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IAI ACON-C Instruction Manual

Cc-link, positioner type controller edition
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Table of Contents

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CC-Link
Instruction Manual
Positioner Type Controller Edition
Overview
Interface Specifications
ACON-C/CG
PCON-C/CG
SCON-CA/CB/CGB
SCON-CAL/CGAL
SCON-CB/CGB
Servo Press Type
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 CC-Link Instruction Manual Thirteenth Edition Positioner Type Controller Edition Overview Chapter 1 Interface Specifications Chapter 2 ACON-C/CG Chapter 3 PCON-C/CG Chapter 4 SCON-CA/CB/CGB Chapter 5 SCON-CAL/CGAL SCON-CB/CGB Chapter 6 Servo Press Type...

  • 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 CC-Link ME0254-13A...

  • Page 5: Construction Of Instruction Manual For Each Controller Model And This Manual

    CC-Link 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 CC-Link (This Manual) ME0254 ・Remote I/O Control Operation ・Direct Number Indication Operation ◎ Basic Specifications ACON-CB/CGB ME0343 DCON-CB/CGB ME0343 ACON-CA, DCON-CA...

  • Page 6: Table Of Contents

    Safety Guide ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1 Handling Precaution ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 1. Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9 2. Interface Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11 3. ACON-C/CG, PCON-C/CG ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 Operation Modes and Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 Model No. ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 16 CC-Link Interface ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 17 Operation Mode Selection (Setting) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 18 Station No.
  • Page 7 CC-Link 4.7.11 I/O Signal Control and Functionsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 165 I/O Signal Timing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 184 Operationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 185 4.9.1 Operation in the Position/Simplified Direct Value Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 185 4.9.2 Operation in the Half Direct Value Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 189 4.9.3 Operation in the Full Direct Value Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 193 4.9.4 Data Change During the Movement ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 8 CC-Link 6.5.3 Full Function Mode (Number of Occupied Stations: Four Stations) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 337 6.5.4 Pressing Direct Mode (Number of Occupied Stations: Four Stations) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 348 6.5.5 I/O Signal Controls and Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 360 I/O Signal Timings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 371 Operationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 372 6.7.1 Operation in the Remote I/O Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 9: Operation Description

    CC-Link 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 CC-Link 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 CC-Link 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 CC-Link 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 CC-Link 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 CC-Link 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

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

  • Page 16: Handling Precaution

    CC-Link Handling Precautions 1. 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: Overview

    CC-Link Overview CC-Link is an abbreviation for Control & Communication Link, and is one of the open field network standards. IAI controllers listed below are available for connection to CC-Link network. Model Type Characteristic Remote device In addition to the processing as the same...
  • Page 18 CC-Link ME0254-13A...

  • Page 19: Interface Specifications

    CC-Link Interface Specifications Item Specification Communications standard CC-Link Ver1.10 Communications speed [Mbps] 10 / 5 / 2.5 / 0.625 / 0.156 Communications system Broadcast polling system Synchronization system Frame synchronization system Encoding system NRZI Transmission path format Bus format (EIA RS485 conformance) Transmission format HDLC conformance Error control system...
  • Page 20 CC-Link ME0254-13A...

  • Page 21: Acon-C/Cg, Pcon-C/Cg

    CC-Link ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON or PCON applicable to CC-Link can be operated by means of selecting one mode out of the following five operation modes. * Set the Station Data for the Master Station to “ver 1, Remote Device Station”.
  • Page 22 CC-Link 2) Position/Simplified Direct Value Mode : This is the operation method with the position No. set up. Whether if setup the target position using a value directly by means of the change over of the control signal, or using the value registered on the position data, can be selected.
  • Page 23 CC-Link 4) Full Direct Value Mode : This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly using the numerical values. No. of Occupied Stations: Four Stations Target Position: 100.00mm Positioning Width: 0.10mm Speed Setup: 100.0mm/s Acceleration: 0.30G...

  • Page 24: Model No

    CC-Link Model No. The Model Nos. of ACON and PCON applicable to CC-Link are described as follows.  ACON-C / CG-□-CC-□  PCON-C / CG-□-CC-□ Printed Series Name Front Panel Color • ACON • ACON: Dark Blue • PCON • PCON: Dark Green...

  • Page 25: Cc-Link Interface

    CC-Link CC-Link Interface Names of Each Section The names of each section related to CC-Link are described as follows. Status Indicator LED STATUS Status LED CC-Link Communication Connector PCB side : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT) Cable side : MSTB2.5/5-STF-5.08AU (PHOENIX CONTACT) Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.

  • Page 26: Operation Mode Selection (Setting)

    CC-Link Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set Parameter No. 84 “Fieldbus Operation Mode” using a teaching tool. [Refer to 3.10 CC-Link Related Parameters]. Set Value Operation Mode Number of occupied stations...

  • Page 27: Communication Speed Setting

    CC-Link Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “Field Bus Communication Speed” using a teaching tool. Refer to [3.10 CC-Link Related Parameters]. Set Value Communication Speed 0 : (Factory setting) 156kbps 625kbps 2.5Mbps 5Mbps...

  • Page 28: Communication With The Master Station

    3.7.1 CC-Link Communication with the Master Station The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No.
  • Page 29 3.7.1 CC-Link  ACON or PCON Output  PLC Input side (* “n” shows the first address per each axis). ACON or PCON side DO and Output data register Position/Simplified Half Direct Value Full Direct Value PLC side address Remote I/O mode Remote I/O mode 2 Direct Value Mode Mode...
  • Page 30 3.7.1 CC-Link  Signal Assignment in System Domain Applicable Version ACON-C/CG: V000C or later PCON-C/CG: V0025 or later The one used in the system domain should be the remote station Ready only. (* “n” shows the first address for each axis...

  • Page 31: Remote I/O Mode (Remote Device Station: No. Of Occupied Stations: One Station)

    3.7.2 CC-Link 3.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 tool. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern”...
  • Page 32 3.7.2 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter ACON or PCON side ACON or PCON side PLC side PLC side No.84 DI (Port No.) DO (Port No.) 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF System Area...
  • Page 33 3.7.2 CC-Link I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. For details of each signal, refer to [an instruction manual of each controller]. ACON Parameter No. 25 setting Positioning mode Teaching mode 256 point mode Port Classification...
  • Page 34 3.7.2 CC-Link ACON Parameter No. 25 setting 512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Port Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
  • Page 35 3.7.2 CC-Link PCON Parameter No. 25 setting Positioning mode Teaching mode 256 point mode Port Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names Command position Command position No. Command position No. PC16 PC16 PC16 PC32 PC32 PC32 Teaching Mode ...
  • Page 36 3.7.2 CC-Link PCON Parameter No. 25 setting 512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Port Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...

  • Page 37: Position/Simplified Direct Value Mode

    3.7.3 CC-Link 3.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One Station) This is the operation mode with the position No. set up. The change over of the control signals (PMOD signals), can select whether the target position is set directly using the value or the value registered on the position data is used.
  • Page 38 3.7.3 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 39 3.7.3 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Completed...
  • Page 40 3.7.3 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 41 3.7.3 CC-Link (* “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 32bits (Example) Read Value : 000003FF = 1023 (decimal) 3.9.1 ...

  • Page 42: Half Direct Value Mode (Remote Device Station: No. Of Occupied Stations: Two Stations)

    3.7.4 CC-Link 3.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is used, set it using the parameter Nos.
  • Page 43 3.7.4 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 44 3.7.4 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 45 3.7.4 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 46 3.7.4 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 47 3.7.4 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 255 (100%). Current 16bits The actual settable range varies depending on each actuator.
  • Page 48 3.7.4 CC-Link (* “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 0.01mm. Current 32bits (Example) Read Value : 000003FF = 1023 (decimal) 3.9.2 ...
  • Page 49 3.7.5 CC-Link 3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) 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 data register. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 50 3.7.5 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register.  The control signal 1, control signal 2 and status signals are ON/OFF signals in units of bit. ...
  • Page 51 3.7.5 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 52 3.7.5 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 Zone Value “-” (Slave Word) RWw (n+9) b15 b14 b13 b12 Zone Value “-” (Host Word) When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2. RWw (n+A) b15 b14 b13 b12 Acceleration RWw (n+B) b15 b14 b13 b12...
  • Page 53 3.7.5 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 54 3.7.5 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to 999999.
  • Page 55 3.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer 16bits Set the acceleration and deceleration in the movement. Acceleration  Data The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”.
  • Page 56 3.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Unavailable   Unavailable   Incremental Command: “OFF” for Absolute Position Command, “ON” for Relative 3.7.7 (24) Control Position Command signal 1...
  • Page 57 3.7.5 CC-Link (* “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 0.01mm. Current 32bits 3.9.3  (Example) Read Value : 000003FF = 1023 (decimal) Position Data...
  • Page 58 3.7.6 CC-Link 3.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 tool. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern”...
  • Page 59 3.7.6 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter ACON or PCON side ACON or PCON side PLC side PLC side No.84 DI and Input register DO and Output register Port No. 0 to 15 RY n0 to nF Port No.
  • Page 60 3.7.6 CC-Link PLC Input (* “n” shows the first address per each axis). Address one word = 16 bits RX (n+0) Controller Output Port Address one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current...
  • Page 61 3.7.6 CC-Link I/O Signal Allocation Refer to [3.7.2 Remote I/O Mode (3) I/O Signal Allocation] for each PIO pattern signal allocation. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Symbol Contents Details 32-bit Signed Integer...
  • Page 62 3.7.7 CC-Link 3.7.7 I/O Signal Control and Functions * “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “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 63 3.7.7 CC-Link PLC Output Signal Servo ON Command (SON) PLC Input Signal Operation Ready (SV) 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 [3.3 CC-Link Interface] on the front surface of the controller illuminates in green.
  • Page 64 3.7.7 CC-Link PLC Output Signal Homing (HOME) PLC Input Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”.
  • Page 65 3.7.7 CC-Link Positioning Start (CSTR): Used in Position/Simplified Direct Value 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 66 3.7.7 CC-Link PLC Input Signal (10) Positioning Completion Signal (PEND) This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning width and the pressing is completed. (Positioning Completion) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 67 3.7.7 CC-Link PLC Input Signal (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) 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.
  • Page 68 3.7.7 CC-Link PLC Output Signal (13) “+” Jog (JOG+) PLC Output Signal “-” Jog (JOG-) This signal is the command for the jog operation startup or inching operation startup. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-”...
  • Page 69 3.7.7 CC-Link PLC Output Signal (14) Jog Speed/Inching Distance Change-Over (JVEL) 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 70 3.7.7 CC-Link PLC Output Signal (16) Teaching Mode Command (MODE) PLC Input Signal Teaching Mode Signal (MODES) 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 71 3.7.7 CC-Link PLC Output Signal (19) Operation Mode (RMOD) PLC Input Signal Operation Mode Status (RMDS) 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 72 3.7.7 CC-Link PLC Output Signal (22) Pressing Direction Setup (DIR) This signal specifies the pressing direction. When this signal is turned ON, the pressing operation is performed to the position expressed using the value adding the positioning width 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 width from the target position.
  • Page 73 3.7.7 CC-Link PLC Input Signal (23) Pressing and a Miss (PSFL) In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”.
  • Page 74 3.7.7 CC-Link PLC Input Signal PCON Dedicated Function (26) Load Output Judgment (LOAD) 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.
  • Page 75 3.7.7 CC-Link PLC Input Signal PCON Dedicated Function (27) Torque Level (TRQS) 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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
  • Page 76 3.7.7 CC-Link PLC Output Signal PCON Dedicated Function (28) Stop Control Mode (SMOD) 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 77 3.7.7 CC-Link PLC Output Signal (29) Acceleration/Deceleration Mode (MOD1, MOD0) ACON Dedicated 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...
  • Page 78 3.7.7 CC-Link PLC Output Signal (30) Stop Mode Selection (ASO1, ASO0) 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 79: I/O Signal Timing

    CC-Link I/O Signal Timing 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.

  • Page 80: Operation

    3.9.1 CC-Link 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 instruction manual for the controller]. (For the current position and current speed in the Remote I/O Mode 2, read from the PLC's register from time to time.) 3.9.1...
  • Page 81 3.9.1 CC-Link 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) ME0254-13A...
  • Page 82 3.9.1 CC-Link [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 83 3.9.1 CC-Link 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) ME0254-13A...
  • Page 84 3.9.2 CC-Link 3.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 85 3.9.2 CC-Link 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) ME0254-13A...
  • Page 86 3.9.2 CC-Link [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 87 3.9.2 CC-Link 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) ME0254-13A...
  • Page 88 3.9.3 CC-Link 3.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. [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 89 3.9.3 CC-Link 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) ME0254-13A...
  • Page 90 3.9.3 CC-Link [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 91 3.9.3 CC-Link 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) ME0254-13A...
  • Page 92 3.9.4 CC-Link 3.9.4 Data Change During the 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 93 3.10 CC-Link 3.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No.86 and No. 90. Classification: C: External Interface Related Default Value set in the Classification Name Factory before Delivery Refer to [instruction manual for the controller] 1 to 83 for the parameters No.
  • Page 94 3.10 CC-Link  Network Type (No. 87) The network module type is set for the parameter No. 87. Do not change the default value.  Field Bus I/O Format (No. 90) Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2 words, exchanging such data in units of byte within the communication area of the PLC's bit register and I/O data register.
  • Page 95 3.10 CC-Link (Example ii): In the case of the Value set to “1”: ● shows ON. ○ shows OFF. ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 PCON Input register ON/OFF ○...
  • Page 96 3.10 CC-Link (Example iii): In the case of the Value set to “2”: ● shows ON. ○ shows OFF. ACON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 PCON Input register ON/OFF ●...
  • Page 97 3.10 CC-Link (Example iv): In the case of the Value set to “3”: ● shows ON. ○ shows OFF. ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 PCON Input register ON/OFF ●...

  • Page 98: Troubleshooting

    3.11.1 CC-Link 3.11 Troubleshooting 3.11.1 Status LED Indication With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
  • Page 99 3.12 CC-Link 3.12 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0254-13A...
  • Page 100 3.12 CC-Link ME0254-13A...

  • Page 101: Operation Modes And Functions

    PCON-CA/CB/CFA/CFB/CGB/CGFB/CBP/CGBP DCON-CA/CB/CGB Operation Modes and Functions ACON, PCON, DCON controllers (hereinafter referred to as “IAI controllers”) applicable to CC-Link can be operated by means of selecting one mode out of the following eight (PCON-CB/CFB/CGB/CGFB/CBP/CGBP is nine) operation modes. * Set the Station Data for the Master Station to “ver 1, Remote Device Station”.
  • Page 102 CC-Link 1) Remote I/O Mode : This is the operation method using CC-Link, instead of PIO (24V I/O). No. of Occupied Stations: One Station ACON, PCON, DCON PIO Type applicable to CC-Link ACON, PCON, DCON Flat cable In the case of the In the case of the connection connection using PIO using CC-Link...
  • Page 103 CC-Link 4) Full Direct Value Mode : This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly using the numerical values. No. of Occupied Stations: Four Stations 5) Remote I/O Mode 2 : This is the operation method using CC-Link, instead of PIO (24V I/O).
  • Page 104 CC-Link 7) Half Direct Value Mode 2 : This is the operation method with the “Speed”, “Acceleration/Deceleration”, (Applicable only for PCON-CBP) “Pressing Current Value” set up directly using the numerical values, in addition to the “Target Position”. Unlike in mode 3), command current cannot be read in this mode. However, load cell data can be read instead.
  • Page 105 CC-Link Model No. The Model Nos. of IAI controllers applicable to CC-Link are described as follows.  ACON-CA/CB -□-CC-□  PCON-CA/CB/CGB/CBP/CGBP -□-CC-□  PCON-CFA/CFB/CGFB -□-CC-□  DCON-CA/CB -□-CC-□ Front Panel Color  ACON-CA/CB :Dark Blue  PCON-CA/CB/CGB/CBP/CGBP :Dark Green Printed Series Name ...

  • Page 106: Cc-Link Interface

    CC-Link CC-Link Interface Names of Each Section The names of each section related to CC-Link are described as follows. SV/ALM Status Indicator LED Status LED CC-Link Communication Connector PCB side : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT) Cable side : MSTB2.5/5-STF-5.08AU (PHOENIX CONTACT) Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.

  • Page 107: Station No. Setting

    CC-Link Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “Field Bus Operation Mode” using a teaching tool (Note) Refer to [4.10 CC-Link Related Parameters].

  • Page 108: Communication Speed Setting

    CC-Link Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “Field Bus Communication Speed” using a teaching tool. Refer to [4.10 CC-Link Related Parameters]. Set Value Communication Speed 0: (Factory setting) 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps...
  • Page 109 Each Operation Mode and Corresponding Allocated PLC Addresses The addresses allocated for each operation mode are described as follows.  PLC Output  IAI Controllers Input (* “n” shows the first address per each axis). ACON, PCON, DCON DI and Input data register...
  • Page 110 4.7.1 CC-Link  PLC Output  IAI Controllers Input (* “n” shows the first address per each axis). ACON, PCON, DCON DI and Input data register Position/Simplified Half Direct Value Full Direct Value PLC address Remote I/O Mode 3 Direct Value Mode 2...
  • Page 111 4.7.1 CC-Link  IAI Controllers Output  PLC Input side (* “n” shows the first address per each axis). ACON, PCON, DCON side DO and Output data register Position/Simplified Half Direct Value Full Direct Value PLC side address Remote I/O mode...
  • Page 112 4.7.1 CC-Link  IAI Controllers Output  PLC Input side (* “n” shows the first address per each axis). ACON, PCON, DCON side DO and Output data register Position/Simplified Half Direct Value Full Direct Value PLC side address Remote I/O mode 3...
  • Page 113 4.7.1 CC-Link  Signal Assignment in System Domain The one used in the system domain should be the remote station Ready only. (* “n” shows the first address for each axis m=1 when 1 station occupied, m=3 when 2 stations occupied, m=7 when 4 stations occupied) PLC side Signal alocation PLC side...
  • Page 114 4.7.2 CC-Link 4.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 tool. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern”...
  • Page 115 4.7.2 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI controllers side IAI controllers side PLC side PLC side No. 84 DI (Port No.) DO (Port No.) 0 to 15 RY n0 to nF...

  • Page 116: I/O Signal Allocation

    4.7.2 CC-Link I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. For details of each signal, refer to [an instruction manual of each controller.] Parameter No. 25 setting Positioning mode Teaching mode 256 point mode Port Classification Symbol...
  • Page 117 4.7.2 CC-Link Parameter No. 25 setting 512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Port Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
  • Page 118 4.7.2 CC-Link Parameter No. 25 setting Force control mode 1 Force control mode 2 Port Classification Symbol Signal Names Symbol Signal Names Start position 0 Start position 1 Command position Start position 2 Start position 3 PC16 Start position 4 ...
  • Page 119 Zone Signal Output Zone is set using the parameters. × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 Input register...
  • Page 120 4.7.3 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 121 4.7.3 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Completed...
  • Page 122 4.7.3 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 123 4.7.3 CC-Link (* “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 The unit is 0.01mm. Current (Example) Read Value : 000003FF = 1023 (decimal) 32bits 4.9.1 ...
  • Page 124 Zone Signal Output Parameter setting is required. × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 Input register Output register...
  • Page 125 4.7.4 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 126 4.7.4 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 127 4.7.4 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 128 4.7.4 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 129 4.7.4 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 255 (100%). Current 16bits The actual settable range varies depending on each actuator.
  • Page 130 4.7.4 CC-Link (* “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 0.01mm. Current 32bits (Example) Read Value : 000003FF = 1023 (decimal) 4.9.2 ...
  • Page 131 Pause ○ Zone Signal Output × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 Input register Output register RY n0 to nF...
  • Page 132 4.7.5 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register.  The control signal 1, control signal 2 and status signals are ON/OFF signals in units of bit. ...
  • Page 133 4.7.5 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 134 4.7.5 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 Zone Value “-” (Slave Word) RWw (n+9) b15 b14 b13 b12 Zone Value “-” (Host Word) When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2. RWw (n+A) b15 b14 b13 b12 Acceleration RWw (n+B) b15 b14 b13 b12...
  • Page 135 4.7.5 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 136 4.7.5 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+8) b15 b14 b13 b12 Current load (Slave Word) PCON-CBP /CGBP only RWr (n+9) b15 b14 b13 b12 Current load (Host Word) PCON-CBP /CGBP only When the current load is shown using the negative figure, it is expressed using the complement of 2.

  • Page 137: Data

    4.7.5 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 138 4.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer 16bits Set the acceleration and deceleration in the movement. Acceleration  data The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”.
  • Page 139 4.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Select the servo gain parameter set to be Servo gain used. GSL1 parameter (ACON only) GSL1 GSL0 Function selection 1 Select parameter set 0.

  • Page 140: Current Speed

    4.7.5 CC-Link (* “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 0.01mm. Current 32bits (Example) Read Value : 000003FF = 1023 (decimal) 4.9.3 ...
  • Page 141 4.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Unavailable   Status Signal 1 Load cell calibration command: Calibration is performed when this signal turns ON. CEND 4.7.11 (35) (Dedicated for PCON-CBP/CGBP)
  • Page 142 4.7.6 CC-Link 4.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 tool of the IA-OS or RC/EC PC Software. The number of operable positions varies depending on the parameter No.
  • Page 143 4.7.6 CC-Link PLC Address Composition (* “n” shows the first address for each axis). IAI Controllers side Parameter IAI Controllers side PLC side DO and Output PLC side No. 84 DI and Input register register Port No. 0 to 15 RY n0 to nF Port No.
  • Page 144 4.7.6 CC-Link PLC Input (* “n” shows the first address per each axis). Address one word = 16 bits RX (n+0) Controller Output Port Address one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current...

  • Page 145: I/O Signal Allocation

    4.7.6 CC-Link I/O Signal Allocation Refer to [4.7.2 Remote I/O Mode (3) I/O Signal Allocation] for each PIO pattern signal allocation. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Symbol Contents Details 32-bit Signed Integer...
  • Page 146 ∆ Zone Signal Output parameters. × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 Input register Output register Occupied Area...
  • Page 147 4.7.7 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 148 4.7.7 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Completed...
  • Page 149 4.7.7 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.

  • Page 150: B15 B14 Pwr B13 B12

    4.7.7 CC-Link (* “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 The unit is 0.01mm. Current (Example) Read Value : 000003FF = 1023 (decimal) 32bits 4.9.1 ...
  • Page 151 Zone Signal Output Parameter setting is required. △ × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 Input register Output register...
  • Page 152 4.7.8 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
  • Page 153 4.7.8 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 154 4.7.8 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Current...
  • Page 155 4.7.8 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 156 4.7.8 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 255 (100%). Current 16bits The actual settable range varies depending on each actuator.

  • Page 157: Status Signal B7

    4.7.8 CC-Link (* “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 0.01mm. Current 32bits (Example) Read Value : 000003FF = 1023 (decimal) 4.9.2 ...
  • Page 158 4.7.9 CC-Link 4.7.9 Remote I/O Mode 3 (Remote Device Station: No. of Occupied Stations: One Station) (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.
  • Page 159 4.7.9 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side IAI Controllers side PLC side PLC side No. 84 DI (Port No.) DO (Port No.) 0 to 15 RY n0 to nF...
  • Page 160 4.7.9 CC-Link PLC Input (* “n” shows the first address per each axis). Address one word = 16 bits RX (n+0) Controller Output Port Address one word = 16 bits RWr (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Target...
  • Page 161 4.7.9 CC-Link I/O Signal Allocation Refer to [4.7.2 Remote I/O Mode (3) I/O Signal Allocation] for each PIO pattern signal allocation. The signal allocation for the Current Load and Current Position, is shown in the following table. Signal Type Symbol Contents Details 32-bit Signed Integer...
  • Page 162 Pause ○ Zone Signal Output × PIO Pattern Selection PLC Address Composition (* “n” shows the first address for each axis). Parameter IAI Controllers side PLC side IAI Controllers side PLC side No. 84 Input register output address Output register...
  • Page 163 4.7.10 CC-Link (Note 1) Occupied Area and System Area are not used for any other purpose. Also take care about duplicating the use of the address. I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O data register. ...
  • Page 164 4.7.10 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 165 4.7.10 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 Zone Value “-” (Slave Word) RWw (n+9) b15 b14 b13 b12 Zone Value “-” (Host Word) When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2. RWw (n+A) b15 b14 b13 b12 Acceleration RWw (n+B) b15 b14 b13 b12...
  • Page 166 4.7.10 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 167 4.7.10 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+8) b15 b14 b13 b12 Current Command Value (Slave Word) RWr (n+9) b15 b14 b13 b12 Current Command Value (Host Word) When the current load is shown using the negative figure, it is expressed using the complement of 2. RWr (n+A) b15 b14 b13 b12 Occupied...
  • Page 168 4.7.10 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
  • Page 169 4.7.10 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer 16bits Set the acceleration and deceleration in the movement. Acceleration  data The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”.
  • Page 170 4.7.10 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Unavailable   Incremental Command “OFF” for Absolute Position Command, “ON” for Relative 4.7.11 (24) Position Command Pressing Direction Setup: Control “OFF”...
  • Page 171 4.7.10 CC-Link (* “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 0.01mm. Current 32bits (Example) Read Value : 000003FF = 1023 (decimal) 4.9.3 ...
  • Page 172 4.7.10 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Unavailable   Status Signal 1 Load cell calibration command: CEND Calibration is performed when this signal turns ON. 4.7.11 (35) (Note 1) (Dedicated for PCON-CBP/CGBP)
  • Page 173 4.7.11 CC-Link 4.7.11 I/O Signal Control and Functions “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “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. For the I/O signals for the Remote I/O Mode and Remote I/O Mode 2, refer to.[the instruction manual for the controller main body].
  • Page 174 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) ME0254-13A...
  • Page 175 4.7.11 CC-Link PLC Output Signal Homing (HOME) PLC Input Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”.
  • Page 176 (HEND signal OFF), the positioning to the target position is performed after the homing operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”. Target Position (PLC → IAI controllers) CSTR (PLC → IAI controllers) PEND (IAI controllers → PLC)
  • Page 177 4.7.11 CC-Link PLC Input Signal (10) Positioning Completion Signal (PEND) This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning width and the pressing is completed. (Positioning Completion) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 178 4.7.11 CC-Link PLC Input Signal (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) 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.
  • Page 179 4.7.11 CC-Link PLC Output Signal (13) “+” Jog (JOG+) PLC Output Signal “-” Jog (JOG-) This signal is the command for the jog operation startup or inching operation startup. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-”...
  • Page 180 4.7.11 CC-Link PLC Output Signal (14) Jog Speed/Inching Distance Change-Over (JVEL) 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 181 4.7.11 CC-Link PLC Output Signal (16) Teaching Mode Command (MODE) PLC Input Signal Teaching Mode Signal (MODES) 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 182 4.7.11 CC-Link PLC Output Signal (19) Operation Mode (RMOD) PLC Input Signal Operation Mode Status (RMDS) 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 183 4.7.11 CC-Link PLC Output Signal (22) Pressing Direction Setup (DIR) This signal specifies the pressing direction. When this signal is turned ON, the pressing operation is performed to the position expressed using the value adding the positioning width 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 width from the target position.
  • Page 184 4.7.11 CC-Link PLC Input Signal (23) Pressing and a Miss (PSFL) In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”.
  • Page 185 4.7.11 CC-Link PLC Input Signal PCON only (26) Load Output Judgment (LOAD) 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.
  • Page 186 4.7.11 CC-Link PCON only PLC Input Signal (27) Torque Level (TRQS) 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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
  • Page 187 4.7.11 CC-Link PLC Output Signal PCON only (28) Stop Control Mode (SMOD) 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 188 4.7.11 CC-Link PLC Output Signal (29) Acceleration/Deceleration Mode (MOD1, MOD0) 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 Set in delivery S-shaped Motion First-Order Lag Filter Unavailable Trapezoid Pattern...
  • Page 189 4.7.11 CC-Link PLC Output Signal (30) Stop Mode Selection (ASO1, ASO0) 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 190 (33) Anti-Vibration Control Mode Selection 0, 1 (NTC0, NTC1) ACON only Anti-vibration control function controls the vibration generated by the load of IAI actuator. Measure the vibration value and input it into the parameter sets (3 types max.). 1 type is to be selected from the established parameter sets and to be combined in this signal.
  • Page 191 4.7.11 CC-Link PLC Output Signal PCON-CBP only (35) Load cell calibration command (CLBR) PLC Input Signal PCON-CBP only Load cell calibration complete (CEND) 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 192: I/O Signal Timing

    CC-Link I/O Signal Timing 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.

  • Page 193: Operation

    4.9.1 CC-Link Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode (Position/Simplified Direct Value Mode, Position/Simplified Direct Value Mode 2), Half Direct Value Mode (Half direct value mode, half direct value mode 2) and Full Direct Value Mode (Full direct value mode, Full direct value mode 2), are described.
  • Page 194 4.9.1 CC-Link Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *T1: Have an enough period of interval considering the scanning time of the host controller. *Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0254-13A...
  • Page 195 4.9.1 CC-Link [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 196 4.9.1 CC-Link Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *T1: Have an enough period of interval considering the scanning time of the host controller. *Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0254-13A...
  • Page 197 4.9.2 CC-Link 4.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 198 4.9.2 CC-Link 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) ME0254-13A...
  • Page 199 4.9.2 CC-Link [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 200 4.9.2 CC-Link 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) ME0254-13A...
  • Page 201 4.9.3 CC-Link 4.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. [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 202 4.9.3 CC-Link 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) ME0254-13A...
  • Page 203 4.9.3 CC-Link [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 204 4.9.3 CC-Link 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) ME0254-13A...
  • Page 205 4.9.4 CC-Link 4.9.4 Data Change During the 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 206 4.10 CC-Link 4.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 86, No. 90 and No. 159. Classification: C: External Interface Related Default Value set in the Classification Name Factory before Delivery Refer to [instruction manual for the controller] 1 to 83 for the parameters No.
  • Page 207 4.10 CC-Link  Field Bus Node Address (No. 85) The remote station No. is set for the parameter No. 85. Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).  Field Bus Communication Speed (No. 86) The communication speed is selected for the parameter No.
  • Page 208 4.10 CC-Link  Field Bus I/O Format (No. 90) Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2 words, exchanging such data in units of byte within the communication area of the PLC's bit register and I/O data register.
  • Page 209 4.10 CC-Link (Example ii): In the case of the Value set to “1”: ● shows ON. ○ shows OFF. PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ○ ○...
  • Page 210 4.10 CC-Link (Example iii): In the case of the Value set to “2”: ● shows ON. ○ shows OFF. PCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ● ○...
  • Page 211 4.10 CC-Link (Example iv): In the case of the Value set to “3”: ● shows ON. ○ shows OFF. PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ● ●...

  • Page 212: Troubleshooting

    4.11.1 CC-Link 4.11 Troubleshooting 4.11.1 Status LED Indication With the Status LED (RUN/ERR) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
  • Page 213 4.12 CC-Link 4.12 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0254-13A...
  • Page 214 4.12 CC-Link ME0254-13A...

  • Page 215: Operation Modes And Functions

    CC-Link SCON-CA/CB/CGB/CAL/CGAL Operation Modes and Functions All of the operation modes described in the table below for SCON-CA/CB Type applicable for CC-Link and those except for the ones in the shaded area for CAL Type are available to choose from for operation. * Set the Station Data for the Master Station to “ver.1, Remote Device Station”.
  • Page 216 CC-Link 1) Remote I/O Mode: This is the operation method using CC-Link, instead of PIO (24V I/O). No. of Occupied Stations: One Station SCON-CA/CB/CAL SCON-CA/CB/CAL not applicable to CC-Link applicable to CC-Link Communications Flat cable cable In the case of the connection using PIO In the case of the connection using CC-Link Caution : There is no compatibility with Remote I/O Mode on SCON-C.
  • Page 217 CC-Link 4) Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly using the numerical values. No. of Occupied Stations: Four Stations Target Position : 100.00mm Positioning Width : 0.10mm Speed Setup : 100.0mm/s Acceleration : 0.30G...
  • Page 218 CC-Link 7) Half Direct Value Mode 2: This is the operation method with the “Speed”, “Acceleration/Deceleration”, “Pressing Current Value” set up directly using the numerical values, in addition (Not applicable for CAL Type) to the “Target Position”. This mode can read loadcell data instead of reading the command current in 3).
  • Page 219 CC-Link 10) Full Direct Value Mode 2 : This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly using the numerical values. The overload level monitoring, current indication value and monitoring of the estimated regenerative discharge power volume are available.
  • Page 220 CC-Link Model No. The Model Nos. of SCON-CA/CB/CAL applicable to CC-Link are described as follows. ● SCON-CA/CB-□-CC-□ ● SCON-CAL-□-CC-□ ME0254-13A...

  • Page 221: Cc-Link Interface

    CC-Link CC-Link Interface Names of Each Section The names of each section related to CC-Link are described as follows. ● SCON-CA ● SCON-CAL ● SCON-CB  12～750W  3000～3300W Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.
  • Page 222 CC-Link Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “Field Bus Operation Mode” using a teaching tool. Refer to [5.10 CC-Link Related Parameters]. Set Value Operation Mode Number of occupied stations...

  • Page 223: Station No. Setting

    CC-Link Station No. Setting The Station No. is set using the parameters. Set the parameter No. 85 “Field Bus Node Address” using a teaching tool. Refer to [5.10 CC-Link Related Parameters]. Settable Range: 1 to 64 (Already set in system delivery) (Note) The PLC's CC-Link head I/O address is decided depending on the master unit installation position and the number of I/O points occupied by the unit installed before it.

  • Page 224: Communication Speed Setting

    CC-Link Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “Field Bus Communication Speed” using a teaching tool. Refer to [5.10 CC-Link Related Parameters]. Set Value Communication Speed 0: (Already set in system delivery) 156kbps 625kbps 2.5Mbps...
  • Page 225 5.7.1 CC-Link Communication with the Master Station The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No.
  • Page 226 5.7.1 CC-Link  PLC Output  SCON-CA/CB/CAL Input (* “n” shows the first address per each axis). SCON-CA/CB/CAL DI and Input data register Position/Simplified Half Direct Value Half Direct Value Full Direct Value PLC address Remote I/O mode 3 Direct Value Mode 2 Mode 2 Mode 3 Mode 2...
  • Page 227 5.7.1 CC-Link  SCON-CA/CB/CAL Output  PLC Input side (* “n” shows the first address per each axis). SCON-CA/CB/CAL side DO and Input data register Position/Simplified Half Direct Value Full Direct Value PLC address Remote I/O mode Remote I/O mode 2 Direct Value Mode Mode Mode...
  • Page 228 5.7.1 CC-Link  SCON-CA/CB/CAL Output  PLC Input side (* “n” shows the first address per each axis). SCON-CA/CB/CAL side DO and Output data register Position/Simplified Half Direct Value Half Direct Value Full Direct Value PLC address Remote I/O mode 3 Direct Value Mode 2 Mode 2 Mode 3...
  • Page 229 5.7.1 CC-Link  Signal Assignment in System Domain Applicable Version SCON-CA : V000Dor later SCON-CAL/CGAL/CB/CGB : All versions The one used in the system domain should be the remote station Ready only. (* “n” shows the first address for each axis m=1 when 1 station occupied, m=3 when 2 stations occupied, m=7 when 4 stations occupied) PLC side Signal alocation...
  • Page 230 5.7.2 CC-Link 5.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 tool. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern”...
  • Page 231 5.7.2 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL PLC side PLC side No.84 side DI (Port No.) side DO (Port No.) 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF System Area RY (n+1) 0 to (n+1) F...
  • Page 232 5.7.2 CC-Link I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. For details of each signal, refer to [an instruction manual of each controller]. Parameter No. 25 setting Positioning mode Teaching mode 256point mode Port Classification Symbol...
  • Page 233 5.7.2 CC-Link Parameter No. 25 setting 512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 Port Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
  • Page 234 5.7.2 CC-Link Parameter No. 25 setting Force Control Mode 1 Force Control Mode 2 Port Classification Symbol Signal Names Symbol Signal Names Start position 0 Start position 1 Command position No. Start position 2 Start position 3 PC16 Start position 4 ...
  • Page 235 5.7.3 CC-Link 5.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One Station) This is the operation mode with the position No. set up. The change over of the control signals (PMOD signals), can select whether if the target position is set directly using the value or the value registered on the position data is used.
  • Page 236 5.7.3 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –9999999 to +9999999 (unit: 0.01mm (other than DD motor) and 0.001°...
  • Page 237 5.7.3 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the corrent position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Completed...
  • Page 238 5.7.3 CC-Link 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 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 239 5.7.3 CC-Link (* “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 (other than DD motor) and 0.001° (DD Current motor).
  • Page 240 5.7.4 CC-Link 5.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is used, set it using the parameter No.
  • Page 241 5.7.4 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –9999999 to +9999999 (unit: 0.01mm (other than DD motor) and 0.001°...
  • Page 242 5.7.4 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 243 5.7.4 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 244 5.7.4 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 245 5.7.4 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 510 (200%). Current 16bits The actual settable range varies depending on each actuator.
  • Page 246 5.7.4 CC-Link (* “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 0.01 mm (other than DD motor) and 0.001° (DD Current 32bits motor).
  • Page 247 5.7.5 CC-Link 5.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) 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 data register. The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
  • Page 248 5.7.5 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register.  The control signal 1, control signal 2 and status signals are ON/OFF signals in units of bit. ...
  • Page 249 5.7.5 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 250 5.7.5 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 Zone Value “-” (Slave Word) RWw (n+9) b15 b14 b13 b12 Zone Value “-” (Host Word) When the zone value is shown using the negative figure, it is expressed using the complement of 2. RWw (n+A) b15 b14 b13 b12 Acceleration RWw (n+B) b15 b14 b13 b12...
  • Page 251 5.7.5 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 252 5.7.5 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+7) b15 b14 b13 b12 Unavailable RWr (n+8) b15 b14 b13 b12 Current load (Slave Word) (Dedicated for SCON-CA/CB) RWr (n+9) b15 b14 b13 b12 Current load (Host Word) (Dedicated for...
  • Page 253 5.7.5 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 254 5.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer 16bits Set the acceleration and deceleration in the movement. Acceleration  data The unit is 0.01G and the settable range is from1 to 999. (Example) When it is 0.30G, set it as “30”.
  • Page 255 5.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Set the parameter for servo gain switchover Servo Gain GSL1 GSL0 Function GSL1 Parameter Set Selection 1 OFF Parameter set 0 selected 5.7.12 (33) Parameter set 1 selected Servo Gain...
  • Page 256 5.7.5 CC-Link (* “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 0.01mm (other than DD motor) and 0.001° (DD Current 32bits motor).
  • Page 257 5.7.5 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details        Unavailable   Status  Signal 1     ...
  • Page 258 5.7.6 CC-Link 5.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 tool. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern”...
  • Page 259 5.7.6 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter SCON-CA/CB/CAL side SCON-CA/CB/CAL side PLC side PLC side No. 84 DI and Input register DO and Output register Port No. 0 to 15 RY n0 to nF Port No.
  • Page 260 5.7.6 CC-Link PLC Input (* “n” shows the first address per each axis). Address one word = 16 bits RX (n+0) Controller Output Port Address one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current...
  • Page 261 5.7.7 CC-Link 5.7.7 Position/Simplified Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) (Note) This mode is applicable only for SCON-CA/CB. This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate the position number.
  • Page 262 5.7.7 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –9999999 to +9999999 (unit: 0.01mm (other than DD motor) and 0.001°...
  • Page 263 5.7.7 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Completed...
  • Page 264 5.7.7 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 265 5.7.7 CC-Link (* “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 (other than DD motor) and 0.001° (DD Current motor).
  • Page 266 5.7.8 CC-Link 5.7.8 Half Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Two Stations) (Note) This mode is applicable only for SCON-CA/CB. This mode provides an operation method to utilize the force control (loadcell value feedback pressing) and also indicate the target position from PLC, positioning band width, speed, acceleration/deceleration speed and pressing current directly with inputting values.
  • Page 267 5.7.8 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O area.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –9999999 to +9999999 (unit: 0.01mm (other than DD motor) and 0.001°...
  • Page 268 5.7.8 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 269 5.7.8 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Current load...
  • Page 270 5.7.8 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 271 5.7.8 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 510 (200%). Current 16bits The actual settable range varies depending on each actuator.
  • Page 272 5.7.8 CC-Link (* “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 0.01mm (other than DD motor) and 0.001° (DD Current 32bits motor).
  • Page 273 5.7.9 CC-Link 5.7.9 Remote I/O Mode 3 (Remote Device Station: No. of Occupied Stations: One Station) (Note) This mode is applicable only for SCON-CA/CB. This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate the position number as performed when PIO (24V input and output) is used.
  • Page 274 5.7.9 CC-Link PLC Address Composition (* “n” shows the first address for each axis). Parameter SCON-CA/CB side SCON-CA/CB side PLC side PLC side No. 84 DI and Input register DO and Output register Port No. 0 to 15 RY n0 to nF Port No.
  • Page 275 5.7.9 CC-Link PLC Input (* “n” shows the first address per each axis). Address one word = 16 bits RX (n+0) Controller Output Port RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word)

  • Page 276: I/O Signal Allocation

    5.7.9 CC-Link I/O Signal Allocation Refer to [5.7.2 Remote I/O Mode (3) I/O Signal Allocation] for each PIO pattern signal allocation. The signal allocation for the Current load and Current Position, is shown in the following table. Signal Type Symbol Description Details 32-bit Signed Integer...
  • Page 277 5.7.10 CC-Link 5.7.10 Half Direct Value Mode 3 (Remote Device Station: No. of Occupied Stations: Two Stations) This mode provides an operation method that the changes of the servo gain parameter during an operation and anti-vibration control parameter set are enabled in addition to the half-direct mode functions. Set the each value in I/O area.
  • Page 278 5.7.10 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O area.  The control signals and status signals are ON/OFF signals in units of bit.  The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –9999999 to +9999999 (unit: 0.01mm (other than DD motor) and 0.001°...
  • Page 279 5.7.10 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. RWw (n+2) b15 b14 b13 b12 Positioning Width...
  • Page 280 5.7.10 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2. RWr (n+2) b15 b14 b13 b12 Command...
  • Page 281 5.7.10 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 282 5.7.10 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer Set the current limit in pressing operation. Pressing The settable range is between 0 (0%) and 510 (200%). Current 16bits The actual settable range varies depending on each actuator.
  • Page 283 5.7.10 CC-Link (* “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 0.01mm (other than DD motor) and 0.001° (DD Current 32bits motor).
  • Page 284 5.7.11 CC-Link 5.7.11 Full Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Four stations) 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 285 5.7.11 CC-Link I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O area.  The control signal 1, control signal 2 and status signals are ON/OFF signals in units of bit. ...
  • Page 286 5.7.11 CC-Link PLC Output Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 Target Position (Slave Word) RWw (n+1) b15 b14 b13 b12 b11 b10 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 287 5.7.11 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 b11 b10 Zone Value “-” (Slave Word) RWw (n+9) b15 b14 b13 b12 b11 b10 Zone Value “-”...
  • Page 288 5.7.11 CC-Link PLC Input Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 Current Position (Slave Word) RWr (n+1) b15 b14 b13 b12 b11 b10 Current Position (Host Word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 289 5.7.11 CC-Link Address (* “n” shows the first address per each axis). one word = 16 bits RWr (n+8) b15 b14 b13 b12 b11 b10 Current command value (Slave Word) RWr (n+9) b15 b14 b13 b12 b11 b10 Current command value (Host Word) When the current load is shown using the negative figure, it is expressed using the complement of 2.
  • Page 290 5.7.11 CC-Link 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 Set the target position on the absolute coordinates. The unit is 0.01mm (other than DD motor) and 0.001° (DD motor), while the specifiable range is -9999999 to 9999999.
  • Page 291 5.7.11 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit Integer 16bits Set the acceleration and deceleration in the movement. Acceleration  data The unit is 0.01G and the settable range is from1 to 999. (Example) When it is 0.30G, set it as “30”.
  • Page 292 5.7.11 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Set the parameter for servo gain switchover Servo Gain GSL1 GSL0 Function GSL1 Parameter Set Selection 1 OFF Parameter set 0 selected 5.7.12 (33) Parameter set 1 selected Servo Gain...
  • Page 293 5.7.11 CC-Link (* “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 0.01mm (other than DD motor) and 0.001° (DD Current 32bits motor).
  • Page 294 5.7.11 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details        Unavailable   Status  Signal 1     ...
  • Page 295 5.7.12 CC-Link 5.7.12 I/O Signal Control and Functions “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode 1 and 2, Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described as follows.
  • Page 296 5.7.12 CC-Link PLC Output Signal Servo ON Command (SON) PLC Input Signal Operation Ready (SV) 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 [5.3 CC-Link Interface] on the front surface of the controller illuminates in green.
  • Page 297 5.7.12 CC-Link PLC Output Signal Homing (HOME) PLC Input Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”.
  • Page 298 5.7.12 CC-Link Positioning Start (CSTR): Used in Position/Simplified Direct Value Mode 1 and 2 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 the target position with the specified position No.
  • Page 299 5.7.12 CC-Link PLC Input Signal (10) Positioning Completion Signal (PEND) This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning width and the pressing is completed. (Positioning Completion) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 300 5.7.12 CC-Link PLC Input Signal (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) These signals are turned ON when the current position of the actuator is within the set range and turned OFF when the current position is out of the set range.
  • Page 301 5.7.12 CC-Link PLC Output Signal (13) “+” Jog (JOG+) PLC Output Signal “-” Jog (JOG-) This signal is the command for the jog operation startup or inching operation startup. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-”...
  • Page 302 5.7.12 CC-Link PLC Output Signal (14) Jog Speed/Inching Distance Change-Over (JVEL) 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 303 5.7.12 CC-Link PLC Output Signal (16) Teaching Mode Command (MODE) PLC Input Signal Teaching Mode Signal (MODES) 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 304 5.7.12 CC-Link PLC Output Signal (19) Operation Mode (RMOD) PLC Input Signal Operation Mode Status (RMDS) 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 305 5.7.12 CC-Link PLC Output Signal (22) Pressing Direction Setup (DIR) This signal specifies the pressing direction. When this signal is turned “OFF”, the pressing operation is performed to the position expressed using the value reducing the positioning width from the target position. When this signal is turned ON, the pressing operation is performed to the position expressed using the value adding the positioning width to the target position.
  • Page 306 5.7.12 CC-Link PLC Input Signal (23) Pressing and a Miss (PSFL) In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”.
  • Page 307 5.7.12 CC-Link PLC Input Signal (26) Load Output Judgment (LOAD) This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known whether the set load threshold is reached during the pressing operation. The load threshold and inspected width range are set using the PLC's register.
  • Page 308 5.7.12 CC-Link PLC Input Signal (27) Torque Level (TRQS) 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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
  • Page 309 PLC Output Signal (29) Anti-Vibration Control Mode Selection 0, 1 (NTC0, NTC1) Anti-vibration control function controls the vibration generated by the load of IAI actuator. Measure the vibration value and input it into the parameter sets (3 types max.). 1 type is to be selected from the established parameter sets and to be combined in this signal.
  • Page 310 5.7.12 CC-Link PLC Input Signal (30) Acceleration/Deceleration Mode (MOD1, MOD0) 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 311 5.7.12 CC-Link PLC Output Signal (31) Stop Mode Selection (ASO1, ASO0) 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 312 5.7.12 CC-Link Input Identification Continuously for 20ms Calibration Time Turn CLBR OFF after confirming CEND is ON. CLBR CEND CEND turns ON after calibration process is completed properly. If CLBR is OFF, CEND becomes always OFF. *1 If CLBR is turn OFF in this period, the calibration process cannot be performed since it is before input identification.
  • Page 313 CC-Link I/O Signal Timing 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.

  • Page 314: Operation

    5.9.1 CC-Link Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode (Position/Simplified Direct Value Mode, Position/Simplified Direct Value 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 315 5.9.1 CC-Link 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) ME0254-13A...
  • Page 316 5.9.1 CC-Link [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 317 5.9.1 CC-Link 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) ME0254-13A...
  • Page 318 5.9.2 CC-Link 5.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position register.
  • Page 319 5.9.2 CC-Link 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) ME0254-13A...
  • Page 320 5.9.2 CC-Link [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 321 5.9.2 CC-Link 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) ME0254-13A...
  • Page 322 5.9.3 CC-Link 5.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. [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 323 5.9.3 CC-Link 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) ME0254-13A...
  • Page 324 5.9.3 CC-Link [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 325 5.9.3 CC-Link 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) ME0254-13A...
  • Page 326 5.9.4 CC-Link 5.9.4 Data Change During the 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 327 5.10 CC-Link 5.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 87, 90 and 159. Classification: C: External Interface Related Default Value set in the Classification Name Factory before Delivery Refer to [instruction manual for the 1 to 83 controller] for the parameters No.
  • Page 328 5.10 CC-Link  Field Bus Node Address (No. 85) The remote station No. is set for the parameter No. 85. Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).  Field Bus Communication Speed (No. 86) The communication speed is selected for the parameter No.
  • Page 329 5.10 CC-Link (Example i) : In the case of the Value set to “0”: ● shows ON. ○ shows OFF. SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ○...
  • Page 330 5.10 CC-Link (Example ii): In the case of the Value set to “1”: ● shows ON. ○ shows OFF. SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ○ ○...
  • Page 331 5.10 CC-Link (Example iii): In the case of the Value set to “2”: ● shows ON. ○ shows OFF. SCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ● ○...
  • Page 332 5.10 CC-Link (Example iv): In the case of the Value set to “3”: ● shows ON. ○ shows OFF. SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 Input register ON/OFF ● ●...

  • Page 333: Troubleshooting

    5.11.1 CC-Link 5.11 Troubleshooting 5.11.1 Status LED Indication With the Status LED (STATUS 0/1 or RUN/ERR) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
  • Page 334 5.11.1 CC-Link ME0254-13A...
  • Page 335 CC-Link 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 CC-Link can be operated by means of selecting one mode out of the following three operation modes.
  • Page 336 CC-Link [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24V I/Os) via CC-LINK communication. No. of Occupied Stations: One Station SCON-CB not SCON-CB applicable applicable to CC-Link to CC-Link Communications Flat cable cable In the case of the connection using PIO In the case of the connection using CC-Link [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...

  • Page 337: Model Numbers

    CC-Link Model Numbers The model numbers of SCON-CB controller supporting CC-Link are indicated as follows, respectively: ● SCON-CB-□F-CC-□ For 12 to 300W motor For 400 to 750W motor For 3000 to 3000W motor ME0254-13A...
  • Page 338 6.3.1 CC-Link CC-Link Interface 6.3.1 Names of Each Section The names of each section related to CC-Link are described as follows. ● SCON-CB  12～750W  3000～3300W 6.3.2 Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.

  • Page 339: Operation Mode Selection

    6.4.1 CC-Link Setting Using the 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 CC-Link.

  • Page 340: Communicating With The Master Station

    6.5.1 CC-Link Communicating with the Master Station 6.5.1 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 address Remote I/O mode...
  • Page 341 6.5.1 CC-Link  SCON-CB output  PLC input (* “n” indicates the first address of each axis.) DO on the SCON-CB side and input data register PLC address Remote I/O mode Full Direct Value Mode Pressing Direct Mode Number of occupied stations: 1 Number of occupied stations: 4 Number of occupied stations: 4 RY n0 –...
  • Page 342 6.5.1 CC-Link  Signal Assignment in System Domain The one used in the system domain should be the remote station Ready only. (* “n” shows the first address for each axis (m=1 when 1 station occupied, m=7 when 4 stations occupied)) PLC side Signal alocation PLC side...
  • Page 343 (*1) Servo gain switching (*1) One servo gain can be registered to one press program. (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC side IAI controllers side PLC side No.84 DI (Port No.)
  • Page 344 6.5.2 CC-Link (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input 1 word and one output word in the I/O areas.  Each address is controlled by ON/OFF bit signals. PLC output Address (* “n”...
  • Page 345 6.5.3 CC-Link 6.5.3 Full Function Mode (Number of Occupied Stations: Four Stations) 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 346 6.5.3 CC-Link (2) I/O Signal Allocation for each Axis An I/O signal of each axis consists of 16 words of I/O addresses.  The control signals 1, 2 and status signals 1, 2 are ON/OFF signals in units of bit. ...
  • Page 347 6.5.3 CC-Link PLC output Address (* “n” indicates the first address of each axis.) ME0254-13A...
  • Page 348 6.5.3 CC-Link Address (* “n” indicates the first address of each axis.) ME0254-13A...
  • Page 349 6.5.3 CC-Link PLC input Address (* “n” indicates the first address of each axis.) ME0254-13A...
  • Page 350 6.5.3 CC-Link Address (* “n” indicates the first address of each axis.) ME0254-13A...
  • Page 351 6.5.3 CC-Link (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 Indicate the target position on the absolute coordinates in the direct position move command. The unit is 0.001mm, while the specifiable range is -9999999 to 9999999.
  • Page 352 6.5.3 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Control Unavailable signal 1 Positioning start: when the movement command is DSTR 6.5.5 (15) -Jog: The actuator moves in the direction of home JOG- 6.5.5 (14) when the signal is ON.
  • Page 353 6.5.3 CC-Link (* “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 0.001mm. Current 32-bit (Example) Reading : 000003FF = 1023 (decimal) 6.7.2 position Data...
  • Page 354 6.5.3 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Overall Judgment NG: JDNG Turns ON when overall judgment was made for load 6.5.5 (30) and position (distance) as a NG. Overall Judgment OK: JDOK Turns ON when Overall judgment was made for...
  • Page 355 6.5.3 CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Press program finished in normal condition: Turns ON when press program finished with no PCMP 6.5.5 (7) alarm generated. (Note) There is no relation to press judgment.
  • Page 356 6.5.4 CC-Link 6.5.4 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. The main features valid in a ROBO Cylinder capable of controlling in this mode should be as shown in the table below.
  • Page 357 6.5.4 CC-Link (1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter SCON-CB side SCON-CB side PLC side PLC side No. 84 input side resister output side resister RY n0 - nF RX n0 - nF RY (n+1) 0 - (n+1) F RX (n+1) 0 - (n+1) F RY (n+2) 0 - (n+2) F...
  • Page 358 6.5.4 CC-Link (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 359 6.5.4 CC-Link PLC output Address (* “n” indicates the first address of each axis.) *The host words and slave words are available for swapping in Parameter No. 90. 1 word = 2 bytes =16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 Target Position (Slave Word)
  • Page 360 6.5.4 CC-Link PLC output Address (* “n” indicates the first address of each axis.) *The host words and slave words are available for swapping in Parameter No. 90. 1 word = 2 bytes =16 bits RWw (n+8) b15 b14 b13 b12 b11 b10 Position Zone Boundary + (Slave Word)
  • Page 361 6.5.4 CC-Link PLC Input Address (* “n” indicates the first address of each axis.) *The host words and slave words are available for swapping in Parameter No. 90. 1 word = 2 bytes =16 bits RWr (n+0) Current Position (Slave Word) RWr (n+1) Current Position...
  • Page 362 6.5.4 CC-Link PLC Input Address (* “n” indicates the first address of each axis.) 1 word = 2 bytes =16 bits RWr (n+8) Reserved (Unavailable) RWr (n+9) Reserved (Unavailable) RWr (n+A) Reserved (Unavailable) RWr (n+B) Reserved (Unavailable) RWr (n+C) Overload level monitor RWr (n+D) Alarm code...
  • Page 363 6.5.4 CC-Link 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 364 6.5.4 CC-Link (* “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 365 6.5.4 CC-Link (* “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 6.5.5 (15) JOG- - Jog: “ON” for Movement to the Home Direction 6.5.5 (14) + Jog: “ON”...
  • Page 366 6.5.4 CC-Link (* “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 0.001mm. Current 32bits (Example) Reading : 000003FF = 1023 (decimal) 6.7.3 ...
  • Page 367 6.5.4 CC-Link (* “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 6.5.5 (21) when the signal is ON. Alarm: The signal turns ON when an alarm occurs.

  • Page 368: I/O Signal Controls And Function

    6.5.5 CC-Link 6.5.5 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 369 6.5.5 CC-Link (3) Reset (RES) PLC output signal 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. (In the case of the alarm with the cold start level, re- injection of the power is required) (4) Load cell calibration command (CLBR) PLC output signal Load cell calibration complete (CEND)

  • Page 370: Brake Release (Bkrl)

    6.5.5 CC-Link (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 371 6.5.5 CC-Link (8) Press program home return (PHOM) PLC output signal Press program home movement (MPHM) PLC input signal Press program home position (PORG) PLC input signal command gets processed at the startup (ON-edge) when PHOM signal is ON, and This executes to move to the home position in the program number input in the PLC command program number register.
  • Page 372 6.5.5 CC-Link (11) Probing stop (SSTP) PLC output signal When SSTP signal is ON at the time when probing stage completes, stops at probing stage complete position, and press program stop. Servo ON is continued. After program is turn off, even if SSTP signal return OFF will not resume press program. (12) Jog/Inching change-over (JISL) PLC output signal This signal changes over the jog operation and the inching operation.
  • Page 373 6.5.5 CC-Link (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 374 6.5.5 CC-Link (16) Positioning completion signal (PEND) PLC output 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. (Positioning Complete) However, when the positioning is completed with the DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 375 6.5.5 CC-Link (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 ON when a message level (light alarm available to continue) alarm is generated.
  • Page 376 6.5.5 CC-Link (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 377 6.5.5 CC-Link (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 378 6.5.5 CC-Link (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 379: I/O Signal Timings

    CC-Link 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.

  • Page 380: Example Of Operation

    6.7.1 CC-Link Operation The timings for the basic operation examples. 6.7.1 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. ...
  • Page 381 6.7.1 CC-Link Note 1 Input the pressing program number and then turn on PSTR. ME0254-13A...
  • Page 382 6.7.2 CC-Link 6.7.2 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 383 6.7.2 CC-Link Note 1 Input the pressing program number and then turn on PSTR. ME0254-13A...
  • Page 384 6.7.2 CC-Link [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 385 6.7.2 CC-Link 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 386 6.7.3 CC-Link 6.7.3 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 387 6.7.3 CC-Link 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)
  • Page 388 6.7.3 CC-Link [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...
  • Page 389 6.7.3 CC-Link 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...
  • Page 390 6.7.3 CC-Link [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 391 6.7.3 CC-Link 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)
  • Page 392 6.7.3 CC-Link [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 393 6.7.3 CC-Link 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) DPED (Controller→PLC) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) ≤1Mt (*2) ≤1Mt (*2)
  • Page 394 6.7.3 CC-Link 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 395 6.7.3 CC-Link 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...
  • Page 396 6.7.3 CC-Link [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 397 6.7.3 CC-Link 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 398 CC-Link CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 87, 90, 159 and No.189 Classification: C: External Interface Related Default Value set in the Classification Name Factory before Delivery Refer to [instruction manual for the controller] for the 1 to 83 parameters No.
  • Page 399 CC-Link  Field Bus I/O Format (No. 90) Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2 words, exchanging such data in units of byte within the communication area of the PLC's bit register and I/O data register.
  • Page 400 CC-Link (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 ME0254-13A...
  • Page 401 CC-Link (Example iii) Set value = “2”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output CH Hexadecimal data SCON Input resister Hexadecimal data PLC: Input Hexadecimal data ME0254-13A...
  • Page 402 CC-Link (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  FB Half Direct Mode Speed Unit (No. 159) Parameter No.
  • Page 403 CC-Link  Direct Command Pressurizing Load Unit (No. 189) Set up Parameter No. 189 “Direct Command Pressurizing Load Unit”. It should be the selection of “Pressurizing load” and “Load zone boundaries ” in the pressing direct command. Setting value Direct Command Pressurizing Load Unit 0.01N 0.1N The initial settings on delivery should be as shown below.
  • Page 404 Fieldbus module Action: Reconnect the power. If the problem Cannot undetection error persists, please contact IAI. Cause: Error in load data analog output component (Note) An error will not be detected when parameter No. 180 “DAC Output” is set inactivated.
  • Page 405 CC-Link (2) Alarm Codes Specific to Pressing Direct Mode Alarm Detail Code Name Output Remarks 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 ●...
  • Page 406 CC-Link ME0254-13A...

  • Page 407: Common Items

    CC-Link Common Items Communication Cable Use the dedicated cable for CC-Link applicable for Ver.1.10 (FANC-SBH, FANC-SB etc.) 7.1.1 Examples for Connection 7.1.2 Terminal Resistance Terminal resister is requred to be connected for CC-Link system both ends unit. Connect a attached resistance between DA and DB of the connector. (Note) The terminal resister differs depending on the type of the CC-Link dedicated cable.
  • Page 408 CC-Link ME0254-13A...

  • Page 409: Change History

    CC-Link Change History Revision Date Revision Description 2011.11 First edition Contents changed in Safety Guide Caution notes added for when working with two or more persons (ACON and PCON picked up from existing Instruction Manual and SCON-CA added to rearrange new Instruction Manual) 2012.06 Second edition Contents added and changed in Safety Guide...
  • Page 410 CC-Link Revision Date Revision Description 2019.01 10E edition Connector model code changed Signal names corrected from LS0 to LS2 in Electromagnetic Valve Mode 2 Chapter 4 & 5 Troubleshooting names corrected for status LED lamps 2020.07 10F edition Pg. 16, 17, 88, 89, 136, 162, 163, 261 Tools e.g.
  • Page 411 CC-Link Revision Date Revision Description 2023.03  5.7.7 (21) Explanation image added  5.7.7 (22) Image changed and explanation added  6.3.1 Correction made to CC-Link connector (on cable side)  6.5.4 (3) Correction made to explanation content regarding load zone boundary +/- ...

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