IAI ACON-C Instruction Manual

Ethernet/ip positioner type controller edition
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EtherNet/IP
Instruction Manual
Positioner Type Controller Edition
Overview
ACON-C/CG
PCON-C/CG
PCON-CA/CFA
PCON-CB/CFB/CGB/CGFB/CBP/CGBP
ACON-CA/CB/CGB
DCON-CA/CB/CGB
SCON-CA/CB/CGB
SCON-CAL/CGAL
SCON-CB/CGB
Servo Press
Appendix
(Connection with master)
Thirteenth Edition
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6

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Summary of Contents for IAI ACON-C

  • Page 1 EtherNet/IP Instruction Manual Thirteenth Edition Positioner Type Controller Edition Chapter 1 Overview ACON-C/CG Chapter 2 PCON-C/CG PCON-CA/CFA PCON-CB/CFB/CGB/CGFB/CBP/CGBP Chapter 3 ACON-CA/CB/CGB DCON-CA/CB/CGB SCON-CA/CB/CGB Chapter 4 SCON-CAL/CGAL SCON-CB/CGB Chapter 5 Servo Press Appendix Chapter 6 (Connection with master)
  • Page 3: Please Read Before Use

    • This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 ME0278-13A...
  • Page 5: Construction Of Instruction Manual For Each Controller Model And This Manual

    Construction of Instruction Manual for Each Controller Model and This Manual ACON-CB/CGB ACON-CA ACON-C/CG DCON-CB/CGB DCON-CA ●Operation Patterns ・Remote I/O Control Operation EtherNet/IP (This Manual) ME0278 ・Direct Number Indication Operation ◎ Basic Specifications ACON-CB/CGB ME0343 DCON-CB/CGB ME0343 and Functions ACON-CA, DCON-CA...
  • Page 6 Table of Contents Safety Guide ..............................1 Handling Precautions ........................... 8 Overview ............................. 11 EtherNet/IP Specifications ......................12 ACON-C/CG, PCON-C/CG ......................... 13 Operation Modes and Functions ....................13 Model ............................16 EtherNet/IP Interface ........................17 2.3.1 Names of the Parts ......................17 2.3.2...
  • Page 7 Communicating with the Master Station ................... 104 3.6.1 Operation Modes and Corresponding PLC I/O Areas ............. 104 3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ............108 3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) ......113 3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) ..........
  • Page 8 Servo Press Type SCON-CB/CGB ....................331 Operation Modes and Functions ....................331 Model Numbers ........................333 EtherNet/IP Interface ......................... 334 5.3.1 Name of the Parts ......................334 5.3.2 Monitor LED Indications ....................334 Wiring ............................335 5.4.1 Wiring (Example) ......................335 5.4.2 Connector Pin Layout ......................
  • Page 9: 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 10: Operation Description

    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”...
  • Page 11 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 12 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.
  • Page 13 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. ●...
  • Page 14 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to and Inspection be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
  • Page 15: Alert Indication

    Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product is Danger Danger not handled correctly, will result in death or serious injury.
  • Page 16: Handling Precautions

    Handling Precautions Please see in the table below for the products explained in this instruction manual (and the chapter number explained in this manual). ○: Applied, ×: N/A, Slash: No applicable model (**): Chapter number to describe in this manual CA/CB/CFA/CFB Type Servo Press...
  • Page 17 It is recommended that the baud rate be set based on auto negotiation. Make sure the link setting of the EtherNet/IP unit matches the communication mode set for the connected switching hub. If not, the link becomes unstable and communication cannot be performed properly. It is recommended to enable auto negotiation using an appropriate ACON or PCON or SCON parameter.
  • Page 18 ME0278-13A...
  • Page 19 You can connect ACON, PCON, SCON (C type is excluded) and DCON controllers (hereinafter referred to as “the controllers” or “the IAI controllers”) to EtherNet/IP to build a system with minimum wiring. (Note 1) For detailed explanations of EtherNet/IP, refer to [the operation manual for the programmable controller (hereinafter referred to as “PLC”)] in which the master unit is installed.
  • Page 20: Ethernet/Ip Specifications

    EtherNet/IP Specifications Item Specification Communication standards IEC61158 (IEEE802.3) 10BASE-T/100 BASE-T Baud rate (Auto negotiation setting is recommended.) Refer to EtherNet/IP specifications Communication cable length (The distance between the hub and each node must be within 100 m Note 1 Number of connections Varies depending on the master unit.
  • Page 21: Acon-C/Cg, Pcon-C/Cg

    ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers equipped with EtherNet/IP can be operated in the following five operational modes: Operation Modes and Main Functions Position/ Remote I/O Half direct Full direct Remote I/O Main functions Simplified direct...
  • Page 22 [2] Position/simplified direct value mode: In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, this mode also allows the target position to be established directly. For “Speed”, “Acceleration/Deceleration”...
  • Page 23 [4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,” "Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s Acceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50%...
  • Page 24 Model The Model numbers of ACON and PCON applicable to EtherNet/IP are described as follows. ● ACON-C/CG--EP- ● PCON-C/CG--EP- Printed series name Front panel color  ACON  ACON: Dark blue  PCON  PCON: Dark green ME0278-13A...
  • Page 25 2.3.1 EtherNet/IP Interface 2.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. Status LEDs NS LED Status indicator LEDs MS LED EtherNet/IP port ME0278-13A...
  • Page 26: Monitor Led Indications

    Check if the scanner (master) is idle. A hardware error is present. ○ The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. The problem can be resolved by, for example, setting the problem item ☆...
  • Page 27: Connector Pin Layout

    2.4.1 Wiring Example 2.4.1 Connection Diagram PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves ACON/PCON ACON/PCON * Ethernet cable: Straight cable of category 5 or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required.
  • Page 28: Setting The Baud Rate

    2.5.1 Setting Using a teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: • IA-OS: V2.00.00.00 or later •...
  • Page 29: Setting The Ip Address

    2.5.3 2.5.3 Setting the IP Address Set parameter No. 140 “IP address.” Refer to [2.9, EtherNet/IP Parameters]. Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.) (Note 1) Exercise caution to avoid IP address duplication. For details, refer to [the operation manuals of the master unit and PLC in which in the master unit] is installed.
  • Page 30 2.6.1 Communicating with the Master Station 2.6.1 Operation Modes and Corresponding PLC I/O Areas The addresses allocated for each operation mode are described as follows. • PLC output → ACON/PCON input (* “n” indicates the first address of each axis.) DI on the ACON or PCON side and input data register Position/simplified Half direct value...
  • Page 31 2.6.1 • ACON/PCON output→PLC input side (* “n” indicates the first address of each axis.) DO on the ACON or PCON side and output data register Position/simplified Half direct value Full direct value PLC input Remote I/O mode Remote I/O mode 2 direct value mode mode mode...
  • Page 32 2.6.2 2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using a teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.
  • Page 33 2.6.2 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter ACON/PCON side PLC side output ACON/PCON side PLC side input No.84 DI (Port No.) address (bytes) DO (Port No.) address (bytes) 0 to 15 n+0, n+1 0 to 15 n+0, n+1 (Note) Be careful of using duplicated addresses.
  • Page 34 2.6.2 (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. Refer to [operation manual for the controller main body] for more information. ACON Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Category Port No.
  • Page 35 2.6.2 ACON Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Category Port No. 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...
  • Page 36 2.6.2 PCON Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Port Category Symbol Signal name Symbol Signal name Symbol Signal name Command position No. Command position No. Command position No. PC16 PC16 PC16 PC32 PC32 PC32 Teaching mode MODE PC64 command...
  • Page 37 2.6.2 PCON Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Category Port No. 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...
  • Page 38: Position/Simplified Direct Value Mode (Number Of Occupied Bytes: 8)

    2.6.3 2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, through use of a PMOD signal, this mode also allows the target position to be established directly.
  • Page 39 2.6.3 (2) I/O signal allocation for each axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 40 2.6.3 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n +0, n + 1 Current position (lower word) n+ 2, n + 3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+ 4, n + 5 Completed position No.
  • Page 41 2.6.3 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to 999999.
  • Page 42 2.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current position: 32-bit signed Integer. Stores the current position. Current The unit is 0.01mm. 32-bit 2.8.1 position =1023 (decimal)=10.23mm (Example) Reading:000003FF * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
  • Page 43: Half Direct Value Mode (Number Of Occupied Bytes: 16)

    2.6.4 2.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos.
  • Page 44 2.6.4 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 45 2.6.4 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (Lower word) n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 46 2.6.4 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+4, n+5 Command current...
  • Page 47 2.6.4 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to 999999.
  • Page 48 2.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing 16-bit The allowable specification range is 0 (0%) to 255 (100%). current-limiting 2.8.2 data...
  • Page 49 2.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01mm. Current 32-bit (Example) Reading: 000003FF =1023 (decimal) 2.8.2...
  • Page 50: Full Direct Value Mode (Number Of Occupied Bytes: 32)

    2.6.5 2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 51 2.6.5 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 52 2.6.5 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 53 2.6.5 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 Zone boundary - (lower word) n+18, n+19 Zone boundary - (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. n+20, n+21 Acceleration n+22, n+23...
  • Page 54 2.6.5 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Command current...
  • Page 55 2.6.5 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
  • Page 56 2.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer 16-bit Specify the acceleration and deceleration at which to move Acceleration data the actuator. The unit is 0.01G and settable range is 1 to 300. 2.8.3 (Example) When it is “0.30G”, set it as “30”.
  • Page 57 2.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Unavailable Incremental Command: Absolute position commands are issued when this signal is 2.6.7 (24) OFF, and incremental position commands are issued when the signal is ON.
  • Page 58 2.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. Current 32-bit The unit is 0.01mm. 2.8.3 position data (Example) Reading:000003FF =1023 (decimal)=10.23mm...
  • Page 59 2.6.6 2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using a teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
  • Page 60 2.6.6 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter ACON/PCON side PLC side output ACON/PCON side PLC side input No.84 DI and input register address (bytes) DO and output register address (bytes) Port No.0 to 15 n+0, n+1 Port No.0 to 15 n+0, n+1...
  • Page 61 2.6.6 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+8, n+9 Command...
  • Page 62 2.6.6 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 2.6.2 (3)]. The signal allocation for the Command current and Current position is shown in the following table. Signal type Symbol Contents...
  • Page 63: I/O Signal Controls And Function

    2.6.7 2.6.7 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described as follows.
  • Page 64 2.6.7 (5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED refer to [2.3, EtherNet/IP Interface] on the front surface of the controller illuminates in green.
  • Page 65 2.6.7 (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under home return operation (GHMS) PLC input signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically.
  • Page 66 2.6.7 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
  • Page 67 2.6.7 (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 68 2.6.7 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [1] Zone 1, Zone 2 The zone is set using the user parameters.
  • Page 69 2.6.7 (13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 70 2.6.7 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 71 2.6.7 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON.
  • Page 72 2.6.7 (19) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 73 2.6.7 (22) Pressing direction specification (DIR) PLC output signal This signal specifies the pressing direction. When this signal is turned “ON”, the pressing operation is performed to the direction of the value determined by adding the positioning band to the target position. When this signal is turned “OFF”, the pressing operation is performed to the position expressed using the value reducing the positioning band from the target position.
  • Page 74 2.6.7 (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”.
  • Page 75 2.6.7 (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known if the set load threshold is reached during the pressing operation.
  • Page 76 2.6.7 (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”...
  • Page 77 2.6.7 (28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures.
  • Page 78 2.6.7 (29) Acceleration/deceleration mode (MOD1、MOD0) PLC output signal Dedicated ACON function This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-shaped motion First-order lag filter Unavailable Trapezoid pattern...
  • Page 79 2.6.7 Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed.
  • Page 80 2.6.7 (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.
  • Page 81: I/O Signal Timings

    I/O Signal Timings Turn any control signal on in order to operate ROBO Cylinder with a sequence program in PLC, the response (status) signal for that would be returned to the PLC. The maximum respond time should be expressed with the formula below. Max.
  • Page 82: Operation

    2.8.1 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described. For the Remote I/O mode and Remote I/O mode 2, refer to [the controller’s operational manual]. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.) 2.8.1...
  • Page 83 2.8.1 Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 84 2.8.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 85 2.8.1 Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 86 2.8.2 2.8.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 87 2.8.2 Operation in the Half Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 88 2.8.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the acceleration/deceleration data in the acceleration/deceleration register. (5) Set the pressing current limit data in the pressing current limit value register.
  • Page 89 2.8.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 90 2.8.3 2.8.3 Operation in the Full Direct Value Mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. [1] Operation Example (General Positioning Operation) When the remaining travel distance becomes within the range of the positioning width set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.
  • Page 91 2.8.3 Operation in the Full Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 92 2.8.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the position zone output value data in the zone value + register or zone value -register. (5) Set the acceleration data in the acceleration register.
  • Page 93 2.8.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 94 2.8.4 2.8.4 Data Change During Movement The half direct mode and full direct mode are capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration.
  • Page 95: Ethernet/Ip Related Parameters

    EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90 and No. 140 to 142. Category: C: External interface parameter Default value set in the Category Name factory before delivery Refer to [operation manual for the 1 to 83 controller] for the parameters No.
  • Page 96  Network type (No.87) The network module type is set for the parameter No. 87. Do not change the default value.  Field I/O format (No.90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC.
  • Page 97 (Example ii) Set value = “1”  indicates ON, while  indicates OFF ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 98 (Example iii) Set value = “2”  indicates ON, while  indicates OFF ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal ACON, PCON Output resister Hexadecimal data PLC: Input CH Hexadecimal data ME0278-13A...
  • Page 99 (Example iv) Set value = “3”  indicates ON, while  indicates OFF ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 100  IP address (No. 140) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) (Note) When this parameter is set to 0.0.0.0, DHCP is enabled. Manual setting is recommended.  Subnet mask (No. 141) Specify the subnet mask in parameter No.
  • Page 101: Troubleshooting

    Fieldbus module error Cannot detected. Action: Check the applicable parameters. Cause: The module could not be detected. Fieldbus module Cannot Action: Reconnect the power. If the problem non-detection error persists, please contact IAI. (*1) ID → Simple alarm code ME0278-13A...
  • Page 102 2.10 ME0278-13A...
  • Page 103 Operation Modes and Functions Operation Modes and Functions ACON, PCON and DCON controllers (hereinafter referred to as “IAI controllers”) equipped with EtherNet/IP can ACON, PCON and DCON controllers (hereinafter referred to as “IAI controllers”) equipped with EtherNet/IP can ACON, PCON and DCON controllers (hereinafter referred to as “IAI controllers”) equipped with EtherNet/IP can...
  • Page 104 [1] Remote I/O mode: In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Number of occupied bytes: 2 bytes ACON, PCON, DCON PIO type applicable to EtherNet/IP ACON, PCON, DCON Communication Flat cable cable In the case of the connection In the case of the connection using...
  • Page 105 [4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,” "Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s Acceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50%...
  • Page 106 [7] Half direct value mode 2 : In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and pressing current, in addition to the target (Applicable only for PCON-CBP) position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.
  • Page 107: Model Numbers

    Model Numbers The Model numbers of IAI controllers applicable to EtherNet/IP are described as follows. ● ACON-CA/CB--EP- ● PCON-CA/CB/CGB/CBP/CGBP--EP- ● PCON-CFA/CFB/CGFB--EP- ● DCON-CA/CB--EP- Front panel color Printed series name ● ACON-CA/CB : Dark blue ● ACON ● PCON-CA/CB/CGB/CBP/CGBP : Dark green ●...
  • Page 108: Ethernet/Ip Interface

    Check if the scanner (master) is idle. A hardware error is present. ○ The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. The problem can be resolved by, for example, setting the problem item ☆...
  • Page 109: Connector Pin Layout

    3.4.1 Wiring Example 3.4.1 Connection Diagram PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves PCON ACON * Ethernet cable: Straight cable of category 5 or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required.
  • Page 110: Setting The Baud Rate

    3.5.1 Setting Using a teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to [the instruction manual for each teaching tool] for the applicable version of the teaching tool that can be applied to EtherNet/IP. 3.5.1 Operation Mode Selecting Set parameter No.
  • Page 111: Setting The Ip Address

    3.5.3 3.5.3 Setting the IP Address Set parameter No. 140 “IP address.” Refer to [3.9 EtherNet/IP Related Parameters]. Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.) (Note 1) Exercise caution to avoid IP address duplication. For details, refer to [the operation manuals of the master unit and PLC in which in the master unit] is installed.
  • Page 112 Operation Modes and Corresponding PLC I/O Areas The addresses allocated for each operation mode are described as follows. • PLC output → IAI controllers input (* “n” indicates the first address of each axis.) DI on the ACON, PCON, DCON side and input data register...
  • Page 113 3.6.1  PLC output  IAI controllers input (* “n” indicates the first address of each axis.) DO on the ACON, PCON, DCON side and output data register Position/simplified Half direct value Full direct value PLC output Remote I/O mode 3...
  • Page 114 3.6.1 • IAI controllers output→PLC input side (* “n” indicates the first address of each axis.) DO on the ACON, PCON, DCON side and output data register Position/simplified Half direct value Full direct value PLC input Remote I/O mode Remote I/O mode 2...
  • Page 115 3.6.1  IAI controllers outputPLC input side (* “n” indicates the first address of each axis.) DO on the ACON, PCON, DCON side and output data register PLC input Position/simplified Half direct value Full direct value Remote I/O mode 3...
  • Page 116 3.6.2 3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.
  • Page 117 3.6.2 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 DI (Port No.) address (bytes) DO (Port No.) address (bytes) 0 to 15...
  • Page 118 3.6.2 (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. Refer to [operation manual for the controller main body] for more information. Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Category Port No.
  • Page 119 3.6.2 Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Port No. Symbol Category 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 PC16...
  • Page 120 3.6.2 Parameter No. 25 setting Force control mode 1 Force control mode 2 Category Port No. Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position No. Start position 2 Start position 3 PC16 Start position 4 Unavailable Unavailable PLC output...
  • Page 121: Position/Simplified Direct Value Mode (Number Of Occupied Bytes: 8)

    Zones are set using Zone signal output  parameters. PIO pattern selection (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
  • Page 122 3.6.3 (2) I/O signal allocation for each axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 123 3.6.3 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n +0, n + 1 Current position (lower word) n+ 2, n + 3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+ 4, n + 5 Completed position No.
  • Page 124 3.6.3 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 125 3.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current position: 32-bit signed Integer. Stores the current position. Current The unit is 0.01mm. 32-bit 3.8.1 position (Example) Reading:000003FF =1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
  • Page 126: Half Direct Value Mode (Number Of Occupied Bytes: 16)

    Zone signal output Parameters must be set.  PIO pattern selection (1) PLC address configuration. (* "n" indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register...
  • Page 127 3.6.4 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 128 3.6.4 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (Lower word) n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 129 3.6.4 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+4, n+5 Command current...
  • Page 130 3.6.4 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 131 3.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details BKRL Forced brake release: When it is turned ON, the brake is released. 3.6.11 (18) Operating mode selector: The AUTO mode is selected when this RMOD signal is OFF, and the MANU mode is selected when the signal is 3.6.11 (19)
  • Page 132 3.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. Current 32-bit The unit is 0.01mm. 3.8.2 (Example) Reading: 000003FF =1023 (decimal)=10.23mm position data...
  • Page 133: Full Direct Value Mode (Number Of Occupied Bytes: 32)

    Pause  Zone signal output  PIO pattern selection (1) PLC address configuration (* "n" indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
  • Page 134 3.6.5 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 135 3.6.5 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 136 3.6.5 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 Zone boundary + (lower word) n+18, n+19 Zone boundary + (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. n+20, n+21 Acceleration n+22, n+23...
  • Page 137 3.6.5 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+4, n+5 Command current...
  • Page 138 3.6.5 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes = 16 bits n+16, n+17 b15 b14 b13 b12 b11 b10 b9 Current load (Slave Word) PCON-CBP/CGBP only When the current load is shown using the negative figure, it is expressed using the complement of 2. n+18, n+19 b15 b14 b13 b12 b11 b10 b9 Current load...
  • Page 139 3.6.5 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
  • Page 140 3.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer 16-bit Specify the acceleration and deceleration at which to move Acceleration data the actuator. The unit is 0.01G and settable range is 1 to 300. 3.8.3 (Example) When it is “0.30G”, set it as “30”.
  • Page 141 3.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Servo gain Select the servo gain parameter set to be GSL1 parameter used. (ACON only) GSL1 GSL0 Function selection 1 3.6.11 Select parameter set 0.
  • Page 142 3.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01mm. Current 32-bit (Example) Reading: 000003FF =1023 (decimal) 3.8.3 position...
  • Page 143 3.6.5 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Emergency stop: An emergency stop is actuated when this signal EMGS 3.6.11 (2) turns ON. Controller ready : This signal turns ON when the controller 3.6.11 (1) becomes ready.
  • Page 144 3.6.6 3.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using a teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
  • Page 145 3.6.6 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 DI and input register address (bytes) DO and output register address (bytes) Port No.0 to 15...
  • Page 146 3.6.6 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+8, n+9 Command...
  • Page 147 3.6.6 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 3.6.2 (3)]. The signal allocation for the Command current and Current position is shown in the following table. Signal type Symbol Contents...
  • Page 148: Position/Simplified Direct Value Mode 2 (Number Of Occupied Bytes: 8)

    Zone signal output  data or parameters. PIO pattern selection (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
  • Page 149 3.6.7 (2) I/O signal allocation for each axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 150 3.6.7 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n +0, n + 1 Current position (lower word) n+ 2, n + 3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+ 4, n + 5 Completed position number...
  • Page 151: Signal Type Bit

    3.6.7 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to 999999.
  • Page 152: Status B2

    3.6.7 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current position: 32-bit signed Integer. Stores the current position. The unit is 0.01mm. Current 32-bit 3.8.1 (Example) Reading:000003FF =1023 (decimal)=10.23mm position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
  • Page 153 Zone signal output Parameters must be set.  PIO pattern selection (1) PLC address configuration. (* "n" indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register...
  • Page 154 3.6.8 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 155 3.6.8 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (Lower word) n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 156 3.6.8 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+4, n+5 Current load (lower word)
  • Page 157 3.6.8 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to 999999.
  • Page 158: Unavailable

    3.6.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details BKRL Forced brake release: When it is turned ON, the brake is released. 3.6.11 (18) Operating mode selector: The AUTO mode is selected when this RMOD signal is OFF, and the MANU mode is selected when the signal is 3.6.11 (19)
  • Page 159 3.6.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. Current 32-bit The unit is 0.01mm. 3.8.2 position data (Example) Reading: 000003FF =1023 (decimal)=10.23mm...
  • Page 160 3.6.9 3.6.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) (Note) This mode is applicable only for PCON-CBP/CGBP. In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using a teaching tools.
  • Page 161 3.6.9 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 DI and input register address (bytes) DO and output register address (bytes) Port No.0 to 15...
  • Page 162 3.6.9 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 163 3.6.9 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [I/O signal assignments for the remote I/O mode explained in 3.6.2 (3)]. The signal allocation for the Command current and Current position is shown in the following table. Signal type Symbol Contents...
  • Page 164: Table Of Contents

    Pause  Zone signal output  PIO pattern selection (1) PLC address configuration (* "n" indicates the first address of each axis.) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
  • Page 165 3.6.10 (2) I/O signal allocation for each axis The I/O signals of each axis consist of 16 word (16 words = 32 bytes) and one output word in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 166: Zone Boundary

    3.6.10 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 167: Control Signal 2

    3.6.10 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes = 16 bits n+16, n+17 b15 b14 b13 b12 b11 b10 Zone boundary- (lower word) n+18, n+19 b15 b14 b13 b12 b11 b10 Zone boundary- (upper word) When the zone boundary - is shown using the negative figure, it is expressed using the complement of 2.
  • Page 168: Current Position

    3.6.10 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes = 16 bits n+0, n+1 b15 b14 b13 b12 b11 b10 Current position (lower word) n+2, n+3 b15 b14 b13 b12 b11 b10 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 169: Current Command Value

    3.6.10 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes = 16 bits n+16, n+17 b15 b14 b13 b12 b11 b10 Current command value (lower word) n+18, n+19 b15 b14 b13 b12 b11 b10 Current command value (upper word)
  • Page 170 3.6.10 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
  • Page 171 3.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer 16-bit Specify the acceleration and deceleration at which to move Acceleration data the actuator. The unit is 0.01G and settable range is 1 to 300. 3.8.3 (Example) When it is “0.30G”, set it as “30”.
  • Page 172: When The Signal Is On

    3.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Unavailable Incremental Command: Absolute position commands are issued when this signal is 3.6.11 OFF, and incremental position commands are issued when (24) the signal is ON.
  • Page 173: B11

    3.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01mm. Current 32-bit (Example) Reading: 000003FF =1023 (decimal) 3.8.3 position...
  • Page 174: Status

    3.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Load cell calibration command: CEND Calibration is performed when this signal turns ON. 3.6.11 (35) (Note 1) (Dedicated for PCON-CBP/CGBP) Status Light error status: signal 1...
  • Page 175: I/O Signal Controls And Function

    3.6.11 3.6.11 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described as follows.
  • Page 176 Using the “SON” signal, the turning ON/OFF of the controller is available. While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes available. The relationship between the “SON” signal and “SV” signal is as follows. (PLC → IAI controllers) (IAI controllers → PLC) ME0278-13A...
  • Page 177 OFF or the HOME signal is input again. Even after the completion of the home return operation, when the “HOME” signal is turned “ON”, the home return operation can be performed. (PLC → IAI controllers) (IAI controllers → PLC) (IAI controllers → PLC) (IAI controllers →...
  • Page 178 Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”. Target position (PLC → IAI controllers) (PLC → IAI controllers) (IAI controllers → PLC) (8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning to the target position input in the PLC's target position register is performed.
  • Page 179 3.6.11 (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 180 3.6.11 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [1] Zone 1, Zone 2 The zone is set using the user parameters.
  • Page 181 3.6.11 (13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 182 3.6.11 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 183 (*2) When the data items except for the position have not been defined, the parameter initial values are written. Refer to [the operation manual for the controller main body] (IAI controllers → PLC) 20 ms or more (PLC → IAI controllers) (IAI controllers →...
  • Page 184: Signal

    3.6.11 (19) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 185 3.6.11 (22) Pressing direction specification (DIR) PLC output signal This signal specifies the pressing direction. When this signal is turned “ON”, the pressing operation is performed to the direction of the value determined by adding the positioning band to the target position. When this signal is turned “OFF”, the pressing operation is performed to the position expressed using the value reducing the positioning band from the target position.
  • Page 186 3.6.11 (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”.
  • Page 187 3.6.11 (26) Load output judgment (LOAD) PLC input signal PCON only This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 188 3.6.11 (27) Torque level (TRQS) PLC input signal PCON only This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”...
  • Page 189 3.6.11 (28) Stopping control mode (SMOD) PLC output signal PCON only One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures.
  • Page 190 3.6.11 (29) Acceleration/deceleration mode (MOD1、MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-shaped motion First-order lag filter Unavailable Trapezoid pattern Speed...
  • Page 191 3.6.11 Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed.
  • Page 192 3.6.11 (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.
  • Page 193 (33) Vibration damping mode selection 0, 1 (NTC0, NTC1) PLC output signals ACON 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 194 3.6.11 (35) Load cell calibration command (CLBR) PLC output signal PCON-CBP only Load cell calibration complete (CEND) PLC input signal PCON-CBP only The factory setting for the load cell is 0N when no load is applied. If you want to use the loaded condition as the reference (0N), perform the following calibration.
  • Page 195: I/O Signal Timings

    I/O Signal Timings Turn any control signal on in order to operate ROBO Cylinder with a sequence program in PLC, the response (status) signal for that would be returned to the PLC. The maximum respond time should be expressed with the formula below. Max.
  • Page 196: Operation

    3.8.1 Operation The timings for the basic operation examples in the Position/Simplified Direct Mode (Position/Simplified Direct Mode, Position/Simplified Direct Mode 2), Half direct mode (Half direct mode, half direct mode 2) and Full direct mode (Full direct mode, Full direct mode 2), are described. For the Remote I/O Mode (Remote I/O Mode, Remote I/O Mode 2 and Remote I/O Mode 3), refer to [the operation manual for the controller].
  • Page 197 3.8.1 Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 198 3.8.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 199 3.8.1 Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 200 3.8.2 3.8.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 201 3.8.2 Operation in the Half Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 202 3.8.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the acceleration/deceleration data in the acceleration/deceleration register. (5) Set the pressing current limit data in the pressing current limit value register.
  • Page 203 3.8.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 204 3.8.3 3.8.3 Operation in the Full Direct Value Mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. [1] Operation Example (General Positioning Operation) When the remaining travel distance becomes within the range of the positioning width set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.
  • Page 205 3.8.3 Operation in the Full Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 206 3.8.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the position zone output value data in the zone value + register or zone value -register. (5) Set the acceleration data in the acceleration register.
  • Page 207 3.8.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 208 3.8.4 3.8.4 Data Change During Movement The half direct mode and full direct mode are capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation.
  • Page 209 EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90, No. 140 to 142 and No. 159. Category: C: External interface parameter Default value set in the Category Name factory before delivery Refer to [operation manual for the 1 to 83 controller] for the parameters No.
  • Page 210  Fieldbus baud rate (No. 86) Specify the baud rate in parameter No. 86. Set value Baud rate 0 (Factory setting) Auto negotiation (recommended) 10 Mbps, half-duplex 10 Mbps, full-duplex 100 Mbps, half-duplex 100 Mbps, full-duplex Other than the above Baud rate setting error ...
  • Page 211  Field I/O format (No.90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. Value set in Contents parameter No.
  • Page 212 (Example ii) Set value = “1”  indicates ON, while  indicates OFF PCON Input resister Hexadecimal data PLC: Output Hexadecimal data PCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 213 (Example iii) Set value = “2”  indicates ON, while  indicates OFF PCON Input resister Hexadecimal data PLC: Output Hexadecimal PCON Output resister Hexadecimal data PLC: Input CH Hexadecimal data ME0278-13A...
  • Page 214 (Example iv) Set value = “3”  indicates ON, while  indicates OFF PCON Input resister Hexadecimal data PLC: Output Hexadecimal data PCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 215  IP address (No. 140) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) (Note) When this parameter is set to 0.0.0.0, DHCP is enabled. Manual setting is recommended.  Subnet mask (No. 141) Specify the subnet mask in parameter No.
  • Page 216: Troubleshooting

    Fieldbus module error Cannot detected. Action: Check the applicable parameters. Cause: The module could not be detected. Fieldbus module Cannot Action: Reconnect the power. If the problem non-detection error persists, please contact IAI. (*1) ID → Simple alarm code ME0278-13A...
  • Page 217: Operation Modes And Functions

    SCON-CA/CB/CGB/CAL/CGAL (Note) As CAL and CGAL Types possess the same functions, this manual describes them together as CAL Type. Operation Modes and Functions All of the operation modes described in the table below for SCON-CA/CB Type applicable for Ethernet/IP and those except for the ones in the shaded area for CAL Type are available to choose from for operation. Operation modes and key functions Full Position/...
  • Page 218 [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24V I/Os) via EtherNet/IP communication. Number of occupied bytes: 2 bytes SCON-CA/CB/CAL not SCON-CA/CB/CAL supporting EtherNet/IP supporting EtherNet/IP Communication cable Flat cable PIO connection EtherNet/IP connection [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal.
  • Page 219 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/s Acceleration: 0.30 G...
  • Page 220 [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and pressing current, in addition to the target (Not applicable for CAL Type) position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.
  • Page 221 [10] Full direct mode 2: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. The overload level monitoring, current indication value and monitoring of the estimated regenerative discharge power volume are available. Number of occupied bytes: 32 bytes (SCON-CB/CG only) Target position: 100.00 mm Positioning band: 0.10 mm...
  • Page 222: Model Numbers

    Model Numbers The model numbers of SCON-CA/CB/CAL controller supporting EtherNet/IP are indicated as follows, respectively: ●SCON-CA/CB-□-EP-□ ●SCON-CAL-□-EP-□ ME0278-13A...
  • Page 223: Ethernet/Ip Interface

    4.3.1 EtherNet/IP Interface 4.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. ●SCON-CA/CB Monitor LEDs EtherNet/IP communications ●SCON-CAL Monitor LEDs EtherNet/IP communications ME0278-13A...
  • Page 224: Monitor Led Indications

    ☆ Check if the scanner (master) is idle. A hardware error is present. ○ The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. ☆ The problem can be resolved by, for example, setting the problem item or items again.
  • Page 225: Connection Diagram

    4.4.1 Wiring 4.4.1 Connection Diagram PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves SCON-CA/CB SCON-CA/CB * Ethernet cable: Straight cable of category 5 or above, 10m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 4.4.2 Connector Pin Layout Pin number...
  • Page 226: Setting The Baud Rate

    4.5.1 Setting Using a teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: Refer to [the instruction manual for each teaching tool] for the applicable version of the teaching tool that can be applied to EtherNet/IP.
  • Page 227: Setting The Ip Address

    4.5.3 4.5.3 Setting the IP Address Set parameter No. 140 “IP address.” Refer to [4.9 EtherNet/IP Related Parameters]. Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.) (Note 1) Exercise caution to avoid IP address duplication. For details, refer to [the operation manuals of the master unit and PLC] in which in the master unit is installed.
  • Page 228 4.6.1 Communicating with the Master Station 4.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. • PLC output → SCON-CA/CB/CAL input (* “n” indicates the first address of each axis.) DI on the SCON-CA/CB/CAL side and input data register Position/ Remote I/O...
  • Page 229 4.6.1  PLC output  SCON-CA/CB/CAL input side (* “n” indicates the first address of each axis.) DO on the SCON-CA/CB/CAL side and output data register Position/Simplified Half direct value Remote I/O Half direct value Full direct value PLC input direct value mode 2 mode 3...
  • Page 230 4.6.1  SCON-CA/CB/CAL output  PLC input (* “n” indicates the first address of each axis.) DO on the SCON-CA/CB/CAL side and output data register Position/ Half direct value Full direct value PLC output Remote I/O mode Simplified direct Remote I/O mode 2 mode mode area (bytes)
  • Page 231 4.6.1 4.6.1 4.6.1  SCON-CA/CB/CAL outputPLC input Side (* “n” indicates the first address of each axis.)  SCON-CA/CB/CAL outputPLC input Side (* “n” indicates the first address of each axis.)  SCON-CA/CB/CAL outputPLC input Side (* “n” indicates the first address of each axis.) DO on the SCON-CA/CB/CAL side and output data register DO on the SCON-CA/CB/CAL side and output data register DO on the SCON-CA/CB/CAL side and output data register...
  • Page 232 4.6.2 4.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using a teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.
  • Page 233 4.6.2 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter SCON-CA/CB/CAL side PLC side output SCON-CA/CB/CAL side PLC side input No.84 DI(Port No.) address (bytes) DO(Port No.) address (bytes) 0 to 15 n+0, n+1 0 to 15 n+0, n+1 (Note) Be careful of using duplicated addresses.
  • Page 234 4.6.2 (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. Refer to [Operation Manual for the controller main body] for more information. Parameter No. 25 setting Positioning mode Teaching mode 256-point mode Category Port No.
  • Page 235 4.6.2 Parameter No. 25 setting 512-point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Category Port No. 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 PC16...
  • Page 236 4.6.2 Setting of parameter No. 25 Force control mode 1 Force control mode 2 Category Port No. Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position number Start position 2 Start position 3 PC16 Start position 4 Cannot be used.
  • Page 237 4.6.3 4.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
  • Page 238 4.6.3 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 239 4.6.3 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+ 0 , n + 1 n+0, n+1 Current position (lower word) n+2, n+3 n+ 2 n + 3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of...
  • Page 240 4.6.3 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 241 4.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Current Position: 32-bit signed Integer. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current (Example) 32-bit...
  • Page 242 4.6.4 4.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos.
  • Page 243 4.6.4 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 244 4.6.4 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 245 4.6.4 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of n+4, n+5 Command current...
  • Page 246 4.6.4 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 247 4.6.4 4.6.4 4.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Signal type Signal type...
  • Page 248 4.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current 32-bit (Example) Reading: 000003FF...
  • Page 249 4.6.5 4.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 250 4.6.5 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 251 4.6.5 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Target position (lower word) n+2, n+3 n+ 2 , n + 3 Target position (upper word)
  • Page 252 4.6.5 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 n+ 1 6 , n + 1 7 Zone boundary - (lower word) n+18, n+19 n+ 1 8 , n + 1 9 Zone boundary - (upper word)
  • Page 253 4.6.5 PLC input Channel (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Current position (lower word) n+2, n+3 n+ 2 , n + 3 Current position (upper word)
  • Page 254 4.6.5 Channel (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits Current load (lower word) (Specified only for SCON-CA/CB) Current load (lower word) (Specified only for SCON-CA/CB) If the current load data is a negative value, it is expressed by a 2’s complement. Total moving count (lower word)
  • Page 255 4.6.5 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
  • Page 256 4.6.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Contents Signal type Symbol Details 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. Acceleration 16-bit data The unit is 0.01 G, while the specifiable range is 1 to 999.
  • Page 257 4.6.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details Incremental specification: Absolute position command when the signal is OFF, or 4.6.12 (24) incremental position command when the signal is ON.
  • Page 258 4.6.5 (* 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. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
  • Page 259: Zone 2: The Signal Is On When The Current Position Is Inside The Specified Zone

    4.6.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details Emergency stop: An emergency stop is being executed EMGS 4.6.12 (2) when the signal is ON. Controller ready: The signal turns ON when the controller 4.6.12 (1) becomes ready.
  • Page 260 4.6.6 4.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using a teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
  • Page 261 4.6.6 4.6.6 4.6.6 (1) PLC address configuration (* “n” indicates the first address of each axis.) (1) PLC address configuration (* “n” indicates the first address of each axis.) (1) PLC address configuration (* “n” indicates the first address of each axis.) SCON-CA/CB/CAL SCON-CA/CB/CAL SCON-CA/CB/CAL...
  • Page 262 4.6.6 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+ 0 , n + 1 n+0, n+1 Controller output port number n+ 2 , n + 3 n+2, n+3 Cannot be used n+4, n+5...
  • Page 263 4.6.6 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 4.6.2 (3)]. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal type Symbol Contents...
  • Page 264 4.6.7 4.6.7 Position/Simplified Direct Value Mode 2 (Number of Occupied Bytes: 8) (Note) This mode is applicable only for SCON-CA/CB. In this mode, the actuator is operated by means of force control (pressing operation based on feedback of load cell values) and also by specifying position numbers. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected.
  • Page 265 4.6.7 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (4 words = 8 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 266 4.6.7 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Current position (lower word) n+ 2 , n + 3 n+2, n+3 Current position (upper word)
  • Page 267 4.6.7 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
  • Page 268 4.6.7 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current Position: 32-bit signed Integer. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
  • Page 269 4.6.8 4.6.8 Half Direct Value Mode 2 (Number of Occupied Bytes: 16) (Note) This mode is applicable only for SCON-CA/CB. In this mode, the actuator is operated by means of force control (pressing operation based on feedback of load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration and pressing current directly as numerical values.
  • Page 270 4.6.8 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 271 4.6.8 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Target position (lower word) n+2, n+3 n+ 2 , n + 3 Target position (upper word)
  • Page 272 4.6.8 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Current position (lower word) n+2, n+3 n+ 2 , n + 3 Current position (upper word)
  • Page 273 4.6.8 (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 274 4.6.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing Pressing operation. current- 16-bit The allowable specification range is 0 (0%) to 510 (200%). 4.8.2 limiting data...
  • Page 275 4.6.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current 32-bit (Example) Reading: 000003FF...
  • Page 276 4.6.9 4.6.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) (Note) This mode is applicable only for SCON-CA/CB. In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using a teaching tools.
  • Page 277 4.6.9 (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter SCON-CA/CB side PLC side output SCON-CA/CB side PLC side input No. 84 DI and input register address (bytes) DO and output register address (bytes) Port number 0 to 15 n+0, n+1 Port number 0 to 15 n+0, n+1...
  • Page 278 4.6.9 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Controller output port number n+2, n+3 Cannot be used n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 279 4.6.9 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 4.6.2 (3)]. The signal allocation for the Current load and Current Position, is shown in the following table. Signal type Symbol Contents...
  • Page 280 4.6.10 4.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos.
  • Page 281 4.6.10 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 282 4.6.10 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band...
  • Page 283 4.6.10 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2 n+4, n+5 Command current...
  • Page 284 4.6.10 (3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 285 4.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Description Details 16-bit integer. Specify the current-limiting value during pressing operation. Pressing The specified range is 0 (0%) to 510 (200%). current-limiting 16-bit data The actual specifiable range varies with each actuator.
  • Page 286 4.6.10 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current 32-bit (Example) Reading: 000003FF...
  • Page 287 4.6.11 4.6.11 Full Direct Value Mode 2 (Number of Occupied Bytes: 32) This Mode are available only for SCON-CB/CGB types. (Applicable Versions:V0022 or later) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC.
  • Page 288 4.6.11 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of 16 word (16 words = 32 bytes) in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 289 4.6.11 PLC output Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Target position (lower word) n+2, n+3 n+ 2 , n + 3 Target position (upper word)
  • Page 290 4.6.11 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 n+1 6 , n +17 Zone boundary - (lower word) n+18, n+19 n+1 8 , n+ 1 9 Zone boundary - (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
  • Page 291 4.6.11 PLC input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+ 0 , n + 1 Current position (lower word) n+2, n+3 n+ 2 , n + 3 Current position (upper word)
  • Page 292 4.6.11 Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes = 16 bits n+16, n+17 bb14 Current command value (lower word) n+18, n+19 Current command value (Upper word) When the current load is shown using the negative figure, it is expressed using the complement of 2. n+20, n+21 Estimated regenerative...
  • Page 293 4.6.11 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
  • Page 294 4.6.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Contents Signal type Symbol Details 16-bit integer. Specify the acceleration and deceleration at which to move the Acceleration 16-bit data actuator.
  • Page 295 4.6.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details Incremental specification: Absolute position command when the signal is OFF, or 4.6.12 (24) incremental position command when the signal is ON.
  • Page 296 4.6.11 (* 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. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
  • Page 297 4.6.11 (* 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 Cannot be used. Status signal 1 Load cell calibration is complete: This signal turns ON CEND 4.6.12 (32) when calibration is complete.
  • Page 298: I/O Signal Controls And Function

    4.6.12 4.6.12 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Modes 1 and 2, Half Direct Value Modes 1 to 3 and Full Direct Value Mode, are described as follows.
  • Page 299 4.6.12 (5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED refer to [4.3, EtherNet/IP Interface] on the front surface of the controller illuminates in green.
  • Page 300 4.6.12 (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically.
  • Page 301 4.6.12 (7) Positioning start (CSTR):Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
  • Page 302 4.6.12 (10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 303 4.6.12 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [1] Zone 1, Zone 2 The zone is set using the user parameters.
  • Page 304 4.6.12 (13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 305 4.6.12 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 306 4.6.12 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON.
  • Page 307 4.6.12 (19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 308 4.6.12 (22) Pressing direction specification (DIR) PLC output signal This signal specifies the pressing direction. When this signal is turned “ON”, the pressing operation is performed to the direction of the value determined by adding the positioning band to the target position. When this signal is turned “OFF”, the pressing operation is performed to the position expressed using the value reducing the positioning band from the target position.
  • Page 309 4.6.12 (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”.
  • Page 310 4.6.12 (26) Load output judgment (LOAD) PLC input signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 311 4.6.12 (27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”...
  • Page 312 (29) Vibration damping mode selection 0, 1 (NTC0, NTC1) PLC output signals The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
  • Page 313 4.6.12 (30) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid Pattern Factory setting S-shaped Motion First-Order Lag Filter Unavailable Trapezoid Pattern Speed...
  • Page 314 4.6.12 Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed.
  • Page 315 4.6.12 (31) Standstill mode selection (ASO0, ASO1) PLC output signals Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption.
  • Page 316 4.6.12 (32) Load cell calibration command (CLBR) PLC output signal Load cell calibration complete (CEND) PLC input signal The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration.
  • Page 317: I/O Signal Timings

    I/O Signal Timings Turn any control signal on in order to operate ROBO Cylinder with a sequence program in PLC, the response (status) signal for that would be returned to the PLC. The maximum respond time should be expressed with the formula below. Max.
  • Page 318: Operation

    4.8.1 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode (Position/Simplified Direct Mode, Position/Simplified Direct Mode 2), Half Direct Value Mode (Half direct value mode, Half direct value mode 2 and Half direct value mode 3) and Full Direct Value Mode (Full direct value mode, Full direct value mode 2), are described.
  • Page 319 4.8.1 Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 320 4.8.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 321 4.8.1 Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 322 4.8.2 4.8.2 Operation in the Falf Direct Value Mode It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 323 4.8.2 Operation in the Half Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 324 4.8.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the acceleration/deceleration data in the acceleration/deceleration register. (5) Set the pressing current limit data in the pressing current limit value register.
  • Page 325 4.8.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 326 4.8.3 4.8.3 Operation in the Full Direct Value Mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. [1] Operation Example (General Positioning Operation) When the remaining travel distance becomes within the range of the positioning width set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.
  • Page 327 4.8.3 Operation in the Full Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 328 4.8.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position register. (2) Set the positioning width data in the positioning width register. (3) Set the speed data in the speed register. (4) Set the position zone output value data in the zone value + register or zone value -register. (5) Set the acceleration data in the acceleration register.
  • Page 329 4.8.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0278-13A...
  • Page 330 4.8.4 4.8.4 Data Change During Movement The half direct mode and full direct mode are capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation.
  • Page 331: Ethernet/Ip Related Parameters

    EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84 to No. 87, No. 90, No. 140 to No. 142 and No.159. Category: C: External interface parameter Default value set in the Category Name factory before delivery Refer to [operation manual for the 1 to 83 controller] for the parameters No.
  • Page 332  Field bus operation mode (No.84) Specify the operation mode in parameter No. 84 using a value between 0 and 8. Number of Value set in Mode occupied Contents parameter No. 84 bytes Operation using PIOs 0 (Factory setting) Remote I/O mode (24 V I/Os) is performed via EtherNet/IP.
  • Page 333  Field I/O format (No.90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. Value set in Contents parameter No.
  • Page 334 (Example ii) Set value = “1”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 335 (Example iii) Set value = “2”  indicates ON, while  indicates OFF ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 336 (Example iv) Set value = “3”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 337  IP address (No. 140) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1)  Subnet mask (No. 141) Specify the subnet mask in parameter No. 141. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) ...
  • Page 338: Troubleshooting

    Fieldbus module error Cannot detected. Action: Check the applicable parameters. Cause: The module could not be detected. Fieldbus module Cannot Action: Reconnect the power. If the problem non-detection error persists, please contact IAI. (*1) ID → Simple alarm code ME0278-13A...
  • Page 339 Servo Press Type SCON-CB/CGB (Note) As CB and CGB Types possess the same functions, this manual describes them together as CB Type. Operation Modes and Functions SCON-CB Servo-press Type applicable to EtherNet/IP can be operated by means of selecting one mode out of the following three operation modes.
  • Page 340 [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via EtherNet/IP communication. Number of occupied bytes: 2 bytes SCON-CB supporting EtherNet/IP SCON-CB not supporting EtherNet/IP Communication cable Flat cable EtherNet/IP connection PIO connection [2] Full function mode: It is the system to support all the features such as movement by direct indication or current load reading in addition to those for servo press such as startup of press program or judgment result reading.
  • Page 341 Model Numbers The model numbers of SCON-CB controller supporting EtherNet/IP are indicated as follows, respectively: ●SCON-CB-□F-EP-□ For 12 to 300W motor For 400 to 750W motor For 3000 to 3300W motor ME0278-13A...
  • Page 342 Check if the scanner (master) is idle. A hardware error is present. ○ The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. The problem can be resolved by, for example, setting the problem item ☆...
  • Page 343: Wiring Example

    5.4.1 Wiring 5.4.1 Wiring (Example) PLC (EtherNet/IP master unit) Ethernet cable* Ethernet cable* Ethernet cable* Other slaves SCON-CB SCON-CB * Ethernet cable: Straight cable of category 5 or above, 100m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 5.4.2 Connector Pin Layout Pin number...
  • Page 344 5.5.1 Setting Using a teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to [the instruction manual for each teaching tool] for the applicable version of the teaching tool that can be applied to EtherNet/IP.
  • Page 345 5.5.5 5.5.5 Setting the Default Gateway If necessary, set parameter No. 142 “Default gateway.” Refer to [5.9 EtherNet/IP Related Parameters]. Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 192.168.0.0.) (Note) After the parameter setting, turn on the power to the controller again and return the mode toggle switch on the front of the controller to “AUTO”...
  • Page 346 5.6.1 Communicating with the Master Station 5.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. • PLC output → SCON-CB input (* “n” indicates the first address of each axis.) DI on the SCON-CB side and input data register PLC output area Remote I/O mode...
  • Page 347 5.6.2 5.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the fieldbus communication indicate each I/O signal is ON/OFF instead of PIO (Actuial 24V I/O). Create a press program on the using a teaching tools. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 348 5.6.2 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input (1 word=2 bytes) and one output word (channel) in the I/O areas. • Each address is controlled by ON/OFF bit signals. PLC output Address (* “n”...
  • Page 349 5.6.3 5.6.3 Full Function Mode( ( Number of Occupied Bytes: 32) ) It is the mode operation system to conduct all the servo press features in fieldbus communication. Set each value in the input and output areas. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 350 5.6.3 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of sixteen input words (16-words = 32 bytes) and four output words in the I/O areas.  The control signals 1,2 and status signals 1,2 are ON/OFF signals in units of bit. ...
  • Page 351 5.6.3 PLC output Address (* “n” indicates the first address of each axis.) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 ME0278-13A...
  • Page 352 5.6.3 Address (* “n” indicates the first address of each axis.) n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 ME0278-13A...
  • Page 353 5.6.3 PLC input Address (* “n” indicates the first address of each axis.) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 ME0278-13A...
  • Page 354 5.6.3 Address (* “n” indicates the first address of each axis.) n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 ME0278-13A...
  • Page 355 5.6.3 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Symbol Contents Details Signal type 32-bit signed integer. Indicate the target position in the direct movement commands on the absolute coordinates. The unit is 0.001 mm, while the specifiable range is -9999999 to 9999999.
  • Page 356 5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Control Can not be used. signal 1 DSTR Positioning start: when the movement command is ON 5.6.5 (15) -Jog: The actuator moves in the direction of home when the JOG- 5.6.5 (14) signal is ON.
  • Page 357 5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. 32-bit The unit is 0.001 mm. Current 5.8.2 (Example) Reading: 000003FF = 1023 (decimal) = 1.023 mm data...
  • Page 358 5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Overall Judgment NG: Turns ON when overall judgment was made for load and JDNG 5.6.5 (30) position (distance) as a NG. Overall Judgment OK: Turns ON when Overall judgment was made for load and 5.6.5 (30)
  • Page 359: Pend Positioning Complete Signal

    5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Emergency stop: An emergency stop is being executed when EMGS 5.6.5 (21) the signal is ON. Alarm: The signal turns ON when an alarm occurs. 5.6.5 (20) Light failure alarm: ALML...
  • Page 360 5.6.4 5.6.4 Pressing Direct Mode (Number of Occupied Stations: Four Stations) The pressing direct mode is an operation mode to indicate the "pressurizing stage" in a pressing program directly in numbers. The pressing direct operation and positioning direct operation are available in this mode.
  • Page 361 5.6.4 (1) PLC address configuration (* “n” indicates the head resister address of each axis.) PLC side PLC side Parameter SCON-CB side SCON-CB side Output address Input address No. 84 input side resister output side resister (byte) (byte) n+0, n+1 n+0, n+1 Target position Current position...
  • Page 362 5.6.4 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of sixteen input words (16-words = 32 bytes) and four output words in the I/O areas.  The control signals 1, 2 and status signals 1, 2 are ON/OFF signals in units of bit. ...
  • Page 363 5.6.4 PLC output Address (* “n” indicates the first address of each axis.) The upper words and lower words are available for swapping in Parameter No. 90. 1 word = 2 bytes = 16 bits n+0, n+1 Target Position (Slave Word) n+2, n+3 Target Position...
  • Page 364 5.6.4 PLC output Address (* “n” indicates the first address of each axis.) The upper words and lower words are available for swapping in Parameter No. 90. 1 word = 2 bytes = 16 bits n+16, n+17 Position Zone Boundary + (Slave Word) n+18, n+19 Position Zone...
  • Page 365 5.6.4 PLC Input Address (* “n” indicates the first address of each axis.) The upper words and lower words are available for swapping in Parameter No. 90. 1 word = 2 bytes = 16 bits n+0, n+1 Current Position (Slave Word) n+2, n+3 Current Position...
  • Page 366 5.6.4 PLC Input Address (* “n” indicates the first address of each axis.) The upper words and lower words are available for swapping in Parameter No. 90. 1 word = 2 bytes = 16 bits n+16, n+17 Reserved (Unavailable) n+18, n+19 Reserved (Unavailable) n+20, n+21...
  • Page 367 5.6.4 (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit Signed Integer Target positions for the pressing direct command and the positioning direct command should be indicated with positions on the absolute coordinates.
  • Page 368 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit Signed Integer The zone boundaries for the load available for change from the host PLC should be indicated. The unit can be selected from 0.01N to 10N in Parameter No.
  • Page 369 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details DSTR Positioning start: when the movement command is ON 5.6.5 (15) JOG- - Jog: “ON” for Movement to the Home Direction 5.6.5 (14) JOG+ + Jog: “ON”...
  • Page 370 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed integer. Stores the current position. The unit is 0.001 mm. Current 32-bit (Example) Reading: 000003FF = 1023 (decimal) 5.8.3 ...
  • Page 371 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Status Unavailable   signal 1 Emergency stop: An emergency stop is being executed EMGS 5.6.5 (21) when the signal is ON. Alarm: The signal turns ON when an alarm occurs.
  • Page 372 5.6.5 5.6.5 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the full function mode are described as follows. For the I/O signals for the Remote I/O Modes, refer to [the instruction manual for the controller main body for servo press].
  • Page 373 5.6.5 (3) Reset (RES) PLC output signal This signal has two functions. It can reset the controller alarm and cancel the reminder for planned movements during pause conditions. ■ Function [1] When this signal is turned ON from OFF condition after eliminating the cause of the alarm during the alarm output, the alarm (ALM) signal can be reset.
  • Page 374 5.6.5 (5) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 375 5.6.5 Press program home return (PHOM) PLC output signal Press program home movement (MPHM) PLC input signal Press program home position (PORG) PLC input signal This command gets processed at the startup (ON-edge) when PHOM signal is ON, and executes to move to the home position in the program number input in the PLC command program number register.
  • Page 376 5.6.5 (11) Probing stop (SSTP) PLC output signal When SSTP signal is ON at the time when probing stage completes, stops at probing stage complete Servo ON is position, and press program stop. continued. After program is turn off, even if SSTP signal return OFF will not resume press program. (12) Jog/Inching switching (JISL) PLC output signal This signal changes over the jog operation and the inching operation.
  • Page 377 5.6.5 (14) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 378 5.6.5 (16) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. However, when the positioning is completed with the DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 379 5.6.5 (18) Program alarm (PALM) PLC input signal This turns ON when a press program alarm is detected. The alarm turns OFF when the reset (RES) signal gets turned ON if it is an operation cancelation level alarm. (without removing the cause of alarm, the alarm will be generated again when press program is executed.) (19) Light failure status (ALML) PLC input signal It turns to 1 when a message level (light alarm available to continue) alarm is ON.
  • Page 380 5.6.5 (26) While in decompressing operation (DCMP) PLC input signal It turns ON during the decompressing stage in press program. (27) While in returning operation (RTRN) PLC input signal It turns ON during the returning stage in press program. (28) Press program standby (WAIT) PLC input signal It turns ON during standby after press program finished in normal condition.
  • Page 381 5.6.5 (31) Select the servo gain parameter set (GSL0 to 1) PLC Output signal In addition to the servo gain parameter set, selection should be made from four patterns also for the gain in a force control device when the pressurizing operation mode is set to Force Operation Mode. GSL1 GSL0 Servo gain...
  • Page 382 5.6.5 (34) Permission for Axis Operation (ENMV) PLC output signal As it takes the interlock of an axis operation, this signal has to be turned on in order to operate an axis. The axis operation should stop while this signal is off. However, the condition of the servo turned on should be kept.
  • Page 383 I/O Signal Timings Turn any control signal on in order to operate ROBO Cylinder with a sequence program in PLC, the response (status) signal for that would be returned to the PLC. The maximum respond time should be expressed with the formula below. Max.
  • Page 384 5.8.1 Operation The timings for the basic operation examples. 5.8.1 Operation in the Remote I/O Mode Here, it shows examples for when executing one press program to turn the servo ON, return to home position and having loadcell calibration.  Example of operation (1) Turn ON (operation enable) axis movement permission signal (ENMV).
  • Page 385 5.8.1 Note 1 Input the pressing program number and then turn on PSTR. ME0278-13A...
  • Page 386 5.8.2 5.8.2 Operation in the Full Function Mode From the condition that the servo is on, home-return is performed and the loadcell calibration is completed; [1] when executing one press program [2] when performing direct indication Here shows an example of two patterns of operation. [1] Example for when executing one press program (1) Turn ON (operation enable) axis movement permission signal (ENMV).
  • Page 387 5.8.2 Note 1 Input the pressing program number and then turn on PSTR. ME0278-13A...
  • Page 388 5.8.2 [2] Example for when performing direct indication movement to the target position (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the target position data in the target position register. (3) Set the positioning band data in the positioning band register. (4) Set the speed data to the speed resister.
  • Page 389 5.8.2 T1: Have an enough period of interval considering the scanning time of the host controller. Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) * The example of this operation shows how to perform the positioning. It will not be operated as the pressurizing or depressurizing operations.
  • Page 390 5.8.3 5.8.3 Operation in Pressing Direct Mode Here, shows an example of having an operation equivalent to a pressing program in a condition of the servo turned on, home-return operation completed and the loadcell calibration completed. [1] Approach [2] Search [3] Pressurize [4] Stop [5] Depressurize...
  • Page 391 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) (*1) Positioning Command DSTR (PLC→Controller) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) (*2) (*2) ≤1Mt ≤1Mt Actuator Operation (Image of velocity waveform) T1: Have an enough period of interval considering the scanning time of the host controller.
  • Page 392 5.8.3 [2] Search Conduct the searching operation while the positioning complete signal (PEND) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode signal (PRMD) to “0: Velocity Control Mode”. Pressurizing Operation PRMD Control Mode 0: Velocity Control Mode...
  • Page 393 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Velocity Control Mode (PLC→Controller) Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data (PLC→Controller) (*1) Pressing Direct Start Command DPST (PLC→Controller)
  • Page 394 5.8.3 [3] Pressurize Conduct the pressurizing operation while the pressurizing operation termination signal (DPED) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode signal (PRMD) in a purpose of your use. Pressurizing Operation PRMD Control Mode...
  • Page 395 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: [Set it as required for your use] (PLC→Controller) Pressurizing Operation Stop System: [Set it as required for your use] (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data...
  • Page 396 5.8.3 [4] Stop Have the host PLC perform a stop control with a timer. [5] Depressurize There are two ways to depressurize. Use "A) Positioning Direct" when velocity is to be prioritized for depressurizing. Use "B) Pressing Direct" when it is required to control sudden depressurizing. A) Positioning Direct Depressurizing operation should be conducted while the pressurizing operation termination signal (DPED) is on.
  • Page 397 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) (*1) Positioning Command DSTR (PLC→Controller) Pressurizing operation terminated DPED (Controller→PLC) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) ≤1Mt (*2)
  • Page 398 5.8.3 B) Pressing Direct Depressurizing operation should be conducted while the pressurizing operation termination signal (DPED) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode register (PRMD) to “1: Force Control Mode”. Pressurizing Operation PRMD Control Mode...
  • Page 399 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Force Control Mode (PLC→Controller) Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data (PLC→Controller) (*1) Pressing Direct Start Command DPST (PLC→Controller)
  • Page 400 5.8.3 [6] Return (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the target position data in the target position register (PCMD). (3) Set the velocity data in the velocity register (VCMD). (4) Set the Acceleration data in the acceleration register (ACMD). (5) Set the deceleration data in the deceleration register (DCMD).
  • Page 401 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Positioning Command DSTR (PLC→Controller) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) *≤1Mt *≤1Mt Actuator Operation (Image of velocity waveform) T1: Have an enough period of interval considering the scanning time of the host controller.
  • Page 402 EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84 to No. 87, No. 90, No. 140 to No. 142, No.159 and No.189. Category: C: External interface parameter Default value set in the Category Name factory before delivery Refer to [operation manual for the 1 to 83 controller] for the parameters No.
  • Page 403  Field bus I/O format (No. 90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. Value set in Contents parameter No.
  • Page 404 (Example ii) Set value = “1”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 405 (Example iii) Set value = “2”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Input resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 406 (Example iv) Set value = “3”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data PLC: Input Hexadecimal data ME0278-13A...
  • Page 407  IP address (No. 140) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1)  Subnet mask (No. 141) Specify the subnet mask in parameter No. 141. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) ...
  • Page 408 (Note) An error will not be detected when parameter No. 180 “DAC Output” is set Extension device error Cannot inactivated. Action: Check the wires for analog output. In case there is no fault wiring, please contact IAI. (*1) ID → Simple alarm code ME0278-13A...
  • Page 409 5.10 (2) Alarm Codes Specific to Pressing Direct Mode Alarm Detail Code Name Contents (*1) Reset Code Position Command Information Data Error Max. Pressurizing Load Exceeded Pressurizing Position Limit Exceeded Pressing Direct Target Load Undetected Operation Error Allowable Velocity Exceeded during Pressurizing Operation Before Contact to Workpiece (*1) ID →...
  • Page 410 5.10 ME0278-13A...
  • Page 411: Connection Example

    [4] Configuration software: CX-One V4.0 or later, Network Configurator V3.20 or later [5] Commercially available switching hub (supporting 100BASE-TX) [6] IAI controller (ACON-C, PCON-C/CA, SCON-CA) of EtherNet/IP specification [7] Straight LAN cable (category 5 or larger) x 2 pcs 6.1.1 Connection Example A setting example based on the following connection configuration is given.
  • Page 412: Setting The Plc (1) [Cx-Programmer]

    6.1.3 6.1.3 Setting the PLC (1) [CX-Programmer] [1] Set “NODE No.” rotary switches “x16 ” and “x16 ” to “0” and “A,” respectively, on the front face of the CJ2M-CPU31 unit, and start the PLC. [2] Start CX-Programmer and click the Connect Directly button on the toolbar to connect to the PLC. [3] When the following message appears, select the [Also transfer I/O table and high-function unit settings] check box and click the Yes button.
  • Page 413 6.1.3 [6] In the “PLC I/O Table” window, double-click “Built-in Ports/Inner Boards” and then double-click “[1500] CJ2M-EIP21.” [7] In the “CJ2M-EIP21 [Edit Parameters]” dialog box, select the “TCP/IP” tab and set as follows, and then click the Transfer [PC  Unit] button to transfer the parameters to the PLC. Keep the default settings on other tabs.
  • Page 414: Setting The Plc (2) [Network Configurator]

    6.1.4 6.1.4 Setting the PLC (2) [Network Configurator] [1] Start Network Configurator and click the Connect button on the toolbar to connect to the PLC. [2] In the “Select Connection Network Port” dialog box, select “TCP:2” and click the OK button. [3] Right-click “CJ2M-EIP21”...
  • Page 415 6.1.4 [4] Right-click each device in the main window and select [Change Node Address] in the pop-up menu to set the IP address. ME0278-13A...
  • Page 416 6.1.4 PLC’s IP Address Controller’s IP Address ME0278-13A...
  • Page 417 6.1.4 [5] Double-click “Anybus-CC EtherNet/IP” in the main window and set the controller device parameters as follows: Item Set value 0001 Output Size 0002 Input Size 0003 RPI Range 10000 (default value) [6] Double-click “CJ2M EIP21” in the main window to open the PLC’s “Edit Device Parameters” dialog box, and select “Anybus-CC EtherNet/IP”...
  • Page 418 6.1.4 [7] Once the device is registered, “Anybus-CC EtherNet/IP” moves to “List of Registered Devices.” Double-click “Anybus-CC EtherNet/IP” you have just registered. ME0278-13A...
  • Page 419 6.1.4 [8] In the “Assign Connection” dialog box, click the Edit Tag Set button next to “Input Tag Set” in the Originator Device area. ME0278-13A...
  • Page 420 6.1.4 [9] In the “Edit Tag Set” dialog box, click the Edit Tag button. [10] In the “Edit Tag” dialog box, click the New button. ME0278-13A...
  • Page 421 6.1.4 [11] In the “Set Tag” dialog box, set as follows and click the Register button. [12] When tag “W0’” has been registered in the “Set Tag” dialog box, close the “Set Tag” dialog box. (No other tag is registered continuously.) Click the OK button in the “Edit Tag”...
  • Page 422 6.1.4 [14] In the “Assign Connection” dialog box, set as follows and click the Register button. Confirm that the values in the “Target Device” area match those set in step [5]. [15] When the registration in “Assign Connection” is complete, the “Assign Connection” dialog box opens again. Click the Close button to close the dialog box.
  • Page 423 6.1.4 [17] Upon establishment of link, the LEDs on the PLC and controller change their statuses as follows: LED statuses on PLC LED statuses on Controller Status Status Steady green light Steady green light Steady green light Steady green light COMM Steady orange light Link/Activity...
  • Page 424 6.1.5 6.1.5 Checking the I/O Data on the PLC [1] Start CX-Programmer. [2] Click the Switch Watch Window button on the toolbar. [3] Register the tag names “W0” and “W1” in the “Address” fields of the “Watch Window,” and the current values of the registered tags will appear in the “Value”...
  • Page 425: Example Of Connection Settings With Keyence's Master

    (Example) KV-5500 (with built-in EtherNet/IP) [2] Configuration software: (Example) KV-STUDIO Ver 6.10 or later [3] Commercially available switching hub (supporting 100BASE-TX) [4] IAI controller (ACON-C, PCON-C/CA, SCON-CA) of EtherNet/IP specification [5] Straight LAN cable (category 5, or larger) x 2 pcs 6.2.1 Connection Example A setting example based on the following connection configuration is given.
  • Page 426: Setting The Plc

    6.2.3 6.2.3 Setting the PLC [1] Start Keyence’s ladder support software “KV-STUDIO.” [2] Start the Unit Editor and set the baud rate, IP address setting method, IP address, subnet mask and default gateway on the “CPU Unit Settings (2)” tab. When all items have been set, click the button to start “EtherNet/IP Setup.”...
  • Page 427 6.2.3 [4] When the device is registered in the tree below the PLC, the “Default Adapter Settings” dialog box appears. Set the IP address and node address here. * The node address is an internal address used by the PLC. It has nothing to do with the IP address. Assign a unique value to each PLC.
  • Page 428 6.2.3 [6] In the “Set Connection” dialog box, set the connection type and send trigger. Select “Point-to-Point” for the connection type for both IN and OUT, and select “Cyclic” for the send trigger. [7] Click the Set Parameters button in the “Set Connection” dialog box and set the numbers of input and output bytes.
  • Page 429 6.2.3 [8] Click the Assign Device button in the “Set Connection” dialog box to open the “Set Devices” dialog box. In this dialog box, set the devices to assign I/O data to. In this example, set W0000 for IN data and W0002 for OUT data using the “Auto Setting”...
  • Page 430 6.2.3 [10] Click the Apply button in the bottom right-hand corner of the “Unit Editor” to update the EtherNet/IP setting information. Next, click the OK button to close the “Unit Editor.” Next, you must transfer the “Unit Settings” to the PLC to reflect the settings you have just made. [11] From the KV-STUDIO menu, select “Monitor/Simulator”...
  • Page 431 6.2.4 6.2.4 Checking the I/O Data on the PLC [1] Start KV-STUDIO in the “Monitor Mode.” [2] In the “Workspace” window, right-click “Anybus-CC EtherNet/IP (IANP3802-EPO)” registered in the tree under KV-5500 (KV-7500), and select “Sensor I/O Monitor.” [3] After “Sensor I/O Monitor” has been selected, the “Sensor I/O Monitor” dialog box appears. In this dialog box, you can monitor the devices to which I/O data has been assigned.
  • Page 432 6.2.4 ME0278-13A...
  • Page 433: Change History

    Change History Revision date Description of revision February 2011 First edition November 2011 Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons SCON-CA added June 2012 Third edition Contents added and changed in Safety Guide PCON-CA/CFA added November 2012 Fourth edition...
  • Page 434 Revision date Description of revision January 2022 Twelfth Edition  Handling Precautions Series added to 1. explanation of controllers other than this manual  2.7, 3.7, 4.7, 5.7 Change made to image of input and output signal timing  2.8, 3.8, 4.8, 5.8 Change made to operation contents ...

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