ROBO Cylinder DeviceNet Gateway Unit

ROBO Cylinder DeviceNet Gateway Unit
ROBO Cylinder
DeviceNet Gateway Unit
Operation Manual (Tentative) First Edition
DeviceNet Gateway
Table of Contents
1.
Overview...........................................................................................................................................................2
1.1. General Specifications ...............................................................................................................................3
1.2. External Dimensions ..................................................................................................................................4
2.
Name and Functional Overview of Each Part...............................................................................................5
2.1. Gateway-status Indicator LEDs [1] ............................................................................................................6
2.2. Controller-communication Status LEDs [2] ................................................................................................6
2.3. Mode Setting Switches [3]..........................................................................................................................6
2.4. Port Control/Switch Inputs and Controller Communication Lines [4] .........................................................7
2.5. DeviceNet Communication Lines [5]..........................................................................................................8
2.6. Teaching Device Connector [6]..................................................................................................................8
2.7. Power Inputs [7] .........................................................................................................................................8
3.
Remote I/O Assignment for DeviceNet..........................................................................................................9
3.1. Movement by Numerical Specification.......................................................................................................9
3.2. Movement by Position Number Specification ......................................................................................... 11
3.3. Assignment of Gateway Control/Status Words....................................................................................... 13
3.4. Signal Timing Chart................................................................................................................................. 14
4.
System Building Procedure ........................................................................................................................ 17
4.1. Controller Communication Settings ........................................................................................................ 17
4.2. DeviceNet Communication Settings ....................................................................................................... 18
4.3. Support of Omron’s CS/CJ Function Block/Function .............................................................................. 19
Appendix 1. Resetting Controller Alarms ......................................................................................................... 21
Appendix 2. External Connection Diagram....................................................................................................... 22
Appendix 3. Provision of Function Blocks ....................................................................................................... 23
-1-
DeviceNet Gateway
1. Overview
The Robo Cylinder DeviceNet Gateway Unit (hereinafter referred to as “DeviceNet Gateway”) is designed to
connect the DeviceNet network of a host programmable controller (PLC) with a SIO communication network of
Robo Cylinders (sub network).
The DeviceNet Gateway supports the Robo Cylinder RCP2 and ERC Series.
A maximum of 16 Robo Cylinders can be connected to one DeviceNet Gateway based on axis numbers of 1 to
All data exchanged between DeviceNet and Robo Cylinders is stored in the internal memory of the DeviceNet
16.
Gateway, and transmitted cyclically by the DeviceNet Gateway. From the PLC program, therefore, data is
recognized as remote DeviceNet I/Os.
Robo Cylinders can be controlled in two ways: one is to directly specify position data, speed,
acceleration/deceleration, positioning band (push band) and push %, and the other is to specify a position
number to effect movement.
A “gateway,” as commonly used in communication technologies, normally refers to a device that enables network
communication between different media or protocols by converting data between them.
(Note) For details on DeviceNet, refer to the operation manual for the PLC in which the master unit is installed.
Use this manual together with the operation manual for the applicable Robo Cylinder.
Also, assume that operations and uses not specifically permitted in this manual are prohibited.
SIO communication network of Robo Cylinders
Maximum of 16 axes
Fig. 1
Application System Overview
-2-
DeviceNet Gateway
1.1.
General Specifications
Item
Specification
Power-supply voltage
24 V ± 10%
Power-supply current
300 mA max.
Operating temperature
0 to 40°C
Operating humidity
85% RH or below (non-condensing)
Operating ambience
Free from corrosive gases.
Storage temperature
-10 to 65°C
Storage humidity
Protection class
90% RH or below (non-condensing)
Each of XYZ directions: 10 to 57 Hz, Single amplitude:
0.035 mm (continuous), 0.075 mm (intermittent)
IP20
Weight
480 g or less
External dimensions
35W x 178.5H x 68.1D mm
Poll OUT/Poll IN = 48/48, 52/28, 76/40, 100/52, 124/64,
196/100 (bytes)
0 to 63
Environment
Vibration resistance
I/O size
DeviceNet
specifications
SIO link
specifications
Node address
Communication speed
Transmission path
configuration
Communication method
125, 250, 500 (kbps)
Synchronization method
Start-stop synchronization
Transmission path type
Bus type (EIA-RS485 or equivalent, two-wire method)
Communication speed
230.4 kbps
Error control method
No parity bit, CRC (Cyclic Redundancy Check)*
Communication cable length
Total cable length: 100 m or less
Number of connectable axes
Allowable load voltage
Maximum 16 axes
Two twisted pair shielded cable
(HK-SB/20276XL 2P x AWG22 by Taiyo Electric Wire &
Cable is recommended.)
30 VDC
Allowable load current
1A
Communication cable
Emergency-stop
contact output for
teaching pendant
IAI’s dedicated multi-drop operation communication
Half duplex
* CRC (Cyclic Redundancy Check): A data error detection method widely used in synchronous transmissions.
-3-
DeviceNet Gateway
External Dimensions
(Mounting dimension)
1.2.
Fig. 2
External Dimensions
-4-
DeviceNet Gateway
2. Name and Functional Overview of Each Part
[1] Gateway status LEDs
RUN:
G.ER:
C.ER:
T.ER:
Normal
Error
DeviceNet error
Modbus error
[5] DeviceNet connector
Baud-rate setting switches
[2] Controller-communication status
LEDs
TxD:
RxD:
Node-address setting switches
Communication status LEDs
Data send
Data receive
[3] Mode setting switches
[4] Port selector inputs
PORT IN: Port selector input
PORT N: N
Controller communication lines
SDA:
SDB:
GND:
FG:
Communication line
Communication line
Ground
Frame ground
Port switch
ON:
OFF:
Port ON
Port OFF
[6] Teaching device connector
[7] Power inputs
Fig. 3 Front View of Gateway
-5-
DeviceNet Gateway
2.1.
Gateway-status Indicator LEDs [1]
Name
RUN
Indicator status
Steady green light
Unlit
G.ER
Steady red light
Unlit
C.ER
Steady red light
Unlit
T.ER
Steady red light
Unlit
2.2.
Meaning
The Gateway CPU is operating.
The CPU is not operating. If this LED is unlit even when the power is on,
the Gateway CPU is faulty.
The Gateway CPU is faulty or has stopped operating due to a major
failure.
The above abnormal conditions are not present.
The DeviceNet communication control part is faulty or cannot be
recognized from the Gateway CPU. A DeviceNet communication status
error. Refer to the explanation of [5].
Even when this LED is lit, a teaching device can be connected as long as
the RUN LED is lit.
The above abnormal conditions are not present.
A communication error (no response, overrun, framing error, CRC error)
with the controller whose configuration is defined in the Gateway control
register.
The above abnormal conditions are not present.
Controller-communication Status LEDs [2]
These LEDs indicate whether or not communication is active between the Gateway and controller. The LEDs
blink when the Gateway is relaying the host PLC and controller, or the teaching device and controller.
Name
TxD
Indicator status
Steady green light
Unlit
Steady green light
Unlit
RxD
2.3.
Meaning
The Gateway is sending data to the controller.
The above event does not take place.
The Gateway is receiving data from the controller.
The above event does not take place.
Mode Setting Switches [3]
These switches are used to set the operating mode of the Gateway. The switch statues are reflected in the
Gateway status word MOD.
4
Switch
3
2
I/O data
Meaning
Output Length (Byte) Input Length (Byte)
1
{
{
{
{
52
28
{
z
{
{
76
40
z
{
{
{
100
52
z
z
{
z
124
64
z
z
{
{
196
100
{
{
z
{
48
48
-6-
Numerical specification; max. 4 axes can be
connected
Numerical specification; max. 6 axes can be
connected
Numerical specification; max. 8 axes can be
connected
Numerical specification; max. 10 axes can be
connected
Numerical specification; max. 16 axes can be
connected
Position number specification; max. 16 axes can
be connected
DeviceNet Gateway
2.4.
2.4.1.
Port Control/Switch Inputs and Controller Communication Lines [4]
Port Switch and EMG Circuit
Teaching
pendant
TP connector
No-voltage contacts for
port control input
TP powersupply circuit
EMG-line
selector
contacts
Port
switch
Drive circuit
for EMG-line
selector relay
External EMG switch
Controller
Port control input Port switch
OFF
ON
OFF
ON
OFF
OFF
ON
ON
Fig. 4
2.4.2.
Teaching-pendant
power supply
Cut off
Supplied
Supplied
Supplied
EMG-line selector
contacts
Shorted
Open
Open
Open
Port Switch and EMG Circuit
Port Switch
Signal name Description
PORT IN
Port control input
Input current: 7 mA
Input voltage: 24 VDC ± 10%
Insulation method: Not insulated.
Leak current: 1 mA max.
PORT N
Port control input, N side Externally connected equipment:
No-voltage contacts are recommended.
Power is supplied to the teaching pendant. The EMG line from “S1” and “S2”
ON
to the teaching pendant is internally opened.
Port switch
Power to the teaching pendant is cut off. The EMG line from “S1” and “S2” to
OFF
the teaching pendant is internally opened.
* A MC1.5/6-ST-3.5 connector (by Phoenix Contact) is supplied.
2.4.3.
Controller Communication Lines
Signal name
SGA
SGB
GND
FG
Description
Communication line A
Communication line B
Digital ground
Frame ground (FG is connected to the frame.)
-7-
DeviceNet Gateway
2.5.
DeviceNet Communication Lines [5]
2.5.1.
DeviceNet Connector Assignments
To implement DeviceNet communication, a bus power of 24 VDC ± 10% must be supplied via the connector in addition to
connecting the signal lines.
Pin
1
2
3
4
5
2.5.2.
Signal
VCAN L
Shield
CAN H
V+
Description
Negative side of the power supply
Communication data, low
Shielded cable
Communication data, high
Positive side of the power supply
Baud-rate Setting Switches
Switches DR1 and DR0 can be used to set different baud rates, as shown in the table below ({ = OFF, z = ON):
Baud rate
125k
250k
500k
2.5.3.
DR1
○
○
●
DR0
○
●
○
Node-address Setting Switches
Switches NA1 to 32 can be used to set node addresses 0 to 63, as shown in the table below ({ = OFF, z = ON):
Address
2.5.4.
DeviceNet-communication Status LEDs
LED name
Status
NS
Unlit
(Network Status) Steady green light
Blinking green light
Steady red light
Blinking red light
MS
Unlit
(Module Status) Steady green light
Blinking green light
Steady red light
Blinking red light
2.6.
Description
No power/offline
Link OK, online, connected
Online, not connected
Fatal link failure
Connection timeout
No power
Device ready
Data overflow
Unrecoverable failure
Minor failure
Teaching Device Connector [6]
This connector is used to connect a teaching pendant or PC software cable.
2.7.
Power Inputs [7]
Symbol
24V
N
S1, S2
Description
Positive side of the 24-V power supply
Negative side of the 24-V power supply
Emergency-stop switch contacts: When the port switch is ON, the emergency-stop switch line to the
teaching pendant is opened. When the port switch is OFF, S1 and S2 are shorted.
* A MC1.5/4-ST-3.81 plug connector (by Phoenix Contact) is supplied.
-8-
DeviceNet Gateway
3. Remote I/O Assignment for DeviceNet
This section defines the remote Gateway I/O mapping on DeviceNet.
The same assignments apply to the Profibus Gateway and DeviceNet Gateway, but the assignments for the CC-Link Gateway
are different.
3.1.
Movement by Numerical Specification
Target position, speed, acceleration/deceleration, push band and push % are numerically specified to effect movement.
Each axis is expressed by 6 input bytes and 12 output bytes.
The control and status of the Gateway itself are expressed by 4 input bytes and 4 output bytes, regardless of the movement
pattern.
The input/output byte lengths are set by the mode setting switches.
3.1.1.
CH+
00
Overall Configuration
PLC output
Gateway control
02
Axis 0 control
08
Axis 1 control
14
Axis 2 control
20
PLC input
Gateway status
Axis 0 status
Axis 1 status
Mode setting 0
Axis 2 status
Axis 3 status
Axis 4 status
Axis 5 status
Mode setting 4
Axis 6 status
Axis 3 control
26
Axis 4 control
32
Axis 7 status
Mode setting 8
Axis 8 status
Axis 9 status
Mode setting 12
Axis 10 status
Axis 5 control
38
Axis 11 status word
Axis 11 status
Axis 12 status
Axis 6 control
44
Axis 11 current position (3 bytes)
Axis 13 status
Axis 14 status
Axis 7 control
RSV
Axis 15 status
50
Axis 8 control
56
Axis 9 control
Last axis under fixed assignment
(A maximum of 64 channels are
supported in fixed assignment)
62
Axis 10 control
Axis 11 target position (3 bytes)
68
Axis 11 control
Axis 11 push %
74
Axis 12 control
Axis 11 speed (3 bytes)
80
Axis 11
acceleration/deceleration
Axis 13 control
86
Axis 11 positioning band (3 bytes)
Axis 14 control
Axis 11 control byte
92
Axis 15 control
Fig. 5
Overall Configuration for Numerical Control
-9-
DeviceNet Gateway
3.1.2.
Remote I/O Assignment for Each Axis
Each axis consists of 6 output words and 3 input words, as shown below.
Target position
Push %
Speed
PLC output
Acceleration/deceleration
Positioning band
Control byte
Status word
PLC input
Current position
RSV
Detailed Explanation
Target position
Push %
Speed
Acceleration/
deceleration byte
Positioning band
Control byte
Status word
Current position
Bit
15-00, 07-00
15-08
15-00, 07-00
Name
SV
PPOW
SPEED
Description
24-bit signed integer (unit: 0.01 mm), up to 0x0F423F
Current-limiting value in push-motion operation (0x00 to FF: 0 to 100%)
24-bit integer (unit: 0.01 mm/sec), up to 0x0F423F
15-08
ADCC
8-bit integer (unit: 0.01 G), up to 200
15-00, 07-00
15
14
13
12
11
10
09
08
07
06
05
04
03
02
01
00
15-08
15-00, 07-00
15-08
INP
DIR
PUSH
Son
Stp
Home
Cstr
AlRs
Emg
PsfL
Crdy
Son
Move
Hend
Pend
Alm
RSV
PV
RSV
24-bit integer (unit: 0.01 mm), up to 0x0F423F
Push direction (0 = Home return direction, 1 = Opposite of home return direction)
Push-motion command
Servo on command
Pause command
Home return command
Movement command
Alarm reset
Emergency stop actuated
No contact in push-motion operation
Controller ready
Servo status
Moving
Home return complete
Movement complete
Alarm (Operation cannot be continued)
Reserved
24-bit signed integer (unit: 0.01 mm), up to 0x0F423F
Reserved
-10-
DeviceNet Gateway
3.2.
Movement by Position Number Specification
A position number is specified to effect movement. Each axis is expressed by 2 input bytes and 2 output bytes.
The details of control byte and status byte are the same as those explained in “Movement by Numerical
Specification.” The control and status of the Gateway itself are expressed by 4 input bytes and 4 output bytes,
regardless of the movement pattern. Both input and output lengths are fixed to 48 bytes.
3.2.1.
Overall Configuration
PLC output
Gateway control word 0
Gateway status word 0
Gateway control word 1
Gateway status word 1
Axis 0 POS specification
Axis 0 control byte
Axis 0 POS status
Axis 0 status byte
Axis 1 POS specification
Axis 1 control byte
Axis 1 POS status
Axis 1 status byte
Axis 2 POS specification
Axis 2 control byte
Axis 2 POS status
Axis 2 status byte
Axis 3 POS specification
Axis 3 control byte
Axis 3 POS status
Axis 3 status byte
Axis 4 POS specification
Axis 4 control byte
Axis 4 POS status
Axis 4 status byte
Axis 5 POS specification
Axis 5 control byte
Axis 5 POS status
Axis 5 status byte
Axis 6 POS specification
Axis 6 control byte
Axis 6 POS status
Axis 6 status byte
Axis 7 POS specification
Axis 7 control byte
Axis 7 POS status
Axis 7 status byte
Axis 8 POS specification
Axis 8 control byte
Axis 8 POS status
Axis 8 status byte e
Axis 9 POS specification
Axis 9 control byte
Axis 9 POS status
Axis 9 status byte
Axis 10 POS specification
Axis 10 control byte
Axis 10 POS status
Axis 10 status byte
Axis 11 POS specification
Axis 11 control byte
Axis 11 POS status
Axis 11 status byte
Axis 12 POS specification
Axis 12 control byte
Axis 12 POS status
Axis 12 status byte
Axis 13 POS specification
Axis 13 control byte
Axis 13 POS status
Axis 13 status byte
Axis 14 POS specification
Axis 14 control byte
Axis 14 POS status
Axis 14 status byte
Axis 15 POS specification
Axis 15 control byte
Axis 15 POS status
Axis 15 status byte
Fig. 6
Overall Assignment Structure for POS Movement
-11-
PLC input
DeviceNet Gateway
3.2.2.
Remote I/O Assignment for Each Axis
Each axis consists of 2 input bytes and 2 output bytes, as shown below.
PLC output
Position number
Control byte
PLC input
Position status
Status byte
Detailed Explanation
Bit
Symbol
Description
Control byte
Position number
07-00
05-00
PC32 ~ 1
Refer to the control byte for numerical specification.
Position number specification
Status byte
07-00
07-06
Z1, Z2
Refer to the status word for numerical specification.
Zone 1/2 output monitor
05-00
PM32 ~ 1
Position status
Position status
-12-
DeviceNet Gateway
3.3.
Assignment of Gateway Control/Status Words
These words are used to indicate the Modbus communication status and for status indication and control of the
Gateway itself.
Control word 0
Control word 1
Status word 0
Status word 1
Gateway Control/Status Word Details
Control word 0
Control word 1
Status word 0
Status word 1
Bit
Symbol
Description
15
MON
Modbus communication start command
14-00
-
Reserved
15-00
CFG#
Configuration definition for axis #
When this bit is turned ON, T.ER will also turn ON if a
communication error occurs with the applicable axis (link not
established).
15
RUN
The Gateway is normal (same meaning as the RUN LED).
14
G.ER
The Gateway is abnormal (same meaning as the G.ER LED).
13
T.ER
Modbus communication error (same meaning as the T.ER LED).
12
TPC
TP port status
11-08
MOD
Mode setting status
08-00
-
Reserved (Gateway version is currently indicated)
15-00
LINK#
Link status of axis #
-13-
DeviceNet Gateway
3.4.
3.4.1.
Signal Timing Chart
Overview
Controller operation timings via the Gateway, as seen from the user application in the PLC, are indicated.
The chart below shows the timings after the PLC application program turns ON a specified control bit to execute
axis operation, until the response is returned to the application.
Maximum response time = DeviceNet transmission delay + 2 x Mt + Response processing time
Mt (Modbus cycle time: ms) = 10 x Number of axes whose configuration is defined
For the master → remote I/O station transmission delay (Yt) and remote I/O station → master transmission delay
(Xt), refer to the operation manuals for the applicable master unit and the PLC in which the master unit is
installed.
PLC application program
Control bits
Status bits
Remote I/O station → master
station transmission delay
(Xt)*1
Master → remote I/O station
transmission delay (Yt)*1
Gateway
Control bits
Status bits
Modbus cycle time
(Mt)*2
Modbus cycle time
(Mt)*2
Controller
Control bits
Response
processing time*3
Status bits
*1 Refer to the PLC manual.
*2 Varies depending on the number of
connected controllers.
*3 Varies depending on the content of control.
Fig. 7
Response Timings
The timings for individual control functions are explained in the following sections.
-14-
DeviceNet Gateway
3.4.2.
Movement Data and Control Bits
The relationships of movement data (acceleration/deceleration, speed, target position, positioning band, push %,
position number) and control bits (Cstr, Push, Dir, Pend, Psfl, Move) are specified below.
[1] A value within the setting range is set.
[2] Cstr turns ON (together with Push and/or Dir, if necessary) the moment [1] occurs or thereafter (≥ 0).
[3] Pend (Psfl) turns OFF upon elapse of tdpf after Cstr has turned ON.
[4] Cstr (Push, Dir) remains ON and the target position is maintained until Pend (Psfl) turns OFF.
[5] Move turns ON the moment Pend turns OFF or within 1 Mt thereafter.
[6] After the target position has been reached, Pend (Psfl) turns ON the movement the current position is
refreshed or within 1 Mt thereafter.
[7] Move turns OFF the moment Pend (Psfl) turns ON or within 1 Mt thereafter.
Set value
Current value
Fig. 8 Timing Chart for Numerical Specification Words, Cstr, Pend and Move
Name
Minimum (ms)
twcsON
twcsOFF
tdpf
1Mt
1Mt
Yt+2Mt+Xt
Maximum (ms)
Overview
Minimum Cstr ON duration
Minimum Cstr OFF duration
Yt+2Mt+Xt+7
Cstr ON → Pend OFF delay
-15-
DeviceNet Gateway
3.4.3.
Pause (STP, MOVE)
Fig. 9
Name
Minimum (ms)
Timing Chart for STP and Move
Maximum (ms) Overview
Tdicm
*1
Stp ON → Move OFF delay
Tdicp
Yt+2Mt+Xt+6
Stp OFF → Move ON delay
3.4.4.
Note
*1: Varies depending on the
acceleration/deceleration.
Servo On, Home Return (SOn, Home)
SOn is activated upon level detection, while Home is activated upon turning ON of the signal is detected.
Fig. 10 Timing Chart for Servo On and Home Return
-16-
DeviceNet Gateway
4. System Building Procedure
To implement communication between a PLC and a single-axis controller via a Gateway, the following settings
are required:
• Controller settings to implement Modbus communication between the Gateway and controller
• PLC and Gateway settings to implement DeviceNet communication between the PLC and Gateway
4.1.
Controller Communication Settings
The following three items must be set to implement communication between the Gateway and single-axis
controller:
• Set a unique axis number in a range of 0 to 15.
• Set the user parameter “SIO Baudrate” to “230400” (230.40 kbps).
• Set the user parameter “Min delay for activating local transmitter” to “2” or a greater value.
The figure below gives a setting example of the user parameter setting window in the PC software (Modbus
communication version).
Fig. 11 Setting Example of User Parameter Setting Widow in PC Software
(Note)
The communication speed is not set automatically. If you have connected the PC software or
teaching pendant to individual Robo Cylinder controllers directly (= the communication speed is set
automatically), cycle the power.
-17-
DeviceNet Gateway
4.2.
DeviceNet Communication Settings
The following three items must match between the DeviceNet settings on the Gateway side and those on the PLC
side.
Table 1 Setting Correspondence Table
No.
Gateway
PLC
1
Baud-rate setting switches
Baud-rate setting switches
2
Address switch settings
Gateway node address*1
3
Mode setting SW1
Gateway I/O size setting*1
Output Length (Byte)
Input Length (Byte)
4
3
2
1
{
{
{
{
52
28
Numerical, 4 axes
{
z
{
{
76
40
Numerical, 6 axes
z
{
{
{
100
52
Numerical, 8 axes
z
z
{
z
124
64
Numerical, 10 axes
z
z
{
{
196
100
Numerical, 16 axes
{
{
z
{
48
48
POS, 16 axes
*1) Use DeviceNet Configurator to specify PLC settings in accordance with the corresponding Gateway
settings. If a FB is used, the beginning input channel must be “beginning output channel + 100.”
-18-
DeviceNet Gateway
4.3.
Support of Omron’s CS/CJ Function Block/Function
By utilizing the function block (FB)/function (FC) provided by IAI, you can program the Gateway without having to
know the details of I/O assignments. These FB and FC basically perform addressing and range checks for certain
input parameters, and can be used only with Omron’s CS/CJ Series PLCs of V3.0 or later.
The following FB and FC are supported.
4.3.1.
Name
Overview
GW_CTL_FC
Start and stop Gateway-controller communication, and specify linked axes
RC_NVC_FB
Execute movement by numerical specification
GW_CTL_FC
Gateway status
Modbus communication start
Axis link status
Axis-configuration definition word
Gateway’s beginning
output-channel number
Description:
This FB provides access to the Gateway control/status words.
Before other FBs can be called, Gateway-controller communication must be started using this FB.
Configuration must be performed, if necessary.
In GW_CH, set the Gateway’s beginning output-channel number specified by DeviceNet Configurator (the
beginning input-channel number must be “output channel number + 100”; refer to 4.2, “Device Net
Communication Settings”).
Since this FB does not store data internally, it can be used like a function. However, the FB does not support
setting of dynamic data, so normally one instance is called at one location.
Parameters:
I/O
Input
Output
Parameter name Data type
MON
BOOL
CFG
WORD
GW_CH
GW_STS
LNK2
INT
WORD
WORD
Description
Gateway-controller communication is started.
Specify the axis to be configured using a bit pattern.
(Bit 0 = Axis 0, Bit 15 = Axis 15)
Gateway’s beginning output-channel number
Gateway status word 0 is output.
Gateway status word 1 is output.
-19-
DeviceNet Gateway
4.3.2.
RC_NVC_FB
Servo on
Controller ready
Home return
Servo status
Pause
Home return complete
Alarm reset
Alarm
Movement request
Emergency stop actuated
Push motion
Movement completion pulse
Push direction
Moving
Target position
Current position
Speed
Address error
Acceleration/deceleration
Push %
Positioning band
Gateway’s beginning channel number
Axis number
Description:
For details on the I/O parameters, refer to 3, “Remote I/O Assignment for DeviceNet.”
In GW_CH, set the Gateway’s beginning output-channel number specified by DeviceNet Configurator (the
beginning input-channel number must be “output channel number + 100”; refer to 4.2, “Device Net
Communication Settings”).
SV, VELO, ADCC, INP and PPOW are transferred from the Gateway to the controller and executed when MREQ
turns ON. Other parameters are always effective when called. For example, calling a FB during home return will
change the applicable output parameters in accordance with the home return operation even when MREQ is OFF.
Parameters:
I/O
Input
Output
Parameter name
SON
HOME
STOP
ALMRS
MREQ
PUSH
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
DIR
BOOL
SV
SPEED
ADCC
PPOW
INP
LADDR
AXIS
RDY
SERVO
HEND
ALM
EMG
DINT
DINT
INT
WORD
DINT
INT
INT
BOOL
BOOL
BOOL
BOOL
BOOL
DONE
BOOL
MOVE
PV
AERR
BOOL
DINT
WORD
Description
Servo on command
Home return command
Pause command
Alarm reset command
Movement request (Issued upon FALSE → TRUE)
Push mode, if TRUE
Push direction (0 = Home return direction, 1 = Opposite of home
return direction)
Target position (Set value)
Speed
Acceleration/deceleration
Push % (Effective, if PUSH is ON)
Positioning band (Push band, if PUSH is ON)
Gateway’s beginning I/O address
Axis number (0 to 15)
Controller ready
Servo status
Home return complete
Alarm
Emergency stop actuated
Movement complete (1 pulse is output upon completion (when Pend
or Psfl turns ON))
Moving, if TRUE
Current position (Process value)
AXIS exceeds 15 or is a negative value, or LADDR is a negative value.
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DeviceNet Gateway
Appendix 1. Resetting Controller Alarms
The table below lists the causes of alarms that may generate in the RCP2/ERC controllers, corresponding codes
(can be checked in the PC software or on the TP), and whether or not each alarm can be reset by issuing a reset
command via the Gateway.
If the cause of the alarm is not removed, the alarm will generate again after the reset.
Cause of alarm
Code
Reset
A movement command was issued when the servo was off.
A home return command was issued when home return was
disabled.
A position command was issued when home return was not yet
completed.
An absolute position movement command was issued when home
return was not yet completed.
A movement command was issued during home return.
Data error occurred when a parameter was being executed
Data error occurred when position data was being executed
Data error occurred when position command information was being
executed
Excitation detection error
Home sensor not detecting
Home return timeout
Excessive actual speed
Servo error
Overvoltage
Overheat
Control power-supply voltage error
Control power-supply voltage low
Deviation overflow
Phases A/B open
Phase A open
Phase B open
Absolute encoder error detected 1
Absolute encoder error detected 2
Absolute encoder error detected 3
PCB mismatch error
Non-volatile memory write limit exceeded
Non-volatile memory write timeout
Non-volatile memory write error
Non-volatile memory data corrupted
CPU error
FPGA error
03
{
03
{
03
{
03
{
03
06
06
{
{
{
06
{
07
07
07
08
08
09
09
09
09
0B
0D
0D
0D
0D
0D
0D
04
05
05
05
0F
0E
0E
x
{
{
{
{
{
{
{
{
{
x
x
x
{
{
{
x
{
{
{
{
x
{
{ --- Can be reset, x --- Cannot be reset
-21-
DeviceNet Gateway
Appendix 2. External Connection Diagram
Teaching
pendant
TP connector
TP powersupply circuit
EMG-line
selector
contacts
Port
switch
No-voltage contacts for
port control input
Drive circuit
for EMG-line
selector relay
External EMG switch
RCP2
Internal
relay type
RCP2
Internal
relay type
RCP2
Internal
relay type
Terminal
resistor
Fig. 12 External Connection Diagram
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DeviceNet Gateway
Appendix 3. Provision of Function Blocks
Omron’s CS/CJ function blocks are individually saved in “xcf” files using CX-Programmer. To use a given function
block in programming, the user drags the applicable xcf file from the library and inserts it in the “Function Block”
layer of the project tree.
If necessary, xcf files are provided to the user together with documentations.
Fig. 13 Saving Function Block in CX-Programmer
Fig. 14
Inserting Function Block in CX-Programmer
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DeviceNet Gateway
First Edition. Created June 6, 2005.
-24-
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