1. Manuals
  2. Brands
  3. IAI Manuals
  4. Controller
  5. ACON-C
  6. Operation manual

IAI ACON-C Operation Manual

Devicenet, positioner type controller edition
Hide thumbs Also See for ACON-C:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
Table of Contents

Advertisement

Quick Links

Download this manual
DeviceNet
Operation Manual
Positioner Type Controller Edition
Overview
ACON-C/CG
SCON-CB/CGB
Servo Press Type
Thirteenth Edition
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ACON-C and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for IAI ACON-C

Summary of Contents for IAI ACON-C

  • Page 1: Table Of Contents

    DeviceNet Operation Manual Thirteenth Edition Positioner Type Controller Edition Chapter 1 Overview ACON-C/CG Chapter 2 PCON-C/CG PCON-CA/CFA PCON-CB/CFB/CGB/CGFB/CBP/CGBP Chapter 3 ACON-CA/CB/CGB DCON-CA/CB/CGB SCON-CA/CB/CGB Chapter 4 SCON-CAL/CGAL SCON-CB/CGB Chapter 5 Servo Press Type Chapter 6 Troubleshooting EDS File Chapter 7...

  • 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 ME0256-13A...

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

    Construction of Instruction Manual for Each Controller Model and This Manual ACON-CB/CGB ACON-CA ACON-C/CG DCON-CB/CGB DCON-CA ●Operation Patterns ・Remote I/O Control Operation DeviceNet (This Manual) ME0256 ・Direct Number Indication Operation ACON-CB/CGB ME0343 ◎ Basic Specifications DCON-CB/CGB ME0343 and Functions ACON-CA, DCON-CA...
  • Page 6 ME0256-13A...
  • Page 7 Table of Contents Safety Guide ..........................1 Handling Precautions ....................... 8 1. Overview ..........................9 2. ACON-C/CG, PCON-C/CG ....................11 Operation Modes and Functions ....................11 Model Numbers ..........................14 Interface Specifications ........................ 15 DeviceNet Interface........................16 2.4.1 Name of Each Part ......................16 2.4.2...

  • Page 8: Troubleshooting

    3.7.1 Operation Modes and Corresponding PLC I/O Areas ..........101 3.7.2 Remote I/O Mode (Number of Occupied Channel: 1CH) ..........105 3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4CH) ......110 3.7.4 Half Direct Mode (Number of Occupied Channels: 8CH) ..........115 3.7.5 Full Direct Mode (Number of Occupied Channels: 16CH) ..........

  • Page 9: Eds File

    4.9.3 Operation in the Full Direct Value Mode ............... 313 4.9.4 Data Change During Movement..................317 4.10 DeviceNet Parameters ....................... 318 4.11 Troubleshooting ......................... 323 5. Servo Press Type SCON-CB/CGB ................325 Operation Modes and Functions ....................325 Model Numbers .......................... 327 Interface Specifications ......................
  • Page 10 ME0256-13A...

  • Page 11: Operation Description

    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 12 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 13 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 14 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 15 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 16 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 17: Alert Indication

    Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the 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 18: Handling Precautions

    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 19 The open field network DeviceNet is a multi-bit, multi-vendor network for communication of both control and data signals of the machine/line control level. A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ASEL, PSEL, SSEL, SCON (C type is excluded), ACON, PCON and DCON controllers (hereinafter collectively and individually referred to as “Each Controller or IAI Controller”...
  • Page 20 ME0256-13A...

  • Page 21: Acon-C/Cg, Pcon-C/Cg

    ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers supporting DeviceNet can be operated in a desired operation mode selected from the following five modes. Operation Modes and Key Functions Remote I/O Position/simple Remote I/O Key function Half direct mode Full direct mode...
  • Page 22 [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 23 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied channels: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/s Acceleration: 0.30 G...

  • Page 24: Model Numbers

    Model Numbers The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively:  ACON-C/CG--DV-  PCON-C/CG--DV- Printed series name  ACON  PCON Front panel color  ACON: Dark blue  PCON: Dark green ME0256-13A...

  • Page 25: Interface Specifications

    Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...

  • Page 26: Devicenet Interface

    2.4.1 DeviceNet Interface 2.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. Status LEDs Monitor LEDs White DeviceNet communication connector PCB side : MSTB2.5/5-GF-5.08AU Light blue (PHOENIX CONTACT) Black Cable side : MSTB2.5/5-STF-5.08AUM (PHOENIX CONTACT) ME0256-13A...

  • Page 27: Monitor Led Indicators

    2.4.2 2.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.

  • Page 28: Selecting (Setting) The Operation Mode

    Selecting (Setting) the Operation Mode The operation mode is set using a parameter. 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 [2.10, “DeviceNet Parameters].

  • Page 29: Setting The Node Address

    Setting the Node Address The node address is set using a parameter. Set the parameter No. 85 “Field Bus Node Address” using a teaching tool. Refer to [2.10, DeviceNet Parameters]. Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.) (Note) Exercise caution to avoid address duplication.
  • Page 30 2.7.1 Communicating with the Master Station 2.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. • PLC output → ACON or PCON input (* n indicates the first address of each axis.) ACON,PCON DI and input data channel Position/simple Remote I/O mode...
  • Page 31 2.7.1 • ACON or PCON output → PLC input side (* n indicates the first address of each axis.) ACON or PCON DO and output data channel Position/simple Remote I/O mode Remote I/O mode Half direct mode Full direct mode PLC input area direct mode (channel)
  • Page 32 2.7.2 2.7.2 Remote I/O Mode (Number of Occupied Channel: 1CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the position data using a teaching tool. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.” The I/O specifications for each PIO pattern are shown below.
  • Page 33 2.7.2 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. ACON or PCON ACON or PCON PLC output channel PLC input channel (port number) (port number) 0~15 0~15 (Note) Exercise caution to avoid address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
  • Page 34 2.7.2 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. * For details of each signal, refer to [an instruction manual of each controller]. ACON Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode...
  • Page 35 2.7.2 ACON Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category 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 Command position...
  • Page 36 2.7.2 PCON Setting of Parameter No. 25 Teaching mode 256-point mode Positioning mode (standard) (teaching type) (256-point type) Port Category Symbol Signal name Symbol Signal name Symbol Signal name Command position Command position number number Command position PC16 PC16 PC16 number PC32 PC32...
  • Page 37 2.7.2 PCON Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category 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 Command position...
  • Page 38 2.7.3 2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4CH) In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value registered in the position data table.
  • Page 39 2.7.3 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
  • Page 40 2.7.3 PLC input Channel (* n indicates the first address of each axis.) ME0256-13A...
  • Page 41 2.7.3 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 42 2.7.3 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. Current 32 bits (Example) Reading:...
  • Page 43 2.7.4 2.7.4 Half Direct Mode (Number of Occupied Channels: 8CH) In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are specified directly and numerically from the PLC. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
  • Page 44 2.7.4 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
  • Page 45 2.7.4 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 46 2.7.4 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 47 2.7.4 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 48 2.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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%). 16-bit data The actual allowable specification range varies from one 2.9.2...
  • Page 49 2.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. Current 32-bit data (Example) Reading: 000003FF...
  • Page 50 2.7.5 2.7.5 Full Direct Mode (Number of Occupied Channels: 16CH) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
  • Page 51 2.7.5 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 52 2.7.5 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 53 2.7.5 Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion...
  • Page 54 2.7.5 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 55 2.7.5 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal Type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 56 2.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal Type Bits Symbol Contents Details 16-bit integer. Specify the acceleration and deceleration at which to move the 16-bit data Acceleration actuator.
  • Page 57 2.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal Type Bits Symbol Contents Details Push direction specification: When this signal is OFF, push-motion operation is performed in the direction of the position determined by subtracting the positioning band from the target position.
  • Page 58 2.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Stores the current position. Current The unit is 0.01 mm. 32-bit data 2.9.3 position...
  • Page 59 2.7.6 2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the position data using a teaching tool. The number of available positions is determined by the setting of parameter No.
  • Page 60 2.7.6 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. ACON or PCON DI ACON or PCON DO PLC output channel PLC input channel and input channel and output channel Port number 0 to 15 Port number 0 to 15 Occupied area Current position...
  • Page 61 2.7.6 PLC input (* n indicates the first address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 62 2.7.6 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 2.7.2 (3)]. Signal assignments under the command-current read function and current-position read function are shown below.
  • Page 63 2.7.7 2.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
  • Page 64 2.7.7 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED refer to [2.4, DeviceNet Interface] on the front panel of the controller will illuminate in green.
  • Page 65 2.7.7 (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 HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically.
  • Page 66 2.7.7 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
  • Page 67 2.7.7 (10) Position complete signal (PEND) PLC input signal This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. (Position complete) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 68 2.7.7 (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 position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone.

  • Page 69: Jog Operation

    2.7.7 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inch operation. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 70 2.7.7 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 71 2.7.7 (16) Teaching command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
  • Page 72 2.7.7 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
  • Page 73 2.7.7 (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator pushes the load. When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by adding the positioning band to the target position.
  • Page 74 2.7.7 (23) Load missed in push motion (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
  • Page 75 2.7.7 (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 76 2.7.7 (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
  • Page 77 2.7.7 (28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.
  • Page 78 2.7.7 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
  • Page 79 2.7.7 (30) Stop Mode Selection (ASO1, ASO0) PLC output signal Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. For details, refer to [the operation manual for the controller main body].

  • Page 80: I/O Signal Timings

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

  • Page 81: Operation

    2.9.1 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full direct mode by using examples. For the operation timings in the remote I/O mode and remote I/O mode 2, refer to [the operation manual for the controller].
  • Page 82 2.9.1 Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 83 2.9.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 84 2.9.1 Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 85 2.9.2 2.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position channel, positioning width channel, setup speed channel, acceleration/deceleration channel and pressing current limit setup channel. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position channel.
  • Page 86 2.9.2 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) ME0256-13A...
  • Page 87 2.9.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the acceleration/deceleration data in the acceleration/deceleration channel. (5) Set the pressing current limit data in the pressing current limit value channel.
  • Page 88 2.9.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 89 2.9.3 2.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's channels including the target position channel and positioning width channel, 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 90 2.9.3 Operation in the Full 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) ME0256-13A...
  • Page 91 2.9.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the position zone output value data in the zone value + channel or zone value -channel. (5) Set the acceleration data in the acceleration channel.
  • Page 92 2.9.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 93 2.9.4 2.9.4 Data Change During the Movement The half direct mode and full direct mode are capable of changing the settings for the output data channels (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration.

  • Page 94: Devicenet Parameters

    2.10 2.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87 and 90. Category: C: External interface parameter Default Value set in the Category Name Factory before Delivery For parameter No. 1 to 83, refer to [the 1 to 83 operation manual for the controller].
  • Page 95 2.10  Network type (No. 87) The network module type is specified in parameter No. 87. Do not change the default setting.  Fieldbus I/O format (No. 90) By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC.
  • Page 96 2.10 (Example ii) Set value = “1”  indicates ON, while O indicates OFF. Input channel Hexa decimal data Output channel Hexa decimal data Output channel Hexa decimal data Input channel Hexa decimal data ME0256-13A...
  • Page 97 2.10 (Example iii) Set value = “2”  indicates ON, while O indicates OFF. Input channel Hexa decimal data Output channel Hexa decimal data Output channel Hexa decimal data Input channel Hexa decimal data ME0256-13A...
  • Page 98 2.10 (Example iv) Set value = “3”  indicates ON, while O indicates OFF. Input channel Hexa decimal data Output channel Hexa decimal data Output channel Hexa decimal data Input channel Hexa decimal data ME0256-13A...

  • Page 99: Troubleshooting

    Cause: A fieldbus module error has been detected. Fieldbus module error Cannot Action: Check the parameter. Cause: The module could not be detected. Fieldbus module not Cannot Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID → Simple alarm code ME0256-13A...
  • Page 100 2.12 2.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0256-13A...

  • 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”] supporting DeviceNet can be operated in a desired operation mode selected from the following eight (PCON-CB/CFB/CGB/CGFB/CBP/CGBP is nine) modes. Operation Modes and Key Functions...
  • Page 102 [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication. Number of occupied channels: 1CH ACON, PCON, DCON PIO type supporting DeviceNet ACON, PCON, DCON Communication cable Flat cable PIO connection DeviceNet connection [2] Position/simple direct value mode: In this mode, the actuator is operated by specifying position numbers.
  • Page 103 [4] Full direct value mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied channels: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/s Acceleration: 0.30 G...
  • Page 104 [7] Half direct value mode 2: In this mode, the actuator is operated by specifying the speed, (Applicable only for PCON-CBP) acceleration/deceleration and pressing current, in addition to the target position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.

  • Page 105: Model Numbers

    Model Numbers The model numbers of IAI controllers controller supporting DeviceNet are indicated as follows, respectively:  ACON-CA/CB--DV-  PCON-CA/CB/CGB/CBP/CGBP--DV-  PCON-CFA/CFB/CGFB--DV-  DCON-CA/CB--DV- Front panel color  ACON-CA/CB : Dark blue  PCON-CA/CB/CGB/CBP/CGBP : Dark green Printed series name ...

  • Page 106: Interface Specifications

    Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...
  • Page 107 3.4.1 DeviceNet Interface 3.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. SV/ALM Status Indicator LEDs Monitor LED White DeviceNet communication connector PCB side : MSTB2.5/5-GF-5.08AU Blue (PHOENIX CONTACT) Cable side : MSTB2.5/5-STF-5.08AUM Black (PHOENIX CONTACT) ME0256-13A...

  • Page 108: Monitor Led Indicators

    3.4.2 3.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.

  • Page 109: Selecting (Setting) The Operation Mode

    Selecting (Setting) the Operation Mode The operation mode is set using a parameter. 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 (Note) .

  • Page 110: Setting The Node Address

    Setting the Node Address The node address is set using a parameter. Set the parameter No. 85 “Field Bus Node Address” using a teaching tool. Refer to [3.10, DeviceNet Parameters]. Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.) (Note) Exercise caution to avoid node address duplication.
  • Page 111 3.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. • PLC output → IAI controllers input (* n indicates the first address of each axis.) ACON, PCON, DCON DI and input data channel...
  • Page 112 3.7.1 • PLC output→ IAI controllers input (* “n” indicates the first address of each axis.) DO on the ACON, PCON, DCON side and output data channel PLC input Position/Simplified Half direct mode 2 Remote I/O mode 3 Full direct mode 2...
  • Page 113 3.7.1 • IAI controllers output → PLC input side (* n indicates the first address of each axis.) ACON, PCON, DCON DO and output data channel Position/simple Remote I/O Remote I/O mode Half direct mode Full direct mode PLC input area...
  • Page 114 3.7.1 • IAI controllers output→PLC input side (* “n” indicates the first address of each axis.) DO on the ACON, PCON, DCON side and output data channel PLC input Position/Simplified Half direct value Remote I/O mode 3 Full direct mode 2...
  • Page 115 3.7.2 3.7.2 Remote I/O Mode (Number of Occupied Channel: 1CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the position data using a teaching tool. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.” The I/O specifications for each PIO pattern are shown below.
  • Page 116 3.7.2 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers DI IAI controllers DO PLC output channel PLC input channel (port number) (port number) 0~15 0~15 (Note) Exercise caution to avoid address duplication.
  • Page 117 3.7.2 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. * For details of each signal, refer to [an instruction manual of each controller]. Setting of Parameter No. 25 Teaching mode 256-point mode Positioning mode (standard)
  • Page 118 3.7.2 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category 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 Command position...
  • Page 119 3.7.2 Parameter No. 25 setting Force control mode 1 Force control mode 2 Category Port No. Symbol Signal name Symbol Signal name Start position 0 Start position 1 Command position number Start position 2 Start position 3 PC16 Start position 4 Cannot be used.
  • Page 120 Zones are set using Zone signal output  parameters. PIO pattern selection (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input channel output channel Target position...
  • Page 121 3.7.3 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
  • Page 122 3.7.3 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
  • Page 123 3.7.3 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 124 3.7.3 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer indicating the current position. Stores the current position. The unit is 0.01 mm. Current 32 bits (Example) Reading: 000003FF...
  • Page 125 Zone signal output Parameters must be set  PIO pattern selection (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input channel output channel...
  • Page 126 3.7.4 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
  • Page 127 3.7.4 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 128 3.7.4 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 129 3.7.4 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 130 3.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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%). 16-bit data The actual allowable specification range varies from one 3.9.2...
  • Page 131 3.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Stores the current position. Current The unit is 0.01 mm. 32-bit data 3.9.2 position...
  • Page 132 Pause  Zone signal output  PIO pattern selection (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input channel output channel Target position...
  • Page 133 3.7.5 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 134 3.7.5 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 135 3.7.5 Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion...
  • Page 136 3.7.5 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 137 3.7.5 Channel (* “n” shows the first address per each axis). 1 word (channel) = 16 bits b15 b14 b13 b12 b11 b10 b9 Current load (Slave Word) PCON-CBP/CGBP only b15 b14 b13 b12 b11 b10 b9 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 138 3.7.5 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 139 3.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 16-bit integer. 16-bit data Acceleration Specify the acceleration and deceleration at which to move the actuator.
  • Page 140 3.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Acceleration/deceleration mode: MOD1 MOD1 MOD0 Function Trapezoid pattern 3.7.11 (29) S-motion MOD0 Primary delay filter Servo gain Select the servo gain parameter set to be used.
  • Page 141 3.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Stores the current position. The unit is 0.01 mm. Current 32-bit data (Example) Reading: 000003FF = 1023 (decimal)
  • Page 142 3.7.5 Signal type Bits Symbol Contents Details Emergency stop: An emergency stop is actuated when this EMGS 3.7.11 (2) signal turns ON. Controller ready: This signal turns ON when the controller 3.7.11 (1) becomes ready. Zone 2: This signal turns ON when the current position is inside ZONE2 3.7.11 (12) the specified zone.
  • Page 143 3.7.6 3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the position data using a teaching tool. The number of available positions is determined by the setting of parameter No.
  • Page 144 3.7.6 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers DI and IAI controllers DO PLC output channel PLC input channel input channel and output channel Port number 0 to 15 Port number 0 to 15...
  • Page 145 3.7.6 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 146 3.7.6 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 3.7.2 (3)]. Signal assignments under the command-current read function and current-position read function are shown below.
  • Page 147 Zone signal output  data or parameters. PIO pattern selection × (1) PLC channel configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC output IAI controllers side PLC input No.84 input channel channel output channel...

  • Page 148: Target Position

    3.7.7 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (Channel = 4CH) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...

  • Page 149: Current Position

    3.7.7 PLC input Channel (* “n” indicates the first address of each axis.) 1 word (channel) = 16 bits n+0、n+1 Current position (lower word) n+2、n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. b15 b14 b13 b12 b11 b10 Completed position...
  • Page 150 3.7.7 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol Contents 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 151: (Simple Alarm Code

    3.7.7 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Current Position: 32-bit signed Integer. Stores the current position. The unit is 0.01mm. Current (Example) Reading : 000003FF =1023 (decimal) 32-bit 3.9.1 position...
  • Page 152 Zone signal output Parameters must be set.  PIO pattern selection × (1) PLC channel configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side PLC output IAI controllers side PLC input No.84 input channel channnel...
  • Page 153 3.7.8 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 channels = 8CH) and one output word in the I/O areas.  The control signals and status signals are ON/OFF signals in units of bit. ...
  • Page 154 3.7.8 PLC output Channel (* “n” indicates the first address of each axis.) 1 word (channel) = 16 bits b15 b14 b13 b12 b11 b10 b9 Target Position (lower Word) b15 b14 b13 b12 b11 b10 b9 Target Position (upper Word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 155 3.7.8 PLC input Channel (* “n” indicates the first address of each axis.) 1 word (channel) = 16 bits b15 b14 b13 b12 b11 b10 b9 Current position (lower Word) b15 b14 b13 b12 b11 b10 b9 Current position (upper Word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 156 3.7.8 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm while the specifiable range is -999999 to 999999. (Example) When it is “+25.41mm”, set it as “2541”.

  • Page 157: Signal

    3.7.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing The allowable specification range is 0 (0%) to 255 (100%). current- 16-bit The actual settable range varies depending on each actuator.
  • Page 158 3.7.8 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer The unit is 0.01mm. Current 32-bit (Example) Reading: 000003FF =1023 (decimal)=10.23mm 3.9.2 position data * When the value is read in hexadecimal notation, the negative figure is expressed as a compliment of 2.
  • Page 159 3.7.9 3.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6CH) (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 160 3.7.9 (1) PLC channel configuration (* “n” indicates the first address of each axis.) Parameter IAI controllers side IAI controllers side PLC output channel PLC input channel No. 84 DI and input channel DO and output channel Port number 0 to 15...
  • Page 161 3.7.9 PLC output Channel (* “n” indicates the first address of each axis.) 1 word (channel) = 16 bits b15 b14 b13 b12 b11 b10 b9 Controller output port number b15 b14 b13 b12 b11 b10 b9 Cannot be used b15 b14 b13 b12 b11 b10 b9 Current position...
  • Page 162 3.7.9 (3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 3.7.2 (3)]. The signal allocation for the Current Load and Current Position, is shown in the following table. Signal type Symbol Contents...
  • Page 163 Pause  Zone signal output  PIO pattern selection (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel input channel output channel Target position...
  • Page 164 3.7.10 (2) I/O signal assignments for each axis The I/O signals of each axis consist of 16 word (16 channels = 16CH) and one output word in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...

  • Page 165: Positioning Band

    3.7.10 PLC output Channel (* n indicates the first address of each axis.) 1 word = (1CH) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)

  • Page 166: Acceleration

    3.7.10 Channel (* n indicates the first address of each axis.) 1 word = (1CH) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion...

  • Page 167: Current Position

    3.7.10 PLC input Channel (* n indicates the first address of each axis.) 1 word = (1CH) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)

  • Page 168: Current Command

    3.7.10 Channel (* “n” shows the first address per each axis). 1 word = (1CH) = 16 bits b15 b14 b13 b12 b11 b10 b9 Current command value (lower word) b15 b14 b13 b12 b11 b10 b9 Current command value (upper word) When the current load is shown using the negative figure, it is expressed using the complement of 2.
  • Page 169 3.7.10 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 170 3.7.10 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 16-bit integer. Specify the acceleration and deceleration at which to move the 16-bit Acceleration actuator.
  • Page 171 3.7.10 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Acceleration / deceleration mode: MOD1 When both signals are OFF, the trapezoid pattern mode is selected.
  • Page 172 3.7.10 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Stores the current position. The unit is 0.01 mm. Current 32-bit (Example) Reading: 000003FF = 1023 (decimal)

  • Page 173: Status Signal

    3.7.10 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Unavailable Status Signal 1 Load cell calibration command: CEND Calibration is performed when this signal turns ON. 3.7.11 (35) (Note 1) (Dedicated for PCON-CBP/CGBP)
  • Page 174 3.7.11 3.7.11 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
  • Page 175 The controller servo can be turned on/off using the SON signal. While the SV signal is ON, the controller servo remains on and the actuator can be operated. The relationship of the SON signal and SV signal is shown below. (PLC→IAI controllers) (IAI controllers→PLC) ME0256-13A...

  • Page 176: Home Return (Home)

    ON, the HEND signal will not turn OFF until the power is turned off or a HOME signal is input again. After a home return has been performed once, another home return can be performed by turning ON the HOME signal. HOME (PLC→IAI controllers) GHMS (IAI controllers→PLC) HEND (IAI controllers→PLC)
  • Page 177 HEND signal is OFF), the actuator will automatically return home and then move to the target position. Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns OFF. Target position (PLC→IAI controllers) CSTR (PLC→IAI controllers) PEND (IAI controllers→PLC)
  • Page 178 3.7.11 (10) Position complete signal (PEND) PLC input signal This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. (Position complete) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 179 3.7.11 (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 position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone.

  • Page 180: Jog Operation

    3.7.11 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inch operation. 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 181 3.7.11 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 182 (2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be written. refer to [the operation manual for the controller main body]. MODES At least 20 ms (IAI controllers→PLC) PWRT (PLC→IAI controllers) WEND (IAI controllers→PLC)
  • Page 183 3.7.11 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
  • Page 184 3.7.11 (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator pushes the load. When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by adding the positioning band to the target position.
  • Page 185 3.7.11 (23) Load missed in push motion (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
  • Page 186 3.7.11 (26) Load output judgment (LOAD) PLC input signal PCON only This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 187 3.7.11 (27) Torque level (TRQS) PLC input signal PCON only This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
  • Page 188 3.7.11 (28) Stopping control mode (SMOD) PLC output signal PCON only One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.

  • Page 189: Not Available

    3.7.11 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
  • Page 190 3.7.11 (30) Stop Mode Selection (ASO1, ASO0) PLC output signal Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. For details, refer to [the operation manual for the controller main body].
  • Page 191 (33) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) PLC output signal ACON only The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate option based on a combination of these signals.
  • Page 192 3.7.11 (35) Load cell calibration command(CLBR) PLC output signal PCON-CBP only Load cell calibration complete (CEND) PLC input signal PCON-CBP only The factory setting for the load cell is 0N when no load is applied. If you want to use the loaded condition as the reference (0N), perform the following calibration.

  • Page 193: I/O Signal Timings

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

  • Page 194: Operation

    3.9.1 Operation This section describes the timings of basic operations in the position/simple direct mode (Position/Simplified Direct Mode, Position/Simplified Direct Mode 2), half direct mode (Half direct mode, Half direct mode 2 and Half direct mode 3) and full direct mode (Full direct mode, Full direct mode 2) by using examples. For the Remote I/O Mode (Remote I/O Mode, Remote I/O Mode 2 and Remote I/O Mode 3), refer to [the operation manual for the controller main body].
  • Page 195 3.9.1 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) ME0256-13A...
  • Page 196 3.9.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 197 3.9.1 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) ME0256-13A...
  • Page 198 3.9.2 3.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position channel, positioning width channel, setup speed channel, acceleration/deceleration channel and pressing current limit setup channel. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position channel.
  • Page 199 3.9.2 Operation in the Half Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 200 3.9.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the acceleration/deceleration data in the acceleration/deceleration channel. (5) Set the pressing current limit data in the pressing current limit value channel.
  • Page 201 3.9.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 202 3.9.3 3.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's channels including the target position channel and positioning width channel, 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 203 3.9.3 Operation in the Full Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 204 3.9.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the position zone output value data in the zone value + channel or zone value - channel. (5) Set the acceleration data in the acceleration channel.
  • Page 205 3.9.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 206 3.9.4 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 channels (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration.

  • Page 207: Devicenet Parameters

    3.10 3.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159. Category: C: External interface parameter Default Value set in the Category Name Factory before Delivery For parameter Nos. 1 to 83, refer to [the 1 to 83 operation manual for the controller].
  • Page 208 3.10  Fieldbus node address (No. 85) Specify the node address of the remote station in parameter No. 85. Setting range: 0 to 63 (The factory setting is “0.”)  Fieldbus baud rate (No. 86) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you need not set the baud rate.
  • Page 209 3.10  Fieldbus 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 210 3.10 (Example ii) Set value = “1”  indicates ON, while O indicates OFF. PCON Input channel Hexa decimal data Output channel Hexa decimal data PCON Output channel Hexa decimal data Input channel Hexa decimal data ME0256-13A...
  • Page 211 3.10 (Example iii) Set value = “2”  indicates ON, while O indicates OFF. PCON Input channel Hexa decimal data Output channel Hexa decimal data PCON Output channel Hexa decimal data Input channel Hexa decimal data ME0256-13A...
  • Page 212 3.10 (Example iv) Set value = “3”  indicates ON, while O indicates OFF. PCON Input channel Hexa decimal data Output channel Hexa decimal data PCON Output channel Hexa decimal data Input channel Hexa decimal data  FB Half Direct Mode Speed Unit (No.159) Parameter No.

  • Page 213: Troubleshooting

    Cause: A fieldbus module error has been detected. Fieldbus module error Cannot Action: Check the parameter. Cause: The module could not be detected. Fieldbus module not Cannot Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID → Simple alarm code ME0256-13A...
  • Page 214 3.12 3.12 3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. ME0256-13A...

  • Page 215: Operation Modes And Functions

    SCON-CA/CB/CGB/CAL/CGAL (Note) As CAL and CGAL Types possess the same functions, this manual describes them together as CAL Type. Operation Modes and Functions All of the operation modes described in the table below for SCON-CA/CB Type applicable for DeviceNet and those except for the ones in the shaded area for CAL Type are available to choose from for operation.
  • Page 216 [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication. Number of occupied channels: 1CH SCON-CA/CB/CGB/CAL/CGAL SCON-CA/CB/CGB/CAL/CGAL not supporting DeviceNet supporting DeviceNet Communication cable Flat cable PIO connection DeviceNet connection [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal.
  • Page 217 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied channels: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/s Acceleration: 0.30 G Deceleration: 0.30 G...
  • Page 218 [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, (Not applicable for CAL Type) directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead.
  • Page 219 [10] Full direct mode 2: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. The overload level monitoring, current indication value and monitoring of the estimated regenerative discharge power volume are available.

  • Page 220: Model Numbers

    Model Numbers The model numbers of SCON-CA/CB/CAL controller supporting DeviceNet are indicated as follows, respectively:  SCON-CA/CB--DV-  SCON-CAL--DV- ME0256-13A...

  • Page 221: Interface Specifications

    Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...

  • Page 222: Devicenet Interface

    4.4.1 DeviceNet Interface 4.4.1 Name of Each Part The name of each part relating to DeviceNet is shown.  SCON-CA  SCON-CAL Monitor LEDs Monitor LEDs ←Red ←Red ←White ←White DeviceNet communication connector DeviceNet communication connector PCB side ： MSTB2.5/5-GF-5.08AU PCB side ：...

  • Page 223: Monitor Led Indicators

    4.4.2 4.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
  • Page 224 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. 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 ton [4.10, DeviceNet Parameters].

  • Page 225: Setting The Node Address

    Setting the Node Address The node address is set using a parameter. Set the parameter No. 85 “Field Bus Node Address” using a teaching tool. Refer to [4.10, DeviceNet Parameters]. Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.) (Note) Exercise caution to avoid node address duplication.
  • Page 226 4.7.1 Communicating with the Master Station 4.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. • PLC output → SCON-CA/CB/CAL input (* n indicates the first address of each axis.) SCON-CA/CB/CAL DI and input data channel Position/simple Remote I/O Remote I/O mode...
  • Page 227 4.7.1 • PLC output → SCON-CA/CB/CAL input side (* n indicates the first address of each axis.) SCON-CA/CB/CAL DI and input data channel Position/simple Half direct mode 2 Remote I/O mode 3 Half direct mode 3 Full direct mode 2 PLC output area direct mode 2 (channel)
  • Page 228 4.7.1 • SCON-CA/CB/CAL output → PLC input side (* n indicates the first address of each axis.) SCON-CA/CB/CAL DO and output data channel Position/simple Remote I/O Remote I/O mode Half direct mode Full direct mode PLC input area direct mode mode 2 (channel) Number of...
  • Page 229 4.7.1 • SCON-CA/CB/CAL output → PLC input side (* n indicates the first address of each axis.) SCON-CA/CB/CAL DO and input data channel Position/simple Half direct mode 2 Remote I/O mode 3 Half direct mode 3 Full direct mode 2 PLC output area direct mode 2 (channel)
  • Page 230 4.7.2 4.7.2 Remote I/O Mode (Number of Occupied Channel: 1CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the 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. 25, “PIO pattern.”...
  • Page 231 4.7.2 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel PLC input channel DI (port number) DO (port number) 0~15 0~15 (Note) Exercise caution to avoid address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
  • Page 232 4.7.2 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. For details of each signal, refer to [an instruction manual of each controller]. Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode...
  • Page 233 4.7.2 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 Port Category 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 Command position...
  • Page 234 4.7.2 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 Not available.
  • Page 235 4.7.3 4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4CH) In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value channeled in the position data table.
  • Page 236 4.7.3 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
  • Page 237 4.7.3 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
  • Page 238 4.7.3 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 239 4.7.3 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 240: Input Channel Target Position

    4.7.4 4.7.4 Half Direct Mode (Number of Occupied Channels: 8CH) In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are specified directly and numerically from the PLC. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
  • Page 241 4.7.4 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
  • Page 242 4.7.4 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 243 4.7.4 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 244 4.7.4 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 245 4.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 510 (200%). 16-bit data The actual allowable specification range varies from one 4.9.2...
  • Page 246 4.7.4 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 motor). Current 32-bit data (Example) Reading:...
  • Page 247 4.7.5 4.7.5 Full Direct Mode (Number of Occupied Channels: 16CH) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
  • Page 248 4.7.5 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 249 4.7.5 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 250 4.7.5 Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion...
  • Page 251 4.7.5 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 252 4.7.5 Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Not available. Current load (lower word) (Dedicated for SCON-CA/CB) Current load (lower word) (Dedicated for SCON-CA/CB) If the current load is a negative value, it is indicate by a 2’s complement. Total moving count (lower word)
  • Page 253 4.7.5 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 254 4.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 16-bit integer. Specify the acceleration and deceleration at which to move the 16-bit data Acceleration actuator.
  • Page 255 4.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Acceleration/deceleration mode: MOD1 Trapezoid pattern when both signals are OFF, S-motion when 4.7.12 (30) MOD1 is OFF and MOD0 is ON, or primary delay filter when MOD0 MOD1 is ON and MOD0 is OFF.
  • Page 256 4.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 motor). Current (Example) Reading: 000003FF = 1023 (decimal)

  • Page 257: Emgs Emergency Stop: An Emergency Stop Is Being Executed When

    4.7.5 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Emergency stop: An emergency stop is being executed when EMGS 4.7.12 (2) the signal is ON. Controller ready: The signal turns ON when the controller 4.7.12 (1) becomes ready.
  • Page 258 4.7.6 4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6CH) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set the position data using a teaching tool. The number of available positions is determined by the setting of parameter No.
  • Page 259 4.7.6 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel PLC input channel DI and input channel DO and output channel Port number 0 to 15 Port number 0 to 15 Occupied area Current position Occupied area...
  • Page 260 4.7.6 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 261 4.7.6 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3)]. Signal assignments under the command-current read function and current-position read function are shown below.
  • Page 262 4.7.7 4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4CH) (Note) 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 directly specify the target position as a numerical value by switching the control signal (PMOD signal), or use a pre-channeled value in the position data.
  • Page 263 4.7.7 (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
  • Page 264 4.7.7 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Completed position number...
  • Page 265 4.7.7 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 266 4.7.7 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 (Example) Reading: 000003FF = 1023 (decimal)
  • Page 267 4.7.8 4.7.8 Half Direct Mode (Number of Occupied Channels: 8CH) (Note) 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, in-position band, speed, acceleration/deceleration and push current directly from the PLC as numerical values.
  • Page 268 4.7.8 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
  • Page 269 4.7.8 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 270 4.7.8 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Current load (lower word) Current load...
  • Page 271 4.7.8 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 272 4.7.8 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 16-bit integer. Specify the current-limiting value to be used during push-motion Push- operation. motion The allowable specification range is 0 (0%) to 510 (200%).
  • Page 273 4.7.8 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 motor). Current (Example) Reading: 000003FF = 1023 (decimal)
  • Page 274 4.7.9 4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6CH) (Note) 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 in the same manner you would using PIOs (24-V I/Os). Set the position data using a teaching tool.
  • Page 275 4.7.9 (1) PLC channel configuration (* n indicates the first address of each axis.) Parameter No. SCON-CA/CB SCON-CA/CB PLC output channel PLC input channel DI and input channel DO and output channel Port number 0 to 15 Port number 0 to 15 Occupied area Current position Occupied area...
  • Page 276 4.7.9 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Current load (lower word) Current load...
  • Page 277 4.7.9 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to [the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3)]. Signal assignments under the Current load read function and Current position read function are shown below. Signal type Bits Symbol...
  • Page 278 4.7.10 4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8CH) In this operation mode, the jog function available in the half numerical value mode is unavailable, but the vibration damping control parameter set can be changed. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and The key Actuator functions that can be controlled in this mode are summarized in the table below.
  • Page 279 4.7.10 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.  Control signals and status signals are ON/OFF bit signals.  The target position and current position are 2-word (32-bit) binary data. Although values from -9999999 to +9999999 (unit: 0.01 mm (other than DD motor) and 0.001°...
  • Page 280 4.7.10 PLC output Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 281 4.7.10 PLC input Channel (* n indicates the first address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 282 4.7.10 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 283 4.7.10 (* 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 4.9.2 limiting value...
  • Page 284 4.7.10 (* 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. Stores the current position. The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
  • Page 285 4.7.11 4.7.11 Full Direct Mode 2 (Number of Occupied Channels: 16CH) This Mode are available only for SCON-CB/CGB types. (Applicable Versions：V0022 or later) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC.
  • Page 286 4.7.11 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (16 channels = 16CH) in the I/O areas.  Control signals 1 and 2 and status signals are ON/OFF bit signals. ...
  • Page 287 4.7.11 PLC output Channel (* n indicates the first address of each axis.) 1 word (1CH) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word)
  • Page 288 4.7.11 Channel (* n indicates the first address of each axis.) 1 word (1CH) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion...
  • Page 289 4.7.11 PLC input Channel (* n indicates the first address of each axis.) 1 word (1CH) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word)
  • Page 290 4.7.11 Channel (* n indicates the first address of each axis.) 1 word (1CH) = 16 bits b15 b14 b13 b12 b11 b10 Current command value (lower word) b15 b14 b13 b12 b11 b10 Current command value (Upper word) If the current load is a negative value, it is indicated by a 2’s complement. n+10 b15 b14 b13 b12 b11 b10 Estimated...
  • Page 291 4.7.11 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
  • Page 292 4.7.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details 16-bit integer. Specify the acceleration and deceleration at which to move the 16-bit data Acceleration actuator.
  • Page 293 4.7.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Incremental specification: Absolute position command when the signal is OFF, or 4.7.12 (24) incremental position command when the signal is ON.
  • Page 294 4.7.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits 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 motor). Current (Example) Reading: 000003FF = 1023 (decimal)
  • Page 295 4.7.11 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol Contents Details Not available. Status signal 1 CEND Load cell calibration command: 4.7.12 (32) (*1) Calibration is performed when this signal turns ON.
  • Page 296 4.7.12 4.7.12 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are controlled, as well as the functions provided by these signals, are explained below.
  • Page 297 4.7.12 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED refer to [4.4, “\DeviceNet Interface] on the front panel of the controller will illuminate in green.
  • Page 298 4.7.12 (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 HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically.
  • Page 299 4.7.12 (7) Positioning start (CSTR): Used in the position/simple direct mode 1,2 PLC output signal The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
  • Page 300 4.7.12 (10) Position complete signal (PEND) PLC input signal This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. (Position complete) However, when the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 301 4.7.12 (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 position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone.
  • Page 302 4.7.12 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inch operation. 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 303 4.7.12 (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. Refer to [Relation Between Setting and Operation for JVEL/JISL] for the relation between the setting and the operation.
  • Page 304 4.7.12 (16) Teaching command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
  • Page 305 4.7.12 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
  • Page 306 4.7.12 (22) Push direction specification (DIR) PLC output signal This signal specifies the direction in which the actuator pushes the load. When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by adding the positioning band to the target position.
  • Page 307 4.7.12 (23) Load missed in push motion (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC.
  • Page 308 4.7.12 (26) Load output judgment (LOAD) PLC input signal This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion operation. The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
  • Page 309 4.7.12 (27) Torque level (TRQS) PLC input signal This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
  • Page 310 (29) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) PLC output signal 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 311 4.7.12 (30) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 MOD0 Pattern name Remarks Trapezoid pattern Factory setting S-motion Primary delay filter Not available.
  • Page 312 4.7.12 (31) Standstill Mode Selection (ASO0, ASO1) PLC output signal 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 313 4.7.12 Signal input is recognized Calibration time continuously for 20 ms Turn the CLBR OFF after confirming that the CEND has turned ON. The CEND turns ON when the calibration has completed successfully. If the CLBR is OFF, the CEND remains OFF. *1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not performed.

  • Page 314: I/O Signal Timings

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

  • Page 315: Operation

    4.9.1 Operation Next, timings in the position/simple direct mode (Position/Simplified Direct Mode, Position/Simplified Direct Mode 2), half direct mode (Half direct mode, Half direct mode 2 and Half direct mode 3) and full direct mode (Full direct mode, Full direct mode 2) are explained using examples of basic operations. For the remote I/O mode (Remote I/O Mode, Remote I/O Mode 2 and Remote I/O Mode 3), refer to [the operation manual for the controller].
  • Page 316 4.9.1 Operation in the Position/Simplified Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 317 4.9.1 [2] Operation Example (Pressing Operation) For the pressing operation, the current limit value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.
  • Page 318 4.9.1 Operation in the Position/Simplified Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 319 4.9.2 4.9.2 Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position channel, positioning width channel, setup speed channel, acceleration/deceleration channel and pressing current limit setup channel. [1] Operation Example (General Positioning Operation) (1) Set the target position data in the target position channel.
  • Page 320 4.9.2 Operation in the Half Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 321 4.9.2 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the acceleration/deceleration data in the acceleration/deceleration channel. (5) Set the pressing current limit data in the pressing current limit value channel.
  • Page 322 4.9.2 Operation in the Half Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 323 4.9.3 4.9.3 Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's channels including the target position channel and positioning width channel, 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 324 4.9.3 Operation in the Full Direct Value Mode (General Positioning Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 325 4.9.3 [2] Operation Example (Pressing Operation) (1) Set the target position data in the target position channel. (2) Set the positioning width data in the positioning width channel. (3) Set the speed data in the speed channel. (4) Set the position zone output value data in the zone value + channel or zone value - channel. (5) Set the acceleration data in the acceleration channel.
  • Page 326 4.9.3 Operation in the Full Direct Value Mode (Pressing Operation) *1 T1 : Have an enough period of interval considering the scanning time of the host controller. *2 Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (ms) ME0256-13A...
  • Page 327 4.9.4 4.9.4 Data Change During Movement The half direct mode and full direct mode are capable of changing the settings for the output data channels (target position data, acceleration/deceleration data, velocity data, positioning band and current limit during pressing) during operation. Shown in the figure below is an example of changing the velocity and acceleration/deceleration.
  • Page 328 4.10 4.10 DeviceNet Parameters The parameters relating to DeviceNet are parameter No. 84 to 87, 90 and 159. Category: C: External interface parameter Default Value set in the Category Name Factory before Delivery For parameter Nos. 1 to 83, refer to [the 1 to 83 operation manual for the controller].
  • Page 329 4.10  Fieldbus baud rate (No. 86) The baud rate is automatically set according to the corresponding setting on the master side and thus need not be set.  Network type (No. 87) Specify the network module in parameter No. 87. Do not change the default value. ...
  • Page 330 4.10 (Example ii) Set value = “1”  indicates ON, while O indicates OFF. SCON input channel Hexadecimal data PLC: Output Hexadecimal data SCON output channel Hexadecimal data PLC: Input Hexadecimal data ME0256-13A...
  • Page 331 4.10 (Example iii) Set value = “2”  indicates ON, while O indicates OFF. SCON input channel Hexadecimal data PLC: Output Hexadecimal data SCON output channel Hexadecimal data PLC: Input Hexadecimal data ME0256-13A...
  • Page 332 4.10 (Example iv) Set value = “3”  indicates ON, while O indicates OFF. SCON input channel Hexadecimal data PLC: Output Hexadecimal data SCON output channel Hexadecimal data PLC: Input Hexadecimal data  FB Half Direct Mode Speed Unit (No.159) Parameter No.

  • Page 333: Troubleshooting

    Cause: A fieldbus module error has been detected. Fieldbus module error Cannot Action: Check the parameter. Cause: The module could not be detected. Fieldbus module not Cannot Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID → Simple alarm code ME0256-13A...
  • Page 334 4.11 ME0256-13A...
  • Page 335 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 DeviceNet can be operated by means of selecting one mode out of the following three operation modes.
  • Page 336 [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication. Number of occupied channel: 1CH SCON-CB not supporting SCON-CB supporting DeviceNet DeviceNet Communication Flat cable cable DeviceNet connection PIO connection [2] Full function mode: It is the system to support all the features such as movement by direct indication or current load reading in addition to those for servo press such as startup of press program or judgment result reading.
  • Page 337 Model Numbers The model numbers of SCON-CB controller supporting DeviceNet are indicated as follows, respectively:  SCON-CB-F-DV- For 12 to 300W motor For 400 to 750W motor For 3000 to 3300W motor ME0256-13A...
  • Page 338 Interface Specifications Item Specification Communication protocol DeviceNet 2.0 Group 2 only server Network-powered isolation node Communication specification Master-slave connection Bit strobe Polling Baud rate Automatically set to the same value as the band rate set in the master Communication cable length Baud rate Maximum network length Maximum branch Total branch...
  • Page 339 5.4.1 DeviceNet Interface 5.4.1 Name of Each Part The name of each part relating to DeviceNet is shown.  SCON-CB ・12～750W ・3000～3300W ME0256-13A...
  • Page 340 5.4.2 5.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.

  • Page 341: Setting The Baud Rate

    5.5.1 Setting Using a teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to [the instruction manual for each teaching tool] for the applicable version of the teaching tool that can be applied to DeviceNet.

  • Page 342: Communicating With The Master Station

    5.6.1 Communicating with the Master Station 5.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. • PLC output → SCON-CB input (* “n” indicates the first address of each axis.) DI on the SCON-CB side and input data channel output Remote I/O mode...
  • Page 343 5.6.2 5.6.2 Remote I/O Mode (Number of Occupied Channel: 1CH) 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. (Note) Even with a teaching tool that is applicable, it may not be capable of creating a program if the version is old.

  • Page 344: Alml Light Failure Alarm

    5.6.2 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input (1 word=1CH) and one output word (channel) in the I/O areas. • Each channel is controlled by ON/OFF bit signals. PLC output Channel (* “n”...
  • Page 345 5.6.3 5.6.3 Full Function Mode (Number of Occupied Channel: 16CH) 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 5.6.3 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of sixteen input words (16 channel = 16CH) 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 347 5.6.3 PLC output Channel (* “n” indicates the first address of each axis.) ME0256-13A...
  • Page 348 5.6.3 Channel (* “n” indicates the first address of each axis.) ME0256-13A...
  • Page 349 5.6.3 PLC input Channel (* “n” indicates the first address of each axis.) ME0256-13A...
  • Page 350 5.6.3 Channel (* “n” indicates the first address of each axis.) ME0256-13A...
  • Page 351 5.6.3 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details 32-bit signed integer. Indicate the target position in the direct movement commands on the absolute coordinates. The unit is 0.001 mm, while the specifiable range is -9999999 to 9999999.
  • Page 352 5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol Contents Details Control Can not be used. signal 1 DSTR Positioning start: when the movement command is ON 5.6.5 (15) -Jog: The actuator moves in the direction of home when the JOG- 5.6.5 (14) signal is ON.
  • Page 353 5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed integer. Stores the current position. 32-bit The unit is 0.01 mm. Current 5.8.2 (Example) Reading: 000003FF = 1023 (decimal) = 1.023 mm data position * When the value is read in hexadecimal notation, the negative...

  • Page 354: Status Signal

    5.6.3 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Overall Judgment NG: Turns ON when overall judgment was made for load and position JDNG 5.6.5 (30) (distance) as a NG. Overall Judgment OK: JDOK Turns ON when Overall judgment was made for load and...

  • Page 355: Zone 2: The Signal Is On When The Current Position Is Inside The Specified Zone

    5.6.3 (* “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 alarm generated. PCMP 5.6.5 (7) (Note) There is no relation to press judgment.
  • Page 356 5.6.4 5.6.4 Pressing Direct Mode (Number of Occupied channels: 16CH) 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 5.6.4 PLC channel configuration (* “n” indicates the first address of each axis.) Parameter SCON-CB side PLC side SCON-CB side PLC side No.84 input side channel output CH output side channel input CH Target position Current position Speed Feedback current Acceleration Current speed Deceleration...
  • Page 358 5.6.4 (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of sixteen input words (16-channel = 16CH) 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 5.6.4 PLC output Channel (* “n” indicates the first address of each axis.) The upper words and lower words are available for swapping in Parameter No. 90. 1 word = (1CH) = 16 Target Position (Slave Word) Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 360 5.6.4 Channel (* “n” indicates the first address of each axis.) 1 word = (1CH) = 16 Position Zone Boundary + (Slave Word) Position Zone Boundary + (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+10 Position Zone Boundary -...
  • Page 361 5.6.4 PLC Input Channel (* “n” shows the first address per each axis). The upper words and lower words are available for swapping in Parameter No. 90. 1 word = (1CH) = 16 bits Current Position (Slave Word) Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
  • Page 362 5.6.4 Channel (* “n” indicates the first address of each axis.) 1 word = (1CH) = 16 bits Reserved (Unavailable) Reserved (Unavailable) n+10 Reserved (Unavailable) n+11 Reserved (Unavailable) n+12 Overload level monitor n+13 Alarm code n+14 Status signal 1 n+15 Status signal 2 ME0256-13A...

  • Page 363: I/O Signal Allocation

    5.6.4 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 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 16-bit 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 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details DSTR Positioning start: when the movement command is ON 5.7.5 (15) JOG- - Jog: “ON” for Movement to the Home Direction 5.7.5 (14) JOG+ + Jog: “ON”...
  • Page 366 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details 32-bit signed integer. Stores the current position. The unit is 0.001 mm. Current 32-bit (Example) Reading: 000003FF = 1023 (decimal) 5.8.3 position data...
  • Page 367 5.6.4 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Contents Details Status Not available. signal 1 Emergency stop: An emergency stop is being executed when EMGS 5.7.5 (21) the signal is ON. Alarm: The signal turns ON when an alarm occurs.

  • Page 368: I/O Signal Controls And Function

    5.6.5 5.6.5 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the full function mode are described as follows. For the I/O signals for the Remote I/O Modes, refer to [the instruction manual for the controller main body] for servo press.
  • Page 369 5.6.5 (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)

    5.6.5 (5) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
  • Page 371 5.6.5 (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 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 channel.
  • Page 372 5.6.5 (11) Probing stop (SSTP) PLC output signal When SSTP signal is ON at the time when probing stage completes, stops at probing stage complete 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 switching (JISL) PLC output signal This signal changes over the jog operation and the inching operation.
  • Page 373 5.6.5 (14) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.
  • Page 374 5.6.5 (16) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position channel and reaches the positioning band channel and the pressing is completed. (Position complete) However, when the positioning is completed with the DSTR signal turned “ON”, the PEND signal is not turned “ON”.
  • Page 375 5.6.5 (18) Program alarm (PALM) PLC input signal This turns ON when a press program alarm is detected. The alarm turns OFF when the reset (RES) signal gets turned ON if it is an operation cancelation level alarm. (without removing the cause of alarm, the alarm will be generated again when press program is executed.) (19) Light failure status (ALML) PLC input signal It turns to ON when a message level (light alarm available to continue) alarm is generated.
  • Page 376 5.6.5 (26) While in decompressing operation (DCMP) PLC input signal It turns ON during the decompressing stage in press program. (27) While in returning operation (RTRN) PLC input signal It turns ON during the returning stage in press program. (28) Press program standby (WAIT) PLC input signal It turns ON during standby after press program finished in normal condition.
  • Page 377 5.6.5 (31) Select the servo gain parameter set (GSL0 to 1) PLC Output signal In addition to the servo gain parameter set, selection should be made from four patterns also for the gain in a force control device when the pressurizing operation mode is set to Force Operation Mode. GSL1 GSL0 Servo gain...
  • Page 378 5.6.5 (34) Permission for Axis Operation (ENMV) PLC output signal As it takes the interlock of an axis operation, this signal has to be turned on in order to operate an axis. The axis operation should stop while this signal is off. However, the condition of the servo turned on should be kept. When an axis operation is stopped with this signal getting turned off, the stopped axis operation should not resume even if the signal gets turned back on.
  • Page 379 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 5.8.1 Operation The timings for the basic operation examples. 5.8.1 Operation in the Remote I/O Mode Here, it shows examples for when executing one press program to turn the servo ON, return to home position and having loadcell calibration.  Example of operation (1) Turn ON (operation enable) axis movement permission signal (ENMV).
  • Page 381 5.8.1 Note 1 Input the pressing program number and then turn on PSTR. ME0256-13A...
  • Page 382 5.8.2 5.8.2 Operation in the Full Function Mode From the condition that the servo is on, home-return is performed and the loadcell calibration is completed; [1] when executing one press program [2] when performing direct indication Here shows an example of two patterns of operation. [1] Example for when executing one press program (1) Turn ON (operation enable) axis movement permission signal (ENMV).
  • Page 383 5.8.2 Note 1 Input the pressing program number and then turn on PSTR. ME0256-13A...
  • Page 384 5.8.2 [2] Example for when performing direct indication movement to the target position (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the target position data in the target position channel. (3) Set the positioning band data in the positioning band channel. (4) Set the speed data to the speed channel.
  • Page 385 5.8.2 *1 T1: Have an enough period of interval considering the scanning time of the host controller. *2 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 5.8.3 5.8.3 Operation in Pressing Direct Mode Here, shows an example of having an operation equivalent to a pressing program in a condition of the servo turned on, home-return operation completed and the loadcell calibration completed. [1] Approach [2] Search [3] Pressurize [4] Stop [5] Depressurize...
  • Page 387 5.8.3 (*1) Current Position PNOW (Controller→PLC) (*2) ≤1Mt *1 T1: Have an enough period of interval considering the scanning time of the host controller. *2 Refer to the specifications of the fieldbus to be used for Mt. ME0256-13A...
  • Page 388 5.8.3 [2] Search Conduct the searching operation while the positioning complete signal (PEND) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode signal (PRMD) to “0: Velocity Control Mode”. Pressurizing Operation PRMD Control Mode 0: Velocity Control Mode...
  • Page 389 5.8.3 (1)( Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Velocity Control Mode (PLC→Controller)Axis Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller)Target Speed Data (PLC→Controller)Speed Data (PLC→Controller) Acceleration Data (PLC→Controller)Acceleration Data Deceleration Data (PLC→Controller)Deceleratio n Data Pressurizing Load Data (PLC→Controller) (*1)
  • Page 390 5.8.3 [3] Pressurize Conduct the pressurizing operation while the pressurizing operation termination signal (DPED) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode signal (PRMD) in a purpose of your use. Pressurizing Operation PRMD Control Mode...
  • Page 391 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: [Set it as required for your use] (PLC→Controller) Pressurizing Operation Stop System: [Set it as required for your use] (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data...
  • Page 392 5.8.3 [4] Stop Have the host PLC perform a stop control with a timer. 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 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) (*1) Positioning Command DSTR (PLC→Controller) Pressurizing operation terminated DPED (Controller→PLC) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) ≤1Mt (*2)
  • Page 394 5.8.3 B) Pressing Direct Depressurizing operation should be conducted while the pressurizing operation termination signal (DPED) is on. (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the pressurizing operation control mode channel (PRMD) to “1: Force Control Mode”. Pressurizing Operation PRMD Control Mode...
  • Page 395 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Force Control Mode (PLC→Controller) Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data (PLC→Controller) (*1) Pressing Direct Start Command DPST (PLC→Controller)
  • Page 396 5.8.3 [6] Return (1) Turn ON (operation enable) axis movement permission signal (ENMV). (2) Set the target position data in the target position channel (PCMD). (3) Set the velocity data in the velocity channel (VCMD). (4) Set the Acceleration data in the acceleration channel (ACMD). (5) Set the deceleration data in the deceleration channel (DCMD).
  • Page 397 5.8.3 Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) 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 DeviceNet Related Parameters The parameters relating to DeviceNet are No. 84 to No. 87, No. 90, No.159 and No.189 Category: C: External interface parameter Default Value set in the Category Name Factory before Delivery For parameter Nos. 1 to 83, refer to [the 1 to 83 operation manual for the controller].
  • Page 399  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 400 (Example ii) Set value = “1”  indicates ON, while  indicates OFF SCON Input channel Hexadecimal data PLC: Output Hexadecimal data SCON Output channel Hexadecimal data PLC: Input Hexadecimal data ME0256-13A...
  • Page 401 (Example iii) Set value = “2”  indicates ON, while  indicates OFF SCON Input channel Hexadecimal data PLC: Output Hexadecimal data SCON Input channel Hexadecimal data PLC: Input Hexadecimal data ME0256-13A...
  • Page 402 (Example iv) Set value = “3”  indicates ON, while  indicates OFF SCON Input channel Hexadecimal data PLC: Output Hexadecimal data SCON Output channel Hexadecimal data PLC: Input Hexadecimal data  FB Half Direct Mode Speed Unit (No. 159) Parameter No.
  • Page 403  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: Troubleshooting

    (Note) An error will not be detected when parameter No. 180 " DAC Output " is set Extension device error Cannot inactivated. Action: Check the wires for analog output. In case there is no fault wiring, please contact IAI. (*1) ID → Simple alarm code ME0256-13A...
  • Page 405 5.10 (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 (*1) ID →...
  • Page 406 5.10 ME0256-13A...
  • Page 407  to be established with  • Confirm that the applicable slave is registered in the master scan list. the master. A hardware error • Contact IAI.    occurred. (The DeviceNet board may have to be replaced.) Incorrect DIP switch •...
  • Page 408 ME0256-13A...
  • Page 409 EDS File Download the EDS file from the IAI homepage of which the URL is as shown below if it is necessary. Website Field Network Related Files Homepage https://www.intelligentactuator.com/field-network-configuration-files-2/ Note There may be a case that an error message appears on the master side depending on the revision of the communication board.
  • Page 410 ME0256-13A...

  • Page 411: Change History

    Change History Revision Date Description of Revision November 2011 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 Operation Manual and SCON-CA added to rearrange new Operation Manual June 2012 Second edition Contents added and changed in Safety Guide...
  • Page 412 Revision Date Description of Revision July 2020 10F edition Pg. 17, 64, 90, 138, 166, 171, 199, 215, 257, 264, 298 Tools e.g. teaching pendant added as available for setting Pg. 22, 95, 173 Note added stating to refer to instruction manual of each controller for details of each signal Pg.
  • Page 413 Revision Date Description of Revision November 2023 12C edition Correction made for symbols regarding pressuring operation stop method signals Changed illustration for 12 to 300W motor and for 400 to 750W motor ・5.2 ・5.8.3 Operation in Pressing Direct Mode [5] A) Explanation partially deleted for positioning direct Correction made in chart for pressuring operation complete (DPED) B) Alarm details and occurrence conditions added in explanation for...

This manual is also suitable for:

Acon-cgPcon-cPcon-cgPcon-caPcon-cfaPcon-cb ... Show all

Table of Contents