK: Subnet Mask" with a teaching tool such as PC software for RC.
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to "255.255.255.0" when the machine is delivered
from the factory.)
● Settings for Default Gateway
Abbreviated Code
Default Gateway can be set with the parameter.
TD+
Set Parameter No. 142 "DFGW: Default Gateway" with a teaching tool such as PC software for RC.
TD−
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to "0.0.0.0" when the machine is delivered from the
RD+
factory.)
(Note) After parameter setting, reset the controller mode change witch to "AUTO" side, and then cycle the controller power.
RD−
FG
EtherNet/IP
Specification
IEC61158Type12
100BASE-TX (IEEE802.3)
Depends on EtherCAT® Specification (Distance between each node: 100m max.)
Depends on the master unit
0.0.0.0 to 255.255.255.255
Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
RJ45 Connector × 1pc
Status LED
NS LED
Status Diplay LED
MS LED
EtherNet/IP Port
Pin No. Signal Name Abbreviated Code
1 Data sending +
2 Data sending −
3 Data receiving + RD+
4 Not used
5 Not used
6 Data receiving − RD−
7 Not used
8 Not used
Connector Hood Security grounding
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below.
This section explains how to start up an EtherCAT® or EtherNet/IP complaint ACON or PCON (described as
the "controller" in the following diagram). For the settings and wiring of each of the individual devices,
controllers, and actuators connected to the network, refer to the individual device's Instruction Manual.
Check of Packed Items No→
Has everything been received?
↓Yes
Installation and Wiring
Follow Instruction Manual and this manual to install the
controller and connect to the network.
Also, perform the wirings of the motor and encoder
cables for the power supply unit and the actuators
following the Instruction Manual of each controller.
To turn ON the controller
1) Set the mode switch on the front panel to MANU side.
2) Set the brake release switch on the front panel to NOM side.
3) Connect a teaching tool such as the PC software.
4) Turn the power ON and start up the teaching tool with
"Teaching Mode Safety Speed Valid" setting.
Controller Initial Settings
Refer to each fieldbus section to perform the necessary parameter settings of the modes, addresses, etc.
• Set Parameter No. 35 Safety Speed if necessary. (Initial Value: 100mm/s)
↓
Servo ON
Turn the servo ON by operating the controller.
Note (In the case that the actuator is in vertical mount)
TD+
When the machine is turned ON/OFF repeatedly at the same
TD−
position, the actuator position may lower slightly due to its own
weight. Take care not to catch your hand or damage the work.
↓
Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power cutoff
circuit) operates normally to turn OFF the servo.
FG
↓
Settings on Host System
Refer to PLC Instruction Manual to perform the communication settings and so on.
↓
Confirming Communication Establishment
• Confirm the communication is established on the status LED on the front
panel. [Refer to the troubleshooting]
• Is the LED status in normal condition? Is PLC (master unit) side also
in normal condition?
(Note) Refer to PLC and master unit Instruction Manuals for how to check
the master unit side.
↓Yes
Communication is now established. Perform an operation check and adjustment for the system.
Starting Procedure
Contact us or our distributor.
Point Check Item
→
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
←Yes
Important Check Item
→
Is the status display LED on
the front panel turned off?
No↓
Yes↓
Check the detail of the alarm on
the teaching tool and remedy
any errors.
→ Important Check Item
Is the status display LED
turned on in green?
Yes↓
No↓
If an alarm is generated (status display
LED is on in red), check the detail of
the alarm on the teaching tool and
remedy any errors.
No→
Refer to the Instruction Manual
for each unit, controller and PLC
to check each setting.