DeviceNet. Operation Manual, Tenth Edition. Describes Model. C/CG/CA/CB/CGB C/CG/CA/CFA CB/CFB/CGB/CGFB CA/CB/CGB CA/CAL/CGAL/ CB/CGB (Servo Press)

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1 DeviceNet Operation Manual, Tenth Edition Describes Model ACON PCON DCON SCON C/CG/CA/CB/CGB C/CG/CA/CFA CB/CFB/CGB/CGFB CA/CB/CGB CA/CAL/CGAL/ CB/CGB (Servo Press)

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3 Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC. After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary. [Important] This Operation Manual is original. The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered trademarks. Caution: The following functions are described in the separate operation manual. 1 Title of operation manual/overview DeviceNet Operation Manual Refer to this operation manual if you are using an XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C E-Con controller(s). Control number ME0124

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5 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 ME0326 ACON-C/CG ME0176 Teaching Tool PC Software PC Software ME0155 Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324 PCON-CB/CFB/CGB/CGFB PCON-CA/CFA PCON-C/CG Operation Patterns Remote I/O Control Operation DeviceNet (This Manual) ME0256 Direct Number Indication Operation Basic Specifications PCON-CB/CFB/CGB/CGFB ME0342 and Functions PCON-CA/CFA ME0289 PCON-C/CG ME0170 Teaching Tool PC Software PC Software ME0155 Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324 SCON-CB/CGB SCON-CA SCON-CAL/CGAL Operation Patterns Remote I/O Control Operation DeviceNet (This Manual) ME0256 Direct Number Indication Operation Basic Specifications SCON-CB/CGB ME0340 and Functions SCON-CB (Servo Press Type) ME0345 SCON-CA/CAL/CGAL ME0243 Teaching Tool PC Software PC Software ME0155 Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

6 Chapter Contents 1. Overview 9 2. Specifications 10 PCON-CA/CB/CFA/CFB/CGB/CGFB ACON-CA/CB/CGB DCON-CA/CB/CGB SCON-CA/CB/CGB SCON-CAL/CGAL Servo Press Type SCON-CB/CGB Troubleshooting EDS File 300

7 Table of Contents Safety Guide... 1 Handling Precautions Overview ACON-C/CG, PCON-C/CG Operation Modes and Functions Model Numbers Interface Specifications DeviceNet Interface Name of Each Part Monitor LED Indicators Selecting (Setting) the Operation Mode Setting the Node Address Communicating with the Master Station Operation Modes and Corresponding PLC I/O Areas Remote I/O Mode (Number of Occupied Channel: 1) Position/Simple Direct Mode (Number of Occupied Channels: 4) Half Direct Mode (Number of Occupied Channels: 8) Full Direct Mode (Number of Occupied Channels: 16) Remote I/O Mode 2 (Number of Occupied Channels: 6) I/O Signal Controls and Functions I/O Signal Timings Operation DeviceNet Parameters Troubleshooting CE Mark ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Operation Modes and Functions Model Numbers Interface Specifications DeviceNet Interface Name of Each Part Monitor LED Indicators Selecting (Setting) the Operation Mode Setting the Node Address Communicating with the Master Station Operation Modes and Corresponding PLC I/O Areas Remote I/O Mode (Number of Occupied Channel: 1) Position/Simple Direct Mode (Number of Occupied Channels: 4) Half Direct Mode (Number of Occupied Channels: 8)

8 3.7.5 Full Direct Mode (Number of Occupied Channels: 16) Remote I/O Mode 2 (Number of Occupied Channels: 6) I/O Signal Controls and Functions I/O Signal Timings Operation DeviceNet Parameters Troubleshooting CE Mark SCON-CA/CB/CGB/CAL/CGAL Operation Modes and Functions Model Numbers Interface Specifications DeviceNet Interface Name of Each Part Monitor LED Indicators Selecting (Setting) the Operation Mode Setting the Node Address Communicating with the Master Station Operation Modes and Corresponding PLC I/O Areas Remote I/O Mode (Number of Occupied Channel: 1) Position/Simple Direct Mode (Number of Occupied Channels: 4) Half Direct Mode (Number of Occupied Channels: 8) Full Direct Mode (Number of Occupied Channels: 16) Remote I/O Mode 2 (Number of Occupied Channels: 6) Position/Simple Direct Mode 2 (Number of Occupied Channels: 4) Half Direct Mode (Number of Occupied Channels: 8) Remote I/O Mode 3 (Number of Occupied Channels: 6) Half Direct Mode 3 (Number of Occupied Channels: 8) I/O Signal Controls and Functions I/O Signal Timings Operation DeviceNet Parameters Troubleshooting Servo Press Type SCON-CB/CGB Operation Modes and Functions Model Numbers Interface Specifications DeviceNet Interface Name of Each Part Monitor LED Indicators Setting Operation Mode Selecting

9 5.5.2 Setting the Baud Rate Setting the Station Number Communicating with the Master Station Operation Modes and Corresponding PLC I/O Areas Remote I/O Mode (Number of Occupied Channel: 1) Full Function Mode (Number of Occupied Channel: 16) I/O Signal Controls and Function I/O Signal Timings Operation DeviceNet Related Parameters Troubleshooting Troubleshooting EDS File Change History...301

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11 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 No. Description 1 Model Selection Description This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect human life or physical health. 2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility) 3) Important safety parts of machinery (Safety device, etc.) Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product. Do not use it in any of the following environments. 1) Location where there is any inflammable gas, inflammable object or explosive 2) Place with potential exposure to radiation 3) Location with the ambient temperature or relative humidity exceeding the specification range 4) Location where radiant heat is added from direct sunlight or other large heat source 5) Location where condensation occurs due to abrupt temperature changes 6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid) 7) Location exposed to significant amount of dust, salt or iron powder 8) Location subject to direct vibration or impact For an actuator used in vertical orientation, select a model which is equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece. 1

12 No. Operation Description Description 2 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 and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped. Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model. Do not step or sit on the package. Do not put any heavy thing that can deform the package, on it. When using a crane capable of 1t or more of weight, have an operator who has qualifications for crane operation and sling work. When using a crane or equivalent equipments, make sure not to hang a load that weighs more than the equipment s capability limit. Use a hook that is suitable for the load. Consider the safety factor of the hook in such factors as shear strength. Do not get on the load that is hung on a crane. Do not leave a load hung up with a crane. Do not stand under the load that is hung up with a crane. 3 Storage and Preservation The storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation. Store the products with a consideration not to fall them over or drop due to 4 Installation and Start an act of God such as earthquake. (1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake. Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life. When using the product in any of the places specified below, provide a sufficient shield. 1) Location where electric noise is generated 2) Location where high electrical or magnetic field is present 3) Location with the mains or power lines passing nearby 4) Location where the product may come in contact with water, oil or chemical droplets 2

13 Operation No. Description 4 Installation and Start Description (2) Cable Wiring 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. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error. Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error. When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction. Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product. Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire. (3) Grounding The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation. For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm 2 (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards). Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or below). 3

14 Operation No. Description 4 Installation and Start Description (4) Safety Measures 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. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot s movable range. When the robot under operation is touched, it may result in death or serious injury. Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation. Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product. Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input. When the installation or adjustment operation is to be performed, give clear warnings such as Under Operation; Do not turn ON the power! etc. Sudden power input may cause an electric shock or injury. Take the measure so that the work part is not dropped in power failure or emergency stop. Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire. When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity. 5 Teaching 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. Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the Stipulations for the Operation and make sure that all the workers acknowledge and understand them well. When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency. When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly. Place a sign Under Operation at the position easy to see. When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity. * Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated. 4

15 No. Operation Description Description 6 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. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation. When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation. Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc. Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction. 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence. Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication. Make sure to operate automatic operation start from outside of the safety protection fence. In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product. When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure. 5

16 Operation No. Description 8 Maintenance and Inspection Description 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. Perform the work out of the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the Stipulations for the Operation and make sure that all the workers acknowledge and understand them well. When the work is to be performed inside the safety protection fence, basically turn OFF the power switch. When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency. When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly. Place a sign Under Operation at the position easy to see. For the grease for the guide or ball screw, use appropriate grease according to the Operation Manual for each model. Do not perform the dielectric strength test. Failure to do so may result in a damage to the product. When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity. The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation. Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury. * Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated. 9 Modification and Dismantle Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion. 10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. When removing the actuator for disposal, pay attention to drop of components when detaching screws. Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases. 11 Other Do not come close to the product or the harnesses if you are a person who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device. See Overseas Specifications Compliance Manual to check whether complies if necessary. For the handling of actuators and controllers, follow the dedicated operation manual of each unit to ensure the safety. 6

17 Alert Indication The safety precautions are divided into Danger, Warning, Caution and Notice according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury. Danger Warning This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury. Warning Caution This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage. Caution Notice This indicates lower possibility for the injury, but should be kept to use this product properly. Notice 7

18 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 Type CA/CB/CFA/CFB Servo Press C/CG CAL/CGAL SE/PL/PO/CY Series /CGB/CGFB (Note 1) Type ACON (Chapter 2) (Chapter 3) PCON (Chapter 2) (Chapter 3) SCON DCON (Chapter 3) Note 1 CFA, CFB, CGFB Type is set to only PCON. (Chapter 4) (Chapter 4) (Chapter 5) 2. Servo press type, RC gateway function and ROBONET the extension I/O unit cannot be connected (control). 8

19 1. Overview 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, ACON, PCON and DCON controllers (hereinafter collectively and individually referred to as Each Controller or IAI Controller described) to a DeviceNet network. 1. Overview Each controller is treated as a slave station in DeviceNet and can be used to exchange I/O data. This Operation Manual covers the ACON, PCON, SCON (C type is excluded), and DCON series. * For details on DeviceNet, refer to the operation manual for the programmable controller (hereinafter referred to as PLC ) in which the master unit is installed. This operation manual should be used in conjunction with the operation manual for each controller. You should also assume that any usage not specifically permitted in this operation manual is prohibited. System configuration example Master unit CPU unit (Node) Remote I/O function Remote I/O terminal (Node) (Node) (Node) (Node) (Node) (Node) (Node) (Node) (Node) P C O N (Node) (Node) (Node) SCON (C type is excluded) (Node) DCON (Node) 9

20 2. ACON-C/CG, PCON-C/CG 2.1 Operation Modes and Functions 2. ACON-C/CG, PCON-C/CG 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 Key function Remote I/O Position/simple Remote I/O Half direct mode Full direct mode mode direct mode mode 2 Number of occupied bytes 1CH 4CH 8CH 16CH CH Operation by position x (*1) x data specification Direct speed/acceleration x x x specification Push-motion operation Current position read x Current speed read x x x Operation by position x number specification x Completed position x number read x Maximum position table size Not used Not used 512 (*1) The actuator is operated by specifying all position data, other than positions, using position numbers. [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication. Number of occupied bytes: 1CH PLC ACON/PCON not supporting DeviceNet PLC ACON/PCON supporting DeviceNet Flat cable Communication cable PIO connection DeviceNet connection 10

21 [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. Up to 768 position data points can be set. Number of occupied bytes: 4CH PLC Target position: mm + Position No. 0 ACON/PCON supporting DeviceNet Speed Acceleration Deceleration Push Actuator 2. ACON-C/CG, PCON-C/CG [3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. Number of occupied bytes: 8CH PLC Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration/deceleration: 0.30 G Push current: 50% ACON/PCON supporting DeviceNet Actuator 11

22 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 16CH 2. ACON-C/CG, PCON-C/CG PLC Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: mm Zone-: mm ACON/PCON supporting DeviceNet Actuator [5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet communication. The current-position and command-current read functions are available in addition to the functions provided in mode [1]. Number of occupied bytes: 6CH PLC ACON/PCON not supporting DeviceNet PLC ACON/PCON supporting DeviceNet Flat cable Communication cable PIO connection DeviceNet connection 12

23 2.2 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- 2. ACON-C/CG, PCON-C/CG Printed series name ACON PCON Front panel color ACON: Dark blue PCON: Dark green 13

24 2.3 Interface Specifications 2. ACON-C/CG, PCON-C/CG Item Communication protocol Communication specification Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification DeviceNet 2.0 Group 2 only server Network-powered isolation node Master-slave connection Bit strobe Polling Automatically set to the same value as the band rate set in the master Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 6 m 78 m 125 kbps 500 m 156 m Note) When a large-size DeviceNet cable is used. 24 VDC (supplied from DeviceNet) 60 ma 1 node MSTB2.5/5-GF-5.08AU (*1) by Phoenix Contact (*1) The cable-end connector is a standard accessory. MSTB2.5/5-STF-5.08AU by Phoenix Contact 14

25 2.4 DeviceNet Interface Name of Each Part The name of each part relating to DeviceNet is shown. Status LEDs Monitor LEDs Red White 2. ACON-C/CG, PCON-C/CG Light blue Black DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AUM (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AU (PHOENIX CONTACT) 15

26 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. 2. ACON-C/CG, PCON-C/CG MS (Module Status) LED: NS (Network Status) LED: LED MS NS Condition of the node (controller) Condition of the network : Steady light, X : Off, : Blinking Illumination Color Description (meaning) status The board is operating normally. Green A hardware error occurred. The error may be reset by reconnecting the power. A hardware error occurred. The board must be replaced. Orange A user setting error, configuration error or other minor error is present. These errors can be reset by setting the applicable item again, etc. - X DeviceNet is initializing or the power is not supplied. Network connection has been established and the board is communicating normally. Green The board is online, but network connection is not yet established. Communication is stopped. (The network is normal.) Node address duplication or bus-off state was detected. Communication is not possible. Orange A communication error occurred (communication time-out occurred). The board is not online. - X DeviceNet power is not supplied. Self test is performed when the power is turned on. During the test, the monitor LEDs cycle in the following sequence: [1] NS turns off. [2] MS illuminates in steady green (approx second). [3] MS illuminates in steady orange (approx second). [4] MS illuminates in steady green. [5] NS illuminates in steady green (approx second). [6] NS illuminates in steady orange (approx second). [7] NS turns off. When the self test is finished and the board starts communicating normally, both the MS and NS LEDs change to steady green. 16

27 2.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, FMOD: Fieldbus operation mode using the RC PC software (V or later). (Refer to 2.10, DeviceNet Parameters. ) Set value Operation mode Number of occupied stations 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH * If any other value is entered, an excessive input error will occur. 2.6 Setting the Node Address 2. ACON-C/CG, PCON-C/CG The node address is set using a parameter. Set parameter No. 85, NADR: Fieldbus node address using the RC PC software. (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 node address duplication. The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of the PLC. (This is when the mount assignment mode is selected. A different rule applies when a configurator is used.) For details, refer to the operation manuals of the master unit and PLC installed in the master unit. (Note) 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. (Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on the front panel of the controller to the AUTO position. If the switch remains in the MANU position, operation by the PLC cannot be performed. 17

28 2.7 Communicating with the Master Station 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 node address of each axis.) 2. ACON-C/CG, PCON-C/CG PLC output area (channel) n n+1 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 ACON,PCON DI and input data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Target position Target position Target position n+2 Specified position number Positioning band n+3 Control signal n+4 Speed n+5 Acceleration/ deceleration Push-motion n+6 current-limiting value n+7 Control signal n+8 n+9 Positioning band Speed specification Zone boundary+ Zone boundary- n+10 Acceleration n+11 Deceleration Push-motion n+12 current-limiting value ACON Occupied area n+13 PCON Load current threshold n+14 Control signal 1 n+15 Control signal 2 Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 18

29 ACON or PCON output PLC input side (* n indicates the node address of each axis.) PLC input area (channel) n n+1 n+2 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 Completed n+3 position number (simple alarm ID) n+4 Status signal ACON or PCON DO and output data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Current position Current position Current position Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area Command current Command current Current position n+5 n+6 n+7 Alarm code Alarm code n+8 Status signal n+9 n+10 n+11 n+12 n+13 n+14 Current speed Current speed Command current Occupied area n+15 Status signal 2. ACON-C/CG, PCON-C/CG (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 19

30 2. ACON-C/CG, PCON-C/CG Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. 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. (For details, refer to the operation manual for the controller.) Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Supported / X: Not supported PIO patterns ROBO Cylinder function 0: Positioning mode 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid mode 1 5: Solenoid mode 2 Home-return operation X Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration Pause (*1) Zone signal output X PIO pattern selection (set by a parameter) (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 20

31 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. ACON or PCON DI ACON or PCON DO PLC output channel PLC input channel 84 (port number) (port number) 0 0~15 n+0 0~15 n+0 (Note) Exercise caution to avoid node 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. Each channel is controlled by ON/OFF bit signals. PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Controller input port number PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Controller output port number 21

32 (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, refer to the operation manual for the controller.) ACON 2. ACON-C/CG, PCON-C/CG Category PLC output ACON input ACON output PLC input Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode Port No. Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position PC4 Command position PC4 3 PC8 number PC8 number PC8 Command position 4 PC16 PC16 PC16 number 5 PC32 PC32 PC32 Teaching mode 6 - MODE PC64 command Not available. 7 - JISL Jog/inch switching PC JOG+ +Jog - Not available. 9 BKRL Forced brake Forced brake JOG- -Jog BKRL release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return HOME Home return 12 *STP Pause *STP Pause *STP Pause 13 CSTR Positioning start Positioning CSTR/ start/position-data PWRT read command CSTR Positioning start 14 RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 Completed position PM4 Completed position PM4 3 PM8 number PM8 number PM8 Completed position 4 PM16 PM16 PM16 number 5 PM32 PM32 PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 8 PZONE Position zone PZONE Position zone PZONE Position zone 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete PEND/ Position complete signal/position-data PEND signal WEND signal read complete 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 - Not available. - Not available. - Not available. The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). 22

33 ACON Category PLC output ACON input ACON output PLC input Port No. Setting of Parameter No point mode Solenoid mode 1 Solenoid mode Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 - Command position 4 PC16 ST4 Start position 4 - number 5 PC32 ST5 Start position 5-6 PC64 ST6 Start position 6-7 PC Not available. 8 PC256 - Not available. - 9 BKRL Forced brake Forced brake Forced brake BKRT BKRL release release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return - 12 *STP Pause *STP Pause - Not available. 13 CSTR Positioning start - Not available RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PE0 Position 0 complete LS0 Rear end move command 0 1 PM2 PE1 Position 1 complete LS1 Rear end move command 1 2 PM4 Rear end move PE2 Position 2 complete LS2 Completed position command 2 3 PM8 number PE3 Position 3 complete - 4 PM16 PE4 Position 4 complete - 5 PM32 PE5 Position 5 complete - Not available. 6 PM64 PE6 Position 6 complete - 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 PZONE Position zone PZONE Position zone 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete Position complete PEND - signal signal signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 - Not available. - Not available. - Not available. The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). 2. ACON-C/CG, PCON-C/CG 23

34 PCON 2. ACON-C/CG, PCON-C/CG Category PLC output PCON input PCON output PLC input Setting of Parameter No. 25 Positioning mode (standard) Teaching mode 256-point mode (teaching type) (256-point type) Port No. Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position PC4 Command position PC4 3 PC8 number PC8 number PC8 4 PC16 PC16 PC16 Command position 5 PC32 PC32 PC32 number Teaching mode 6 - MODE command (operation PC64 Not available. mode) 7 - JISL Jog/inch switching PC JOG+ +Jog - Not available. 9 BKRL Forced brake Forced brake JOG- -Jog BKRL release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return HOME Home return 12 *STP Pause *STP Pause *STP Pause 13 CSTR Positioning start Positioning CSTR/ start/position-data PWRT read command CSTR Positioning start 14 RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 Completed position PM4 Completed position PM4 3 PM8 number PM8 number PM8 Completed position 4 PM16 PM16 PM16 number 5 PM32 PM32 PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 8 PZONE Position zone PZONE Position zone PZONE Position zone 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete PEND/ Position complete signal/position-data PEND signal WEND signal read complete 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm Load output LOAD/ LOAD/ 15 judgment/torque - Not available. TRQS TRQS level The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). Load output judgment/torque level 24

35 PCON Category PLC output PCON input PCON output PLC input Port No. Setting of Parameter No point mode Solenoid mode 1 Solenoid mode Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 - Command position 4 PC16 ST4 Start position 4 - number 5 PC32 ST5 Start position 5-6 PC64 ST6 Start position 6-7 PC Not available. 8 PC256 - Not available. - 9 BKRL Forced brake Forced brake Forced brake BKRT BKRL release release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return - 12 *STP Pause *STP Pause - Not available. 13 CSTR Positioning start - Not available RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PE0 Position 0 complete LS0 Rear end move command 0 1 PM2 PE1 Position 1 complete LS1 Rear end move command 1 2 PM4 Rear end move PE2 Position 2 complete LS2 Completed position command 2 3 PM8 number PE3 Position 3 complete - 4 PM16 PE4 Position 4 complete - 5 PM32 PE5 Position 5 complete - Not available. 6 PM64 PE6 Position 6 complete - 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 PZONE Position zone PZONE Position zone 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete Position complete PEND - signal signal signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 LOAD/ TRQS Load output judgment/torque level LOAD/ TRQS Load output judgment/torque level - Not available. The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). 2. ACON-C/CG, PCON-C/CG 25

36 2. ACON-C/CG, PCON-C/CG Position/Simple Direct Mode (Number of Occupied Channels: 4) 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. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller. Set position data by referring to the operation manual for the controller. Up to 768 sets of positioning data can be specified. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. ROBO Cylinder function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control : Indirect control X: Invalid X Remarks These items must be set in the position data table. Zones are set using parameters. (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. ACON or PCON ACON or PCON PLC output channel PLC input channel 84 input register output register n+0 n+0 Target position Current position n+1 n+1 Completed position 1 Specified position n+2 number (simple n+2 number alarm code) Control signal n+3 Status signal n+3 (Note) Exercise caution to avoid node address duplication. 26

37 (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 to (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. The specified position number and completed position number are 1-word (16-bit) binary data. Although values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to specify position numbers associated with predefined operating conditions. PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2 s complement. Specified position number Control signal 27

38 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG 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 Status signal ZONE2 ZONE1 28

39 (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (1) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Specified position number Control signal 16-bit data b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 PC1 ~ PC512 BKRL RMOD 16-bit integer. To operate the actuator, you must set position data associated with predefined operating conditions using the PC software or teaching pendant. Use one of these registers to specify the position number for which the desired data has been input. The allowable specification range is 0 to 767. If the specified value is outside the above range or corresponds to a position not yet set, an alarm will occur when the start signal is turned ON. Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 2.9 (1) (18) (19) - Not available. - PMOD MODE PWRT JOG+ JOG- JVEL JISL SON Position/simple-direct switching: The position mode is selected when this signal is OFF, and the simple direct mode is selected when the signal is ON. Teaching mode command: The normal mode is selected when this signal is OFF, and the teaching mode is selected when the signal is ON. Position-data read command: Position data is read when this signal is ON. +Jog: The actuator moves in the direction opposite home when this signal is ON. -Jog: The actuator moves in the direction of home when this signal is ON. Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON. Servo ON command: The servo turns ON when this signal turns ON (20) (16) (17) (13) (13) (14) (15) (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 CSTR Positioning start: A move command is issued when this signal turns ON (7) 2. ACON-C/CG, PCON-C/CG 29

40 2. ACON-C/CG, PCON-C/CG (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: FFH = 1023 (decimal) 32 bits - position = mm 2.9 (1) * If current positions are read as hexadecimals, negative values PLC input Completed position number (simple alarm code) Status signal 16 bits b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 PM 1 ~ PM512 EMGS PWR ZONE2 ZONE1 PZONE MODES WEND RMDS are indicated by 2 s complements. 16-bit integer. When the actuator has moved to the target position and entered the positioning band, the position number corresponding to the completed position is output. 0 is output when no position movement has been performed yet or while the actuator is moving. If an alarm occurs (the status signal ALM turns ON), a corresponding simple alarm code (refer to the operation manual for the controller) will be output. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. Position zone: This signal turns ON when the current position is inside the specified position zone. Teaching mode signal: This signal is ON while the teaching mode is selected. Position data read complete: This signal turns ON when reading is complete. Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU. 2.9 (1) (2) (1) (12) (12) (12) (16) (17) (19) - Not available. - b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 30

41 2.7.4 Half Direct Mode (Number of Occupied Channels: 8) 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 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control ROBO Cylinder function : Indirect control Remarks X: Invalid Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration X Pause Zone signal output PIO pattern selection X Parameters must be set 2. ACON-C/CG, PCON-C/CG (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. ACON or PCON ACON or PCON PLC output channel 84 input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 2 Acceleration/ Current speed n+5 n+5 deceleration Push-motion current-limiting value n+6 Alarm code n+6 Control signal n+7 Status signal n+7 (Note) Exercise caution to avoid node address duplication. 31

42 2. ACON-C/CG, PCON-C/CG (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 to (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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm). The speed is a 1-word (16-bit) binary data. For the specified speed, the PLC can handle values from 0 to (unit: 1.0 mm/sec). Take note, however, that the set value should not exceed the maximum speed supported by the applicable actuator. The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 255 (100%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set value Push-motion current-limiting value The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 32

43 PLC output Channel (* n indicates the node 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. 2. ACON-C/CG, PCON-C/CG Positioning band (lower word) Positioning band (upper word) Speed Acceleration/ deceleration Push-motion current-limiting value Control signal 33

44 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG 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) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code Status signal 34

45 (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (2) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - 32-bit integer. The setting unit is 0.01 mm and the allowable specification range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 16-bit integer. Specify the speed at which to move the actuator. The setting unit is 1.0 mm/sec and the allowable specification range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. (Example) To set mm/sec, specify 254. If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 16-bit integer. Specify the acceleration/deceleration at which to move the actuator (the acceleration and deceleration will be the same value). The setting unit is 0.01 G and the allowable specification range is 1 to 300. (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 2.9 (2) 2.9 (2) 2.9 (2) 2. ACON-C/CG, PCON-C/CG 35

46 2. ACON-C/CG, PCON-C/CG (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description 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) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Push-motion current-limiting value Control signal b15 b14 b13 b12 b11 b10 b9 BKRL RMOD DIR PUSH Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 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. When the signal is ON, push-motion operation is performed in the direction of the position determined by adding the positioning band to the target position. Push-motion specification: Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON (18) (19) (22) (21) - Not available. - b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 36

47 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: FFH = 1023 (decimal) 32-bit data - position = mm 2.9 (2) * If current positions are read as hexadecimals, negative values PLC input Command current Current speed Alarm code Status signal 32-bit data - 32-bit data - 16-bit data - b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 EMGS PWR ZONE2 ZONE1 are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is indicated. The setting unit is ma. (Example) Reading: FFH = 1023 (decimal) = 1023 ma 32-bit signed integer. Indicate the current speed. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home. 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FFH = 1023 (decimal) = mm/sec * If this data is read as a hexadecimal, a negative value is indicated as a 2 s complement. 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0H is set. For details on alarms, refer to the operation manual for the controller. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. 2.9 (2) 2.9 (2) 2.9 (2) (2) (1) (12) (12) - Not available. - RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU (19) - Not available. - b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 2. ACON-C/CG, PCON-C/CG 37

48 2.7.5 Full Direct Mode (Number of Occupied Channels: 16) 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. 2. ACON-C/CG, PCON-C/CG ROBO Cylinder function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control X: Invalid X (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No ACON or PCON ACON or PCON PLC output channel input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 Current speed n+5 n+5 Zone boundary+ n+6 Alarm code n+6 n+7 n+7 Zone boundaryn+8 n+8 n+9 n+9 Acceleration n+10 n+10 Deceleration n+11 n+11 Push-motion current-limiting value n+12 Occupied area n+12 Occupied ACON n+13 area Load current PCON threshold n+13 Control signal 1 n+14 n+14 Control signal 2 n+15 Status signal n+15 (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 38

49 (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. The target position and current position are 2-word (32-bit) binary data. Although values from to (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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm). The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed supported by the applicable actuator. The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 255 (100%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). 2. ACON-C/CG, PCON-C/CG Set value Push-motion current-limiting value Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current threshold, the PLC can handle values from 0 (0%) to 255 (100%). (Refer to the graph of push-motion current-limiting value (above graph).) The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone boundary-, the PLC can handle values from to (unit: 0.01 mm). Take note, however, that the value of zone boundary- must be smaller than the value of zone boundary+. The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 39

50 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG 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) Positioning band (upper word) Speed (lower word) Speed (upper word) Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2 s complement. 40

51 Channel (* n indicates the node 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. 2. ACON-C/CG, PCON-C/CG Acceleration Deceleration Push-motion current-limiting value Load current threshold (*3) Control signal 1 ASO1 ASO0 Control signal 2 (*1) Signal assignment for b10 of n+14 (*2) Signal assignments for b7 and b6 of n+14 Symbol Symbol Controller ACON PCON Controller ACON PCON b10 - SMOD b7 MOD1 - b6 MOD0 - (*3) This is a dedicated function for PCON controllers. It is not available with ACON controllers. 41

52 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Current position (lower word) Current position (upper word) Command current (lower word) If the current position is a negative value, it is indicated by a 2 s complement. Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code Not available. Status signal (*1) Signal assignments for b10 and b9 of n+15 Symbol Controller ACON PCON b10 - LOAD b9 - TRQS 42

53 (3) I/O signal assignments PLC output (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (3) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ /zone boundary- 32-bit data - 32-bit integer. The setting unit is 0.01 mm and the allowable specification range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 32-bit integer. Specify the speed at which to move the actuator. The setting unit is 1.0 mm/sec and the allowable specification range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. (Example) To set mm/sec, specify If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 32-bit signed integer. After completion of home return, an effective zone signal can be output separately from the zone boundaries specified by parameters. The status signal PZONE turns ON when the current position is inside these +/- boundaries. (Example) To set mm, specify The setting unit is 0.01 mm and the specification range is to Enter a value that satisfies the relationship of Zone boundary+ > Zone boundary-. If this function is not used, enter the same value for both the positive and negative boundaries. * If the boundaries are entered as hexadecimals, enter negative values using 2 s complements. 2.9 (3) 2.9 (3) 2.9 (3) 2. ACON-C/CG, PCON-C/CG 43

54 2. ACON-C/CG, PCON-C/CG (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details 16-bit integer. Acceleration 16-bit data - Specify the acceleration and deceleration at which to move the actuator. The setting unit is 0.01 G and the allowable specification range is 1 to (3) 16-bit data - (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 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 (3) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Deceleration Push-motion current-limiting value Load current threshold Control signal 1 16-bit data - b15 b14 b13 b12 b11 b10 b9 b8 ACON PCON 16-bit integer. If you want the controller to determine whether or not the load current has exceeded the set value, specify the current threshold using this register. The allowable specification range is 0 (0%) to 255 (100%). If threshold judgment is not required, enter 0. - Not available. - - Not available. - SMOD ASO1 ASO0 Stopping control mode: When this signal is ON, servo control is performed during stopping. Stop Mode 1 Stop Mode 0 Select stop mode while standing by ASO1 ASO0 Functions OFF OFF Disable (Servo is ON at all times) OFF ON Sever turns OFF in time set in Parameter No. 36 ON OFF Sever turns OFF in time set in Parameter No. 37 ON ON Sever turns OFF in time set in Parameter No (3) (28) (30) b7 b6 b7 b6 b5 b4 b3 ACON PCON MOD1 MOD0 Acceleration/deceleration mode: MOD1 MOD0 Function OFF OFF Trapezoid pattern OFF ON S-motion ON OFF Primary delay filter (29) - Not avalable. - - Not available. - INC Incremental specification: Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON (24) 44

55 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details b2 DIR 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 (22) When the signal is ON, push-motion operation is performed in Control the direction of the position determined by adding the positioning signal 1 band to the target position. Push-motion specification: Positioning operation is performed b1 PUSH when this signal is OFF, and push-motion operation is performed when the signal is ON (21) b0 - Not available. - b15 BKRL Forced brake release: The brake is released when this signal (18) PLC output Control signal 2 b14 b13 b12 b11 b10 b9 RMOD turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON (19) - Not available. - b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 2. ACON-C/CG, PCON-C/CG 45

56 2. ACON-C/CG, PCON-C/CG (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: FF 32-bit data - H = 1023 (decimal) position = mm 2.9 (3) * If current positions are read as hexadecimals, negative values PLC input Command current Current speed Alarm code Status signal 32-bit data - 32-bit data - 16-bit data - b15 b14 b13 b12 b11 b10 b9 are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is indicated. The setting unit is ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0 is set. For details on alarms, refer to the operation manual for the controller. 2.9 (3) 2.9 (3) 2.9 (3) EMGS Emergency stop: An emergency stop is actuated when this signal turns ON (2) PWR Controller ready: This signal turns ON when the controller becomes ready (1) ZONE2 Zone 2: This signal turns ON when the current position is inside the specified zone (12) ZONE1 Zone 1: This signal turns ON when the current position is inside the specified zone (12) PZONE Position zone: This signal turns on when the current position is inside the position zone (12) ACON - Not available (ON/OFF status is indeterminable). - Load output judgment: When this signal is ON, the specified load has been reached. PCON LOAD When the signal is OFF, the load has not been reached yet (26) (For details, refer to the operation manual for the controller.) ACON - Not available (ON/OFF status is indeterminable). - Torque level: When this signal is ON, the specified torque has been reached. When the signal is OFF, the torque has not been PCON TRQS reached yet. (For details, refer to the operation manual for the controller.) (27) b8 RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the mode is MANU (19) b7 GHMS Home return in progress: This signal remains ON while home return is in progress (6) b6 PUSHS Push motion in progress: This signal remains ON while push-motion operation is in progress (25) b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 46

57 2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, PIO pattern. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.) Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. 2. ACON-C/CG, PCON-C/CG The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Supported / X: Not supported PIO patterns ROBO Cylinder function 0: Positioning mode 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid mode 1 5: Solenoid mode 2 Home-return operation X Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration Pause (*1) Zone signal output X PIO pattern selection (set by a parameter) (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 47

58 2. ACON-C/CG, PCON-C/CG (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No ACON or PCON DI ACON or PCON DO PLC output channel and input register and output register PLC input channel Port number 0 to 15 n+0 Current position n+0 n+1 Occupied area n+1 n+2 n+2 Current position Occupied area n+3 n+3 n+4 n+4 Command current n+5 n+5 (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O areas. The channels controlled by port number are controlled using ON/OFF bit signals. The current position is a 2-word (32-bit) binary data (unit: 0.01 mm). The command current is a 2-word (32-bit) binary data (unit: 1 ma). PLC output (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller input port number 48

59 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. 2. ACON-C/CG, PCON-C/CG 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) Command current (upper word) 49

60 (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). 2. ACON-C/CG, PCON-C/CG Signal assignments under the command-current read function and current-position read function are shown below. Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. PLC input Current position Command current 32-bit data - 32-bit data - The setting unit is 0.01 mm. (Example) Reading: FF H = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 32-bit integer. Indicate the value of electrical current specified by the current command. The setting unit is 1 ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma

61 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. For the I/O signals used in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. (1) Controller ready (PWR) [PLC input signal] This signal turns ON when the controller has become ready to perform control following the power on. Function The PWR signal turns ON when the controller has been initialized successfully and become ready to perform control following the power on, regardless of the alarm status, servo status or any other condition. Even when an alarm is present, the PWR signal turns ON as long as the controller is ready. (2) Emergency stop (EMGS) [PLC input signal] This signal turns ON when the controller has entered the emergency stop mode. Function The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has been cut off). The signal will turn OFF once the emergency stop is cancelled. 2. ACON-C/CG, PCON-C/CG (3) Alarm (ALM) [PLC input signal] This signal turns ON when the controller s protective circuit (function) has detected an error. Function The ALM signal turns ON when the controller s protective circuit (function) has actuated following an error detection. When the cause of the alarm is removed and the reset (RES) signal is turned ON, the ALM signal will turn OFF if the applicable alarm is an operation-reset alarm. (To reset cold-start alarms, the power must be reconnected.) When an alarm is detected, the status indicator LED (refer to 2.4, DeviceNet Interface ) on the front panel of the controller will illuminate in red. (4) Reset (RES) [PLC output signal] This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel while the actuator is paused. Function [1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm (ALM) signal. (To reset cold-start alarms, the power must be reconnected.) [2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel. 51

62 2. ACON-C/CG, PCON-C/CG (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. The SV signal is synchronized with this LED. Function 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. 52

63 (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. The GHMS signal turns ON while the home return is in progress. Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF. Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned 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. 2. ACON-C/CG, PCON-C/CG Actuator operation Mechanical end Stopped at the home position Caution: In the remote I/O mode, remote I/O mode 2 or position/simple direct mode, issuing a positioning command to a given position following the power on, without performing a home return first, will cause the actuator to automatically return home and then perform the positioning. Take note that this applies only to the first positioning command following the power on. Exercise caution that in the half direct mode or full direct mode, issuing a positioning command to a given position following the power on, without performing a home return first, will generate an alarm ( Error Code 83: Alarm home ABS (absolute position move command when home return is not yet completed) (operation-reset alarm). 53

64 2. ACON-C/CG, PCON-C/CG (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. Whether to use the target position corresponding to the specified position number or the target position channel of the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal). PMOD = OFF: Use the target position data corresponding to the specified position number PMOD = ON: Use the value set to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the 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 (8) Positioning command (DSTR): Used in the half direct mode and full direct mode [PLC output signal] The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the target position input to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset alarm) will occur. Program the controller so that this signal will be turned OFF after the position complete (PEND) signal turns OFF. Target position (9) Moving signal (MOVE) [PLC input signal] This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion operation or jog operation is in progress). The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the actuator is paused. 54

65 (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. Speed Travel Timing at which the position complete signal turns ON Target position Positioning band When the servo turns on, positioning is performed based on the current position set as the target position. Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal. Time 2. ACON-C/CG, PCON-C/CG Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the target position, the PEND signal will turn OFF. When the servo subsequently turns on, the PEND signal will turn ON if the current position is inside the positioning band. Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains ON. (11) Pause (STP) [PLC output signal] When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the axis movement will resume. The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops, conform to the acceleration/deceleration value corresponding to the position number set by the specified position number channel in the position/simple direct mode, or to the value of the acceleration/deceleration channel in the half direct mode. In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and deceleration channel. 55

66 2. ACON-C/CG, PCON-C/CG (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. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, Zone boundary 1+ and No. 2, Zone boundary 1-. The ZONE2 signal is set by parameter No. 23, Zone boundary 2+ and No. 24, Zone boundary 2-. The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will remain effective even while the servo is turned off. [2] Position zone Each zone is set in the position table or using the zone boundary channels. In the position/simple direct mode, the PZONE signal is set in the position table. In the full direct mode, the PZONE signal is set using the zone boundary channels. (*) The PZONE signal is not available in the half direct mode. The PZONE signal becomes effective when a move command is issued following a completion of home return, after which it will remain effective even while the servo is turned off. Zone signal Actuator operation + direction Home Zone setting- Zone setting+ 56

67 (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. [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once the signal turns OFF. The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the signal turns OFF. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL) signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop. [2] Inch operation Inch operation can be performed when the JISL signal is ON. The actuator moves by the inch distance every time this signal turns ON. The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home when the JOG- is ON. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The travel conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 48, PIO inch distance. If the JVEL signal is ON, the actuator operates according to parameter No. 49, PIO inch distance 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). 2. ACON-C/CG, PCON-C/CG While performing a normal operation, the actuator will continue with the normal operation even after the +jog or -jog signal is turned ON (the jog signal will be ignored). While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate. (Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide with the mechanical end. Exercise caution. 57

68 (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. 2. ACON-C/CG, PCON-C/CG JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON OFF Parameter No. 26, Jog speed Parameter No. 26, Jog speed Parameter No. 48, Inch distance ON Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 Parameter No. 49, Inch distance 2 (15) Jog/inch switching (JISL) [PLC output signal] This signal is used to switch between jog operation and inch operation. JISL = OFF: Jog operation JISL = ON: Inch operation If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and then switch to the inch function. If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement and then switch to the jog function. The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog-speed/inch-distance switching (JVEL) signal. Jog operation Inch operation JISL OFF ON Speed Parameter No. 26, Jog speed Parameter No. 26, Jog speed JVEL=OFF Travel - Parameter No. 48, Inch distance Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Speed Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 JVEL=ON Travel - Parameter No. 49, Inch distance 2 Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Operation When the JOG+/JOG- signal is ON Upon detection of the leading (ON) edge of the JOG+/JOG- signal 58

69 (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. (Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be satisfied: The actuator (motor) is stopped. The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF. The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF. (Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF. (17) Position-data read command (PWRT) [PLC output signal] Position-data read complete (WEND) [PLC input signal] The PWRT signal is effective when the teaching mode (MODES) signal is ON. Turn the PWRT signal ON (*1), and the data of the current position will be written to the Position field under the position number set to the specified position number channel of the PLC. (*2) The WEND signal will turn ON once reading is complete. Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON. If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON. When the PWRT signal is turned OFF, the WEND signal will turn OFF. (*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position may not be written. (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.) 2. ACON-C/CG, PCON-C/CG At least 20 msec (18) Forced brake release (BKRL) [PLC output signal] The brake can be forcibly released by turning this signal ON. 59

70 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] 2. ACON-C/CG, PCON-C/CG 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. RMOD signal = OFF (AUTO mode is specified) RMOD signal = ON (MANU mode is specified) Controller MODE switch = AUTO AUTO mode (RMDS=OFF) MANU mode (RMDS=ON) (Note) In the MANU mode, operation from the PLC cannot be performed. Controller MODE switch = MANU MANU mode (RMDS=ON) MANU mode (RMDS=ON) (20) Position/simple-direct switching (PMOD) [PLC output signal] This signal is used to switch between the mode where the target position is set using a value registered in the position table stored in the controller, and the mode where a value specified by the target position channel of the PLC is used. PMOD = OFF: Use the position table PMOD = ON: Use the value of the target position channel (21) Push-motion specification (PUSH) [PLC output signal] Push-motion operation can be performed when a move command is issued after turning this signal ON. Normal positioning operation is performed if this signal is set to OFF. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 2.9, Operation. ) (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 OFF, the actuator will push the load in the direction of the value determined by subtracting the positioning band from the target position. 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. The DIR signal is invalid during normal positioning operation. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 2.9, Operation. ) Speed Travel Positioning band Positioning band Positioning band DIR = OFF Target position DIR = ON 60

71 (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. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 2.9, Operation. ) (24) Incremental specification (INC) [PLC output signal] If a move command is issued while this signal is ON, the actuator will move from the current position by the value input to the target position channel of the PLC. (Incremental move) If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position channel of the PLC. (25) Push motion in progress (PUSHS) [PLC input signal] This signal turns ON while push-motion operation is in progress. 2. ACON-C/CG, PCON-C/CG Speed Target position Travel Positioning band The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command or the next move command is issued, or the servo turns off. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 2.9, Operation. ) 61

72 2. ACON-C/CG, PCON-C/CG (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. Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold for the specified time cumulatively. The processing procedure is the same as the procedure applicable to push judgment. The time of load output judgment can be changed freely using parameter No. 50, Load output judgment time. The status of this signal will be retained until the next move command is received. The LOAD signal turns ON when the command torque exceeds the threshold inside the torque check range. The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Speed Check range Travel Positioning band (maximum push distance) Target position The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. Set parameter No. 51, Torque check range to 0 [Enable]. The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the PLC. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. Warning: If the actuator contacts the load before the target position is reached, a servo error will occur. Pay extra attention to the positioning between the target position and the load. The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 62

73 (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. The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired speed, therefore, the applicable parameters must be adjusted. Speed Travel The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Range where the TRQS signal is output 2. ACON-C/CG, PCON-C/CG Target position Positioning band (maximum push dimension) The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. Set parameter No. 51, Torque check range to 1 [Invalid]. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. Warning: If the actuator contacts the load before the target position is reached, a servo error will occur. Pay extra attention to the positioning between the target position and the load. The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 63

74 2. ACON-C/CG, PCON-C/CG (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. SMOD = ON: Use the full-servo control mode while standing by SMOD = OFF: Do not use the full-servo control mode while standing by Full-servo control mode The pulse motor is servo-controlled to reduce the holding current. Although the specific level of current reduction varies depending on the actuator model, load condition, etc., the holding current generally drops to approx. 1/2 to 1/4. The actual holding current can be checked on the current monitor screen of the PC software. (Note) Micro-vibration or noise may generate in conditions where an external force is applied and also depending on the position at which the actuator is stopped. Use this mode after confirming that it will not negatively affect any part of the whole system. 64

75 (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 OFF OFF Trapezoid pattern Factory setting OFF ON S-motion ON OFF Primary delay filter ON ON Not available. Trapezoid pattern Speed Acceleration Deceleration 2. ACON-C/CG, PCON-C/CG * The acceleration and deceleration are set in the Acceleration and Deceleration fields of the position data table. S-motion The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the middle. Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the actuator to accelerate/decelerate gradually at start of movement and immediately before stopping. Speed Time * The S-motion level is set by parameter No. 56, S-motion ratio setting. The setting unit is % and the setting range is 0 to 100. (The above graph assumes a S-motion ratio of 100 %.) If 0 is set, the S-motion mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. Primary delay filter The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration (trapezoid pattern). Use this mode if you don t want the load to receive micro-vibration during acceleration/deceleration. Speed Time Time * The primary delay level is set by parameter No. 55, Primary filter time constant for position command. The minimum input unit is 0.1 msec and the setting range is 0.0 to If 0 is set, the primary delay mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. 65

76 (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. Refer to the instruction manual for the controller for more information. 2. ACON-C/CG, PCON-C/CG ASO1 ASO0 Functions Reference OFF OFF Disabled Set in delivery OFF ON Automatic Servo OFF Method Parameter No. 36 is valid for T ON OFF Automatic Servo OFF Method Parameter No. 37 is valid for T ON ON Automatic Servo OFF Method Parameter No. 38 is valid for T Movement Command Servo Condition Servo ON Condition In automatic servo OFF duration (Green LED blinks) Actuator Moving Target Position T T : Waiting time (sec) before servo is turned OFF after the positioning is completed 66

77 2.8 I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: Maximum response time (msec) = Yt + Xt command processing time (operation time, etc.) Yt: Master station node transmission delay Field network transmission delay Xt: Node master station transmission delay For the master station node transmission delay (Yt) and node master station transmission delay (Xt), refer to the operation manuals for the DeviceNet master unit and PLC installed in the master unit. PLC sequence program Control signal 2. ACON-C/CG, PCON-C/CG Status signal Master station node transmission delay (Yt) Node master station transmission delay (Xt) ACON, PCON Control signal Status signal Command processing time 67

78 2.9 Operation 2. ACON-C/CG, PCON-C/CG 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. (In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as deemed appropriate.) (1) Operation in the position/simple direct mode The actuator is operated by writing the position data to the target position channel of the PLC and specifying the speed, acceleration/deceleration, positioning band, push-motion current-limiting value, etc., using the position table. Example of operation (normal positioning operation) (Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning band, etc.) in the position table. Turn the position/simple-direct switching (PMOD) signal ON. [1] Set the target position data to the target position channel. [2] Set the position number under which the position, acceleration/deceleration, etc., were set, to the specified position number channel. [3] Turn the positioning start (CSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal. [4] The PEND turns OFF upon an elapse of tpdf after the CSTR signal has turned ON. [5] Turn the CSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of the target position channel until the CSTR signal is turned OFF. [6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [7] The current position data is constantly updated. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the CSTR signal is OFF, and the completed position number is output to the completed position number channel. If the completed position number channel is to be read upon completion of positioning, therefore, wait for an appropriate period (= until the actuator moves by the remaining travel) after the PEND signal has turned ON. Also take note that the current position data may change slightly due to vibration, etc., even while the actuator is stopped. [8] The target position data can be changed while the actuator is moving. To change the target position, change the target position data, wait for at least the scan time of the PLC, and then turn the CSTR signal ON. Change the CSTR signal after an elapse of at least the scan time of the PLC. Example of operation (push-motion operation) In the case of push-motion operation, the current-limiting value is set in the Push field of the position data table in the preparation stage. Perform positioning to the position number under which the value was set in the Push field, and the actuator will perform push-motion operation. 68

79 Set value of target position data [1] Specified position number Positioning start [2] [3] 2. ACON-C/CG, PCON-C/CG Position complete [4] [5] [7] Current position [6] Moving Positioning band Actuator movement *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 69

80 2. ACON-C/CG, PCON-C/CG (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioning band channel, specified speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel. [4] Set the acceleration/deceleration data to the acceleration/deceleration channel. [5] Set the push-motion current-limiting data to the push-motion current-limiting value channel. [6] Turn the push direction (PUSH) signal ON. [7] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22).) [8] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal. [9] The PEND turns OFF upon an elapse of tpdf after the DSTR signal has turned ON. [10] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of each channel until the DSTR signal is turned OFF. [11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [12] The current position data is constantly updated. [13] The PEND signal turns ON when the motor current has reached the current-limiting value set in [5] while the DSTR signal is OFF. (Completion of push-motion operation) Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal does not turn ON if the motor current has yet to reach the current-limiting value set in [5]. In this case, the PEND signal does not turn ON. (The actuator missed the load in push-motion operation.) [14] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON. Example of operation (normal positioning operation) For normal positioning operation, set the signal in [6] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 70

81 Set value of target position data [1] Set value of positioning band data Set value of speed data Set value of acceleration/ deceleration data [2] [3] [4] 2. ACON-C/CG, PCON-C/CG Set value of push-motion current-limiting value [5] Push-motion specification [6] Push direction specification [7] Positioning command Position complete/load missed in push motion [8] [9] [10] [13] [14] Current position Moving [11] [12] Actuator operation (push motion) Actuator operation (Normal positioning) Push Positioning band *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 71

82 2. ACON-C/CG, PCON-C/CG (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel. [4] Set the boundary data for position zone output to the zone boundary+ channel and zone boundary- channel. [5] Set the acceleration data to the acceleration channel. [6] Set the deceleration data to the deceleration channel. [7] Set the push-motion current-limiting data to the push-motion current-limiting value channel. [8] Set the load current threshold data to the specification channel for load current threshold. [9] Turn the push direction (PUSH) signal ON. [10] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22).) [11] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal. [12] The PEND turns OFF upon an elapse of tpdf after the DSTR signal has turned ON. [13] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of each channel until the DSTR signal is turned OFF. [14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [15] The current position data is constantly updated. [16] The PEND signal turns ON when the motor current has reached the current-limiting value set in [7] while the DSTR signal is OFF. (Completion of push-motion operation) Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal does not turn ON if the motor current has yet to reach the current-limiting value set in [7]. In this case, the PEND signal does not turn ON. (The actuator missed the load in push-motion operation.) [17] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON. Example of operation (normal positioning operation) For normal positioning operation, set the signal in [9] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 72

83 Set value of target position data [1] Set value of positioning band data Set value of speed data [2] [3] 2. ACON-C/CG, PCON-C/CG Set value of position zone boundary data [4] Set value of acceleration data [5] Set value of deceleration data [6] Set value of push-motion current-limiting value [7] Set value of load current threshold data [8] 73

84 [9] Push-motion specification 2. ACON-C/CG, PCON-C/CG Push direction specification Positioning command Position complete/load missed in push motion [10] [11] [12] [13] [17] [16] Current position [14] [15] Moving Actuator operation (push motion) Push Positioning band Actuator operation (Normal positioning) *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 74

85 (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After a desired data has been changed, keep the positioning command (DSTR) signal ON for at least tdpf. Also make sure that after the DSTR is turned OFF, the signal will not be turned ON again until at least a time corresponding to twcson + twcsoff elapses. An example of changing the speed or acceleration/deceleration is shown in the figure below. Set value of speed or acceleration/deceleration [1] [2] [3] 2. ACON-C/CG, PCON-C/CG Speed n3 Speed n2 Actuator speed Caution 1. If the speed is not set or 0 speed is set, the actuator will remain stationary and no alarm will generate. 2. If the speed is changed to 0 while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is moving, the target position data must also be set. 4. Even when the target position alone is changed while the actuator is moving, the acceleration/deceleration and speed data must also be set. 75

86 2.10 DeviceNet Parameters 2. ACON-C/CG, PCON-C/CG Parameters relating to DeviceNet are Nos. 84 to 87 and 90. Category: C: External interface parameter No. Category Symbol Name Factory-set default 1 For parameter Nos. 1 to 83, refer to the 83 operation manual for the controller. 84 C FMOD Fieldbus operation mode 0 85 C NADR Fieldbus node address C FBRS Field bus baud rate 0 87 C NTYP Network type 2 90 C FMIO Fieldbus I/O format 3 ~ Fieldbus operation mode (No. 84, FMOD) Specify the operation mode in parameter No. 84 using a value between 0 and 4. Value set in Number of Mode Description parameter No. 84 occupied channels Operation using PIOs (24-V I/Os) is performed 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH via DeviceNet. The actuator can be operated by specifying the target position directly and numerically or based on a value in the position data table. Other values required for operation are set in the position data table. The actuator is operated by specifying all data other than the target position, such as speed, acceleration/deceleration, push-motion current, directly and numerically. The actuator is operated by directly specifying all values relating to position control. The functions available in the remote I/O mode are combined with the current-position read mode and current-speed read mode. Fieldbus node address (No. 85, NADR) Specify the node address of the remote station in parameter No. 85. Setting range: 0 to 63 (The factory setting is 63. ) Fieldbus baud rate (No. 86, FBRS) 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. 76

87 Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. Fieldbus I/O format (No. 90, FMIO) Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the controller and number of occupied channels in each operation mode. 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 Description parameter No Data is not swapped. The data is sent directly to the PLC. (Refer to Example i.) The upper byte and lower byte comprising the upper word are swapped, and the 1 upper byte and lower byte comprising the lower word are also swapped. (Refer to Example ii.) The upper word and lower word are swapped for word registers. (Refer to Example 2 iii.) The upper byte and lower byte comprising the upper word are swapped, and the upper byte and lower byte comprising the lower word are also swapped. In addition, 3 (factory setting) the upper word and lower word are swapped for word registers. (Refer to Example iv.) 2. ACON-C/CG, PCON-C/CG (Example i) Set value = 0 indicates ON, while O indicates OFF. Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data 77

88 (Example ii) Set value = 1 indicates ON, while O indicates OFF. Input register 2. ACON-C/CG, PCON-C/CG Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data 78

89 (Example iii) Set value = 2 indicates ON, while O indicates OFF. Input register Hexa decimal data Output channel Hexa decimal data 2. ACON-C/CG, PCON-C/CG Output register Hexa decimal data Input channel Hexa decimal data 79

90 (Example iv) Set value = 3 indicates ON, while O indicates OFF. Input register 2. ACON-C/CG, PCON-C/CG Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data 80

91 2.11 Troubleshooting Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 2. In the position/simple direct mode, this simple alarm code is output to the (n+2) channel. In the half direct mode and full direct mode, this simple alarm code is output to the (n+6) channel. [1] Check the generated alarm code using the monitor function of the PLC, etc., or connect the RC PC software or teaching pendant and check the code on the status monitor screen. [2] Look up the applicable alarm code in the alarm list provided in the operation manual for the controller. [3] Take appropriate actions according to the explanation given for the applicable code. For the alarm codes listed in the table below, take the specified action. Code Error name ID (*1) RES (*2) Cause/action Cause: A fieldbus module error has been detected. 0F2 Fieldbus module error 05 X Action: Check the parameter. Cause: The module could not be detected. Fieldbus module not 0F3 04 X Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID Simple alarm code (*2) RES Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset 2. ACON-C/CG, PCON-C/CG 81

92 2.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. 2. ACON-C/CG, PCON-C/CG 82

93 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 3.1 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 five modes. Operation Modes and Key Functions Key function Remote I/O Position/simple Remote I/O Half direct mode Full direct mode mode direct mode mode 2 Number of occupied bytes 1CH 4CH 8CH 16CH CH Operation by position x (*1) x data specification Direct speed/acceleration x x x specification Push-motion operation Current position read x Current speed read x x x Operation by position x number specification x Completed position x number read x Maximum position table size Not used Not used 512 (*1) The actuator is operated by specifying all position data, other than positions, using position numbers. [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication. Number of occupied bytes: 1CH PLC ACON, PCON, DCON not supporting DeviceNet PLC ACON, PCON, DCON supporting DeviceNet 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Flat cable PIO connection Communication cable DeviceNet connection 83

94 [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. Up to 768 position data points can be set. Number of occupied bytes: 4CH 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB PLC [3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. Number of occupied bytes: 8CH PLC Target position: mm + Position No. 0 Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration/deceleration: 0.30 G Push current: 50% ACON, PCON, DCON supporting DeviceNet ACON, PCON, DCON supporting DeviceNet Speed Acceleration Deceleration Push Actuator Actuator 84

95 [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 16CH PLC [5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet communication. The current-position and command-current read functions are available in addition to the functions provided in mode [1]. Number of occupied bytes: 6CH PLC Flat cable PIO connection Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: mm Zone-: mm ACON, PCON, DCON not supporting DeviceNet ACON, PCON, DCON supporting DeviceNet PLC Actuator Communication cable DeviceNet connection ACON, PCON, DCON supporting DeviceNet 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 85

96 3.2 Model Numbers The model numbers of IAI controllers controller supporting DeviceNet are indicated as follows, respectively: 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB ACON-CA/CB- -DV- PCON-CA/CB/CGB- -DV- PCON-CFA/CFB/CGFB- -DV- DCON-CA/CB- -DV- Printed series name ACON, PCON or DCON Front panel color ACON-CA/CB : Dark blue PCON-CA/CB/CGB : Dark green PCON-CFA/CFB/CGFB : Light green DCON-CA/CB : Dark orange 86

97 3.3 Interface Specifications Item Communication protocol Communication specification Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification DeviceNet 2.0 Group 2 only server Network-powered isolation node Master-slave connection Bit strobe Polling Automatically set to the same value as the band rate set in the master Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 6 m 78 m 125 kbps 500 m 156 m Note) When a large-size DeviceNet cable is used. 24 VDC (supplied from DeviceNet) 60 ma (*1) The cable-end connector is a standard accessory. MSTB2.5/5-STF-5.08AU by Phoenix Contact 1 node MSTB2.5/5-GF-5.08AU (*1) by Phoenix Contact 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 87

98 3.4 DeviceNet Interface Name of Each Part The name of each part relating to DeviceNet is shown. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Red White Blue Black SV/ALM Status Indicator LEDs NS Monitor LED MS DeviceNet communication connector PCB side : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT) Cable side : MSTB2.5/5-STF-5.08AUM (PHOENIX CONTACT) 88

99 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. MS (Module Status) LED: NS (Network Status) LED: LED MS NS Condition of the node (controller) Condition of the network : Steady light, X : Off, : Blinking Illumination Color Description (meaning) status The board is operating normally. Green A hardware error occurred. The error may be reset by reconnecting the power. A hardware error occurred. The board must be replaced. Orange A user setting error, configuration error or other minor error is present. These errors can be reset by setting the applicable item again, etc. - X DeviceNet is initializing or the power is not supplied. Network connection has been established and the board is communicating normally. Green The board is online, but network connection is not yet established. Communication is stopped. (The network is normal.) Node address duplication or bus-off state was detected. Communication is not possible. Orange A communication error occurred (communication time-out occurred). The board is not online. - X DeviceNet power is not supplied. Self test is performed when the power is turned on. During the test, the monitor LEDs cycle in the following sequence: [1] NS turns off. [2] MS illuminates in steady green (approx second). [3] MS illuminates in steady orange (approx second). [4] MS illuminates in steady green. [5] NS illuminates in steady green (approx second). [6] NS illuminates in steady orange (approx second). [7] NS turns off. When the self test is finished and the board starts communicating normally, both the MS and NS LEDs change to steady green. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 89

100 3.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, FMOD: Fieldbus operation mode using the RC PC software (Note 1) (V or later). (Refer to 3.10, DeviceNet Parameters. ) (Note 1) Refer to operation manual of RC PC Software for the applicable version. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Set value Operation mode Number of occupied stations 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH * If any other value is entered, an excessive input error will occur. 3.6 Setting the Node Address The node address is set using a parameter. Set parameter No. 85, NADR: Fieldbus node address using the RC PC software. (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. The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of the PLC. (This is when the mount assignment mode is selected. A different rule applies when a configurator is used.) For details, refer to the operation manuals of the master unit and PLC installed in the master unit. (Note) 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. (Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on the front panel of the controller to the AUTO position. If the switch remains in the MANU position, operation by the PLC cannot be performed. 90

101 3.7 Communicating with the Master Station 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 node address of each axis.) PLC output area (channel) n n+1 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 ACON, PCON, DCON DI and input data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Target position Target position Target position n+2 Specified position number Positioning band n+3 Control signal n+4 Speed n+5 Acceleration/ deceleration Push-motion n+6 current-limiting value n+7 Control signal n+8 n+9 Positioning band Speed specification Zone boundary+ Zone boundary- n+10 Acceleration n+11 Deceleration Push-motion n+12 current-limiting value n+13 Load current threshold n+14 Control signal 1 n+15 Control signal 2 Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 91

102 IAI controllers output PLC input side (* n indicates the node address of each axis.) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB PLC input area (channel) n n+1 n+2 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 Completed n+3 position number (simple alarm ID) n+4 Status signal ACON, PCON, DCON DO and output data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Current position Current position Current position Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area Command current Command current Current position n+5 n+6 Current speed Current speed Command current n+7 Alarm code Alarm code n+8 Status signal n+9 Occupied area n+10 n+11 Total moving count n+12 n+13 Total moving distance n+14 Status Signal 1 n+15 Status Signal 2 (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 92

103 3.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. 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. (For details, refer to the operation manual for the controller.) Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Supported / X: Not supported PIO patterns ROBO Cylinder function 0: Positioning mode 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid mode 1 5: Solenoid mode 2 Home-return operation X Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration Pause (*1) Zone signal output X PIO pattern selection (set by a parameter) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 93

104 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. IAI controllers DI IAI controllers DO PLC output channel PLC input channel 84 (port number) (port number) 0 0~15 n+0 0~15 n+0 (Note) Exercise caution to avoid node address duplication. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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. Each channel is controlled by ON/OFF bit signals. PLC output Channel (* n indicates the node address of each axis.) Controller input port number PLC input Channel (* n indicates the node address of each axis.) Controller output port number 1 word (channel) = 16 bits 1 word (channel) = 16 bits 94

105 (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, refer to the operation manual for the controller.) Category PLC output ACON, PCON, DCON input ACON, PCON, DCON Output PLC input Setting of Parameter No. 25 Positioning mode (standard) Teaching mode 256-point mode (teaching type) (256-point type) Port No. Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position PC4 Command position PC4 3 PC8 number PC8 number PC8 4 PC16 PC16 PC16 Command position 5 PC32 PC32 PC32 number Teaching mode 6 - MODE command (operation PC64 Not available. mode) 7 - JISL Jog/inch switching PC JOG+ +Jog - Not available. 9 BKRL Forced brake release JOG- -Jog BKRL Forced brake release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return HOME Home return 12 *STP Pause *STP Pause *STP Pause 13 CSTR Positioning start Positioning CSTR/ start/position-data PWRT read command CSTR Positioning start 14 RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 Completed position PM4 Completed position PM4 3 PM8 number PM8 number PM8 4 PM16 PM16 PM16 5 PM32 PM32 PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 8 PZONE/Z Position zone/ PZONE/Z Position zone/ PZONE/Z ONE2 Zone 2 ONE1 Zone 1 ONE1 9 RMDS Operation mode Operation mode RMDS status status RMDS 10 HEND Home return complete HEND Home return complete HEND 11 PEND Position complete Position complete PEND/ signal/position-data signal WEND read complete PEND Completed position number Position zone/ Zone 1 Operation mode status Home return complete Position complete signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 (Note 1) LOAD/ TRQS/ *ALML Load output judgment/ torque level/ Light error status *ALML Light error status LOAD/ TRQS/ *ALML The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). Note 1 For ACON and DCON, the signals change as explained below; ACON : *BALM (Battery Alarm) / *ALML (Light error status) DCON : *ALML(Light error status) Load output judgment/ torque level/ Light error status 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 95

106 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Category PLC output ACON, PCON, DCON input ACON, PCON, DCON output PLC input Port No. Setting of Parameter No point mode Solenoid mode 1 Solenoid mode Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 - Command position 4 PC16 ST4 Start position 4 - number 5 PC32 ST5 Start position 5-6 PC64 ST6 Start position 6-7 PC Not available. 8 PC256 - Not available. - 9 BKRL Forced brake Forced brake Forced brake BKRT BKRL release release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return - 12 *STP Pause *STP Pause - Not available. 13 CSTR Positioning start - Not available RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PE0 Position 0 complete LS0 Rear end move command 0 1 PM2 PE1 Position 1 complete LS1 Rear end move command 1 Rear end move 2 PM4 PE2 Position 2 complete LS2 command 2 Completed position 3 PM8 PE3 Position 3 complete - number 4 PM16 PE4 Position 4 complete - Not available. 5 PM32 PE5 Position 5 complete - 6 PM64 PE6 Position 6 complete - 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 PZONE/ Position zone/ PZONE/ Position zone/ ZONE2 Zone 2 ZONE2 Zone 2 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete Position complete PEND - signal signal signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 (Note 1) LOAD/ TRQS/ *ALML Load output judgment/ torque level/ Light error status LOAD/ TRQS/ *ALML Load output judgment/ torque level/ Light error status *ALML The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). Note 1 For ACON and DCON, the signals change as explained below; ACON : *BALM (Battery Alarm) / *ALML (Light error status) DCON : *ALML(Light error status) Light error status 96

107 3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) 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. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller. Set position data by referring to the operation manual for the controller. Up to 768 sets of positioning data can be specified. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. ROBO Cylinder function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control : Indirect control X: Invalid (1) PLC channel configuration (* n indicates the node address of each axis.) X Remarks These items must be set in the position data table. Zones are set using parameters. Parameter No. IAI controllers IAI controllers PLC output channel PLC input channel 84 input register output register n+0 n+0 Target position Current position n+1 n+1 Completed position 1 Specified position n+2 number (simple n+2 number alarm code) Control signal n+3 Status signal n+3 (Note) Exercise caution to avoid node address duplication. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 97

108 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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 to (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. The specified position number and completed position number are 1-word (16-bit) binary data. Although values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to specify position numbers associated with predefined operating conditions. PLC output Channel (* n indicates the node address of each axis.) Target position (lower word) Target position (upper word) Specified position number Control signal 1 word (channel) = 16 bits If the target position is a negative value, it is indicated by a 2 s complement. 98

109 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number Status signal If the current position is a negative value, it is indicated by a 2 s complement. ZONE2 ZONE1 ALML (Note 1) Note 1 For ACON, it can be changed to BALM by the setting in Parameter No ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 99

110 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (1) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Specified position number Control signal 16-bit data b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 PC1 ~ PC512 BKRL RMOD 16-bit integer. To operate the actuator, you must set position data associated with predefined operating conditions using the PC software or teaching pendant. Use one of these registers to specify the position number for which the desired data has been input. The allowable specification range is 0 to 767. If the specified value is outside the above range or corresponds to a position not yet set, an alarm will occur when the start signal is turned ON. Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 3.9 (1) (18) (19) - Not available. - PMOD MODE PWRT JOG+ JOG- JVEL JISL SON Position/simple-direct switching: The position mode is selected when this signal is OFF, and the simple direct mode is selected when the signal is ON. Teaching mode command: The normal mode is selected when this signal is OFF, and the teaching mode is selected when the signal is ON. Position-data read command: Position data is read when this signal is ON. +Jog: The actuator moves in the direction opposite home when this signal is ON. -Jog: The actuator moves in the direction of home when this signal is ON. Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON. Servo ON command: The servo turns ON when this signal turns ON (20) (16) (17) (13) (13) (14) (15) (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 CSTR Positioning start: A move command is issued when this signal turns ON (7) 100

111 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: FF 32 bits - H = 1023 (decimal) position = mm 3.9 (1) * If current positions are read as hexadecimals, negative values PLC input Completed position number (simple alarm code) Status signal 16 bits b15 b14 b13 b12 b11 b10 b9 b8 b7 PM 1 ~ PM512 EMGS PWR ZONE2 ZONE1 PZONE MODES WEND RMDS ALML are indicated by 2 s complements. 16-bit integer. When the actuator has moved to the target position and entered the positioning band, the position number corresponding to the completed position is output. 0 is output when no position movement has been performed yet or while the actuator is moving. If an alarm occurs (the status signal ALM turns ON), a corresponding simple alarm code (refer to the operation manual for the controller) will be output. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. Position zone: This signal turns ON when the current position is inside the specified position zone. Teaching mode signal: This signal is ON while the teaching mode is selected. Position data read complete: This signal turns ON when reading is complete. Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU. Light error status: Turns ON when light alarm (threshold exceeded for number of movement, etc.) that the operation can be continued with is issued. Note: ALM LED would not turn ON with a light error. 3.9 (1) (2) (1) (12) (12) (12) (16) (17) (19) (31) BALM When Parameter No. 151 is set to 1 in ACON, absolute battery voltage drop warning turns ON when the voltage is dropped (32) b6 - Not available. - b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 101

112 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Half Direct Mode (Number of Occupied Channels: 8) 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 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control ROBO Cylinder function : Indirect control Remarks X: Invalid Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration X Pause Zone signal output PIO pattern selection (1) PLC channel configuration (* n indicates the node address of each axis.) X Parameters must be set Parameter No. IAI controllers IAI controllers PLC output channel 84 input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 2 Acceleration/ Current speed n+5 n+5 deceleration Push-motion current-limiting value n+6 Alarm code n+6 Control signal n+7 Status signal n+7 (Note) Exercise caution to avoid node address duplication. 102

113 (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 to (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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm). The speed is a 1-word (16-bit) binary data. For the specified speed, the PLC can handle values from 0 to (unit: 1.0 mm/sec or 0.1 mm/sec). Take note, however, that the set value should not exceed the maximum speed supported by the applicable actuator. The setting of unit can be established in Parameter No. 159 FB Half Direct Mode Speed Unit. Parameter No.159 Setting Value Indicated Speed Unit 0 1.0mm/sec 1 0.1mm/sec The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 255 (100%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set Value Push-motion current-limiting value 0% 50% 100% The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 103

114 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Target position (lower word) Target position (upper word) Positioning band (lower word) Positioning band (upper word) Speed Acceleration/ deceleration If the target position is a negative value, it is indicated by a 2 s complement. Push-motion current-limiting value Control signal 104

115 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current position is a negative value, it is indicated by a 2 s complement. If the current speed is a negative value, it is indicated by a 2 s complement. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Alarm code Status signal ALML (Note 1) Note 1 For ACON, it can be changed to BALM by the setting in Parameter No

116 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (2) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - 32-bit integer. The setting unit is 0.01 mm and the allowable specification range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 16-bit integer. Specify the speed at which to move the actuator. The setting unit is 1.0 mm/sec or 0.1 mm/sec and the allowable specification range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. The change of unit is to be conducted in Parameter No. 159 FB Half Direct Mode Speed Unit. (Example) To set mm/sec, specify 254. If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 16-bit integer. Specify the acceleration/deceleration at which to move the actuator (the acceleration and deceleration will be the same value). The setting unit is 0.01 G and the allowable specification range is 1 to 300. (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 3.9 (2) 3.9 (2) 3.9 (2) 106

117 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description 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) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Push-motion current-limiting value Control signal b15 b14 b13 b12 b11 b10 b9 BKRL RMOD DIR PUSH Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 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. When the signal is ON, push-motion operation is performed in the direction of the position determined by adding the positioning band to the target position. Push-motion specification: Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON (18) (19) (22) (21) - Not available. - b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 107

118 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current 32-bit data - (Example) Reading: FF position H = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values 3.9 (2) are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is Command indicated. 32-bit data - current The setting unit is ma. 3.9 (2) (Example) Reading: FF H = 1023 (decimal) = 1023 ma PLC input Current speed Alarm code Status signal 32-bit data - 16-bit data - b15 b14 b13 b12 b11 b10 b9 EMGS PWR ZONE2 ZONE1 32-bit signed integer. Indicate the current speed. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home. 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec * If this data is read as a hexadecimal, a negative value is indicated as a 2 s complement. 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0H is set. For details on alarms, refer to the operation manual for the controller. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. 3.9 (2) 3.9 (2) (2) (1) (12) (12) - Not available. - b8 RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU (19) ALML Light error status: Turns ON when light alarm (threshold exceeded for number of movement, etc.) that the operation can be continued with is (31) b7 issued. Note: ALM LED would not turn ON with a light error. BALM When Parameter No. 151 is set to 1 in ACON, absolute battery voltage drop warning turns ON when the voltage is dropped (32) b6 - Not available. - b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 108

119 3.7.5 Full Direct Mode (Number of Occupied Channels: 16) 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. ROBO Cylinder function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control X: Invalid X (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No IAI controllers IAI controllers PLC output channel input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 Current speed n+5 n+5 Zone boundary+ n+6 Alarm code n+6 n+7 n+7 Zone boundaryn+8 Occupied area n+8 n+9 n+9 Acceleration n+10 n+10 Total moving count Deceleration n+11 n+11 Push-motion n+12 current-limiting value Total moving n+12 Load current distance n+13 threshold n+13 Control signal 1 n+14 Status signal 1 n+14 Control signal 2 n+15 Status signal 2 n ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 109

120 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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. The target position and current position are 2-word (32-bit) binary data. Although values from to (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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm). The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed supported by the applicable actuator. The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 255 (100%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set value Push-motion current-limiting value Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current threshold, the PLC can handle values from 0 (0%) to 255 (100%). (Refer to the graph of push-motion current-limiting value (above graph).) The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone boundary-, the PLC can handle values from to (unit: 0.01 mm). Take note, however, that the value of zone boundary- must be smaller than the value of zone boundary+. The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. The total moving count is a 2-word (32-bit) binary data (Unit: times). The total moving distance is a 2-word (32-bit) binary data (Unit: m). 110

121 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) Positioning band (lower word) Positioning band (upper word) Speed (lower word) Speed (upper word) If the target position is a negative value, it is indicated by a 2 s complement. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2 s complement. 111

122 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Zone boundary- (upper word) Acceleration Deceleration Push-motion current-limiting value Load current (Note 1) threshold If the zone boundary is a negative value, it is indicated by a 2 s complement. Control signal 1 NTC1 (Note 2) NTC0 (Note 2) SMOD (Note 1) ASO1 ASO0 MOD1 MOD2 GSL1 (Note 2) GSL0 (Note 2) Control signal 2 Note 1 Note 2 It can be used only in PCON. It can be used only in ACON. 112

123 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) Alarm code If the current position is a negative value, it is indicated by a 2 s complement. If the current speed is a negative value, it is indicated by a 2 s complement. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 9 Not available. Status signal LOAD TRQS 113

124 Address (* n shows the head register address per each axis). one word = 16 bits n+10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving count (Slave Word) 32,768 16,384 8,192 4,096 2,048 1, ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB n+11 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving count (Host Word) n+12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving distance (Slave Word) 32,768 16,384 8,192 4,096 2,048 1, n+13 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving distance (Host Word) n+14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal 1 n+15 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal 2 EMGS PWR ZONE2 ZONE1 PZONE LOAD (Note 1) TRQS (Note 1) Note 1 It can be used only in PCON. Note 2 For ACON, it can be changed to BALM by the setting in Parameter No RMDS 128 GHMS 64 PUSH 32 PSFL 16 SV 524, ,288 ALM 262, ,144 MOVE 131, ,072 HEND 65, ,536 ALML (Note 2) PEND 114

125 (3) I/O signal assignments PLC output (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is to Target 32-bit data - (Example) To set mm, specify (3) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ /zone boundary- 32-bit data - 32-bit integer. The setting unit is 0.01 mm and the allowable specification range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 32-bit integer. Specify the speed at which to move the actuator. The setting unit is 1.0 mm/sec and the allowable specification range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. (Example) To set mm/sec, specify If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 32-bit signed integer. After completion of home return, an effective zone signal can be output separately from the zone boundaries specified by parameters. The status signal PZONE turns ON when the current position is inside these +/- boundaries. (Example) To set mm, specify The setting unit is 0.01 mm and the specification range is to Enter a value that satisfies the relationship of Zone boundary+ > Zone boundary-. If this function is not used, enter the same value for both the positive and negative boundaries. * If the boundaries are entered as hexadecimals, enter negative values using 2 s complements. 3.9 (3) 3.9 (3) 3.9 (3) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 115

126 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details 16-bit integer. Acceleration 16-bit data - Specify the acceleration and deceleration at which to move the actuator. The setting unit is 0.01 G and the allowable specification range is 1 to (3) 16-bit data - (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 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 (3) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Deceleration Push-motion current-limiting value Load current threshold (PCON only) Control signal 1 16-bit data - b15 b14 b13 b12 16-bit integer. If you want the controller to determine whether or not the load current has exceeded the set value, specify the current threshold using this register. The allowable specification range is 0 (0%) to 255 (100%). If threshold judgment is not required, enter 0. - Not available. NTC1 (ACON only) NTC0 (ACON only) Vibration damping control mode selection 1 Vibration damping control mode selection 0 b11 - Not available. b10 SMOD (PCON only) b9 ASO1 Stop Mode 1 b8 ASO0 Stop Mode 0 Select the servo gain parameter set to be used. NTC1 NTC0 Function OFF OFF Do not use vibration damping control. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set 3. Stopping control mode: When this signal is ON, servo control is performed during stopping. Select stop mode while standing by ASO1 ASO0 Functions OFF OFF Disable (Servo is ON at all times) OFF ON Sever turns OFF in time set in Parameter No. 36 ON OFF Sever turns OFF in time set in Parameter No. 37 ON ON Sever turns OFF in time set in Parameter No (3) (33) (28) (30) 116

127 Address Bits Symbol Function Details b7 b6 MOD1 MOD0 Acceleration/deceleration mode: MOD1 MOD0 Function OFF OFF Trapezoid pattern OFF ON S-motion ON OFF Primary delay filter (29) PLC output Control signal 1 b5 (ACON only) b4 (ACON only) b3 GSL1 GSL0 INC Servo gain parameter set selection 1 Servo gain parameter set Select the servo gain parameter set to be used. GSL1 GSL0 Function OFF OFF Select parameter set 0. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set 3. selection 0 Incremental specification: Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON (34) (24) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 117

128 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details b2 DIR 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 (22) When the signal is ON, push-motion operation is performed in Control the direction of the position determined by adding the positioning signal 1 band to the target position. Push-motion specification: Positioning operation is performed b1 PUSH when this signal is OFF, and push-motion operation is performed when the signal is ON (21) b0 - Not available. - b15 BKRL Forced brake release: The brake is released when this signal (18) PLC output Control signal 2 b14 b13 b12 b11 b10 b9 RMOD turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON (19) - Not available. - b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 118

129 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. Current (Example) Reading: FF 32-bit data - H = 1023 (decimal) position = mm 3.9 (3) * If current positions are read as hexadecimals, negative values PLC input Command current Current speed Alarm code Total moving count Total moving distance Status Signal 1 32-bit data - 32-bit data - 16-bit data - 32-bits data 32-bits data b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 - - are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is indicated. The setting unit is ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0 is set. For details on alarms, refer to the operation manual for the controller. 32-bit integer (unit: times) 32-bit integer (unit: m) - Unavailable - ALML BALM Light error status: Turns ON when light alarm (threshold exceeded for number of movement, etc.) that the operation can be continued with is issued. Note: ALM LED would not turn ON with a light error. When Parameter No. 151 is set to 1 in ACON, absolute battery voltage drop warning turns ON when the voltage is dropped. 3.9 (3) 3.9 (3) 3.9 (3) (31) (32) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 119

130 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Signal type Bits Symbol Description Details b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON (2) b14 PWR Controller ready: This signal turns ON when the controller becomes ready (1) b13 ZONE2 Zone 2: This signal turns ON when the current position is inside the specified zone (12) b12 ZONE1 Zone 1: This signal turns ON when the current position is inside the specified zone (12) b11 PZONE Position zone: This signal turns on when the current position is inside the position zone (12) Load Output Judgment: b10 more information.] LOAD ON for Reached OFF for Not reached (Note 1) [Refer to the instruction manual for the controller main body for (26) PLC input Note 1 Status signal 2 b9 b8 b7 b6 b5 TRQS (Note 1) RMDS GHMS PUSHS PSFL Torque Level: ON for Reached OFF for Not Reached [Refer to the instruction manual for the controller main body for more information.] Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the mode is MANU. Home return in progress: This signal remains ON while home return is in progress. Push motion in progress: This signal remains ON while push-motion operation is in progress. Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (27) (19) (6) (25) (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) It can be used only in PCON. 120

131 3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, PIO pattern. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.) Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Supported / X: Not supported PIO patterns ROBO Cylinder function 0: Positioning mode 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid mode 1 5: Solenoid mode 2 Home-return operation X Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration Pause (*1) Zone signal output X PIO pattern selection (set by a parameter) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 121

132 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No IAI controllers DI and IAI controllers DO PLC output channel input register and output register PLC input channel Port number 0 to 15 n+0 Current position n+0 n+1 Occupied area n+1 n+2 n+2 Current position Occupied area n+3 n+3 n+4 n+4 Command current n+5 n+5 (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O areas. The channels controlled by port number are controlled using ON/OFF bit signals. The current position is a 2-word (32-bit) binary data (unit: 0.01 mm). The command current is a 2-word (32-bit) binary data (unit: 1 ma). PLC output (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller input port number 122

133 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) Command current (lower word) Command current (upper word) If the current position is a negative value, it is indicated by a 2 s complement. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 123

134 (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). 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Signal assignments under the command-current read function and current-position read function are shown below. Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. PLC input Current position Command current 32-bit data - 32-bit data - The setting unit is 0.01 mm. (Example) Reading: FFH = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 32-bit integer. Indicate the value of electrical current specified by the current command. The setting unit is 1 ma. (Example) Reading: FFH = 1023 (decimal) = 1023 ma

135 3.7.7 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. For the I/O signals used in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. (1) Controller ready (PWR) [PLC input signal] This signal turns ON when the controller has become ready to perform control following the power on. Function The PWR signal turns ON when the controller has been initialized successfully and become ready to perform control following the power on, regardless of the alarm status, servo status or any other condition. Even when an alarm is present, the PWR signal turns ON as long as the controller is ready. (2) Emergency stop (EMGS) [PLC input signal] This signal turns ON when the controller has entered the emergency stop mode. Function The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has been cut off). The signal will turn OFF once the emergency stop is cancelled. (3) Alarm (ALM) [PLC input signal] This signal turns ON when the controller s protective circuit (function) has detected an error. Function The ALM signal turns ON when the controller s protective circuit (function) has actuated following an error detection. When the cause of the alarm is removed and the reset (RES) signal is turned ON, the ALM signal will turn OFF if the applicable alarm is an operation-reset alarm. (To reset cold-start alarms, the power must be reconnected.) When an alarm is detected, the status indicator LED (refer to 3.4, DeviceNet Interface ) on the front panel of the controller will illuminate in red. (4) Reset (RES) [PLC output signal] This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel while the actuator is paused. Function [1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm (ALM) signal. (To reset cold-start alarms, the power must be reconnected.) [2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 125

136 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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 3.4, DeviceNet Interface ) on the front panel of the controller will illuminate in green. The SV signal is synchronized with this LED. Function 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. SON (PLC IAI controllers) SV (IAI controllers PLC) 126

137 (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. The GHMS signal turns ON while the home return is in progress. Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF. Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned 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) PEND (IAI controllers PLC) MOVE (IAI controllers PLC) Actuator operation Mechanical end Stopped at the home position Caution: In the remote I/O mode, remote I/O mode 2 or position/simple direct mode, issuing a positioning command to a given position following the power on, without performing a home return first, will cause the actuator to automatically return home and then perform the positioning. Take note that this applies only to the first positioning command following the power on. Exercise caution that in the half direct mode or full direct mode, issuing a positioning command to a given position following the power on, without performing a home return first, will generate an alarm ( Error Code 83: Alarm home ABS (absolute position move command when home return is not yet completed) (operation-reset alarm). 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 127

138 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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. Whether to use the target position corresponding to the specified position number or the target position channel of the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal). PMOD = OFF: Use the target position data corresponding to the specified position number PMOD = ON: Use the value set to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the 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) (8) Positioning command (DSTR): Used in the half direct mode and full direct mode [PLC output signal] The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the target position input to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset alarm) will occur. Program the controller so that this 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) (9) Moving signal (MOVE) [PLC input signal] This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion operation or jog operation is in progress). The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the actuator is paused. 128

139 (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. Speed Travel When the servo turns on, positioning is performed based on the current position set as the target position. Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal. Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the target position, the PEND signal will turn OFF. When the servo subsequently turns on, the PEND signal will turn ON if the current position is inside the positioning band. Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains ON. (11) Pause (STP) [PLC output signal] Timing at which the position complete signal turns ON Target position Positioning band When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the axis movement will resume. The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops, conform to the acceleration/deceleration value corresponding to the position number set by the specified position number channel in the position/simple direct mode, or to the value of the acceleration/deceleration channel in the half direct mode. In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and deceleration channel. Time 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 129

140 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, Zone boundary 1+ and No. 2, Zone boundary 1-. The ZONE2 signal is set by parameter No. 23, Zone boundary 2+ and No. 24, Zone boundary 2-. The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will remain effective even while the servo is turned off. [2] Position zone Each zone is set in the position table or using the zone boundary channels. In the position/simple direct mode, the PZONE signal is set in the position table. In the full direct mode, the PZONE signal is set using the zone boundary channels. (*) The PZONE signal is not available in the half direct mode. The PZONE signal becomes effective when a move command is issued following a completion of home return, after which it will remain effective even while the servo is turned off. Zone signal Actuator operation Home Zone setting- Zone setting+ + direction 130

141 (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. [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once the signal turns OFF. The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the signal turns OFF. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL) signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop. [2] Inch operation Inch operation can be performed when the JISL signal is ON. The actuator moves by the inch distance every time this signal turns ON. The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home when the JOG- is ON. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The travel conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 48, PIO inch distance. If the JVEL signal is ON, the actuator operates according to parameter No. 49, PIO inch distance 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). While performing a normal operation, the actuator will continue with the normal operation even after the +jog or -jog signal is turned ON (the jog signal will be ignored). While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate. (Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide with the mechanical end. Exercise caution. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 131

142 (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. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON OFF Parameter No. 26, Jog speed Parameter No. 26, Jog speed Parameter No. 48, Inch distance ON Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 Parameter No. 49, Inch distance 2 (15) Jog/inch switching (JISL) [PLC output signal] This signal is used to switch between jog operation and inch operation. JISL = OFF: Jog operation JISL = ON: Inch operation If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and then switch to the inch function. If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement and then switch to the jog function. The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog-speed/inch-distance switching (JVEL) signal. Jog operation Inch operation JISL OFF ON Speed Parameter No. 26, Jog speed Parameter No. 26, Jog speed JVEL=OFF Travel - Parameter No. 48, Inch distance Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Speed Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 JVEL=ON Travel - Parameter No. 49, Inch distance 2 Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Operation When the JOG+/JOG- signal is ON Upon detection of the leading (ON) edge of the JOG+/JOG- signal 132

143 (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. (Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be satisfied: The actuator (motor) is stopped. The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF. The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF. (Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF. (17) Position-data read command (PWRT) [PLC output signal] Position-data read complete (WEND) [PLC input signal] The PWRT signal is effective when the teaching mode (MODES) signal is ON. Turn the PWRT signal ON (*1), and the data of the current position will be written to the Position field under the position number set to the specified position number channel of the PLC. (*2) The WEND signal will turn ON once reading is complete. Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON. If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON. When the PWRT signal is turned OFF, the WEND signal will turn OFF. (*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position may not be written. (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.) MODES (IAI controllers PLC) PWRT (PLC IAI controllers) WEND (IAI controllers PLC) (18) Forced brake release (BKRL) [PLC output signal] The brake can be forcibly released by turning this signal ON. At least 20 msec 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 133

144 (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. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB RMOD signal = OFF (AUTO mode is specified) RMOD signal = ON (MANU mode is specified) Controller MODE switch = AUTO AUTO mode (RMDS=OFF) MANU mode (RMDS=ON) (Note) In the MANU mode, operation from the PLC cannot be performed. (20) Position/simple-direct switching (PMOD) [PLC output signal] Controller MODE switch = MANU MANU mode (RMDS=ON) MANU mode (RMDS=ON) This signal is used to switch between the mode where the target position is set using a value registered in the position table stored in the controller, and the mode where a value specified by the target position channel of the PLC is used. PMOD = OFF: Use the position table PMOD = ON: Use the value of the target position channel (21) Push-motion specification (PUSH) [PLC output signal] Push-motion operation can be performed when a move command is issued after turning this signal ON. Normal positioning operation is performed if this signal is set to OFF. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 3.9, Operation. ) (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 OFF, the actuator will push the load in the direction of the value determined by subtracting the positioning band from the target position. 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. The DIR signal is invalid during normal positioning operation. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 3.9, Operation. ) Speed Travel Positioning band Positioning band Positioning band DIR = OFF Target position DIR = ON 134

145 (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. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 3.9, Operation. ) (24) Incremental specification (INC) [PLC output signal] If a move command is issued while this signal is ON, the actuator will move from the current position by the value input to the target position channel of the PLC. (Incremental move) If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position channel of the PLC. (25) Push motion in progress (PUSHS) [PLC input signal] This signal turns ON while push-motion operation is in progress. Speed Travel Target position Positioning band The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command or the next move command is issued, or the servo turns off. [Refer to Item (2) Operation in Half Direct Value Mode in 3.9 Operation for the setting timing for this signal.] 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 135

146 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (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. Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold for the specified time cumulatively. The processing procedure is the same as the procedure applicable to push judgment. The time of load output judgment can be changed freely using parameter No. 50, Load output judgment time. The status of this signal will be retained until the next move command is received. Speed The LOAD signal turns ON when the command torque exceeds the threshold inside the torque check range. Travel Target position Check range The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Positioning band (maximum push distance) The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. Set parameter No. 51, Torque check range to 0 [Enable]. The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the PLC. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. Warning: If the actuator contacts the load before the target position is reached, a servo error will occur. Pay extra attention to the positioning between the target position and the load. The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 136

147 (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. The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired speed, therefore, the applicable parameters must be adjusted. Speed Travel Target position The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Range where the TRQS signal is output Positioning band (maximum push dimension) The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. Set parameter No. 51, Torque check range to 1 [Invalid]. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Warning: If the actuator contacts the load before the target position is reached, a servo error will occur. Pay extra attention to the positioning between the target position and the load. The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 137

148 (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. SMOD = ON: Use the full-servo control mode while standing by SMOD = OFF: Do not use the full-servo control mode while standing by 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Full-servo control mode The pulse motor is servo-controlled to reduce the holding current. Although the specific level of current reduction varies depending on the actuator model, load condition, etc., the holding current generally drops to approx. 1/2 to 1/4. The actual holding current can be checked on the current monitor screen of the PC software. (Note) Micro-vibration or noise may generate in conditions where an external force is applied and also depending on the position at which the actuator is stopped. Use this mode after confirming that it will not negatively affect any part of the whole system. 138

149 (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 OFF OFF Trapezoid pattern Factory setting OFF ON S-motion ON OFF Primary delay filter ON ON Not available. Trapezoid pattern Speed * The acceleration and deceleration are set in the Acceleration and Deceleration fields of the position data table. S-motion The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the middle. Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the actuator to accelerate/decelerate gradually at start of movement and immediately before stopping. Speed * The S-motion level is set by parameter No. 56, S-motion ratio setting. The setting unit is % and the setting range is 0 to 100. (The above graph assumes a S-motion ratio of 100 %.) If 0 is set, the S-motion mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. Primary delay filter The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration (trapezoid pattern). Use this mode if you don t want the load to receive micro-vibration during acceleration/deceleration. Speed Acceleration Deceleration Time Time 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Time * The primary delay level is set by parameter No. 55, Primary filter time constant for position command. The minimum input unit is 0.1 msec and the setting range is 0.0 to If 0 is set, the primary delay mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. 139

150 (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. Refer to the instruction manual for the controller for more information. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Movement Command Servo Condition Actuator Moving ASO1 ASO0 Functions Reference OFF OFF Disabled Set in delivery OFF ON Automatic Servo OFF Method Parameter No. 36 is valid for T ON OFF Automatic Servo OFF Method Parameter No. 37 is valid for T ON ON Automatic Servo OFF Method Parameter No. 38 is valid for T Servo ON Condition Target Position (31) Light error status (ALML) [PLC Input Signal] T In automatic servo OFF duration (Green LED blinks) T : Waiting time (sec) before servo is turned OFF after the positioning is completed This becomes 1 when a message level (light alarm that the operation can be kept on) is generated. This signal is not linked with ALM_LED on the front panel of the controller. [Refer to the instruction manual for the controller main body for the details of the alarms.] (32) Absolute Battery Voltage Low Warning (BALM) [PLC Input Signal] [ACON only] With an serial absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information. (If you are using an absolute system and this signal turns ON, replace the battery at the earliest opportunity.) 140

151 (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. For details, refer to the operation manual for your controller. NTC1 NTC0 Function Remarks OFF OFF Do not use vibration damping control. Factory setting OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 Input timing An input timing chart of NTC0/NTC1 signals is shown below. Target position Caution: NTC0 NTC1 DSTR * * T1: 0 ms or greater Since the statuses of NTC0/NTC1 signals are loaded when a movement command (DSTR) is recognized, nothing happens when the NTC0/NTC1 signals are turned ON/OFF while the actuator is moving. (34) Servo Gain Parameter Set Selection (GSL0, GSL1) [PLC Output Signal] [ACON only] The actuator can be operated by selecting, for each position movement, any one of the following four pre-defined sets of servo gain parameters (six different parameters). For details, refer to the operation manual for your controller. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB GSL1 GSL0 Function Remarks OFF OFF Select parameter set 0 Factory setting OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 141

152 3.8 I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Maximum response time (msec) = Yt + Xt command processing time (operation time, etc.) Yt: Master station node transmission delay Field network transmission delay Xt: Node master station transmission delay For the master station node transmission delay (Yt) and node master station transmission delay (Xt), refer to the operation manuals for the DeviceNet master unit and PLC installed in the master unit. PLC sequence program Control signal Status signal ACON, PCON, DCON Control signal Status signal Master station node transmission delay (Yt) Command processing time Node master station transmission delay (Xt) 142

153 3.9 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 Remote I/O Mode and Remote I/O Mode 2, refer to the operation manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as deemed appropriate.) (1) Operation in the position/simple direct mode The actuator is operated by writing the position data to the target position channel of the PLC and specifying the speed, acceleration/deceleration, positioning band, push-motion current-limiting value, etc., using the position table. Example of operation (normal positioning operation) (Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning band, etc.) in the position table. Turn the position/simple-direct switching (PMOD) signal ON. [1] Set the target position data to the target position channel. [2] Set the position number under which the position, acceleration/deceleration, etc., were set, to the specified position number channel. [3] Turn the positioning start (CSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal. [4] The PEND turns OFF upon an elapse of tpdf after the CSTR signal has turned ON. [5] Turn the CSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of the target position channel until the CSTR signal is turned OFF. [6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [7] The current position data is constantly updated. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the CSTR signal is OFF, and the completed position number is output to the completed position number channel. If the completed position number channel is to be read upon completion of positioning, therefore, wait for an appropriate period (= until the actuator moves by the remaining travel) after the PEND signal has turned ON. Also take note that the current position data may change slightly due to vibration, etc., even while the actuator is stopped. [8] The target position data can be changed while the actuator is moving. To change the target position, change the target position data, wait for at least the scan time of the PLC, and then turn the CSTR signal ON. Change the CSTR signal after an elapse of at least the scan time of the PLC. Example of operation (push-motion operation) In the case of push-motion operation, the current-limiting value is set in the Push field of the position data table in the preparation stage. Perform positioning to the position number under which the value was set in the Push field, and the actuator will perform push-motion operation. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 143

154 [1] Set value of target position data (PLC ACON, PCON, DCON) [2] (PLC PCON) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Specified position number (PLC ACON, PCON, DCON) Positioning start CSTR (PLC ACON, PCON, DCON) Position complete PEND (ACON, PCON, DCON PLC) Current position (ACON, PCON, DCON PLC) Moving MOVE (ACON, PCON, DCON PLC) Actuator movement [3] [4] [6] [5] [7] Positioning band *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 144

155 (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioning band channel, specified speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel. [4] Set the acceleration/deceleration data to the acceleration/deceleration channel. [5] Set the push-motion current-limiting data to the push-motion current-limiting value channel. [6] Turn the push direction (PUSH) signal ON. [7] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22).) [8] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal. [9] The PEND turns OFF upon an elapse of tpdf after the DSTR signal has turned ON. [10] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of each channel until the DSTR signal is turned OFF. [11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [12] The current position data is constantly updated. [13] The PEND signal turns ON when the motor current has reached the current-limiting value set in [5] while the DSTR signal is OFF. (Completion of push-motion operation) Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal does not turn ON if the motor current has yet to reach the current-limiting value set in [5]. In this case, the PEND signal does not turn ON. (The actuator missed the load in push-motion operation.) [14] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON. Example of operation (normal positioning operation) For normal positioning operation, set the signal in [6] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 145

156 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Set value of target position data (PLC ACON, PCON, DCON) Set value of positioning band data (PLC ACON, PCON, DCON) Set value of speed data (PLC ACON, PCON, DCON) Set value of acceleration/ deceleration data (PLC ACON, PCON, DCON) Set value of push-motion current-limiting value (PLC ACON, PCON, DCON) Push-motion specification PUSH (PLC ACON, PCON, DCON) Push direction specification DIR (PLC ACON, PCON, DCON) Positioning command DSTR (PLC ACON, PCON, DCON) Position complete/load missed in push motion PEND/PSFL (ACON, PCON, DCON PLC) [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [13] [14] Current position (ACON, PCON, DCON PLC) Moving MOVE (ACON, PCON, DCON PLC) Actuator operation (push motion) Actuator operation (Normal positioning) [11] [12] Push Positioning band 146 *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec)

157 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC. Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel. [4] Set the boundary data for position zone output to the zone boundary+ channel and zone boundary- channel. [5] Set the acceleration data to the acceleration channel. [6] Set the deceleration data to the deceleration channel. [7] Set the push-motion current-limiting data to the push-motion current-limiting value channel. [8] Set the load current threshold data to the specification channel for load current threshold. [9] Turn the push direction (PUSH) signal ON. [10] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22).) [11] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving (MOVE) signal is OFF. The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal. [12] The PEND turns OFF upon an elapse of tpdf after the DSTR signal has turned ON. [13] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not change the value of each channel until the DSTR signal is turned OFF. [14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [15] The current position data is constantly updated. [16] The PEND signal turns ON when the motor current has reached the current-limiting value set in [7] while the DSTR signal is OFF. (Completion of push-motion operation) Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal does not turn ON if the motor current has yet to reach the current-limiting value set in [7]. In this case, the PEND signal does not turn ON. (The actuator missed the load in push-motion operation.) [17] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON. Example of operation (normal positioning operation) For normal positioning operation, set the signal in [9] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 147

158 [1] Set value of target position data (PLC ACON, PCON, DCON) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Set value of positioning band data (PLC ACON, PCON, DCON) Set value of speed data (PLC ACON, PCON, DCON) Set value of position zone boundary data (PLC ACON, PCON, DCON) Set value of acceleration data (PLC ACON, PCON, DCON) Set value of deceleration data (PLC ACON, PCON, DCON) Set value of push-motion current-limiting value (PLC ACON, PCON, DCON) [2] [3] [4] [5] [6] [7] [8] Set value of load current threshold data (PLC ACON, PCON, DCON) 148

159 [9] Push-motion specification PUSH (PLC ACON, PCON, DCON) Push direction specification DIR (PLC ACON, PCON, DCON Positioning command DSTR (PLC ACON, PCON, DCON) Position complete/load missed in push motion PEND/PSFL (ACON, PCON, DCON PLC) Current position (ACON, PCON, DCON PLC) Moving MOVE (ACON, PCON, DCON PLC) Actuator operation (push motion) Actuator operation (Normal positioning) [10] [11] [12] [13] [14] [15] [16] Push [17] Positioning band *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 149

160 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After a desired data has been changed, keep the positioning command (DSTR) signal ON for at least tdpf. Also make sure that after the DSTR is turned OFF, the signal will not be turned ON again until at least a time corresponding to twcson + twcsoff elapses. An example of changing the speed or acceleration/deceleration is shown in the figure below. Set value of speed or acceleration/deceleration (PLC ACON, PCON, DCON) DSTR (PLC ACON, PCON, DCON) PEND (ACON, PCON, DCON PLC) MOVE (ACON, PCON, DCON PLC) Actuator speed [1] [2] Speed n2 [3] Speed n3 Caution 1. If the speed is not set or 0 speed is set, the actuator will remain stationary and no alarm will generate. 2. If the speed is changed to 0 while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is moving, the target position data must also be set. 4. Even when the target position alone is changed while the actuator is moving, the acceleration/deceleration and speed data must also be set. 150

161 3.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159. Category: C: External interface parameter No. Category Symbol Name Factory-set default 1 For parameter Nos. 1 to 83, refer to the 83 operation manual for the controller. 84 C FMOD Fieldbus operation mode 0 85 C NADR Fieldbus node address C FBRS Field bus baud rate 0 87 C NTYP Network type 2 90 C FMIO Fieldbus I/O format C FBVS FB half direct mode speed unit 0 ~ Fieldbus operation mode (No. 84, FMOD) Specify the operation mode in parameter No. 84 using a value between 0 and 4. Value set in Number of Mode Description parameter No. 84 occupied channels Operation using PIOs (24-V I/Os) is performed 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH Fieldbus node address (No. 85, NADR) Specify the node address of the remote station in parameter No. 85. Setting range: 0 to 63 (The factory setting is 63. ) via DeviceNet. The actuator can be operated by specifying the target position directly and numerically or based on a value in the position data table. Other values required for operation are set in the position data table. The actuator is operated by specifying all data other than the target position, such as speed, acceleration/deceleration, push-motion current, directly and numerically. The actuator is operated by directly specifying all values relating to position control. The functions available in the remote I/O mode are combined with the current-position read mode and current-speed read mode. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Fieldbus baud rate (No. 86, FBRS) 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. 151

162 Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Fieldbus I/O format (No. 90, FMIO) Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the controller and number of occupied channels in each operation mode. 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 Description parameter No Data is not swapped. The data is sent directly to the PLC. (Refer to Example i.) The upper byte and lower byte comprising the upper word are swapped, and the 1 upper byte and lower byte comprising the lower word are also swapped. (Refer to Example ii.) The upper word and lower word are swapped for word registers. (Refer to Example 2 iii.) The upper byte and lower byte comprising the upper word are swapped, and the upper byte and lower byte comprising the lower word are also swapped. In addition, 3 (factory setting) the upper word and lower word are swapped for word registers. (Refer to Example iv.) (Example i) Set value = 0 PCON Input register Hexa decimal data Output channel Hexa decimal data indicates ON, while O indicates OFF. PCON Output register Hexa decimal data Input channel Hexa decimal data 152

163 (Example ii) Set value = 1 indicates ON, while O indicates OFF. PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 153

164 (Example iii) Set value = 2 indicates ON, while O indicates OFF. PCON Input register Hexa decimal data 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data 154

165 (Example iv) Set value = 3 indicates ON, while O indicates OFF. PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No. 159 Setting Value Speed Setting Unit 0 (Set in delivery) 1mm/sec 1 0.1mm/sec 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 155

166 3.11 Troubleshooting 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 2. In the position/simple direct mode, this simple alarm code is output to the (n+2) channel. In the half direct mode and full direct mode, this simple alarm code is output to the (n+6) channel. [1] Check the generated alarm code using the monitor function of the PLC, etc., or connect the RC PC software or teaching pendant and check the code on the status monitor screen. [2] Look up the applicable alarm code in the alarm list provided in the operation manual for the controller. [3] Take appropriate actions according to the explanation given for the applicable code. For the alarm codes listed in the table below, take the specified action. Code Error name ID (*1) RES (*2) Cause/action Cause: A fieldbus module error has been detected. 0F2 Fieldbus module error 05 X Action: Check the parameter. Cause: The module could not be detected. Fieldbus module not 0F3 04 X Action: Reconnect the power. If the error persists, detected contact IAI. (*1) ID Simple alarm code (*2) RES Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset 156

167 3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. 3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB 157

168 4. SCON-CA/CB/CGB/CAL/CGAL 4.1 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. 4. SCON-CA/CB/CGB/CAL/CGAL Key function Remote I/O mode Position/simple direct mode Half direct mode Full direct mode Remote I/O mode 2 Position/ simple direct mode 2 Half direct mode 2 Remote I/O mode 3 Half direct mode 3 Number of occupied channels 1CH 4CH 8CH 16CH 6CH 4CH 8CH 6CH 8CH Operation by position data x (*1) x (*1) x specification Direct speed/acceleration x x x x x specification Push-motion operation Current position x read Current speed read x x x x x Operation by position number x x x x specification Completed position x x x x number read Maximum position Not Not used Not used 512 Not used table size used Force control (*2) x x (*2) x Vibration damping x x control Servo gain x switching (*1) The actuator is operated by specifying all position data, other than positions, using position numbers. (*2) These functions can be used when the PIO pattern is set to 6 or 7. [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: 1 channel PLC SCON-CA/CB/CAL not supporting DeviceNet PLC SCON-CA/CB/CAL supporting DeviceNet Flat cable Communication cable PIO connection DeviceNet connection 158

169 [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. Up to 768 position data points can be set. Number of occupied channels: 4CH Target position: mm + Position No. 0 SCON-CA/CB/CAL supporting DeviceNet Speed Acceleration Deceleration Push Actuator [3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. Number of occupied channels: 8CH 4. SCON-CA/CB/CGB/CAL/CGAL SCON-CA/CB/CAL supporting DeviceNet 159

170 [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 4. SCON-CA/CB/CGB/CAL/CGAL Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: mm Zone-: mm SCON-CA/CB/CAL supporting DeviceNet Actuator [5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet communication. The current-position and command-current read functions are available in addition to the functions provided in mode [1]. Number of occupied channels: 6CH SCON-CA/CB/CAL not supporting DeviceNet SCON-CA/CB/CAL supporting DeviceNet Flat cable PIO connection Communication cable DeviceNet connection [6] Position/simple direct mode 2: In this mode, the actuator is operated by specifying position numbers. (Not applicable for CAL Type) In this mode, the force control function is available instead of the teaching function and zone function available in mode [2]. Number of occupied channels: 4CH Target position: mm + Position No. 0 Speed Acceleration Deceleration Push SCON-CA/CB supporting DeviceNet Actuator 160

171 [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, (Not applicable for CAL Type) acceleration/deceleration and push 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. This mode also supports force control. Number of occupied channels: 8CH Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration/deceleration: 0.30 G Push current: 50% SCON-CA supporting DeviceNet SCON-CA/CB supporting DeviceNet Actuator [8] Remote I/O mode 3: In this mode, the actuator is operated by DeviceNet instead of PIO (24 V I/O). (Not applicable for CAL Type) This mode provides all functions available in mode [1], plus the current position read function and load cell data read function. Number of occupied channels: 6CH 4. SCON-CA/CB/CGB/CAL/CGAL SCON-CA/CB not supporting DeviceNet SCON-CA/CB supporting DeviceNet PIO connection Flat cable Communication cable DeviceNet connection [9] Half direct mode 3: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. In this mode, the vibration damping control function is supported instead of the jog function available in mode [3]. Number of occupied channels: 8CH Target position: mm Positioning band: 0.10 mm Speed specification: mm/sec Acceleration/deceleration: 0.30 G Push current: 50% SCON-CA/CAL supporting SCON-CA/CB/CAL DeviceNet supporting DeviceNet Actuator 161

172 4.2 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- 4. SCON-CA/CB/CGB/CAL/CGAL 162

173 4.3 Interface Specifications Item Communication protocol Communication specification Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Specification DeviceNet 2.0 Group 2 only server Network-powered isolation node Master-slave connection Bit strobe Polling Automatically set to the same value as the band rate set in the master Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 6 m 78 m 125 kbps 500 m 156 m Note) When a large-size DeviceNet cable is used. 24 V DC (supplied from DeviceNet) 60 ma 1 node 4. SCON-CA/CB/CGB/CAL/CGAL 163

174 4.4 DeviceNet Interface Name of Each Part The name of each part relating to DeviceNet is shown. SCON-CA/CB 4. SCON-CA/CB/CGB/CAL/CGAL Red White Monitor LEDs DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AU Light blue (PHOENIX CONTACT) Black Cable side : SMSTB2.5/5-ST-5.08AUM (PHOENIX CONTACT) SCON-CAL Monitor LEDs Red White DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AU Light blue (PHOENIX CONTACT) Black Cable side : SMSTB2.5/5-ST-5.08AUM (PHOENIX CONTACT) 164

175 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. MS (Module Status) LED: NS (Network Status) LED: LED MS NS Condition of the node (controller) Condition of the network : Steady light, X : Off, : Blinking Illumination Color Description (meaning) status The board is operating normally. Green A hardware error occurred. The error may be reset by reconnecting the power. A hardware error occurred. The board must be replaced. Orange A user setting error, configuration error or other minor error is present. These errors can be reset by setting the applicable item again, etc. - X DeviceNet is initializing or the power is not supplied. Network connection has been established and the board is communicating normally. Green The board is online, but network connection is not yet established. Communication is stopped. (The network is normal.) Node address duplication or bus-off state was detected. Communication is not possible. Orange A communication error occurred (communication time-out occurred). The board is not online. - X DeviceNet power is not supplied. 4. SCON-CA/CB/CGB/CAL/CGAL Self test is performed when the power is turned on. During the test, the monitor LEDs cycle in the following sequence: [1] NS turns off. [2] MS illuminates in steady green (approx second). [3] MS illuminates in steady orange (approx second). [4] MS illuminates in steady green. [5] NS illuminates in steady green (approx second). [6] NS illuminates in steady orange (approx second). [7] NS turns off. When the self test is finished and the board starts communicating normally, both the MS and NS LEDs change to steady green. 165

176 4.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, FMOD: Fieldbus operation mode using the RC PC software (V or later). (Refer to 4.10, DeviceNet Parameters. ) 4. SCON-CA/CB/CGB/CAL/CGAL Set value Operation mode Number of occupied stations 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH 5 Position/simple direct mode 2 4CH 6 Half direct mode 2 8CH 7 Remote I/O mode 3 6CH 8 Half direct mode 3 8CH * If any other value is entered, an excessive input error will occur. The modes in the shaded area are not available for SCON-CAL. 4.6 Setting the Node Address The node address is set using a parameter. Set parameter No. 85, NADR: Fieldbus node address using the RC PC software. (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. The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of the PLC. (This is when the mount assignment mode is selected. A different rule applies when a configurator is used.) For details, refer to the operation manuals of the master unit and PLC installed in the master unit. (Note) 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. (Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on the front panel of the controller to the AUTO position. If the switch remains in the MANU position, operation by the PLC cannot be performed. 166

177 4.7 Communicating with the Master Station 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 node address of each axis.) PLC output area (channel) n n+1 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 SCON-CA/CB/CAL DI and input data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Target position Target position Target position n+2 Specified position number Positioning band n+3 Control signal n+4 Speed n+5 Acceleration/ deceleration Push-motion n+6 current-limiting value n+7 Control signal n+8 n+9 Positioning band Speed specification Zone boundary+ Zone boundary- n+10 Acceleration n+11 Deceleration Push-motion n+12 current-limiting value n+13 Load current threshold n+14 Control signal 1 n+15 Control signal 2 Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area 4. SCON-CA/CB/CGB/CAL/CGAL (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 167

178 PLC output SCON-CA/CB/CAL input side (* n indicates the node address of each axis.) 4. SCON-CA/CB/CGB/CAL/CGAL SCON-CA/CB/CAL DI and input data register Position/simple PLC output area direct mode 2 Half direct mode 2 Remote I/O mode 3 Half direct mode 3 (channel) Number of Number of Number of occupied Number of occupied occupied occupied channels: 6CH channels: 8CH channels: 4CH channels: 8CH n Port number 0 to 15 Target position Target position n+1 Target position n+2 Specified position number Positioning band Positioning band n+3 Control signal Occupied area n+4 Speed Speed n+5 Acceleration/ Acceleration/ deceleration deceleration Push-motion Push-motion n+6 current-limiting value current-limiting value n+7 Control signal Control signal n+8 n+9 n+10 n+11 n+12 n+13 n+14 n+15 (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (Note) Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not available for SCON-CAL. 168

179 SCON-CA/CB/CAL output PLC input side (* n indicates the node address of each axis.) PLC input area (channel) n n+1 n+2 Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 Completed n+3 position number (simple alarm ID) n+4 Status signal SCON-CA/CB/CAL DO and output data register Position/simple direct mode Half direct mode Full direct mode Number of Number of Number of occupied occupied occupied channels: 4CH channels: 8CH channels: 16CH Current position Current position Current position Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 Occupied area Command current Command current Current position n+5 n+6 n+7 Alarm code Alarm code n+8 Status signal Occupied area n+9 Current load Current speed Current speed Command current n+10 n+11 Total moving count n+12 n+13 Total moving distance n+14 Status signal 1 n+15 Status signal 2 4. SCON-CA/CB/CGB/CAL/CGAL (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 169

180 SCON-CA/CB/CAL output PLC input side (* n indicates the node address of each axis.) 4. SCON-CA/CB/CGB/CAL/CGAL SCON-CA/CB/CAL DO and input data register Position/simple PLC output area direct mode 2 Half direct mode 2 Remote I/O mode 3 Half direct mode 3 (channel) Number of Number of Number of occupied Number of occupied occupied occupied channels: 6CH channels: 8CH channels: 4CH channels: 8CH n Port number 0 to 15 Current position Current position n+1 Occupied area Current position Completed n+2 position number (simple alarm ID) Current load Current position Command current n+3 Status signal n+4 n+5 Current speed Current load Current speed n+6 Alarm code Alarm code n+7 Status signal Status signal n+8 n+9 n+10 n+11 n+12 n+13 n+14 n+15 (Note) The areas denoted by occupied area are occupied according to the operation mode setting. These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (Note) Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not available for SCON-CAL. 170

181 4.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the RC PC software or teaching pendant. The number of positions to which the actuator can be operated varies according to the setting of parameter No. 25, PIO pattern. The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the controller.) (Note) Force control mode 1 and 2 are not available for SCON-CAL. Setting of parameter No. 25 Operation mode I/O specification 0 Positioning mode 64 positioning points, 2 zone outputs 1 Teaching mode 64 positioning points, 1 zone output Positioning and jog operations are supported. The current position can be written under a specified position number point mode 256 positioning points, 1 zone output point mode 512 positioning points, no zone output 4 Solenoid valve mode 1 7 positioning points, 2 zone outputs An operation command can be specified directly for each position number. A positioning complete signal is output for each position number. 5 Solenoid valve mode 2 3 positioning points, 2 zone outputs Operation using forward, reverse and interim position commands. A positioning complete signal is output individually for forward, reverse and interim positions. 6 Force control mode 1 (a dedicated load cell is 32 positioning points, 1 zone output used) 7 Force control mode 2 (a dedicated load cell is used) 5 positioning points, 1 zone output A direct operation command can be issued for each position number. A position complete signal is output for each position number. 4. SCON-CA/CB/CGB/CAL/CGAL The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below. PIO pattern 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid valve mode 1 5: Solenoid valve mode 2 6. Force control mode 1 7. Force control mode 2 ROBO Cylinder function 0: Positioning mode Home return operation X Positioning operation Speed & acceleration/deceleratio n setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration X Pause (*1) Zone signal output X PIO pattern selection (set by parameter) : Supported, X: Not supported (*1) This operation is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 171

182 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel PLC input channel 84 DI (port number) DO (port number) 0 0~15 n+0 0~15 n+0 (Note) Exercise caution to avoid node address duplication. 4. SCON-CA/CB/CGB/CAL/CGAL (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. Each channel is controlled by ON/OFF bit signals. PLC output Channel (* n indicates the node address of each axis.) Controller input port number PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 1 word (channel) = 16 bits Controller output port number 172

183 (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, refer to the operation manual for the controller.) Category PLC output SCON-CA /CB/CAL input SCON-CA /CB/CAL output PLC input Setting of Parameter No. 25 Positioning mode Teaching mode 256-point mode Port No. Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position PC4 Command position PC4 3 PC8 number PC8 number PC8 Command position 4 PC16 PC16 PC16 number 5 PC32 PC32 PC32 Teaching mode 6 - MODE PC64 command Not available. 7 - JISL Jog/inch switching PC JOG+ +Jog - Not available. 9 BKRL Forced brake Forced brake JOG- -Jog BKRL release release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return HOME Home return 12 *STP Pause *STP Pause *STP Pause 13 CSTR Positioning start Positioning CSTR/ start/position-data PWRT read command CSTR Positioning start 14 RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 Completed position PM4 Completed position PM4 3 PM8 number PM8 number PM8 4 PM16 PM16 PM16 5 PM32 PM32 PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 8 PZONE Position zone/ PZONE Position zone/ PZONE ZONE2 Zone 2 ZONE1 Zone 1 ZONE1 9 RMDS Operation mode Operation mode RMDS status status RMDS 10 HEND Home return Home return HEND complete complete HEND 11 PEND Position complete Position complete PEND/ signal/position-data signal WEND read complete PEND Completed position number Position zone/ Zone 1 Operation mode status Home return complete Position complete signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 *BALM Battery alarm *BALM Battery alarm *BALM Battery alarm The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). 4. SCON-CA/CB/CGB/CAL/CGAL 173

184 4. SCON-CA/CB/CGB/CAL/CGAL Category PLC output SCON-CA /CB/CAL input SCON-CA /CB/CAL output PLC input Port No. Setting of Parameter No point mode Solenoid mode 1 Solenoid mode Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 - Command position 4 PC16 ST4 Start position 4 - number 5 PC32 ST5 Start position 5-6 PC64 ST6 Start position 6-7 PC Not available. 8 PC256 - Not available. - 9 BKRL Forced brake Forced brake BKRT release release BKRL Forced brake release 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return - 12 *STP Pause *STP Pause - Not available. 13 CSTR Positioning start - Not available RES Reset RES Reset RES Reset 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PE0 Position 0 complete LS0 Rear end move command 0 1 PM2 PE1 Position 1 complete LS1 Rear end move command 1 Rear end move 2 PM4 PE2 Position 2 complete LS2 command 2 Completed position 3 PM8 PE3 Position 3 complete - number 4 PM16 PE4 Position 4 complete - Not available. 5 PM32 PE5 Position 5 complete - 6 PM64 PE6 Position 6 complete - 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 PZONE Position zone/ PZONE Position zone/ ZONE2 Zone 2 ZONE2 Zone 2 9 RMDS Operation mode Operation mode Operation mode RMDS RMDS status status status 10 HEND Home return Home return Home return HEND HEND complete complete complete 11 PEND Position complete Position complete Position complete PEND - signal signal signal 12 SV Ready SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm *ALM Alarm 15 *BALM Battery alarm. *BALM Battery alarm. *BALM Battery alarm. The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). 174

185 Setting of Parameter No. 25 Force control mode 1 Force control mode Category Port No. Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 1 PC2 ST1 Start position 1 Command position 2 PC4 ST2 Start position 2 number 3 PC8 ST3 Start position 3 4 PC16 ST4 Start position PLC 6 - Not available. - Not available output Load cell calibration Load cell calibration 8 CLBR CLBR SCON- command command CA/CB Forced brake Forced brake 9 BKRL BKRT input release release 10 RMOD Operation mode RMOD Operation mode 11 HOME Home return HOME Home return 12 *STP Pause *STP Pause 13 CSTR Positioning start - Not available. 14 RES Reset RES Reset 15 SON Servo ON command SON Servo ON command 0 PM1 PE0 Position 0 complete 1 PM2 PE1 Position 1 complete Completed position 2 PM4 PE2 Position 2 complete number 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 TRQS Torque level status TRQS Torque level status 6 LOAD Load output Load output LOAD judgment judgment SCON- Load cell calibration Load cell calibration 7 CEND CEND CA/CB complete complete output PZONE Position zone/ PZONE Position zone/ 8 ZONE1 Zone 1 ZONE1 Zone 1 PLC Operation mode Operation mode 9 RMDS RMDS input status status 10 HEND Home return Home return HEND complete complete 11 PEND Position complete Position complete PEND signal signal 12 SV Ready SV Ready 13 *EMGS Emergency stop *EMGS Emergency stop 14 *ALM Alarm *ALM Alarm 15 *BALM Battery alarm *BALM Battery alarm The signals indicated by * are ON in a normal state. The signals denoted by Not available are not controlled (their ON/OFF status is indeterminable). (Note) Force control mode 1 and 2 are not available for SCON-CAL. 4. SCON-CA/CB/CGB/CAL/CGAL 175

186 4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) 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. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller. Set position data by referring to the operation manual for the controller. Up to 768 sets of positioning data can be specified. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. 4. SCON-CA/CB/CGB/CAL/CGAL Actuator function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control : Indirect control X: Invalid X Remarks These items must be set in the position data table. Zones are set using position data or parameters. (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel PLC input channel input register output register n+0 n+0 Target position Current position n+1 n+1 Completed position Specified position n+2 number (simple n+2 number alarm code) Control signal n+3 Status signal n+3 (Note) Exercise caution to avoid node address duplication. 176

187 (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 to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. The specified position number and completed position number are 1-word (16-bit) binary data. Although values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to specify position numbers associated with predefined operating conditions. PLC output Channel (* n indicates the node address of each axis.) Target position (lower word) 1 word (channel) = 16 bits 4. SCON-CA/CB/CGB/CAL/CGAL Target position (upper word) If the target position is a negative value, it is indicated by a 2 s complement. Specified position number Control signal 177

188 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Current position (upper word) Completed position number If the current position is a negative value, it is indicated by a 2 s complement. Status signal 178

189 (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Target 32-bit data - (Example) To set mm, specify (1) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Specified position number Control signal 16-bit data b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 PC1 ~ PC512 BKRL RMOD 16-bit integer. To operate the actuator, you must set position data associated with predefined operating conditions using the PC software or teaching pendant. Use one of these registers to specify the position number for which the desired data has been input. The allowable specification range is 0 to 767. If the specified value is outside the above range or corresponds to a position not yet set, an alarm will occur when the start signal is turned ON. Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 4.9 (1) (18) (19) - Not available. - PMOD MODE PWRT JOG+ JOG- JVEL JISL SON Position/simple-direct switching: The position mode is selected when this signal is OFF, and the simple direct mode is selected when the signal is ON. Teaching mode command: The normal mode is selected when this signal is OFF, and the teaching mode is selected when the signal is ON. Position-data read command: Position data is read when this signal is ON. +Jog: The actuator moves in the direction opposite home when this signal is ON. -Jog: The actuator moves in the direction of home when this signal is ON. Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON. Servo ON command: The servo turns ON when this signal turns ON (20) (16) (17) (13) (13) (14) (15) (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 CSTR Positioning start: A move command is issued when this signal turns ON (7) 4. SCON-CA/CB/CGB/CAL/CGAL 179

190 4. SCON-CA/CB/CGB/CAL/CGAL (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD PLC input Current position Completed position number (simple alarm code) Status signal 32 bits - 16 bits PM 1 ~ PM512 motor). (Example) Reading: FF H = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 16-bit integer. When the actuator has moved to the target position and entered the positioning band, the position number corresponding to the completed position is output. 0 is output when no position movement has been performed yet or while the actuator is moving. If an alarm occurs (the status signal ALM turns ON), a corresponding simple alarm code (refer to the operation manual for the controller) will be output. 4.9 (1) 4.9 (1) b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON (2) b14 PWR Controller ready: This signal turns ON when the controller becomes ready (1) b13 ZONE2 Zone 2: This signal turns ON when the current position is inside the specified zone (12) b12 ZONE1 Zone 1: This signal turns ON when the current position is inside the specified zone (12) b11 PZONE Position zone: This signal turns ON when the current position is inside the specified position zone (12) b10 MODES Teaching mode signal: This signal is ON while the teaching mode is selected (16) b9 WEND Position data read complete: This signal turns ON when reading is complete (17) b8 RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU (19) b7 BALM Absolute battery voltage low alarm: This signal turns ON when the battery voltage drops (28) b6 - Not available. b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 180

191 4.7.4 Half Direct Mode (Number of Occupied Channels: 8) 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 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control Actuator function : Indirect control Remarks X: Invalid Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration X Pause Zone signal output PIO pattern selection (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No X Parameters must be set SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 Acceleration/ Current speed n+5 deceleration n+5 Push-motion current-limiting value n+6 Alarm code n+6 Control signal n+7 Status signal n+7 4. SCON-CA/CB/CGB/CAL/CGAL (Note) Exercise caution to avoid node address duplication. 181

192 4. SCON-CA/CB/CGB/CAL/CGAL (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 to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm (other than DD motor) and (DD motor)). The speed is a 1-word (16-bit) binary data. Although values from 0 to (unit: 1.0 mm/sec or 0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator. Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure. Parameter No.159 setting value Speed setting unit mm/sec mm/sec The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 999 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 510 (200%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set value Push-motion current-limiting value The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 182

193 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) Positioning band (lower word) Positioning band (upper word) If the target position is a negative value, it is indicated by a 2 s complement. 4. SCON-CA/CB/CGB/CAL/CGAL Speed Acceleration/ deceleration 1, Push-motion current-limiting value Control signal 183

194 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Current position (upper word) Command current (lower word) If the current position is a negative value, it is indicated by a 2 s complement. Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code Status signal 184

195 (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Target 32-bit data - (Example) To set mm, specify (2) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - 32-bit integer. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 16-bit integer. Specify the speed at which to move the actuator. Designate the unit of 1.0mm/sec or 0.1mm/sec. The settable range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. Unit of measure is selected by Parameter No. 159 FB Half Direct Mode Speed Unit. (Example) In the case of the unit of 1.0mm/sec: To set mm/sec, specify 254. If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 16-bit integer. Specify the acceleration/deceleration at which to move the actuator (the acceleration and deceleration will be the same value). The setting unit is 0.01 G and the allowable specification range is 1 to 999. (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 4.9 (2) 4.9 (2) 4.9 (2) 4. SCON-CA/CB/CGB/CAL/CGAL 185

196 4. SCON-CA/CB/CGB/CAL/CGAL (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description 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 4.9 (2) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Push-motion current-limiting value Control signal b15 b14 b13 b12 b11 b10 BKRL RMOD DIR PUSH GSL1 GSL0 Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 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. When the signal is ON, push-motion operation is performed in the direction of the position determined by adding the positioning band to the target position. Push-motion specification: Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON. Servo gain parameter set selection 1 Servo gain parameter set selection 0 Select the servo gain parameter set to be used. GSL1 GSL0 Function OFF OFF Select parameter set 0. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set (18) (19) (22) (21) (33) b9 - Not available. - b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 186

197 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD motor). Current (Example) Reading: FF 32-bit data - H = 1023 (decimal) position = mm 4.9 (2) * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is Command indicated. 32-bit data - current The setting unit is ma. 4.9 (2) (Example) Reading: FF H = 1023 (decimal) = 1023 ma PLC input Current speed Alarm code Status signal 32-bit data - 16-bit data - b15 b14 b13 EMGS PWR ZONE2 32-bit signed integer. Indicate the current speed. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home. 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec * If this data is read as a hexadecimal, a negative value is indicated as a 2 s complement. 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0H is set. For details on alarms, refer to the operation manual for the controller. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. 4.9 (2) 4.9 (2) (2) (1) (12) b12 ZONE (12) b11 b10 - Not available. - b9 b8 RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU (19) b7 BALM Absolute battery voltage low alarm: This signal turns ON when the battery voltage drops. b6 - Not available. - b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 4. SCON-CA/CB/CGB/CAL/CGAL 187

198 4.7.5 Full Direct Mode (Number of Occupied Channels: 16) 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. 4. SCON-CA/CB/CGB/CAL/CGAL Actuator function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control X: Invalid X (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 Current speed n+5 n+5 Zone boundary+ n+6 Alarm code n+6 n+7 Occupied area n+7 Zone boundaryn+8 n+8 Current load n+9 n+9 Acceleration n+10 n+10 Total moving count Deceleration n+11 n+11 Push-motion n+12 Total moving n+12 current-limiting value distance Load current threshold n+13 n+13 Control signal 1 n+14 Status signal 1 n+14 Control signal 2 n+15 Status signal 2 n+15 (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. 188

199 (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. The target position and current position are 2-word (32-bit) binary data. Although values from to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm (other than DD motor) and (DD motor)). The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed supported by the applicable actuator. The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 999 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 510 (200%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set value Push-motion current-limiting value 4. SCON-CA/CB/CGB/CAL/CGAL Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current threshold, the PLC can handle values from 0 (0%) to 510 (200%). (Refer to the graph of push-motion current-limiting value (above graph).) The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone boundary-, the PLC can handle values from to (unit: 0.01 mm (other than DD motor) and (DD motor)). Take note, however, that the value of zone boundary- must be smaller than the value of zone boundary+. The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. The current load is 2-word (32-bit) binary data (unit: 0.01 N). The total moving count is a 2-word (32 bits) binary data (unit: times). The total moving distance is a 2-word (32 bits) binary data (unit: m). 189

200 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Target position (upper word) Positioning band (lower word) If the target position is a negative value, it is indicated by a 2 s complement. Positioning band (upper word) Speed (lower word) Speed (upper word) Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2 s complement. 190

201 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary- (lower word) Zone boundary- (upper word) Acceleration Deceleration If the zone boundary is a negative value, it is indicated by a 2 s complement. 1, , SCON-CA/CB/CGB/CAL/CGAL Push-motion current-limiting value Load current threshold Control signal 1 Control signal 2 * * Applicable only for SCON-CA/CB 191

202 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Current position (upper word) Command current (lower word) Command current (upper word) If the current position is a negative value, it is indicated by a 2 s complement. Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code 192

203 n+7 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Not available. n+8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current load (lower word) (Dedicated for SCON-CA/CB) n+9 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current load (lower word) (Dedicated for SCON-CA/CB) n+10 Total moving count (lower word) n+11 Total moving count (upper word) If the current load is a negative value, it is indicate by a 2 s complement. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 32,768 b15 16,384 8,192 4,096 2,048 1, b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b , , , , SCON-CA/CB/CGB/CAL/CGAL n+12 Total moving distance (lower word) n+13 Total moving distance (upper word) n+14 Status signal 1 b15 32,768 b15 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 16,384 8,192 4,096 2,048 1, b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 524, , ,072 65,536 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 * CEND BALM n+15 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal 2 EMGS PWR ZONE1 ZONE2 PZONE LOAD TRQS RMDS GHMS PUSHS PSFL SV ALM MOVE HEND PEND * Applicable only for SCON-CA/CB 193

204 4. SCON-CA/CB/CGB/CAL/CGAL (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Target 32-bit data - (Example) To set mm, specify (3) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ /zone boundary- 32-bit data - 32-bit integer. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 32-bit integer. Specify the speed at which to move the actuator. The setting unit is 1.0 mm/sec and the allowable specification range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. (Example) To set mm/sec, specify If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 32-bit signed integer. After completion of home return, an effective zone signal can be output separately from the zone boundaries specified by parameters. The status signal PZONE turns ON when the current position is inside these +/- boundaries. (Example) To set mm, specify The specified unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Enter a value that satisfies the relationship of Zone boundary+ > Zone boundary-. If this function is not used, enter the same value for both the positive and negative boundaries. * If the boundaries are entered as hexadecimals, enter negative values using 2 s complements. 4.9 (3) 4.9 (3) 4.9 (3) 194

205 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details Acceleration 16-bit data - 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. The setting unit is 0.01 G and the allowable specification range is 1 to (3) Deceleration 16-bit data - (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 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 (3) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Push-motion current-limiting value Load current threshold Control signal 1 16-bit data - b15 b14 b13 b12 b11 b10 16-bit integer. If you want the controller to determine whether or not the load current has exceeded the set value, specify the current threshold using this register. The allowable specification range is 0 (0%) to 255 (100%). If threshold judgment is not required, enter 0. - Not available. - NTC1 NTC0 Vibration damping control mode selection 1 Vibration damping control mode selection 0 Select the servo gain parameter set to be used. NTC1 NTC0 Function OFF OFF Do not use vibration damping control. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set (3) (33) - Not available. - b9 ASO1 Stop mode 1 b8 ASO0 Stop mode 0 Select the stop mode to be applied while on standby. ASO1 ASO0 Function OFF OFF Invalid (the servo is always on). OFF ON The servo turns off after the time set in parameter No. 36. ON OFF The servo turns off after the time set in parameter No. 37. ON ON The servo turns off after the time set in parameter No (31) 4. SCON-CA/CB/CGB/CAL/CGAL 195

206 4. SCON-CA/CB/CGB/CAL/CGAL (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Address Bits Symbol Function Details b7 MOD1 Acceleration/deceleration mode: b6 MOD0 Trapezoid pattern when both signals are OFF, S-motion when MOD1 is OFF and MOD0 is ON, or primary delay filter when MOD1 is ON and MOD0 is OFF (14) Servo gain Select the servo gain parameter set to be used. b5 GSL1 parameter set selection 1 PLC output Control signal 1 Control signal 2 b4 GSL0 Servo gain parameter set selection (33) b3 INC Incremental specification: Absolute position command when the signal is OFF, or (24) incremental position command when the signal is ON. b2 DIR Push direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the target position is used (22) When the signal is ON, the direction of the position obtained by adding the positioning band to the target position is used. b1 PUSH Push specification: Positioning operation when the signal is OFF, or push-motion operation when the signal is ON (21) b0 - Not available. - b15 BKRL Forced brake release: The brake is released when this signal (18) b14 b13 b12 b11 b10 RMOD * Applicable only for SCON-CA/CB GSL1 GSL0 Function OFF OFF Select parameter set 0. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set 3. turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON (19) - Not available. - b9 CLBR* Load cell calibration command: Calibration is performed when this signal turns ON (32) b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 196

207 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD motor). Current (Example) Reading: FF 32-bit data - H = 1023 (decimal) position = mm 4.9 (3) * If current positions are read as hexadecimals, negative values PLC input Command current Current speed Alarm code Current load (Specified only for SCON-CA/CB) Total moving count Total moving distance Status signal 1 32-bit data - 32-bit data - 16-bit data - 32-bit data - 32-bit data - 32-bit data - b15 - b14 - b13 - b12 - b11 - b10 - b9 - b8 - b7 - b6 - b5 - b4 - b3 - b2 - are indicated by 2 s complements. 32-bit integer. The electrical current presently specified by a command is indicated. The setting unit is ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0 is set. For details on alarms, refer to the operation manual for the controller. 32-bit signed integer The current measurement on the load cell is indicated. The unit is 0.01 N. * If readings are expressed in hexadecimals, a negative value is indicated by a two s complement. 4.9 (3) 4.9 (3) 4.9 (3) 4.9 (3) 32-bit integer. The unit is times bit integer. The unit is m. - Not available. - b1 CEND* Home return complete: This signal turns ON when home return is completed. b0 BALM Position complete signal: This signal turns ON when positioning is completed. * Applicable only for SCON-CA/CB (32) (28) 4. SCON-CA/CB/CGB/CAL/CGAL 197

208 4. SCON-CA/CB/CGB/CAL/CGAL (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details b15 EMGS Emergency stop: An emergency stop is being executed when the signal is ON (2) b14 PWR Controller ready: The signal turns ON when the controller becomes ready (1) b13 ZONE2 Zone 2: The signal is ON when the current position is inside the specified zone (12) b12 ZONE1 Zone 1: The signal is ON when the current position is inside the specified zone (12) b11 PZONE Position zone: The signal is ON when the current position is inside the specified position zone (12) b10 MODES Teaching mode signal: The signal is ON when the teaching mode is selected (26) Position data read complete: The signal turns ON when the b9 WEND (27) position data read is complete. Status Operation mode: The signal is OFF when the current mode signal 2 b8 RMDS (19) AUTO, or ON when the current mode is MANU. b7 BALM Absolute battery voltage low warning: This signal turns ON when the voltage drops (6) b6 - Not available (25) b5 PSFL Missed load during push-motion operation: The signal turns ON when the actuator missed the load during push-motion (23) operation. b4 SV Ready: The signal is ON when the servo is ON (5) b3 ALM Alarm: The signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: The signal is ON while the actuator is moving (9) b1 HEND Home return complete: The signal turns ON when the home return is completed (6) b0 PEND Positioning complete signal: The signal turns ON when the positioning is completed (10) PLC input 198

209 4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, PIO pattern. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.) (Note) Force control mode 1 and 2 are not available for SCON-CAL. Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. 6 Force control mode 32 positioning points, 1 zone output 1 (a dedicated load cell is used) 7 Force control mode 2 (a dedicated load cell is used) 5 positioning points, 1 zone output A direct operation command can be issued for each position number. A position complete signal is output for each position number. 4. SCON-CA/CB/CGB/CAL/CGAL The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. PIO pattern Actuator function 0: Positioning mode 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid valve mode 1 5: Solenoid valve mode 2 6. Force control mode 1 7. Force control mode 2 Home return operation X Positioning operation Speed & acceleration/ deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration X X Pause (*1) Zone signal output X PIO pattern selection (set by parameter) : Supported / X: Not supported (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 199

210 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel DI and input register DO and output register PLC input channel Port number 0 to 15 n+0 Port number 0 to 15 n+0 n+1 Occupied area n+1 n+2 n+2 Current position Occupied area n+3 n+3 n+4 n+4 Command current n+5 n+5 4. SCON-CA/CB/CGB/CAL/CGAL (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O areas. The channels controlled by port number are controlled using ON/OFF bit signals. The current position is a 2-word (32-bit) binary data (unit: 0.01 mm (other than DD motor) and (DD motor)). The command current is a 2-word (32-bit) binary data (unit: 1 ma). PLC output (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller input port number 200

211 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Current position (upper word) If the current position is a negative value, it is indicated by a 2 s complement. Command current (lower word) Command current (upper word) 201

212 (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). 4. SCON-CA/CB/CGB/CAL/CGAL Signal assignments under the command-current read function and current-position read function are shown below. Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. PLC input Current position Command current 32-bit data - 32-bit data - The unit is 0.01 mm (other than DD motor) and (DD motor). (Example) Reading: FF H = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 32-bit integer. Indicate the value of electrical current specified by the current command. The setting unit is 1 ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma

213 4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4) (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-registered value in the position data. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller. Set position data by referring to the operation manual for the controller. Up to 768 sets of positioning data can be specified. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. Actuator function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection : Direct control : Indirect control X: Invalid X Remarks These items must be set in the position data table. Zones are set using position data or parameters. 4. SCON-CA/CB/CGB/CAL/CGAL (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CB SCON-CA/CB PLC output channel PLC input channel 84 input register output register n+0 n+0 Target position Current position n+1 n+1 Completed position 5 Specified position n+2 number (simple n+2 number alarm code) Control signal n+3 Status signal n+3 (Note) Exercise caution to avoid node address duplication. 203

214 4. SCON-CA/CB/CGB/CAL/CGAL (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 to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. The specified position number and completed position number are 1-word (16-bit) binary data. Although values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to specify position numbers associated with predefined operating conditions. PLC output Channel (* n indicates the node address of each axis.) Target position (lower word) 1 word (channel) = 16 bits Target position (upper word) If the target position is a negative value, it is indicated by a 2 s complement. Specified position number Control signal 204

215 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number If the current position is a negative value, it is indicated by a 2 s complement. 4. SCON-CA/CB/CGB/CAL/CGAL Status signal PZONE/ ZONE2 205

216 4. SCON-CA/CB/CGB/CAL/CGAL (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Target 32-bit data - (Example) To set mm, specify (1) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Specified position number Control signal 16-bit data b15 b14 b13 b12 PC1 ~ PC512 BKRL RMOD b11-16-bit integer. To operate the actuator, you must set position data associated with predefined operating conditions using the PC software or teaching pendant. Use one of these registers to specify the position number for which the desired data has been input. The allowable specification range is 0 to 767. If the specified value is outside the above range or corresponds to a position not yet set, an alarm will occur when the start signal is turned ON. Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 4.9 (1) (18) (19) - Not available. - Position/simple-direct switching: The position mode is selected when this signal is OFF, and the simple direct mode is selected when the signal is ON (20) b10 - Not available. - b9 CLBR Load cell calibration command: Calibration is performed when this signal turns ON (32) b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON (14) b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 CSTR Positioning start: A move command is issued when this signal turns ON (7) 206

217 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD motor). Current (Example) Reading: FFH = 1023 (decimal) 32 bits - position = mm 4.9 (1) * If current positions are read as hexadecimals, negative values PLC input Completed position number (simple alarm code) Status signal 16 bits b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 PM 1 ~ PM512 EMGS PWR ZONE2 ZONE1 PZONE/ ZONE2 LOAD TRQS RMDS BALM PUSHS PSFL are indicated by 2 s complements. 16-bit integer. When the actuator has moved to the target position and entered the positioning band, the position number corresponding to the completed position is output. 0 is output when no position movement has been performed yet or while the actuator is moving. If an alarm occurs (the status signal ALM turns ON), a corresponding simple alarm code (refer to the operation manual for the controller) will be output. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. PZONE and ZONE2 can be switched in Parameter No.149. No.149 = 0 Position zone : This signal turns ON when the current position is inside the specified position zone. No.149 = 1 Zone2 : This signal turns ON when the current position is inside the specified zone. Load output judgment: This signal turns ON when the specified load is reached. If the signal is OFF, it means the specified load is not yet reached. (For details, refer to the operation manual for your controller.) Torque level: This signal turns ON when the specified torque is reached. If the signal is OFF, it means the specified torque is not yet reached. (For details, refer to the operation manual for your controller.) Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU. Absolute battery voltage low alarm: This signal turns ON when the battery voltage drops. Push-motion operation in progress: This signal remains ON while the actuator is performing push-motion operation. Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation. 4.9 (1) (2) (1) (12) (12) (12) (26) (27) (19) (28) (23) (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 4. SCON-CA/CB/CGB/CAL/CGAL 207

218 4.7.8 Half Direct Mode (Number of Occupied Channels: 8) 4. SCON-CA/CB/CGB/CAL/CGAL (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. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control Actuator function : Indirect control Remarks X: Invalid Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration X Pause Zone signal output PIO pattern selection X Parameters must be set (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CB SCON-CA/CB PLC output channel 84 input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Current load n+3 n+3 Speed n+4 n+4 6 Acceleration/ Current speed n+5 n+5 deceleration Push-motion current-limiting value n+6 Alarm code n+6 Control signal n+7 Status signal n+7 (Note) Exercise caution to avoid node address duplication. 208

219 (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 to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm (other than DD motor) and (DD motor)). The speed is a 1-word (16-bit) binary data. Although values from 0 to (unit: 1.0 mm/sec or 0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator. Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure. Parameter No.159 setting value Speed setting unit mm/sec mm/sec The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 999 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 510 (200%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). 4. SCON-CA/CB/CGB/CAL/CGAL Set value Push-motion current-limiting value The current load is 2-word (32-bit) binary data (unit: 0.01 N). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 209

220 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Target position (upper word) Positioning band (lower word) If the target position is a negative value, it is indicated by a 2 s complement. Positioning band (upper word) Speed Acceleration/ deceleration 1, Push-motion current-limiting value Control signal 210

221 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Current load (lower word) Current load (upper word) If the current position is a negative value, it is indicated by a 2 s complement. 4. SCON-CA/CB/CGB/CAL/CGAL If the current load is a negative value, it is indicated by a 2 s complement. Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code Status signal 211

222 4. SCON-CA/CB/CGB/CAL/CGAL (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 Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to Target 32-bit data - (Example) To set mm, specify (2) position If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. PLC output Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - 32-bit integer. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 16-bit integer. Specify the speed at which to move the actuator. Designate the unit of 1.0mm/sec or 0.1mm/sec. The settable range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. Unit of measure is selected by Parameter No. 159 FB Half Direct Mode Speed Unit. (Example) In the case of the unit of 1.0mm/sec: To set mm/sec, specify 254. If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 16-bit integer. Specify the acceleration/deceleration at which to move the actuator (the acceleration and deceleration will be the same value). The setting unit is 0.01 G and the allowable specification range is 1 to 999. (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 4.9 (2) 4.9 (2) 4.9 (2) 212

223 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description 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 4.9 (2) actuator to another. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push-motion current, an alarm will occur. PLC output Push-motion current-limiting value Control signal b15 b14 b13 b12 b11 b10 BKRL RMOD DIR PUSH Forced brake release: The brake is released when this signal turns ON. Operation mode: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. 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. When the signal is ON, push-motion operation is performed in the direction of the position determined by adding the positioning band to the target position. Push-motion specification: Positioning operation is performed when this signal is OFF, and push-motion operation is performed when the signal is ON (18) (19) (22) (21) - Not available. - b9 CLBR Load cell calibration command: Calibration is performed when this signal turns ON (32) b8 JOG+ +Jog: The actuator moves in the direction opposite home when this signal is ON (13) b7 JOG- -Jog: The actuator moves in the direction of home when this signal is ON (13) b6 JVEL Jog-speed/inch-distance switching: The values set in parameter No. 26, Jog speed and parameter No. 48, Inch distance are used when this signal is OFF, and the values set in parameter (14) No. 47, Jog speed 2 and parameter No. 49, Inch distance 2 are used when the signal is ON. b5 JISL Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON (15) b4 SON Servo ON command: The servo turns ON when this signal turns ON (5) b3 RES Reset: A reset is performed when this signal turns ON (4) b2 STP Pause: A pause command is issued when this signal turns ON (11) b1 HOME Home return: A home-return command is issued when this signal turns ON (6) b0 DSTR Positioning start: A move command is issued when this signal turns ON (8) 4. SCON-CA/CB/CGB/CAL/CGAL 213

224 4. SCON-CA/CB/CGB/CAL/CGAL (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the bit is 0. ) Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD motor). Current (Example) Reading: FF 32-bit data - H = 1023 (decimal) position = mm 4.9 (2) * If current positions are read as hexadecimals, negative values PLC input Command current Current speed Alarm code Status signal 32-bit data - 32-bit data - 16-bit data - b15 b14 b13 b12 b11 b10 EMGS PWR ZONE2 ZONE1 are indicated by 2 s complements. 32-bit signed integer The current measurement on the load cell is indicated. The unit is 0.01 N. * If readings are expressed in hexadecimals, a negative value is indicated by a 2 s complement. 32-bit signed integer. Indicate the current speed. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home. 32-bit integer. The current speed is indicated. The setting unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec * If this data is read as a hexadecimal, a negative value is indicated as a 2 s complement. 16-bit integer. If an alarm occurred, a corresponding alarm code is output. If no alarm is present, 0H is set. For details on alarms, refer to the operation manual for the controller. Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone. Zone 1: This signal turns ON when the current position is inside the specified zone. 4.9 (2) 4.9 (2) 4.9 (2) (2) (1) (12) (12) - Not available. - b9 CEND Load cell calibration complete: This signal turns ON when the calibration is complete (32) b8 RMDS Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current mode is MANU (19) b7 BALM Absolute battery voltage low alarm: This signal turns ON when the battery voltage drops (28) b6 PUSHS Push-motion operation in progress: This signal remains ON while the actuator is performing push-motion operation (25) b5 PSFL Load missed in push motion: This signal turns ON when the actuator missed the load in push-motion operation (23) b4 SV Ready: This signal turns ON when the servo turns ON (5) b3 ALM Alarm: This signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving (9) b1 HEND Home return complete: This signal turns ON when home return is completed (6) b0 PEND Position complete signal: This signal turns ON when positioning is completed (10) 214

225 4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6) (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 position data using the RC PC software or other teaching tool. The number of available positions is determined by the setting of parameter No. 25, PIO pattern. In this mode, all functions in the remote I/O mode are available, plus additional functions to read the current position and current load. The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.) Value set in Operation mode I/O specification parameter No Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available. Positioning operation and jog operation are supported. The current position can be written to a specified position point mode 256 positioning points and one zone output point is available point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available. A direct operation command can be issued for each position number. A position complete signal is output for each position number. 5 Solenoid mode 2 3 positioning points and two zone output points are available. The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position. 6 Force control mode 32 positioning points, 1 zone output 1 (a dedicated load cell is used) 7 Force control mode 2 (a dedicated load cell is used) 5 positioning points, 1 zone output A direct operation command can be issued for each position number. A position complete signal is output for each position number. 4. SCON-CA/CB/CGB/CAL/CGAL The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. PIO pattern 1: Teaching mode 2: 256-point mode 3: 512-point mode 4: Solenoid valve mode 1 5: Solenoid valve mode 2 6. Force control mode 1 7. Force control mode 2 ROBO Cylinder function 0: Positioning mode Home return operation X Positioning operation Speed & acceleration/ deceleration setting Pitch feed (inching) Push-motion operation X Speed change during movement Operation at different acceleration and deceleration X X Pause (*1) Zone signal output X PIO pattern selection (set by parameter) : Supported / X: Not supported (*1) This function is supported when parameter No. 27, Move command type is set to 0. The actuator can be paused by turning the move command OFF. 215

226 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No SCON-CA/CB SCON-CA/CB PLC output channel DI and input register DO and output register PLC input channel Port number 0 to 15 n+0 Port number 0 to 15 n+0 n+1 Occupied area n+1 n+2 n+2 Current position Occupied area n+3 n+3 n+4 n+4 Current load n+5 n+5 4. SCON-CA/CB/CGB/CAL/CGAL (Note) The areas denoted by occupied area cannot be used for any other purpose. Also exercise caution to avoid node address duplication. (2) I/O signal assignments for each axis The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O areas. The channels controlled by port number are controlled using ON/OFF bit signals. The current position is a 2-word (32-bit) binary data (unit: 0.01 mm (other than DD motor) and (DD motor)). The current load is a 2-word (32-bit) binary data (unit: 0.01N). PLC output (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller input port number 216

227 PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL 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 (upper word) If the current load is a negative value, it is indicated by a 2 s complement. 217

228 (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). 4. SCON-CA/CB/CGB/CAL/CGAL Signal assignments under the command-current read function and current-position read function are shown below. Signal type Bits Symbol Description Details 32-bit signed integer indicating the current position. PLC input Current position Current load 32-bit data - 32-bit data - The unit is 0.01 mm (other than DD motor) and (DD motor). (Example) Reading: FF H = 1023 (decimal) = mm * If current positions are read as hexadecimals, negative values are indicated by 2 s complements. 32-bit integer. Indicate the measured value of the current load cell. The setting unit is 1 ma. * If current positions are read as hexadecimals, negative values are indicated by 2 s complements

229 Half Direct Mode 3 (Number of Occupied Channels: 8) 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 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. : Direct control ROBO Cylinder function : Indirect control Remarks X: Invalid Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration X Pause Zone signal output Parameters must be set PIO pattern selection X (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL PLC output channel 84 input register output register PLC input channel Target position n+0 n+0 Current position n+1 n+1 Positioning band n+2 n+2 Command current n+3 n+3 Speed n+4 n+4 8 Acceleration/ Current speed n+5 n+5 deceleration Push-motion current-limiting value n+6 Alarm code n+6 Control signal n+7 Status signal n+7 (Note) Exercise caution to avoid node address duplication. 4. SCON-CA/CB/CGB/CAL/CGAL 219

230 4. SCON-CA/CB/CGB/CAL/CGAL (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 to (unit: 0.01 mm (other than DD motor) and (DD motor)) 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. Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band, the PLC can handle values from 1 to (unit: 0.01 mm (other than DD motor) and (DD motor)). The speed is a 1-word (16-bit) binary data. Although values from 0 to (unit: 1.0 mm/sec or 0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator. Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure. Parameter No.159 setting value Speed setting unit mm/sec mm/sec The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 999 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 510 (200%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator). Set value Push-motion current-limiting value The command current is a 2-word (32-bit) binary data (unit: 1 ma). The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). The alarm code is a 1-word (16-bit) binary data. 220

231 PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) Positioning band (lower word) If the target position is a negative value, it is indicated by a 2 s complement. 4. SCON-CA/CB/CGB/CAL/CGAL Positioning band (upper word) Speed Acceleration/ deceleration 1, Push-motion current-limiting value Control signal MOD1 MOD0 221

232 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA/CB/CGB/CAL/CGAL Current position (upper word) Command current (lower word) If the current position is a negative value, it is indicated by a 2 s complement. Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2 s complement. Alarm code Status signal 222

233 (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 Description Details Target position 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is to bit (Example) To set mm, specify data If the entered value exceeds the range between the soft limits (0.2 mm inside the limits) set by the parameters, the movement will be limited to the soft limit (0.2 mm inside the limit). * If target positions are entered as hexadecimals, enter negative values using 2 s complements. 4.9 (2) PLC output Positioning band Speed Acceleration/ deceleration 32-bit data 16-bit data 16-bit data bit integer. The unit is 0.01 mm (other than DD motor) and (DD motor), while the specifiable range is 1 to (Example) To set mm, specify This register has one of two meanings depending on the operation type. [1] In positioning operation, this register defines the permissible range from the target position in which positioning will be deemed to have completed. [2] In push-motion operation, this register defines the push-motion band. Whether to perform normal operation or push-motion operation is set using the control signal PUSH. 16-bit integer. Specify the speed at which to move the actuator. Designate the unit of 1.0mm/sec or 0.1mm/sec. The settable range is 0 to Deceleration stop if and to specify in motion 0. It under suspension, it will remain stopped on the spot. Unit of measure is selected by Parameter No. 159 FB Half Direct Mode Speed Unit. (Example) In the case of the unit of 1.0mm/sec: To set mm/sec, specify 254. If a move command is issued by specifying a value exceeding the maximum speed, an alarm will occur. 16-bit integer. Specify the acceleration/deceleration at which to move the actuator (the acceleration and deceleration will be the same value). The setting unit is 0.01 G and the allowable specification range is 1 to 999. (Example) To set 0.30 G, specify 30. If a move command is issued by specifying 0 or any value exceeding the maximum acceleration or deceleration, an alarm will occur. 4.9 (2) 4.9 (2) 4.9 (2) 4. SCON-CA/CB/CGB/CAL/CGAL 223

234 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the applicable bit is 0. ) 4. SCON-CA/CB/CGB/CAL/CGAL PLC output Signal type Bit Symbol Description Details Push-current limiting value Control signal 16-bit data - b15 b14 b13 b12 b11 b10 b9 b8 BKRL RMOD DIR PUSH GSL1 GSL0 NTC1 NTC0S 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator. (Refer to the catalog or operation manual for each actuator.) If a move command is issued by specifying a value exceeding the maximum push current value, an alarm will occur. Forced brake release: The brake is released when the signal turns ON. Operation mode: AUTO mode when the signal is OFF, or MANU mode when the signal is ON. Push direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the target position is used. When the signal is ON, the direction of the position obtained by adding the positioning band to the target position is used. Push specification: Positioning operation when the signal is OFF, or push-motion operation when the signal is ON. Servo gain parameter set selection 1 Servo gain parameter set selection 0 Vibration damping control mode selection 1 Vibration damping control mode selection 0 Select the servo gain parameter set to be used. GSL1 GSL0 Function OFF OFF Select parameter set 0. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set 3. Select the vibration damping control parameter set to be used. NTC1 NTC0 Function OFF OFF Do not use vibration damping control. OFF ON Select parameter set 1. ON OFF Select parameter set 2. ON ON Select parameter set (2) (18) (19) (22) (21) (33) (29) b7 MOD1 Acceleration/deceleration mode: Trapezoid pattern when both signals are OFF, S-motion b6 MOD0 when MOD1 is OFF and MOD0 is ON, or primary delay (30) filter when MOD1 is ON and MOD0 is OFF. b5 - Not available b4 SON Servo ON command: The servo is ON when the signal is ON (5) b3 RES Reset: A reset is performed when the signal turns ON (4) b2 STP Pause: A pause command is issued when the signal turns ON (11) b1 HOME Home return: A home return command is issued when the signal turns ON (6) b0 DSTR Positioning start command: A move command is issued when the signal turns ON (8) 224

235 (* In the table, ON indicates that the applicable bit is 1, while OFF indicates that the applicable bit is 0. ) PLC input Signal type Bit Symbol Description Details Current position 32-bit data - 32-bit signed integer indicating the current position. The unit is 0.01 mm (other than DD motor) and (DD motor). (Example) Reading: FF H = 1023 (decimal) = mm * If this data is read as a hexadecimal, a negative value is indicated by a 2 s complement. 4.9 (2) 32-bit integer. The value of electrical current specified by the present Command current 32-bit data - command is indicated. The unit is ma. (Example) Reading: FF H = 1023 (decimal) = 1023 ma 4.9 (2) 32-bit signed integer. The current speed is indicated. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of Current speed 32-bit data - home. 4.9 (2) The unit is 0.01 mm/sec. (Example) Reading: FF H = 1023 (decimal) = mm/sec * If this data is read as a hexadecimal value, a negative value is indicated by a 2 s complement. Alarm code 16-bit data - 16-bit integer. If an alarm occurs, an alarm code will be output. 0H is output when no alarm is present. 4.9 (2) For details on alarms, refer to the operation manual for the controller. b15 EMGS Emergency stop: An emergency stop is being executed when the signal is ON (2) b14 PWR Controller ready: The signal turns ON when the controller becomes ready (1) b13 ZONE2 Zone 2: The signal is ON when the current position is inside the specified zone (12) b12 ZONE1 Zone 1: The signal is ON when the current position is inside the specified zone (12) b11 b10 b9 - Not available - Status signal b8 RMDS Operation mode: The signal is OFF when the current mode AUTO, or ON when the current mode is MANU (19) b7 BALM Absolute battery voltage low warning: This signal turns ON when the voltage drops (28) b6 - Not available - b5 PSFL Missed load during push-motion operation: The signal turns ON when the actuator missed the load during push-motion (23) operation. b4 SV Ready: The signal is ON when the servo is ON (5) b3 ALM Alarm: The signal turns ON when an alarm occurs (3) b2 MOVE Moving signal: The signal is ON while the actuator is moving (9) b1 HEND Home return complete: The signal turns ON when the home return is completed (6) b0 PEND Positioning complete signal: The signal turns ON when the positioning is completed (10) 4. SCON-CA/CB/CGB/CAL/CGAL 225

236 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. For the I/O signals used in the remote I/O mode 1 to 3, refer to the operation manual for the controller. 4. SCON-CA/CB/CGB/CAL/CGAL (1) Controller ready (PWR) [PLC input signal] This signal turns ON when the controller has become ready to perform control following the power on. Function The PWR signal turns ON when the controller has been initialized successfully and become ready to perform control following the power on, regardless of the alarm status, servo status or any other condition. Even when an alarm is present, the PWR signal turns ON as long as the controller is ready. (2) Emergency stop (EMGS) [PLC input signal] This signal turns ON when the controller has entered the emergency stop mode. Function The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has been cut off). The signal will turn OFF once the emergency stop is cancelled. (3) Alarm (ALM) [PLC input signal] This signal turns ON when the controller s protective circuit (function) has detected an error. Function The ALM signal turns ON when the controller s protective circuit (function) has actuated following an error detection. When the cause of the alarm is removed and the reset (RES) signal is turned ON, the ALM signal will turn OFF if the applicable alarm is an operation-reset alarm. (To reset cold-start alarms, the power must be reconnected.) When an alarm is detected, the status indicator LED (refer to 4.4, DeviceNet Interface ) on the front panel of the controller will illuminate in red. (4) Reset (RES) [PLC output signal] This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel while the actuator is paused. Function [1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm (ALM) signal. (To reset cold-start alarms, the power must be reconnected.) [2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel. 226

237 (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. The SV signal is synchronized with this LED. Function 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. SON (PLC SCON-CA/CB/CAL) SV (SCON-CA/CB/CAL PLC) 4. SCON-CA/CB/CGB/CAL/CGAL 227

238 4. SCON-CA/CB/CGB/CAL/CGAL (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. The GHMS signal turns ON while the home return is in progress. Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF. Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned 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 SCON-CA/CB/CAL) GHMS (SCON-CA/CB/CAL PLC) HEND (SCON-CA/CB/CAL PLC) FEND (SCON-CA/CB/CAL PLC) MOVE (SCON-CA/CB/CAL PLC) Actuator operation Mechanical end Stopped at the home position Caution: In the remote I/O mode, 1 to 3 or position/simple direct mode 1, 2, issuing a positioning command to a given position following the power on, without performing a home return first, will cause the actuator to automatically return home and then perform the positioning. Take note that this applies only to the first positioning command following the power on. Exercise caution that in the half direct mode or full direct mode 1 to 3, issuing a positioning command to a given position following the power on, without performing a home return first, will generate an alarm ( Error Code 83: Alarm home ABS (absolute position move command when home return is not yet completed) (operation-reset alarm). 228

239 (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. Whether to use the target position corresponding to the specified position number or the target position channel of the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal). PMOD = OFF: Use the target position data corresponding to the specified position number PMOD = ON: Use the value set to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the 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 SCON-CA/CB/CAL) CSTR (PLC SCON-CA/CB/CAL) PEND (SCON-CA/CB/CAL PLC) 4. SCON-CA/CB/CGB/CAL/CGAL (8) Positioning command (DSTR): Used in the half direct mode and full direct mode 1 to 3 [PLC output signal] The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the target position input to the target position channel of the PLC. If this command is issued when no home-return operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset alarm) will occur. Program the controller so that this signal will be turned OFF after the position complete (PEND) signal turns OFF. Target position (PLC SCON-CA/CB/CAL) DSTR (PLC SCON-CA/CB/CAL) PEND (SCON-CA/CB/CAL PLC) (9) Moving signal (MOVE) [PLC input signal] This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion operation or jog operation is in progress). The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the actuator is paused. 229

240 (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. Speed Timing at which the position complete signal turns ON Target position 4. SCON-CA/CB/CGB/CAL/CGAL Travel Positioning band When the servo turns on, positioning is performed based on the current position set as the target position. Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal. Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the target position, the PEND signal will turn OFF. When the servo subsequently turns on, the PEND signal will turn ON if the current position is inside the positioning band. Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains ON. Time (11) Pause (STP) [PLC output signal] When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the axis movement will resume. The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops, conform to the acceleration/deceleration value corresponding to the position number set by the specified position number channel in the position/simple direct mode 1, 2, or to the value of the acceleration/deceleration channel in the half direct mode 1 to 3. In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and deceleration channel. 230

241 (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. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, Zone boundary 1+ and No. 2, Zone boundary 1-. The ZONE2 signal is set by parameter No. 23, Zone boundary 2+ and No. 24, Zone boundary 2-. The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will remain effective even while the servo is turned off. [2] Position zone Each zone is set in the position table or using the zone boundary channels. In the position/simple direct mode, the PZONE signal is set in the position table. In the full direct mode, the PZONE signal is set using the zone boundary channels. (*) The PZONE signal is not available in the half direct mode. The PZONE signal becomes effective when a move command is issued following a completion of home return, after which it will remain effective even while the servo is turned off. Zone signal 4. SCON-CA/CB/CGB/CAL/CGAL Actuator operation + direction Home Zone setting- Zone setting+ 231

242 (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. 4. SCON-CA/CB/CGB/CAL/CGAL [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once the signal turns OFF. The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the signal turns OFF. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL) signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop. [2] Inch operation Inch operation can be performed when the JISL signal is ON. The actuator moves by the inch distance every time this signal turns ON. The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home when the JOG- is ON. The specific operation follows the values set in the following parameters: The speed conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, PIO jog speed. If the JVEL signal is ON, the actuator operates according to parameter No. 47, PIO jog speed 2. The travel conforms to the value of the parameter specified by the JVEL signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 48, PIO inch distance. If the JVEL signal is ON, the actuator operates according to parameter No. 49, PIO inch distance 2. The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator). While performing a normal operation, the actuator will continue with the normal operation even after the +jog or -jog signal is turned ON (the jog signal will be ignored). While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate. (Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide with the mechanical end. Exercise caution. 232

243 (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. JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON OFF Parameter No. 26, Jog speed Parameter No. 26, Jog speed Parameter No. 48, Inch distance ON Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 Parameter No. 49, Inch distance 2 (15) Jog/inch switching (JISL) [PLC output signal] This signal is used to switch between jog operation and inch operation. JISL = OFF: Jog operation JISL = ON: Inch operation If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and then switch to the inch function. If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement and then switch to the jog function. The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog-speed/inch-distance switching (JVEL) signal. Jog operation Inch operation JISL OFF ON Speed Parameter No. 26, Jog speed Parameter No. 26, Jog speed JVEL=OFF Travel - Parameter No. 48, Inch distance Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Speed Parameter No. 47, Jog speed 2 Parameter No. 47, Jog speed 2 JVEL=ON Travel - Parameter No. 49, Inch distance 2 Acceleration/ Rated value (The specific value Rated value (The specific value deceleration varies depending on the actuator.) varies depending on the actuator.) Operation When the JOG+/JOG- signal is ON Upon detection of the leading (ON) edge of the JOG+/JOG- signal 4. SCON-CA/CB/CGB/CAL/CGAL 233

244 4. SCON-CA/CB/CGB/CAL/CGAL (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. (Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be satisfied: The actuator (motor) is stopped. The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF. The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF. (Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF. (17) Position-data read command (PWRT) [PLC output signal] Position-data read complete (WEND) [PLC input signal] The PWRT signal is effective when the teaching mode (MODES) signal is ON. Turn the PWRT signal ON (*1), and the data of the current position will be written to the Position field under the position number set to the specified position number channel of the PLC. (*2) The WEND signal will turn ON once reading is complete. Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON. If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON. When the PWRT signal is turned OFF, the WEND signal will turn OFF. (*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position may not be written. (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.) MODES (SCON-CA/CB/CAL PLC) At least 20 msec PWRT (PLC SCON-CA/CB/CAL) WEND (SCON-CA/CB/CAL PLC) (18) Forced brake release (BKRL) [PLC output signal] The brake can be forcibly released by turning this signal ON. 234

245 (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. RMOD signal = OFF (AUTO mode is specified) RMOD signal = ON (MANU mode is specified) Controller MODE switch = AUTO AUTO mode (RMDS=OFF) MANU mode (RMDS=ON) (Note) In the MANU mode, operation from the PLC cannot be performed. (20) Position/simple-direct switching (PMOD) [PLC output signal] Controller MODE switch = MANU MANU mode (RMDS=ON) MANU mode (RMDS=ON) This signal is used to switch between the mode where the target position is set using a value registered in the position table stored in the controller, and the mode where a value specified by the target position channel of the PLC is used. PMOD = OFF: Use the position table PMOD = ON: Use the value of the target position channel 4. SCON-CA/CB/CGB/CAL/CGAL (21) Push-motion specification (PUSH) [PLC output signal] Push-motion operation can be performed when a move command is issued after turning this signal ON. Normal positioning operation is performed if this signal is set to OFF. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 4.9, Operation. ) (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 OFF, the actuator will push the load in the direction of the value determined by subtracting the positioning band from the target position. 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. The DIR signal is invalid during normal positioning operation. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 4.9, Operation. ) Speed Travel Positioning band Positioning band Positioning band DIR = OFF Target position DIR = ON 235

246 (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. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 4.9, Operation. ) 4. SCON-CA/CB/CGB/CAL/CGAL (24) Incremental specification (INC) [PLC output signal] If a move command is issued while this signal is ON, the actuator will move from the current position by the value input to the target position channel of the PLC. (Incremental move) If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position channel of the PLC. (25) Push motion in progress (PUSHS) [PLC input signal] This signal turns ON while push-motion operation is in progress. Speed Travel Target position Positioning band The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command or the next move command is issued, or the servo turns off. (For the timing of setting this signal, refer to (2), Operation in the half direct mode under 4.9, Operation. ) 236

247 (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. Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold for the specified time cumulatively. The processing procedure is the same as the procedure applicable to push judgment. The time of load output judgment can be changed freely using parameter No. 50, Load output judgment time. The status of this signal will be retained until the next move command is received. Speed The LOAD signal turns ON when the command torque exceeds the threshold inside the torque check range. Travel Check range The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. 4. SCON-CA/CB/CGB/CAL/CGAL Positioning band (maximum push distance) Target position The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the PLC. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. Warning: The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 237

248 4. SCON-CA/CB/CGB/CAL/CGAL (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. The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired speed, therefore, the applicable parameters must be adjusted. Speed Travel Target position The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Range where the TRQS signal is output Positioning band (maximum push dimension) The push speed is set by parameter No. 34, Push speed. The factory setting varies with an individual actuator based on the characteristics of the actuator. Specify an appropriate speed by considering the material and shape of the load, etc. Set parameter No. 50, Load output judgment time. The threshold is set by the load current threshold channel of the PLC. The positioning band is set by the positioning band channel of the PLC. Set a positioning band slightly longer than the last position, by considering the mechanical variation of the load. For details, refer to the operation manual for the controller. Warning: The actuator continues to push the load at the push current at standstill determined by the current limiting value. Since the actuator is not stopped, exercise due caution when handling the actuator or load in this condition. 238

249 (28) Absolute Battery Voltage Low Warning (BALM) [PLC Input Signal] With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information. (If you are using an absolute system and this signal turns ON, replace the battery at the earliest opportunity.) (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. For details, refer to the operation manual for your controller. NTC1 NTC0 Function Remarks OFF OFF Do not use vibration damping control. Factory setting OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 Input timing An input timing chart of NTC0/NTC1 signals is shown below. 4. SCON-CA/CB/CGB/CAL/CGAL Target position NTC0 NTC1 * DSTR * T1: 0 ms or greater Caution: Since the statuses of NTC0/NTC1 signals are loaded when a movement command (DSTR) is recognized, nothing happens when the NTC0/NTC1 signals are turned ON/OFF while the actuator is moving. 239

250 (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 OFF OFF Trapezoid pattern Factory setting OFF ON S-motion ON OFF Primary delay filter ON ON Not available. 4. SCON-CA/CB/CGB/CAL/CGAL Trapezoid pattern Speed Acceleration Deceleration Time * The acceleration and deceleration are set in the Acceleration and Deceleration fields of the position data table. S-motion The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the middle. Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the actuator to accelerate/decelerate gradually at start of movement and immediately before stopping. Speed * The S-motion level is set by parameter No. 56, S-motion ratio setting. The setting unit is % and the setting range is 0 to 100. (The above graph assumes a S-motion ratio of 100 %.) If 0 is set, the S-motion mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. Primary delay filter The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration (trapezoid pattern). Use this mode if you don t want the load to receive micro-vibration during acceleration/deceleration. Speed Time Time * The primary delay level is set by parameter No. 55, Primary filter time constant for position command. The minimum input unit is 0.1 msec and the setting range is 0.0 to If 0 is set, the primary delay mode will become invalid. Take note that this mode will not be reflected in jog or inch operation performed from a PC or teaching pendant. 240

251 (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. For details, refer to the operation manual for your controller. ASO1 ASO0 Standstill mode Remarks OFF OFF Disabled (Factory setting) OFF ON Auto servo OFF mode T in the chart below corresponds to the setting of parameter No. 36. ON OFF Auto servo OFF mode T in the chart below corresponds to the setting of parameter No. 37. ON ON Auto servo OFF mode T in the chart below corresponds to the setting of parameter No. 38. Movement command Servo status Servo ON status Auto servo OFF mode (A green LED blinks.) 4. SCON-CA/CB/CGB/CAL/CGAL Actuator movement Target position Delay time until the servo turns off after completion of positioning (sec) (32) Load Cell Calibration Command (CLBR) [PLC Output Signal] Load Cell Calibration Complete (CEND) [PLC Intput Signal] The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration. Also perform this calibration in other conditions as necessary (such as during readjustment, inspection, etc.). [1] Stop the operation. (Calibration cannot be performed while any axis is operating, pushing a work part or paused, in which case an attempt to perform calibration will generate a 0E1 (load cell calibration error) alarm. [2] Turn ON the load cell calibration signal (CLBR) and keep it ON for at least 20 ms. [3] Once the calibration is complete, the calibration complete signal (CEND) turns ON. Thereafter, turn OFF the CLBR signal. If the calibration was not successful, a 0E1 (load cell calibration error) alarm generates. Caution: Normal operation commands are not accepted while the CLBR signal is ON. 241

252 Signal input is recognized continuously for 20 ms *1 Calibration time *2 Turn the CLBR OFF after confirming that the CEND has turned ON. 4. SCON-CA/CB/CGB/CAL/CGAL 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. *2 If the CLBR is turned OFF during this period, an alarm generates. (33) Servo Gain Parameter Set Selection (GSL0, GSL1) [PLC Output Signal] The actuator can be operated by selecting, for each position movement, any one of the following four pre-defined sets of servo gain parameters (six different parameters). For details, refer to the operation manual for your controller. GSL1 GSL0 Function Remarks OFF OFF Select parameter set 0 Factory setting OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 242

253 4.8 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the PLC s sequence program, until a response (status) signal is turned, is expressed by the formula below: Maximum response time (msec) = Yt + Xt Command processing time (operation time, etc.) Yt: Master station slave station transmission delay time Field network transmission delay time Xt: Slave station master station delay time For the master station slave station transmission delay time (Yt) and slave station master station delay time (Xt), refer to the operation manuals for the DeviceNet master unit and the PLC in which the master unit is installed. PLC sequence program Control signal Status signal SCON-CA/CB/CAL Control signal Master station slave station transmission delay time (Yt) Slave station master station delay time (Xt) 4. SCON-CA/CB/CGB/CAL/CGAL Status signal Command processing time 243

254 4.9 Operation Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are explained using examples of basic operations. For the remote I/O mode 1 to 3, refer to the operation manual for the controller. (In remote I/O mode 2 or 3, read the current position, command current or current load from each applicable byte on the PLC side as deemed necessary.) 4. SCON-CA/CB/CGB/CAL/CGAL (1) Operation in the position/simple direct mode 1, 2 Operate the actuator by writing the position data to the PLC s target position, while specifying the speed, acceleration/deceleration, positioning band, push-current limiting value, etc., in the position table. Example of operation (normal positioning operation) (Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning band, etc.) in the position table. Turn the position/simple direct switching (PMOD) signal ON. [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the position number for which the speed, acceleration/deceleration, etc., have been set for the specified position number corresponding to output address n+2 (*). [3] Turn the positioning start (CSTR) signal ON while the positioning complete (PEND) signal is ON or moving signal (MOVE) is OFF. The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal. [4] The CSTR signal turns ON and PEND turns ON tpdf thereafter. [5] Turn the CSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned ON. Do not change the target value (*) until the CSTR signal is turned OFF. [6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [7] The current position data (*) in input addresses n and n+1 are constantly updated. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON if the CSTR signal is OFF, upon which the completed position number is output to the completed position number (*) corresponding to input address n+2. Accordingly, wait until the PEND signal turns ON and an appropriate time (time to move the remaining travel) elapses before reading the completed position number (*) following the completion of positioning. The current position data may vary slightly due to vibration, etc., even when the actuator is at standstill. [8] The target position data can be changed while the actuator is moving. To change the target position, change the target position data, wait until at least the PLC s scan time elapses, and then turn the CSTR signal ON. Change the value of the CSTR signal after an elapse of at least the PLC s scan time. Example of operation (push-motion operation) In push-motion operation, a current-limiting value is set in the Push field of the position data table in the preparation stage. When positioning is started by specifying the position number for which the above value has been set in the Push field, push-motion operation is performed. 244

255 Set value of target position data (PLC SCON-CA/CB/CAL) [1] [2] Specified position number (PLC SCON-CA/CB/CAL) Positioning start CSTR (PLC SCON-CA/CB/CAL) Positioning complete PEND (SCON-CA/CB/CAL PLC) Current position (SCON-CA/CB/CAL PLC) [3] [4] [6] [5] [7] 4. SCON-CA/CB/CGB/CAL/CGAL Moving MOVE (SCON-CA/CB/CAL PLC) Positioning band Actuator movement (Normal positioning) Work part missed in push-motion operation Push-motion operation in progress Push Actuator moving (push) Missed the work part *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 3 (msec) 245

256 4. SCON-CA/CB/CGB/CAL/CGAL (2) Operation in the half direct mode 1 to 3 Operate the actuator by specifying data for the PLC s target position, positioning band, specified speed, acceleration/deceleration and push-current limiting specification. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3. [3] Set the speed data for the speed (*) corresponding to output address n+4. [4] Set the acceleration/deceleration data for the acceleration/deceleration (*) corresponding to output address n+5. [5] Set the push-current limiting data for the push-current limiting value (*) corresponding to output address n+6. [6] Turn the push specification (PUSH) signal ON. [7] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22) of ) [8] Turn the positioning command (DSTR) signal ON while the positioning complete (PEND) signal is ON or moving signal (MOVE) is OFF. The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal. [9] The DSTR signal turns ON and PEND turns ON tpdf thereafter. [10] Turn the DSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned ON. Do not change the values set in [1] to [5] until the DSTR signal is turned OFF. [11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [12] The current position data (*) in input addresses n and n+1 are constantly updated. [13] The PEND signal turns ON when the motor current reaches the current-limiting value set in [5] while the DSTR signal is OFF. (Push-motion operation is completed.) If the motor current does not reach the current-limiting value set in [5] after the positioning band set in [2] has been reached, the missed load in push-motion operation (PSFL) signal turns ON. In this case, the PEND signal will not turn ON. (The actuator has missed the load during push-motion operation.) [14] Turn the PUSH signal OFF after the PEND signal or PSFL signal has turned ON. Example of operation (normal positioning operation) In normal positioning operation, the signal in [6] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. 246

257 Set value of target position data (PLC SCON-CA/CB/CAL) [1] Set value of positioning band data (PLC SCON-CA/CB/CAL) [2] Set value of speed data (PLC SCON-CA/CB/CAL) Set value of acceleration/ deceleration data (PLC SCON-CA/CB/CAL) Set value of push-current limiting value (PLC SCON-CA/CB/CAL) Push specification (PLC SCON-CA/CB/CAL) [3] [4] [5] [6] 4. SCON-CA/CB/CGB/CAL/CGAL Push direction specification DIR (PLC SCON-CA/CB/CAL) [7] Positioning command DSTR (PLC SCON-CA/CB/CAL) Positioning complete/missed load during push-motion operation PEND/PSFL (SCON-CA/CB/CAL PLC) [8] [9] [10] [13] [14] Current position (SCON-CA/CB/CAL PLC) Moving MOVE (SCON-CA/CB/CAL PLC) [12] Actuator operation (push) Push Positioning band Actuator operation (normal positioning operation) *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 2 (msec) 247

258 4. SCON-CA/CB/CGB/CAL/CGAL (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC s target position and positioning band. Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3. [3] Set speed data for the speeds (*) corresponding to output addresses n+4 and n+5. [4] Set the position-zone output boundary data for the zone boundary+ and zone boundary- (*) corresponding to output addresses n+6 to n+9. [5] Set the acceleration data for the acceleration (*) corresponding to output address n+10. [6] Set the deceleration data for the deceleration (*) corresponding to output address n+11. [7] Set the push-current limiting value data for the push-current limiting value (*) corresponding to output address n+12. [8] Set the load current threshold data for the load current threshold (*) corresponding to output address n+13. [9] Turn the push specification (PUSH) signal ON. [10] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22) of ) [11] Turn the positioning command (DSTR) signal ON while the positioning complete (PEND) signal is ON or moving signal (MOVE) is OFF. The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal. [12] The DSTR signal turns ON and PEND turns ON tpdf thereafter. [13] Turn the DSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned ON. Do not change the values set in [1] to [8] until the DSTR signal is turned OFF. [14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF. [15] The current position data (*) in input addresses n and n+1 are constantly updated. [16] The PEND signal turns ON when the motor current reaches the current-limiting value set in [7] while the DSTR signal is OFF. (Push-motion operation is completed.) If the motor current does not reach the current-limiting value set in [7] after the positioning band set in [2] has been reached, the missed load in push-motion operation (PSFL) signal turns ON. In this case, the PEND signal will not turn ON. (The actuator has missed the load during push-motion operation.) [17] Turn the PUSH signal OFF after the PEND signal or PSFL signal has turned ON. Example of operation (normal positioning operation) In normal positioning operation, the signal in [9] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. 248

259 Set value of target position data (PLC SCON-CA/CB/CAL) [1] [2] Set value of positioning band data (PLC SCON-CA/CB/CAL) Set value of speed data (PLC SCON-CA/CB/CAL) Set value of position zone boundary data (PLC SCON-CA/CB/CAL) Set value of acceleration data (PLC SCON-CA/CB/CAL) Set value of deceleration data (PLC SCON-CA/CB/CAL) Set value of push-current limiting value data (PLC SCON-CA/CB/CAL) [3] [4] [5] [6] [7] [8] 4. SCON-CA/CB/CGB/CAL/CGAL Set value of load current threshold data (PLC SCON-CA/CB/CAL) 249

260 [9] Push specification PUSH (PLC SCON-CA/CB/CAL) [10] 4. SCON-CA/CB/CGB/CAL/CGAL Push direction specification DIR (PLC SCON-CA/CB/CAL) Positioning command DSTR (PLC SCON-CA/CB/CAL) Positioning complete/missed load during push-motion operation PEND/PSFL (SCON-CA/CB/CAL PLC) Current position (SCON-CA/CB/CAL PLC) [11] [12] [13] [14] [15] [17] [16] Moving MOVE (SCON-CA/CB/CAL PLC) Actuator operation (push) Push Positioning band Actuator operation (normal positioning operation) *T1: Make sure T1 0 ms is satisfied by considering the scan time of the host controller. *Yt + Xt tdpf Yt + Xt + 2 (msec) 250

261 (4) Data change during movement In the half direct mode 1 to 3 and full direct mode, the values of target position data, acceleration/deceleration data, speed data, positioning band and push-current limiting value set by the PLC can be changed while the actuator is moving. After a desired data has been changed, turn the positioning command (DSTR) signal ON for tdpf or longer. After the DSTR is turned OFF, wait for at least twcson + twcsoff before DSTR is turned ON again. An example of changing the speed or acceleration/deceleration is given below. Set value of speed or acceleration/deceleration (PLC SCON-CA/CB/CAL) DSTR (PLC SCON-CA/CB/CAL) PEND (SCON-CA/CB/CAL PLC) [1] [2] [3] 4. SCON-CA/CB/CGB/CAL/CGAL MOVE (SCON-CA/CB/CAL PLC) Speed n3 Speed n2 Actuator speed Caution: 1. If the speed is not yet set or set to 0, the actuator will remain standstill and no alarm will generate. 2. If the speed is changed to 0 while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is moving, the target position data must also be set. 4. Even when the target position alone is changed while the actuator is moving, the acceleration/deceleration and speed data must also be set. 251

262 4.10 DeviceNet Parameters The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and SCON-CA/CB/CGB/CAL/CGAL Category: C: External interface parameter No. Category Symbol Name Factory default 1 For parameter Nos. 1 to 83, refer to the operation manual for the controller C FMOD Fieldbus operation mode 0 85 C NADR Fieldbus node address C FBRS Fieldbus baud rate 0 87 C NYTP Network type 2 90 C FMIO Fieldbus I/O format C FBVS FB Half Direct Mode Speed Unit 0 ~ Fieldbus operation mode (No. 84 FMOD) Specify a desired operation mode in parameter No. 84 using a value between 0 and 4. Set value of Number of Mode name Description parameter No. 84 occupied bytes The actuator is operated by PIOs (24-V I/Os) via 0 (factory setting) Remote I/O mode 1CH PROFIBUS-DP. 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH 5 Position/simple direct mode 2 4CH 6 Half direct mode 2 8CH 7 Remote I/O mode 3 6CH 8 Half direct mode 3 8CH (Note) SCON-CAL is not applicable for the operation modes 5 to 7. The target position can be specified directly as a value or using a value in the position data table. Other values required for operation are set in the position data table. Operate the actuator by specifying the speed, acceleration/deceleration and push-current value, in addition to the target position, directly using values. Operate the actuator by specifying all values relating to position control directly using values. The current-position and current-speed read functions are added to the functions available in the remote I/O mode. Set this value to implement force control in the position/simple direct numerical mode. Set this value to implement force control in the half direct numerical mode. Set this value to implement force control in the remote I/O mode 2. Set this value to switch servo gains or vibration damping control parameters in the half direct numerical mode. Fieldbus node address (No. 85 NADR) Specify the slave number of the remote station in parameter No. 85. Setting range: 0 to 125 (The factory setting is 1.) Fieldbus baud rate (No. 86 FBRS) The baud rate is automatically set according to the corresponding setting on the master side and thus need not be set. 252

263 Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. Fieldbus I/O format (No. 90 FMIO) PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the controller and number of occupied addresses in each mode. By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before transmission within the range of communication with the PLC s I/O addresses. Set value of Description parameter No Data is not swapped and sent as is to the PLC. (Refer to Example i.) The upper byte and lower byte of the upper word are swapped, while the upper byte and 1 lower byte of the lower word are also swapped. (Refer to Example ii.) In the case of a word register, the upper word and lower word are swapped. (Refer to 2 Example iii.) The upper byte and lower byte of the upper word are swapped, while the upper byte and lower byte of the lower word are also swapped. 3 (factory setting) In the case of a word register, the upper word and lower word are also swapped. (Refer to Example iv.) (Example i) Set value = 0 SCON input register indicates ON, while O indicates OFF. 4. SCON-CA/CB/CGB/CAL/CGAL Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 253

264 (Example ii) Set value = 1 indicates ON, while O indicates OFF. SCON input register Hexadecimal data 4. SCON-CA/CB/CGB/CAL/CGAL PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 254

265 (Example iii) Set value = 2 indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register 4. SCON-CA/CB/CGB/CAL/CGAL Hexadecimal data PLC: Input Hexadecimal data 255

266 (Example iv) Set value = 3 indicates ON, while O indicates OFF. SCON input register Hexadecimal data 4. SCON-CA/CB/CGB/CAL/CGAL PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No.159 setting value Speed setting unit 0 (Set in delivery) 1.0 mm/sec mm/sec 256