Page 1 MECHATROLINK- I / II Instruction Manual Twelfth Edition Positioner Type Controller Edition Chapter 1 Overview ACON-C/CG Chapter 2 PCON-C/CG PCON-CA/CFA PCON-CB/CFB/CGB/CGFB/CBP/CGBP Chapter 3 ACON-CA/CB/CGB DCON-CA/CB/CGB SCON-CA/CB/CGB Chapter 4 SCON-CAL/CGAL Servo Press Type Chapter 5 SCON-CB/CGB MECHATROLINK basic Chapter 6 communication flow and command...
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 MECHATROLINK ME0221-12B...
Page 5: Construction Of Instruction Manual For Each Controller Model And This Manual
MECHATROLINK Construction of Instruction Manual for Each Controller Model and This Manual ACON-CB/CGB ACON-CA ACON-C/CG DCON-CB/CGB DCON-CA ●Operation Patterns ・Remote I/O Control Operation MECHATROLINK- I/II (This Manual) ME0221 ・Direct Number Indication Operation ◎ Basic Specifications ACON-CB/CGB ME0343 DCON-CB/CGB ME0343 and Functions...
Page 6 Table of Contents Safety Guide ........................1 Handling Precautions ......................8 Overview ........................9 Interface Specifications ....................10 ACON-C/CG, PCON-C/CG ..................11 Operation Modes and Functions ..................11 Model Names ........................13 MECHATROLINK Interface ..................... 14 2.3.1 Name of Each Part ....................14 2.3.2...
Page 7 MECHATROLINK 3.5.2 Node Address Setting ....................78 3.5.3 Communication Speed Setting ................78 Communication with the Master Station ................79 3.6.1 Operation Modes and Handling of PLC Addresses ..........79 3.6.2 Remote I/O Mode ....................81 3.6.3 Position/Simple Direct Mode .................86 3.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) ........91 3.6.5 Remote I/O Mode 2 ....................98 3.6.6...
Page 8 MECHATROLINK 4.8.1 Operation in the Position/Simplified Direct Value Mode 1, 2 ......227 4.8.2 Operation in the Half Direct Value Mode 1 to 3 ..........231 4.8.3 Change During the Movement ................235 MECHATROLINK Parameters ..................236 4.10 Troubleshooting ......................242 4.10.1 Alarm Details and Causes/Actions ..............242 4.10.2 Status LED Indicators ..................
Page 9: Operation Description
MECHATROLINK Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 10: Operation
MECHATROLINK 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 MECHATROLINK 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 MECHATROLINK 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 MECHATROLINK 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 MECHATROLINK 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
MECHATROLINK 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 Precautions
MECHATROLINK 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 A wire-saving system can be built by connecting ACON, PCON, SCON (C type is excluded) and DCON (High-function Type) controllers (hereinafter collectively and individually referred to as “Each Controller” or “IAI Controller”) to a MECHATROLINK-I/II. Each controller is treated as an Intelligent I/O in MECHATROLINK and supports only asynchronous communication commands.
Page 18: Interface Specifications
MECHATROLINK Interface Specifications Item Specification Slave type Intelligent I/O MECHATROLINK-I 4 Mbps Baud rate MECHATROLINK-II 10 Mbps Maximum transmission speed 50 m Minimum distance between stations 0.5 m MECHATROLINK-I 15 stations Number of connectable 30 stations (A repeater is required for 17 or stations (Slave) MECHATROLINK-II more stations.)
Page 19: Acon-C/Cg, Pcon-C/Cg
MECHATROLINK ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers supporting MECHATROLINK can be operated in a desired operation mode selected from the following four modes. * ACON and PCON that are compatible with MECHATROLINK are compatible with MECHATROLINK-I and II, and are not compatible with MECHATROLINK-III.
Page 20 MECHATROLINK [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
Page 21: Model Names
MECHATROLINK Model Names The model names of ACON and PCON controller supporting MECHATROLINK are indicated as follows, respectively:  ACON-C/CG--ML-  PCON-C/CG--ML- Front panel color  ACON: Dark blue  PCON: Dark green Printed series name  ACON  PCON...
Page 22: Name Of Each Part
2.3.1 MECHATROLINK MECHATROLINK Interface 2.3.1 Name of Each Part The name of each part relating to MECHATROLINK is shown. Status indicator LEDs Status LEDs MECHATROLINK communication connector (Dual-system) Pin No. Signal name Explanation Not used /DATA – side signal DATA + side signal Not used Connector shell...
Page 23: Monitor Led Indications
2.3.2 MECHATROLINK 2.3.2 Monitor LED Indications The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board. ○ : Illuminating, × : OFF, ☆ : Flashing Indicator Color Explanation...
Page 24 2.4.1 MECHATROLINK Example of Wiring 2.4.1 Wiring Diagram An example of wiring is as follows.  Example of Wiring PLC (MECHATROLINK master unit) Slave Terminator (Terminal resistor)  Example of connection Master unit Connector shell Connector shell Connector shell Connector shell Connector shell MECHATROLINK cables ...
Page 25 2.5.1 MECHATROLINK Setting 2.5.1 Operation Mode Selection Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, “Fieldbus operation mode” using the teaching tool (RC/EC PC Software (V7.00.08.00 or later)).
Page 26 2.6.1 MECHATROLINK Communication with the Master Station 2.6.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below.  PLC output  ACON/PCON input PLC output address ACON/PCON DI and input data register (When the DATA_RWA Position/simple command is in use)
Page 27 2.6.2 MECHATROLINK 2.6.2 Remote I/O Mode In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 28 2.6.2 MECHATROLINK (1) PLC address configuration (When the DATA_RWA command is in use) Parameter No. ACON/PCON DI PLC output address ACON/PCON DO PLC input address (port number) (port number) Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) 0 to 15 0 to 15 6 (Upper byte) 6 (Upper byte)
Page 29 2.6.2 MECHATROLINK (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. For details, refer to [the operation manual for the controller]. ACON Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode Category Port No.
Page 30 2.6.2 MECHATROLINK ACON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
Page 31 2.6.2 MECHATROLINK PCON Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name Command position Command position number number Command PC16 PC16 PC16 position number PC32 PC32 PC32 Teaching mode MODE...
Page 32 2.6.2 MECHATROLINK PCON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
Page 33 2.6.3 MECHATROLINK 2.6.3 Position/Simple Direct Mode In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target position directly as a value or use a value registered in the position data table, by switching a control signal (PMOD signal).
Page 34 2.6.3 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 35 2.6.3 MECHATROLINK PLC input address Bytes If the current position is a negative value, it is expressed by a 2’s complement. ME0221-12B...
Page 36 2.6.3 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
Page 37 2.6.3 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. Current position 32 bit 2.8.1...
Page 38 2.6.4 MECHATROLINK 2.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
Page 39 2.6.4 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 40 2.6.4 MECHATROLINK PLC output address Bytes Lower byte Upper byte 2 bytes = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (lower word) Positioning band...
Page 41 2.6.4 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current...
Page 42 2.6.4 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Contents Signal type Symbol Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
Page 43 2.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Contents Signal type Symbol Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). Push-current 16-bit The actual specifiable range varies with each actuator.
Page 44 2.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Contents Signal type Symbol Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. 32-bit Current position 2.8.2...
Page 45 2.6.5 MECHATROLINK 2.6.5 Remote I/O Mode 2 In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using a teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 46 2.6.5 MECHATROLINK (1) PLC address configuration Parameter ACON/PCON DI and PLC output address ACON/PCON DO and PLC input address No. 84 input register output register Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) Port number 0 to 15 Port number 0 to 15 6 (Upper byte) 6 (Upper byte) 9 (Lower byte)
Page 47 2.6.5 MECHATROLINK PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits Controller output port number Cannot be used. Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word)
Page 48 2.6.5 MECHATROLINK (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to, [I/O signal assignments under 2.6.2 (3), Remote I/O Mode]. The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol Contents Details 32-bit signed integer indicating the current position.
Page 49 2.6.6 MECHATROLINK 2.6.6 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode and half direct mode.
Page 50 2.6.6 MECHATROLINK (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED refer to [2.3 MECHATROLINK Interface] on the front side of the controller illuminates in green.
Page 51: Home Return
2.6.6 MECHATROLINK (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) PLC input signal When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and home return operation will be performed automatically.
Page 52 2.6.6 MECHATROLINK (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position address.
Page 53 2.6.6 MECHATROLINK (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. (Positioning Completion) Note that PEND Signal would not turn on after the positioning is complete if CSTR Signal or DSTR Signal is kept on.
Page 54 2.6.6 MECHATROLINK (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters.
Page 55: Jog Operation
2.6.6 MECHATROLINK (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home.
Page 56 2.6.6 MECHATROLINK (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected.
Page 57 2.6.6 MECHATROLINK (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned ON, the normal operation mode switches to the teaching mode. When the mode switches to teaching, the controller of each axis turns ON the MODES signal.
Page 58 2.6.6 MECHATROLINK (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
Page 59 2.6.6 MECHATROLINK (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator will push the load. When this signal is turned ON, the actuator will push the load toward the position obtained by adding the positioning band to the target position. When this signal is turned OFF, the actuator will push the load toward the position obtained by subtracting the positioning band from the target position.
Page 60 2.6.6 MECHATROLINK (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having traveled the distance set by the positioning band address in the controller’s position table or PLC’s positioning band during push-motion operation.
Page 61: I/O Signal Timings
MECHATROLINK 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. Maximum response time (ms) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station ...
Page 62: Operation
2.8.1 MECHATROLINK Operation Next, timings in the position/simple direct mode and half direct mode are explained using examples of basic operations. For the remote I/O mode and remote I/O mode 2, refer to [the operation manual for the controller]. (In remote I/O mode 2, read the current position and current speed from the PLC as deemed necessary.) 2.8.1 Operation in the Position/Simplified Direct Value Mode Operate the actuator by writing the position data to the PLC’s target position, while specifying...
Page 63 2.8.1 MECHATROLINK 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) ME0221-12B...
Page 64 2.8.1 MECHATROLINK [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 65 2.8.1 MECHATROLINK 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) ME0221-12B...
Page 66 2.8.2 MECHATROLINK 2.8.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning 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 of output addresses 5 to 8 bytes.
Page 67 2.8.2 MECHATROLINK Operation in the Half 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) ME0221-12B...
Page 68 2.8.2 MECHATROLINK [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position of output addresses 5 to 8 bytes. (2) Set the positioning width data in the positioning width of output addresses 9 to 12 bytes. (3) Set the speed data in the speed of output addresses 13 and 14 bytes.
Page 69 2.8.2 MECHATROLINK Operation in the Half 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) ME0221-12B...
Page 70 2.8.3 MECHATROLINK 2.8.3 Change During the Movement The half direct mode is capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration. (1) Set the velocity data and acceleration/deceleration data.
Page 71: Mechatrolink Parameters
MECHATROLINK MECHATROLINK Parameters The parameters relating to MECHATROLINK are parameter Nos. 84 to 87 and 90. Category: C: External interface parameter Category Name Factory default For parameter Nos. 1 to 83, refer to [the operation manual for the controller]. Fieldbus operation mode Fieldbus node address Fieldbus baud rate Network type...
Page 72 MECHATROLINK  Network type (No. 87) Specify the network module in parameter No. 87. Do not change the default value.  Fieldbus I/O format (No. 90) By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before transmission within the range of communication with the PLC’s I/O areas.
Page 73 MECHATROLINK (Example ii) Set value = “1”  indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 74 MECHATROLINK (Example iii) Set value = “2”  indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 75 MECHATROLINK (Example iv) Set value = “3”  indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 76: Troubleshooting
Fieldbus module non- Disable Action: Reconnect the power. If the problem detection error persists, contact IAI. (*1) ID  Simple alarm code 2.10.2 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the MECHATROLINK module as well as the network condition.
Page 77 2.11 MECHATROLINK 2.11 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0221-12B...
Page 78 2.11 MECHATROLINK ME0221-12B...
Page 79: Operation Modes And Functions
PCON-CA/CB/CFA/CFB/CGB/CGFB/CBP/CGBP, DCON-CA/CB/CGB Operation Modes and Functions ACON, PCON and DCON controllers (hereinafter referred to as “IAI controllers”) supporting MECHATROLINK can be operated in a desired operation mode selected from the following seven types of the operation modes. * MECHATROLINK-III type is not applicable.
Page 80 MECHATROLINK [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24V I/Os) via MECHATROLINK communication. ACON, PCON, DCON ACON, PCON, DCON not supporting MECHATROLINK supporting PLC type Communication Flat cable cable PIO connection MECHATROLINK connection [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
Page 81 MECHATROLINK [4] Remote I/O mode 2: In this mode, the actuator is operated by MECHATROLINK instead of PIO (24V I/O). Current position and command current function is added to the function [1]. ACON, PCON, DCON ACON, PCON, DCON not supporting MECHATROLINK supporting PLC type Communication Flat cable...
Page 82 MECHATROLINK [7] Remote I/O mode 3: In this mode, the actuator is operated by CompoNet instead of PIO (24V I/O). (Applicable only for PCON-CBP) Unlike in mode [5], command current cannot be read in this mode. However, load cell data can be read instead. This mode also supports force control.
Page 83: Model Names
MECHATROLINK Model Names The model names of IAI controllers controller supporting MECHATROLINK are indicated as follows, respectively:  ACON-CA/CB--ML-  PCON-CA/CB/CGB/CBP/CGBP --ML-  PCON-CFA/CFB/CGFB--ML-  DCON-CA/CB--ML- Printed series Front panel color name  ACON-CA/CB : Dark blue  ACON  PCON-CA/CB/CGB : Dark green ...
Page 84: Mechatrolink Interface
3.3.1 MECHATROLINK MECHATROLINK Interface 3.3.1 Name of Each Part The name of each part relating to MECHATROLINK is shown. SV/ALM Status indicator LEDs Status 1 Status LEDs Status 0 /DATA DATA MECHATROLINK communication connector PCB side: DUSB-ARB82-T11A-FA (DDK) MECHATROLINK communication connector (2 systems) Pin No.
Page 85 3.4.1 MECHATROLINK Example of Wiring 3.4.1 Wiring Diagram An example of wiring is as follows.  Example of Wiring PLC (MECHATROLINK master unit) Slave Slave Terminator (Terminal resistor)  Example of connection Master unit Connector shell Connector shell Connector shell Connector shell Connector shell MECHATROLINK cables...
Page 86 3.5.1 MECHATROLINK Setting 3.5.1 Operation Mode Selection Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, “Fieldbus operation mode” using the teaching tool (Note) Refer to [3.9 MECHATROLINK Parameters].
Page 87 Communication with the Master Station 3.6.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below.  PLC output  IAI controllers input PLC output ACON, PCON, DCON DI and input data register...
Page 88 3.6.1 MECHATROLINK  IAI controllers output  PLC input PLC input address ACON, PCON, DCON DO and output data register (When the DATA_RWA Position/simple Remote I/O command is in Remote I/O mode Half direct mode direct mode mode 2 use)
Page 89 3.6.2 MECHATROLINK 3.6.2 Remote I/O Mode In this mode, the actuator is operated by specifying position numbers just like when PIOs (24V I/Os) are used. Set desired position data using a teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 90 3.6.2 MECHATROLINK (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers DI PLC output address IAI controllers DO PLC input address No. 84 (port number) (port number) Bytes] Bytes] 5 (Lower byte) 5 (Lower byte)
Page 91 3.6.2 MECHATROLINK (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. For details, refer to [the operation manual for the controller main body]. Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode...
Page 92 3.6.2 MECHATROLINK Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
Page 93 3.6.2 MECHATROLINK Setting of parameter No. 25 Force control mode 1 Force control mode 2 Port Category Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position Start position 2 number Start position 3 PC16 Start position 4 ...
Page 94 Zones are set using position Zone signal output  data or parameters. PIO pattern selection (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers PLC output address IAI controllers PLC input address No. 84 input register output register...
Page 95 3.6.3 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 96 3.6.3 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Complete position number Status signal Note 1 For ACON, it can be changed to BALM by the setting in Parameter No.
Page 97 3.6.3 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
Page 98 3.6.3 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. Current position 32 bit (Example) Reading: 000003FF...
Page 99  Zone signal output Parameters must be set.  PIO pattern selection (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers PLC output address IAI controllers PLC input address No. 84 input register output register...
Page 100 3.6.4 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 101 3.6.4 MECHATROLINK PLC output address Bytes Lower byte Upper byte 2 bytes = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (lower word) Positioning band...
Page 102 3.6.4 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current...
Page 103 3.6.4 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
Page 104 3.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). Push-current 16-bit The actual specifiable range varies with each actuator.
Page 105 3.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. Current 32-bit The unit is 0.01 mm.
Page 106 3.6.5 MECHATROLINK 3.6.5 Remote I/O Mode 2 In this mode, the actuator is operated by specifying position numbers just like when PIOs (24V I/Os) are used. Set desired position data using a teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 107 3.6.5 MECHATROLINK (1) PLC address configuration Parameter IAI controllers DI PLC output address IAI controllers DO PLC input address No. 84 and input register and output register Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) Port number 0 to 15...
Page 108 3.6.5 MECHATROLINK PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits Controller output port number Cannot be used. Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word)
Page 109 3.6.5 MECHATROLINK (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to [I/O signal assignments” under 3.6.2 (3), Remote I/O Mode]. The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol Contents Details 32-bit signed integer indicating the current position.
Page 110 Zones are set using position Zone signal output ∆ data or parameters. PIO pattern selection (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
Page 111 3.6.6 MECHATROLINK I/O signal assignments for each axis An I/O signal of each axis consists of 8 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 112 3.6.6 MECHATROLINK ME0221-12B...
Page 113 3.6.6 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Description Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01mm, while the specifiable range is -999999 to 999999.
Page 114 3.6.6 MECHATROLINK (* “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 3.8.1 32-bit (Example) Reading:000003FF =1023 (decimal) Position =10.23mm (In the case of the unit of 0.01mm)
Page 115 Zone signal output ∆ Parameters must be set. PIO pattern selection (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers side PLC side output IAI controllers side PLC side input No.84 input register address (bytes)
Page 116 3.6.7 MECHATROLINK I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
Page 117 3.6.7 MECHATROLINK ME0221-12B...
Page 118 3.6.7 MECHATROLINK ME0221-12B...
Page 119 3.6.7 MECHATROLINK I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.
Page 120 3.6.7 MECHATROLINK (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during push- motion operation. The allowable specification range is 0 (0%) to 255 (100%). Pressing 16-bit The actual settable range varies depending on each...
Page 121 3.6.7 MECHATROLINK (* “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. Current 32-bit 3.8.2 (Example) Reading:000003FF =1023 (decimal) =10.23mm Position data * When the value is read in hexadecimal notation, the negative...
Page 122 3.6.8 MECHATROLINK 3.6.8 Remote I/O Mode 3 (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. In this operation method, PROFINET communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using a teaching tool.
Page 123 3.6.8 MECHATROLINK (1) PLC address configuration (When the DATA_RWA command is in use) Parameter IAI controllers DI PLC output address IAI controllers DO PLC input address No. 84 and input register and output register Bytes] Bytes] Port number 0 to...
Page 124 3.6.8 MECHATROLINK ME0221-12B...
Page 125 3.6.8 MECHATROLINK (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to [I/O signal assignments under 3.6.2 (3), Remote I/O Mode]. The signal assignments for command-current and current-position read functions are shown below. Signal Signal type Contents Details name...
Page 126 3.6.9 MECHATROLINK 3.6.9 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”. The following specifies the controls and functions of I/O signals used in the position/simple direct mode and half direct mode.
Page 127 The controller servo can be turned ON/OFF using the SON signal. The controller servo remains ON to enable operation while the SV signal is ON. The relationship of SON and SV signals is shown below. (PLC→IAI controllers) (IAI controllers→PLC) ME0221-12B...
Page 128: Home Return
ON, it will not turn OFF until the power is turned OFF or the HOME signal is input again. Even after home return has been completed once, another home return can be performed by turning the HOME signal ON. HOME (PLC IAI controllers) GHMS (IAI controllersPLC) HEND (IAI controllersPLC)
Page 129 (= when the HEND signal is OFF), the actuator will automatically perform home return operation and then move to the target position. Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF. Target position (PLC IAI controllers) CSTR (PLC IAI controllers) PEND (IAI controllersPLC)
Page 130 3.6.9 MECHATROLINK (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. (Positioning Completion) Note that PEND Signal would not turn on after the positioning is complete if CSTR Signal or DSTR Signal is kept on.
Page 131 3.6.9 MECHATROLINK (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters.
Page 132: Jog Operation
3.6.9 MECHATROLINK (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home.
Page 133 3.6.9 MECHATROLINK (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected.
Page 134 (*2) If any data other than position is yet to be defined, the default value of the corresponding parameter is written. Refer to [the operation manual for the controller]. MODES (IAI controllersPLC) 20 ms or more PWRT (PLC IAI...
Page 135 3.6.9 MECHATROLINK (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
Page 136 3.6.9 MECHATROLINK (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator will push the load. When this signal is turned ON, the actuator will push the load toward the position obtained by adding the positioning band to the target position. When this signal is turned OFF, the actuator will push the load toward the position obtained by subtracting the positioning band from the target position.
Page 137 3.6.9 MECHATROLINK (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having traveled the distance set by the positioning band address in the controller’s position table or PLC’s positioning band during push-motion operation.
Page 138 3.6.9 MECHATROLINK (26) Stop Mode Selection (ASO1, ASO0) PLC output signal Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption.
Page 139 3.6.9 MECHATROLINK (29) Load Cell Calibration Command (CLBR) PLC Output Signal PCON-CBP only Load Cell Calibration Complete (CEND) PLC Input Signal PCON-CBP only The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration.
Page 140 3.6.9 MECHATROLINK (30) Load Output Judgment (LOAD) PLC Output Signal PCON Dedicated Function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and inspected width range are set using the PLC's register.
Page 141 3.6.9 MECHATROLINK (31) Torque Level (TRQS) PLC Input Signal PCON Dedicated Function This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
Page 142: I/O Signal Timings
MECHATROLINK 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. Maximum response time (ms) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station ...
Page 143: Operation
3.8.1 MECHATROLINK Operation Next, timings in the position/simple direct mode and half direct mode are explained using examples of basic operations. For the Remote I/O Mode and Remote I/O Mode 2, refer to [the operation manual for the controller main body]. (In remote I/O mode 2, read the current position and current speed from the PLC as deemed necessary.) 3.8.1 Operation in the Position/Simplified Direct Value Mode...
Page 144 3.8.1 MECHATROLINK 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) ME0221-12B...
Page 145 3.8.1 MECHATROLINK [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 146 3.8.1 MECHATROLINK 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) ME0221-12B...
Page 147 3.8.2 MECHATROLINK 3.8.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning 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 of output addresses 5 to 8 bytes.
Page 148 3.8.2 MECHATROLINK 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. Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0221-12B...
Page 149 3.8.2 MECHATROLINK [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position of output addresses 5 to 8 bytes. (2) Set the positioning width data in the positioning width of output addresses 9 to 12 bytes. (3) Set the speed data in the speed of output addresses 13 and 14 bytes.
Page 150 3.8.2 MECHATROLINK Operation in the Half 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) ME0221-12B...
Page 151 3.8.3 MECHATROLINK 3.8.3 Data Change During the Movement The half direct mode is capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration. (1) Set the velocity data and acceleration/deceleration data.
Page 152: Mechatrolink Parameters
MECHATROLINK MECHATROLINK Parameters The parameters relating to MECHATROLINK are parameter Nos. 84 to 87 and 90. Category: C: External interface parameter Category Name Factory default For parameter Nos. 1 to 83, refer to [the operation manual for the controller]. Fieldbus operation mode Fieldbus node address Fieldbus baud rate Network type...
Page 153 MECHATROLINK  Network type (No. 87) Specify the network module in parameter No. 87. Do not change the default value.  Fieldbus I/O format (No. 90) By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before transmission within the range of communication with the PLC’s I/O areas.
Page 154 MECHATROLINK (Example ii) Set value = “1”  indicates ON, while O indicates OFF. PCON input register Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 155 MECHATROLINK (Example iii) Set value = “2”  indicates ON, while O indicates OFF. PCON input register Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 156 MECHATROLINK (Example iv) Set value = “3”  indicates ON, while O indicates OFF. PCON input register Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data  FB Half Direct Mode Speed Unit (No.159) Determines the unit of measure when operating the unit in Half Direct Mode.
Page 157: Troubleshooting
Fieldbus module non- Cannot Action: Reconnect the power. If the problem detection error persists, contact IAI. (*1) ID  Simple alarm code 3.10.2 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the MECHATROLINK module as well as the network condition.
Page 158 3.11 MECHATROLINK 3.11 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0221-12B...
Page 159: Operation Modes And Functions
MECHATROLINK SCON-CA/CB/CGB/CAL/CGAL Note As CAL and CGAL Types possess the same functions, this manual describes them together as CAL Type. Operation Modes and Functions All of the operation modes described in the table below for SCON-CA/CB Type applicable for MECHATROLINK and those except for the ones in the shaded area for CAL Type are available to choose from for operation.
Page 160 MECHATROLINK [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used.
Page 161 MECHATROLINK [4] Remote I/O mode 2: In this mode, the actuator is operated by MECHATROLINK instead of PIO (24 V I/O). Current position and command current function is added to the function [1]. Number of occupied bytes: 12 bytes SCON-CA/CB/CAL not SCON-CA/CB/CAL supporting MECHATROLINK supporting MECHATROLINK...
Page 162 MECHATROLINK [6] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the (Not applicable for CAL target position, directly as values. Type) Unlike in mode [3], command current cannot be read in this mode.
Page 163 MECHATROLINK Model Names The model names of SCON-CA/CB/CAL controller supporting MECHATROLINK are indicated as follows, respectively:  SCON-CA/CB--ML-  SCON-CAL--ML- ME0221-12B...
Page 164 4.3.1 MECHATROLINK MECHATROLINK Interface 4.3.1 Name of Each Part The name of each part relating to MECHATROLINK is shown.  SCON-CA/CB Status LEDs MECHATROLINK communication connector (Dual-system) Pin No. Signal name Explanation Not used /DATA – side signal DATA + side signal Not used Connector shell Shield...
Page 165: Monitor Led Indications
4.3.2 MECHATROLINK 4.3.2 Monitor LED Indications The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board. ○ : Illuminating, × : OFF, ☆ : Flashing Indicator Color Explanation...
Page 166 4.4.1 MECHATROLINK Example of Wiring 4.4.1 Wiring Diagram An example of wiring is as follows.  Example of Wiring PLC (MECHATROLINK master unit) Slave SCON-CA/CB SCON-CA/CB Terminator (Terminal resistor)  Example of connection Master unit SCON-CA/CB/CAL SCON-CA/CB/CAL Connector shell Connector shell Connector shell Connector shell Connector shell...
Page 167 4.5.1 MECHATROLINK Setting 4.5.1 Operation Mode Selection Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, FMOD: Fieldbus operation mode using the RC/EC PC software (V8.00.00.00 or later). Refer to [4.9 MECHATROLINK Parameters].
Page 168 4.6.1 MECHATROLINK Communication with the Master Station 4.6.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below.  PLC output  SCON-CA/CB/CAL input PLC output address SCON-CA/CB/CAL DI and input data resister (When the DATA_RWA Position/simple...
Page 169 4.6.1 MECHATROLINK  PLC output  SCON-CA/CB/CAL input PLC output SCON-CA/CB/CAL DI and input data resister address (When the Position/simple Remote I/O mode Half direct mode DATA_RWA Half direct mode 2 command is in direct mode 2 use) Bytes Port number 0 to 15 Target position Target position Target position...
Page 170 4.6.1 MECHATROLINK  SCON-CA/CB/CAL output  PLC input PLC input address SCON-CA/CB/CAL DO and output data resister (When the DATA_RWA Position/simple direct Half direct Remote I/O command is in Remote I/O mode mode mode mode 2 use) Bytes Port number 0 to Port number 0 to Current position Current position...
Page 171 4.6.1 MECHATROLINK  SCON-CA/CB/CAL output  PLC input PLC input address SCON-CA/CB/CAL DO and output data resister (When the DATA_RWA Position/simple Remote I/O mode Half direct mode Half direct mode 2 command is in use) direct mode 2 Bytes Port number 0 to 15 Current position Current position Current position...
Page 172 4.6.2 MECHATROLINK 4.6.2 Remote I/O Mode In this mode, the actuator is operated by specifying position numbers just like when PIOs (24V I/Os) are used. Set desired position data using a teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 173 4.6.2 MECHATROLINK (1) PLC address configuration (When the DATA_RWA command is in use) Parameter SCON-CA/CB/CAL DI PLC output address SCON-CA/CB/CAL DO PLC input address No. 84 (port number) (port number) Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) 0 to 15 0 to 15 6 (Upper byte) 6 (Upper byte)
Page 174 4.6.2 MECHATROLINK (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. For details, refer to [the operation manual for the controller main body]. Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode...
Page 175 4.6.2 MECHATROLINK Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3...
Page 176 4.6.2 MECHATROLINK Setting of parameter No. 25 Force control mode 1 Force control mode 2 Category Port No. Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position Start position 2 number Start position 3 PC16 Start position 4 Cannot be used.
Page 177 4.6.3 MECHATROLINK 4.6.3 Position/Simple Direct Mode In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target position directly as a value or use a value registered in the position data table, by switching a control signal (PMOD signal).
Page 178 4.6.3 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 179 4.6.3 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Complete position number Status signal ME0221-12B...
Page 180 4.6.3 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
Page 181 4.6.3 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Page 182 4.6.4 MECHATROLINK 4.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
Page 183 4.6.4 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 184 4.6.4 MECHATROLINK ME0221-12B...
Page 185 4.6.4 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current...
Page 186 4.6.4 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
Page 187 4.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 510 (200%). Push-current 16-bit data The actual specifiable range varies with each actuator.
Page 188 4.6.4 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor). Current position 32-bit data (Example) Reading: 000003FF = 1023 (decimal)
Page 189 4.6.5 MECHATROLINK 4.6.5 Remote I/O Mode 2 In this mode, the actuator is operated by specifying position numbers just like when PIOs (24V I/Os) are used. Set desired position data using a teaching tool. The number of positions to which the actuator can be operated varies according to the setting of parameter No.
Page 190 4.6.5 MECHATROLINK (1) PLC address configuration (When the DATA_RWA command is in use) Parameter SCON-CA/CB/CAL PLC output address SCON-CA/CB/CAL PLC input address No. 84 DI and input register DO and output register Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) Port number 0 to 15 Port number 0 to 15 6 (Upper byte)
Page 191 4.6.5 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Controller output port number Cannot be used. Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s Command current (lower word)
Page 192 4.6.5 MECHATROLINK (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to, [I/O signal assignments under 4.6.2 (3) Remote I/O Mode]. The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol Contents Details 32-bit signed integer indicating the current position.
Page 193 4.6.6 MECHATROLINK 4.6.6 Position/Simple Direct Mode 2 (Note) This mode is applicable only for SCON-CA/CB. In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers. You can select whether to specify target positions directly as numerical values by switching the control signal (PMOD signal) or to use values already registered in the position data table.
Page 194 4.6.6 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 195 4.6.6 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s Complete position number Status signal ME0221-12B...
Page 196 4.6.6 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
Page 197 4.6.6 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD Current motor).
Page 198 4.6.7 MECHATROLINK 4.6.7 Half Direct Mode 2 (Cannot be used in the 17-byte mode) (Note) This mode is applicable only for SCON-CA/CB. In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as numerical values.
Page 199 4.6.7 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 200 4.6.7 MECHATROLINK ME0221-12B...
Page 201 4.6.7 MECHATROLINK PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current...
Page 202 4.6.7 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
Page 203 4.6.7 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 16-bit integer. Specify the current-limiting value during push-motion operation. Push-current The specified range is 0 (0%) to 510 (200%). 16-bit data 4.8.2 limiting value...
Page 204 4.6.7 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD Current motor).
Page 205 4.6.8 MECHATROLINK 4.6.8 Remote I/O Mode 3 (Note) This mode is applicable only for SCON-CA/CB. In this mode, load cell data can be read instead of command current values that can be read in remote I/O mode 2. Set desired position data using a teaching tool. The number of available positions varies depending on the setting of parameter No.
Page 206 4.6.8 MECHATROLINK (1) PLC address configuration Parameter SCON-CA/CB DI PLC output address SCON-CA/CB DO and PLC input address No. 84 and input register output register Bytes] Bytes] 5 (Lower byte) 5 (Lower byte) Port number 0 to 15 Port number 0 to 15 6 (Upper byte) 6 (Upper byte) 9 (Lower byte)
Page 207 4.6.8 MECHATROLINK PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits Controller output port number Cannot be used. Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word)
Page 208 4.6.8 MECHATROLINK (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to [I/O signal assignments under 4.6.2 (3), Remote I/O Mode]. Shown below is the signal assignment of the current load and current position reading features. Signal type Symbol Contents...
Page 209 4.6.9 MECHATROLINK 4.6.9 Half Direct Mode 3 (Cannot be used in the 17-byte mode) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the applicable I/O area. To use the zone function, set the necessary values in parameter Nos.
Page 210 4.6.9 MECHATROLINK (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 bytes of I/O addresses.  Control signals and status signals are bit ON/OFF signals.  The target position and current position are both 4 bytes (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
Page 211 4.6.9 MECHATROLINK PLC output address Bytes Upper byte Lower byte 2 bytes = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (lower word) Positioning band...
Page 212 4.6.9 MECHATROLINK PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current...
Page 213 4.6.9 MECHATROLINK (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm (other than DD motor) and 0.001°...
Page 214 4.6.9 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0”.) Signal type Symbol Contents Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 510 (200%). Push-current 16-bit The actual specifiable range varies with each actuator.
Page 215 4.6.9 MECHATROLINK (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° Current 32-bit (DD motor).
Page 216 4.6.10 MECHATROLINK 4.6.10 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1”, while OFF indicates that the applicable bit is “0”. The following specifies the controls and functions of I/O signals used in the position/simple direct mode 1 and 2 and half direct mode 1 to 3.
Page 217 4.6.10 MECHATROLINK (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED refer to [4.3 MECHATROLINK Interface] on the front side of the controller illuminates in green.
Page 218 4.6.10 MECHATROLINK (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) PLC input signal When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and home return operation will be performed automatically.
Page 219 4.6.10 MECHATROLINK (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position address.
Page 220 4.6.10 MECHATROLINK (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. (Positioning Completion) Note that PEND Signal would not turn on after the positioning is complete if CSTR Signal or DSTR Signal is kept on.
Page 221 4.6.10 MECHATROLINK (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters.
Page 222 4.6.10 MECHATROLINK (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home.
Page 223 4.6.10 MECHATROLINK (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected.
Page 224 4.6.10 MECHATROLINK (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned ON, the normal operation mode switches to the teaching mode. When the mode switches to teaching, the controller of each axis turns ON the MODES signal.
Page 225 4.6.10 MECHATROLINK (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
Page 226 4.6.10 MECHATROLINK (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator will push the load. When this signal is turned ON, the actuator will push the load toward the position obtained by adding the positioning band to the target position. When this signal is turned OFF, the actuator will push the load toward the position obtained by subtracting the positioning band from the target position.
Page 227 4.6.10 MECHATROLINK (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having traveled the distance set by the positioning band address in the controller’s position table or PLC’s positioning band during push-motion operation.
Page 228 4.6.10 MECHATROLINK (26) Load Output Judgment (LOAD) PLC Input signal This signal is effective only in push-motion operation. To use the LOAD signal in a press-fit application, whether the load has reached the specified threshold must be detected during push-motion operation. Set the load threshold and certification band on the PLC.
Page 229 4.6.10 MECHATROLINK (27) Torque Level (TRQS) PLC Input Signal This signal is effective only in push-motion operation. This signal turns ON when the motor current has reached the load threshold during push- motion operation (= the actuator is moving inside the positioning band). Since the current is monitored as level, the ON/OFF status of this signal changes as the current changes.
Page 230 Remote I/O Mode 2 thus switching on/off gets reversed to above. (29) Vibration Damping Mode Selection 0, 1 (NTC0, NTC1) PLC Output Signals The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
Page 231 4.6.10 MECHATROLINK (30) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signals These signals are used to select acceleration/deceleration pattern characteristics. Select a desired pattern before issuing an actuator movement command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Cannot be used.
Page 232 4.6.10 MECHATROLINK (31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption.
Page 233 4.6.10 MECHATROLINK (32) Load Cell Calibration Command (CLBR) PLC Output Signal Load Cell Calibration Complete (CEND) PLC Input Signal The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration.
Page 234: I/O Signal Timings
MECHATROLINK 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. Maximum response time (ms) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station ...
Page 235: Operation
4.8.1 MECHATROLINK Operation Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 are explained using examples of basic operations. For the remote I/O mode 1 to 3, refer to [the operation manual for the controller]. (In remote I/O mode 2 or 3, read the current position, command current or current load from each applicable byte on the PLC side as deemed necessary.) 4.8.1 Operation in the Position/Simplified Direct Value Mode 1, 2...
Page 236 4.8.1 MECHATROLINK 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) ME0221-12B...
Page 237 4.8.1 MECHATROLINK [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 238 4.8.1 MECHATROLINK 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) ME0221-12B...
Page 239 4.8.2 MECHATROLINK 4.8.2 Operation in the Half Direct Value Mode 1 to 3 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 of output addresses 5 to 8 bytes.
Page 240 4.8.2 MECHATROLINK Operation in the Half 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) ME0221-12B...
Page 241 4.8.2 MECHATROLINK [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position of output addresses 5 to 8 bytes. (2) Set the positioning width data in the positioning width of output addresses 9 to 12 bytes. (3) Set the speed data in the speed of output addresses 13 and 14 bytes.
Page 242 4.8.2 MECHATROLINK 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) ME0221-12B...
Page 243 4.8.3 MECHATROLINK 4.8.3 Change During the Movement The half direct mode is capable of changing the settings for the output data registers (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration. (1) Set the velocity data and acceleration/deceleration data.
Page 244 MECHATROLINK MECHATROLINK Parameters The parameters relating to MECHATROLINK are parameter Nos. 84 to 87, 90 and 159. Category: C: External interface parameter Category Name Factory default For parameter Nos. 1 to 83, refer to [the operation manual for the controller]. Fieldbus operation mode Fieldbus node address Fieldbus baud rate...
Page 245 MECHATROLINK  Fieldbus baud rate (No. 86) Specify the baud rate in parameter No. 86. Set value of parameter Baud rate Data length No. 86 MECHATROLINK-I 17 bytes 4 Mbps MECHATROLINK-II 17 bytes 10 Mbps MECHATROLINK-II 2 (factory setting) 32 bytes 10 Mbps ...
Page 246 MECHATROLINK  Fieldbus I/O format (No. 90) By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before transmission within the range of communication with the PLC’s I/O areas. Set value of Contents parameter No.
Page 247 MECHATROLINK (Example ii) Set value = “1”  indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 248 MECHATROLINK (Example iii) Set value = “2”  indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data ME0221-12B...
Page 249 MECHATROLINK (Example iv) Set value = “3”  indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data  FB Half Direct Mode Speed Unit (No.159) Determines the unit of measure when operating the unit in Half Direct Mode.
Page 250: Troubleshooting
Fieldbus module non- Cannot Action: Reconnect the power. If the problem persists, detection error contact IAI. (*1) ID  Simple alarm code 4.10.2 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the MECHATROLINK module as well as the network condition.
Page 251 MECHATROLINK 5. 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 The operation modes described in the table below for SCON-CB Type applicable for MECHATROLINK-I/II are available to choose from for operation.
Page 252: Model Numbers
MECHATROLINK Model Numbers The model numbers of SCON-CB controller supporting MECHATROLINK-I/II are indicated as follows. ●SCON-CB-□F-ML-□ For 12 to 300W motor For 400 to 750W motor For 3000 to 3300W motor ME0221-12B...
Page 253 5.3.1 MECHATROLINK MECHATROLINK- I/II Interface 5.3.1 Name of the Parts The names of each section related to MECHATROLINK-I/II are described as follows. Status LEDs MECHATROLINK communication connector (Dual-system) Pin No. Signal name Explanation Not used /DATA – side signal DATA + side signal Not used Connector shell...
Page 254 5.4.1 MECHATROLINK Wiring 5.4.1 Connection Diagram (Example) An example of wiring is as follows.  Example of Wiring  Example of connection ME0221-12B...
Page 255 5.5.1 MECHATROLINK 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 MECHATROLINK-I/II].
Page 256 5.6.1 MECHATROLINK Communicating with the Master Station 5.6.1 Operation Modes and Corresponding PLC I/O Areas The registers allocated for each operation mode are described as follows.  PLC output  SCON-CB input PLC output address SCON-CB DI and input data resister (When the DATA_RWA command is in use) Remote I/O mode...
Page 257: Remote I/O Mode (Number Of Occupied Bytes: 2)
5.6.2 MECHATROLINK 5.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Create a press program on using a teaching tool. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
Page 258 5.6.2 MECHATROLINK (2) I/O Signal Allocation for each Axis An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses.  Each register is controlled by turning ON/OFF signal of each applicable bit. (3) I/O signal assignment Refer to [Instruction manual for the controller main body] for more information.
Page 259: I/O Signal Controls And Function
5.6.3 MECHATROLINK 5.6.3 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 signal control and functions used in described as follows. (1) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal...
Page 260 5.6.3 MECHATROLINK (3) Reset (RES) PLC output signal This signal has two functions. It can reset the controller alarm and cancel the reminder for planned movements during pause conditions. ■ Function [1] When this signal is turned ON from OFF condition after eliminating the cause of the alarm during the alarm output, the alarm (ALM) signal can be reset.
Page 261 5.6.3 MECHATROLINK (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 262 5.6.3 MECHATROLINK (7) Press program start (PSTR) PLC output signal Command program No. (PC1 to PC32) PLC input signal Press program executed (PRUN) PLC input signal Press program finished in normal condition (PCMP) PLC input signal Specify command program No.* to press program, press program start signal executed. PSTR signal gets processed at the startup (ON-edge), and executes the press program in the program number input in the PLC command program number register.
Page 263 5.6.3 MECHATROLINK (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 Specify command program No.* to press program, press program start signal executed. This command gets processed at the startup (ON-edge) when PHOM signal is ON, and executes to move to the home position in the program number input in the PLC command program number register.
Page 264 5.6.3 MECHATROLINK (11) Light failure status (* ALML) PLC input signal When any error is detected using the controller protection circuit (function), it is turned “ON (1)”. It turns to “OFF (0)” when a message level (light alarm available to continue) alarm is generated.
Page 265 MECHATROLINK 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. Maximum response time (ms) = Yt + Xt + 2 + Command processing time (operation time, etc.) Yt: Master station ...
Page 266 5.8.1 MECHATROLINK Operation The timings for the basic operation examples. 5.8.1 Operation in the Remote I/O Mode Here, it shows examples for when executing one press program to turn the servo ON, return to home position and having loadcell calibration. ...
Page 267 5.8.1 MECHATROLINK Note 1 Input the pressing program number and then turn on PSTR. ME0221-12B...
Page 268 MECHATROLINK MECHATROLINK- I/II Related Parameters Parameters relating to MECHATROLINK- I/II are No. 84 to No. 87, No. 90, No.140 to 142, and No. 159. Category: C :External interface parameter Default Value set in No. Category Name the Factory before Delivery Refer to [Operation Manual for the controller] for the parameters No.
Page 269 MECHATROLINK  Field bus I/O format (No.90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. Value set in Contents parameter No.
Page 270 MECHATROLINK (Example ii) Set value = “1”  indicates ON, while  indicates OFF SCON Input resister Hexadecimal data PLC: Output Hexadecimal data SCON Output resister Hexadecimal data Hexadecimal data ME0221-12B...
Page 271 MECHATROLINK (Example iii) Set value = “2”  indicates ON, while  indicates OFF ACON, PCON Input resister Hexadecimal data PLC: Output Hexadecimal data ACON, PCON Output resister Hexadecimal data Hexadecimal data ME0221-12B...
Page 272 MECHATROLINK (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 CH Hexadecimal data ME0221-12B...
Page 273 Cause: The module could not be detected. Fieldbus module non- Cannot Action: Reconnect the power. If the problem detection error persists, please contact IAI. Cause: Error in load data analog output component (Note) An error will not be detected when “DAC Output” parameter No. 180...
Page 274 5.10 MECHATROLINK ME0221-12B...
Page 275 MECHATROLINK 6. MECHATROLINK basic communication flow and command 6.1 Basic Communication Flow The flow (example) when MECHATROLINK communication is performed on intelligent I/O is shown below. Start Send a MDS command from the PLC. Refer to [5.2]. This step is required only when you want to check the I/O type online. Send a DISCONNECT command from the PLC.
Page 276 MECHATROLINK MECHATROLINK Data Link Layer MDS is the only data link layer command supported under the MECHATROLINK communication specification. MDS command The intelligent I/O slave returns the following responses. Byte Command Response MDS (04H) S (0) (90H) ID_L (0H) ID_H (80H) 6.3 MECHATROLINK Applied Layer The command format for the MECHATROLINK applied layer is shown below.
Page 277 MECHATROLINK  ALARM Fields One of the following error codes is set according to the communication status. Transition Error Occurrence STATUS.ALM Meaning/Name Description/Cause destination code phase /.WARNG phase Normal     communication Command that cannot be Invalid Command P1, 2, 4 As is WARNG...
Page 278: Supported Commands
MECHATROLINK Supported Commands Each controller of the MECHATROLINK communication specification supports the commands explained in [1] to [6] below. [1] NOP commands Command Code Name Command with no instruction This command is to be used for network administration. When this command is sent, the current condition of the slave (ALARM field and STATUS field) is returned.
Page 279 MECHATROLINK [2] ALM_RD commands Command Code Name ALM_RD Alarm/warning read commands Command requesting to read the error (alarm) or warning condition. The command reads the code of the error or the warning that is currently present. Field (Signal) name Value Contents Reads the alarm or the warning that is currently present...
Page 280 The version information (expressed in binary) is returned in a response. The vendor ID and the vendor name are returned in a response. Vendor ID = 202 (CA Vendor name = IAI (494149) Specifies the position to read the selected DEVICE_CODE OFFSET 47 to 0 content...
Page 281 MECHATROLINK [4] CONNECT command Command Code Name CONNECT Command to connect to the MECHATROLINK network When this command is completed, the phase moves into phase 2 or 3 in which communication is allowed. Use this command to set the communication mode (synchronous or asynchronous communication).
Page 282 MECHATROLINK  Communication data format Byte Command Response CDRW (03H) ACK (01H) CONNECT (0EH) CONNECT (0EH) ALARM STATUS COM_MODE COM_MODE COM_TIME COM_TIME RWDT ME0221-12B...
Page 283 MECHATROLINK [5] DISCONNECT command Command Code Name Command requesting to disconnect from the DISCONNECT MECHATROLINK network Disengages the connection with the master unit. This command is processed first even if other commands are being processed. (The commands that were being processed are stopped.) This command can be received in any phase.
Page 284 MECHATROLINK [6] DATA_RWA command Command Code Name DATA_RWA Data read/write command Updates (Transmits) the I/O data. Field (Signal) name Value Contents OPTION[2 to 0] Not used: Specify 0 [In the 17-byte mode] Updated data from the master unit to OUTPUT[11 to 0] the slave [In the 32-byte mode] Updated data from the master unit to OUTPUT[26 to 0]...
Page 285: Change History
MECHATROLINK Change History Revision Date Description of Revision May 2009 First edition November 2011 Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons Added Chapter 3, “SCON-CA.” June 2012 Third edition Contents added and changed in Safety Guide PCON-CA/CFA added November 2012...
Page 286 MECHATROLINK Revision Date Description of Revision March 2023 12B edition  Safety Guide contents revised  2.5 Updated contents of supported teaching tools  2.6.6 (21) Explanation image added  2.6.6 (22) Image changed and explanation added  3.6.6 Correction made to Position/Simplified Direct Value Mode 2 PLC input signal ...

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