PROFIBUS-DP(ME0258

PROFIBUS-DP(ME0258
PROFIBUS-DP
Operation Manual, First Edition
ACON
PCON
SCON-CA
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 CD/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.
Title of operation manual/Overview
1
PROFIBUS-DP 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
ME0153
Table of Contents
Please Read Before Use ..........................................................................................................3
1. Overview ............................................................................................................................7
2. Specifications .....................................................................................................................8
2.1
Interface Specifications...................................................................................................................8
3. ACON, PCON.....................................................................................................................9
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
Operation Modes and Functions.....................................................................................................9
Model Names ............................................................................................................................... 12
PROFIBUS-DP (Slave Station) Settings...................................................................................... 13
Communication with the Master Station ...................................................................................... 16
3.4.1 Operation Modes and Handling of PLC Addresses ........................................................ 16
3.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) ......................................................... 19
3.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) ........................................ 25
3.4.4 Half Direct Mode (Number of Occupied Bytes: 16)......................................................... 30
3.4.5 Full Direct Mode (Number of Occupied Bytes: 32) ......................................................... 37
3.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) .................................................... 46
3.4.7 I/O Signal Controls and Functions .................................................................................. 50
I/O Signal Timings........................................................................................................................ 65
Operation ..................................................................................................................................... 66
PROFIBUS-DP Parameters......................................................................................................... 74
Troubleshooting ........................................................................................................................... 79
3.8.1 Status LED Indicators ..................................................................................................... 79
3.8.2 Alarm Details and Causes/Actions.................................................................................. 79
CE Marking .................................................................................................................................. 80
4. SCON-CA.........................................................................................................................81
4.1
4.2
4.3
4.4
Operation Modes and Functions.................................................................................................. 81
Model Names ............................................................................................................................... 85
PROFIBUS-DP (Slave Station) Settings...................................................................................... 86
Communication with the Master Station ...................................................................................... 89
4.4.1 Operation Modes and Handling of PLC Addresses ........................................................ 89
4.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) ......................................................... 94
4.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) ........................................ 99
4.4.4 Half Direct Mode (Number of Occupied Bytes: 16)....................................................... 104
4.4.5 Full Direct Mode (Number of Occupied Bytes: 32) ....................................................... 111
4.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) .................................................. 122
4.4.7 Position/Simple Direct Mode 2 (Number of Occupied Bytes: 8) ................................... 126
4.4.8 Half Direct Mode 2 (Number of Occupied Bytes: 16).................................................... 131
4.4.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) .................................................. 138
4.4.10 Half Direct Mode 3 (Number of Occupied Bytes: 16).................................................... 142
4.4.11 I/O Signal Controls and Functions ................................................................................ 149
4.5
4.6
4.7
4.8
I/O Signal Timings...................................................................................................................... 166
Operation ................................................................................................................................... 167
PROFIBUS-DP Parameters....................................................................................................... 175
Troubleshooting ......................................................................................................................... 180
4.8.1 Status LED Indicators ................................................................................................... 180
4.8.2 Alarm Details and Causes/Actions................................................................................ 180
5. Change History...............................................................................................................181
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.
No.
1
Operation
Description
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 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
Do not use the product outside the specifications. Failure to do so may
considerably shorten
1
No.
2
2
Operation
Description
Transportation
3
Storage and
Preservation
4
Installation and
Start
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.
Consider well so that it is not bumped against anything or dropped during the
transportation.
Transport it using an appropriate transportation measure.
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.
The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
(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.
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) 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.
No.
4
Operation
Description
Installation and
Start
Description
(3) Grounding
Make sure to perform the grounding of type D (Former Type 3) for the controller.
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.
(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.
3
5
Operation
Description
Teaching
6
Trial Operation
7
Automatic
Operation
No.
4
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 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.
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.
Before the automatic operation is started up, make sure that there is nobody inside
the safety protection fence.
Before the automatic operation is started up, make sure that all the related
peripheral machines are ready for the automatic operation and there is no error
indication.
Make sure to perform the startup operation for the automatic operation, out 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.
No.
8
9
10
Operation
Description
Maintenance
and Inspection
Modification and
Dismantle
Disposal
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.
* Safety protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
Do not modify, disassemble, assemble or use of maintenance parts not specified
based at your own discretion.
When the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
5
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
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
6
Symbol
1.
Overview
Each controller is treated as a slave station in PROFIBUS-DP and can be used to exchange I/O data.
This Operation Manual covers the ACON, PCON and SCON-CA series.
*
For details on PROFIBUS-DP, 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.
PLC Master station
Master
unit
CPU
unit
(Node)
Remote I/O
terminal
Slave stationRemote I/O
terminal
Slave station
Slave
station
Slave
station
Slave
station
Slave Slave
station station
Slave
station
Slave
station
Slave
station
Slave
station
Slave
station
7
1. Overview
The open field network PROFIBUS-DP 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, SCON-C, ASEL, PSEL, SSEL,
ACON, PCON and SCON-CA controllers (hereinafter collectively and individually referred to as “Each Controller”)
to a PROFIBUS-DP network.
2.
2. Specifications
2.1
Specifications
Interface Specifications
The table below lists the specifications of the PROFIBUS-DP interface.
Item
Communication profile
Communication method
Number of connectable
stations
Communication data length
Physical profile
Specification
PROFIBUS-DP
Hybrid method
32 stations per segment
Transmission distance
Topology
Cable
*1
Master/slave method with token passing
Up to 126 stations can be connected if a
repeater is used.
Maximum 244 bytes per frame
RS485
Baud rate (kbps)
Remarks
9.6/19.2/93.75/187.5/500
1500/3000/6000/12000
Maximum distance over the
entire network
100 m
200 m
400 m
1000 m
1200 m
Bus/tree/star
Single shielded twisted pair
cable
* A general physical profile is RS485.
* Use of a 9-pin D-sub connector is
recommended for IP20 configurations.
*1
Baud rate
Cable type
12,000/6,000/3,000 kbps Type A cable
1,500 kbps
500 kbps
187.5 kbps
9.6/19.2/93.75 kbps
Type A cable
The baud rate of a PROFIBUS-DP network can be specified only when the PROFIBUS-DP network is set up
using a configurator (*2).
The baud rate of all PROFIBUS-DP slave modules is set with this configurator, and therefore a different baud
rate cannot be set for an individual slave station.
*2
8
For the PROFIBUS-DP configurator, use the configurator recommended for the master unit.
3.
3.1
ACON, PCON
Operation Modes and Functions
ACON and PCON controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected
from the following five modes.
3. ACON, PCON
Operation Modes and Key Functions
Remote I/O
Position/simple
Remote I/O
Key function
Half direct mode Full direct mode
mode
direct mode
mode 2
Number of occupied
2
8
16
32
12
bytes
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
x
number specification
Completed position
{
{
{
x
x
number read
Maximum position
512
768
Not used
Not used
512
table size
(*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 PROFIBUS-DP
communication.
Number of occupied bytes: 2 bytes (1 word)
ACON/PCON not
supporting PROFIBUS-DP
PLC
Flat cable
PIO connection
ACON/PCON supporting
PROFIBUS-DP
PLC
Communication
cable
PROFIBUS-DP
9
3. ACON, PCON
[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: 8 bytes (4 words)
PLC䢢
Target position: 100.00 mm
+
Position No. 0
Speed
ACON/PCON supporting
PROFIBUS-DP
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 bytes: 16 bytes (8 words)
PLC䢢
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec
Acceleration/deceleration:
0.30 G
Push current: 50%
ACON/PCON supporting
PROFIBUS-DP
10
Speed
Acceleration Deceleration
Actuator
Push
[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: 32 bytes (16 words)
䣒䣎䣅䢢
3. ACON, PCON
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
Zone+: 50.00 mm
Zone-: 30.00 mm
ACON/PCON supporting
PROFIBUS-DP
Actuator
[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via PROFIBUS-DP
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 12 bytes (6 words)
PLC
ACON/PCON not
supporting PROFIBUS-DP
Flat cable
PIO connection
ACON/PCON supporting
PROFIBUS-DP
PLC
Communication
cable
PROFIBUS-DP connection
11
3.2
Model Names
The model names of ACON and PCON controller supporting PROFIBUS-DP are indicated as follows,
respectively:
3. ACON, PCON
z ACON-C/CG-…-PR-…
z PCON-C/CG-…-PR-…
Printed series name
z ACON
z PCON
12
Front panel color
z ACON: Dark blue
z PCON: Dark green
3.3
PROFIBUS-DP (Slave Station) Settings
(1) Name of each part
The name of each part relating to PROFIBUS-DP is shown.
Status indicator LEDs
3. ACON, PCON
Status LEDs
PROFIBUS-DP communication connector
(2) PROFIBUS-DP communication connector interface specifications
This is a 9-pin, female D-sub connector recommended by the PROFIBUS-DP standard EN 50170.
Connector
Pin No.
Description
Contents
3
B-Line
RxD, TxD (Positive signal line)
4
RTS
Request to send
5
GND
Signal ground (isolation)
6
+5V
+5-V output (isolation)
8
A-Line
/RxD, /TxD (Negative signal line)
Housing
Shield
Cable shield (enclosure and connection)
(Note 1) Pins 1, 2, 7 and 9 are not used (they need not be wired).
(Note 2) The cable-end connector is not supplied.
13
(3) Bus terminal processing
If the connector is to be connected to the network terminal node, connect the terminal resistor to the
PROFIBUS-DP communication connector as shown below or use a connector with terminal resistor.
z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)
z Connecting the terminal resistor
3. ACON, PCON
Board-end female Network-end male connector
connector
(from counter-insertion side)
Network
wiring
(4) Operation mode selection (setting)
Set a desired operation mode using a parameter.
Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No.
84, “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 3.7,
“PROFIBUS-DP.”)
Number of
occupied bytes
0 (factory setting)
Remote I/O mode
2
1
Position/simple direct mode
8
2
Half direct mode
16
3
Full direct mode
32
4
Remote I/O mode 2
12
* If a greater value is entered, an excessive input error will occur.
Set value
Operation mode
(5) Node address setting (Refer to 3.7.)
Set the node address using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software.(Refer to 3.7, “PROFIBUS-DP
Parameters.”)
Settable range: 0 to 125 (The parameter has been set to 1 at the factory.)
(Note 1) Pay attention to duplicate node address settings.
(Note 2) PROFIBUS-DP node addresses are set with the master station always having address 0. Accordingly,
addresses of slave stations can be set between 1 and 125.
14
(6) Status LED indications
The board operating condition and network condition can be checked using the two LEDs provided on the front
side of the controller.
LED
Green
Orange
Green
STATUS0
Orange
Indicator
condition
Lit
Blinking
Blinking
Lit
Blinking
Lit
Description of indication (Meaning of indication)
The board is online with the fieldbus network and communicating
normally.
The board is offline from the fieldbus network.
A communication error is present.
The board is operating properly.
The board is not yet ready.
A communication hardware error was detected when the board
was not yet ready.
(Note 1) After the necessary parameters have been set, reconnect the controller power and return the mode
selector switch on the front side of the controller to the AUTO position. If the switch remains in the
MANU position, PLC operation cannot be performed.
(Note 2) The baud rate is automatically set according to the corresponding setting on the master side and
thus need not be set.
15
3. ACON, PCON
STATUS1
Color
3.4
Communication with the Master Station
3.4.1
Operation Modes and Handling of PLC Addresses
3. ACON, PCON
The address assignments under each operation mode are shown below.
PLC output ACON/PCON input (* n indicates the initial output address for each axis.)
PLC output
address (word
address)
n
Remote I/O
mode
Number of
occupied bytes: 2
Port number
0 to 15
ACON/PCON DI and input data resister
Position/simple
Half direct mode Full direct mode
direct mode
Number of
occupied bytes: 8
Target position
Remote I/O
mode 2
Number of
Number of
Number of
occupied bytes: 16 occupied bytes: 32 occupied bytes: 12
Port number 0 to
15
Target position
Target position
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
Specified position
number
Control signal
Positioning band
Positioning band
Occupied area
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
Speed
specification
Zone boundary+
Zone boundaryAcceleration
Deceleration
Push-current
limiting value
ACON
n+13
PCON
n+14
n+15
Occupied
area
Load
current
threshold
Control signal 1
Control signal 2
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
16
ACON/PCON output PLC input (* n indicates the initial input address for each axis.)
PLC input
address (word
address)
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
Number of
occupied bytes: 2
Port number 0 to
15
ACON/PCON DO and output data resister
Position/simple
Half direct mode Full direct mode
direct mode
Number of
occupied bytes: 8
Current position
Remote I/O
mode 2
Number of
Number of
Number of
occupied bytes: 16 occupied bytes: 32 occupied bytes: 12
Port number 0 to
15
Current position
Current position
Occupied area
Completed position
number
Command current
(simple alarm ID)
Status signal
Command current
Current position
Current speed
Current speed
Command current
Alarm code
Status signal
Alarm code
Occupied area
Status signal
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
17
3. ACON, PCON
n
Remote I/O
mode
z Reference: Example of PLC address assignment rules --- Fuji Electric
The PLC address assignment rules are shown below.
Bus station
number
Prefix
Word number
Bit address
3. ACON, PCON
Prefix
Input bit address (address per bit)
Input word address (address per word)
Output bit address (address per bit)
Output word address (address per word)
Bus station number
This number indicates the installation position of the PROFIBUS-DP master unit within the PLC units is indicated.
PROFIBUS-DP
master station
CPU
Power supply
Station 1 Station 2
Word address
Word addresses refer to addresses of DI/DOs and I/O data registers of an ACON or PCON assigned to the
master station, being arranged sequentially in units of words.
Bit address
Bit addresses refer to addresses of DI/DOs and I/O data registers of an ACON or PCON assigned to a word
address, being arranged sequentially in units of bits.
18
3.4.2
Remote I/O Mode (Number of Occupied Bytes: 2)
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
PIO pattern
ROBO Cylinder
0:
1:
2:
3:
4:
5:
function
Positioning
Teaching
256-point
512-point
Solenoid
Solenoid
mode
mode
mode
mode
valve mode 1 valve mode 2
{
{
{
{
{
Home return operation
x
{
{
{
{
{
{
Positioning operation
Speed &
{
{
{
{
{
{
acceleration/decelerati
on 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 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.
19
3. ACON, PCON
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.)
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.
2
256-point mode 256 positioning points, 1 zone output
3
512-point mode 512 positioning points, no zone output
4
Solenoid valve
7 positioning points, 2 zone outputs
mode 1
An operation command can be specified directly for each
position number.
A positioning complete signal is output for each position
number.
5
Solenoid valve
3 positioning points, 2 zone outputs
mode 2
Operation using forward, reverse and interim position
commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
3. ACON, PCON
Parameter
ACON/PCON DI
PLC output address
No. 84
(port number)
0
0 to 15
n
Pay attention to use of duplicate addresses.
ACON/PCON DO
(port number)
0 to 15
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses.
z I/O addresses are controlled by bit ON/OFF signals from the PLC.
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Controller
input port
number
PLC input
address
Controller
output port
number
20
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
PLC input address
n
(3) I/O signal assignments
Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)
ACON
0
1
2
3
4
5
Positioning mode
0
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
6
PLC
output ACON
input
ACON
output PLC
input
Cannot be used.
7
8
9
10
11
12
Forced brake release
Operation mode
Home return
Pause
BKRL
RMOD
HOME
*STP
13
Positioning start
CSTR
14
15
0
1
2
3
4
5
6
7
8
9
Reset
Servo ON command
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
MOVE
ZONE1
PZONE
RMDS
10
Completed position
number
Moving signal
Zone 1
Position zone
Operation mode
Home return
complete
HEND
11
Positioning complete
signal
PEND
12
13
14
15
Operation ready
Emergency stop
Alarm
Cannot be used.
SV
*EMGS
*ALM
-
Home return complete
Positioning complete
signal/position data
read complete
Operation ready
Emergency stop
Alarm
Cannot be used.
256-point mode
2
Signal name
Symbol
PC1
PC2
PC4
PC8
Command position
PC16
number
PC32
PC64
Cannot be used.
Forced brake release
Operation mode
Home return
Pause
PC128
BKRL
RMOD
HOME
*STP
Positioning start
CSTR
Reset
Servo ON command
Position zone
Operation mode
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PZONE
RMDS
HEND
Home return complete
HEND
PEND/
WEND
Positioning complete
signal
PEND
SV
*EMGS
*ALM
-
Operation ready
Emergency stop
Alarm
Cannot be used.
SV
*EMGS
*ALM
-
Completed position
number
* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
21
3. ACON, PCON
Category Port No.
Setting of parameter No. 25
Teaching mode
1
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
Teaching mode
MODE
command
Jog/inching switching
JISL
+Jog
JOG+
-Jog
JOGOperation mode
RMOD
Home return
HOME
Pause
*STP
Positioning start /
CSTR/
Positioning data read
PWRT
command
Reset
RES
Servo ON command
SON
PM1
PM2
PM4
Completed position
number
PM8
PM16
PM32
Moving signal
MOVE
Teaching mode signal MODES
Position zone
PZONE
Operation mode
RMDS
3. ACON, PCON
ACON
512-point mode
Category Port No.
3
Signal name
Symbol
0
PC1
1
PC2
2
PC4
3
PC8
Command position
4
PC16
number
5
PC32
6
PC64
PLC
7
PC128
output ACON
PC256
8
input
9
Forced brake release BKRL
10
Operation mode
RMOD
11
Home return
HOME
12
Pause
*STP
13
Positioning start
CSTR
14
Reset
RES
15
Servo ON command
SON
0
PM1
Completed position 0
PE0
1
PM2
Completed position 1
PE1
PM4
Completed position 2
PE2
PM8
PM16
PM32
PM64
PM128
PM256
RMDS
Completed position 3
Completed position 4
Completed position 5
Completed position 6
Zone 1
Position zone
Operation mode
PE3
PE4
PE5
PE6
ZONE1
PZONE
RMDS
Solenoid valve mode 2
5
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Cannot be used.
Reset
RES
Servo ON command
SON
Rear end move
LS0
command 0
Rear end move
LS1
command 1
Rear end move
LS2
command 2
Cannot be used.
Zone 1
ZONE1
Position zone
PZONE
Operation mode
RMDS
HEND
Home return complete
HEND
Home return complete
HEND
PEND
Cannot be used.
-
SV
*EMGS
*ALM
-
Operation ready
Emergency stop
Alarm
Cannot be used.
SV
*EMGS
*ALM
-
2
ACON
output PLC
input
Setting of parameter No. 25
Solenoid valve mode 1
4
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Start position 3
ST3
Start position 4
ST4
Start position 5
ST5
Start position 6
ST6
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Home return
HOME
Pause
*STP
Cannot be used.
Reset
RES
Servo ON command
SON
3
4
5
6
7
8
9
10
11
12
13
14
15
Completed position
number
Operation mode
Home return
complete
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Cannot be used.
PEND
SV
*EMGS
*ALM
-
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Cannot be used.
* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
22
PCON
Category Port No.
6
PLC
output PCON
input
PCON
output PLC
input
Cannot be used.
7
8
9
10
11
12
Forced brake release
Operation mode
Home return
Pause
BKRL
RMOD
HOME
*STP
13
Positioning start
CSTR
14
15
0
1
2
3
4
5
6
7
8
9
Reset
Servo ON command
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
MOVE
ZONE1
PZONE
RMDS
10
11
12
13
14
15
Completed position
number
Moving signal
Zone 1
Position zone
Operation mode
Home return
complete
HEND
Positioning complete
signal
PEND
Operation ready
Emergency stop
Alarm
Load output
judgment/torque level
SV
*EMGS
*ALM
LOAD/
TRQS
Setting of parameter No. 25
Teaching mode
1
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
Teaching mode
MODE
command
Jog/inching switching
JISL
+Jog
JOG+
-Jog
JOGOperation mode
RMOD
Home return
HOME
Pause
*STP
Positioning start /
CSTR/
Positioning data read
PWRT
command
Reset
RES
Servo ON command
SON
PM1
PM2
PM4
Completed position
number
PM8
PM16
PM32
Moving signal
MOVE
Teaching mode signal MODES
Position zone
PZONE
Operation mode
RMDS
Home return complete
256-point mode
2
Signal name
Symbol
PC1
PC2
PC4
PC8
Command position
PC16
number
PC32
PC64
Cannot be used.
Forced brake release
Operation mode
Home return
Pause
PC128
BKRL
RMOD
HOME
*STP
Positioning start
CSTR
Reset
Servo ON command
Position zone
Operation mode
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PZONE
RMDS
HEND
Home return complete
HEND
Completed position
number
Positioning complete
signal/position data
read complete
Operation ready
Emergency stop
Alarm
PEND/
WEND
Positioning complete
signal
PEND
SV
*EMGS
*ALM
Cannot be used.
-
Operation ready
Emergency stop
Alarm
Load output
judgment/torque level
SV
*EMGS
*ALM
LOAD/
TRQS
* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
23
3. ACON, PCON
0
1
2
3
4
5
Positioning mode
0
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
3. ACON, PCON
PCON
512-point mode
Category Port No.
3
Signal name
Symbol
0
PC1
1
PC2
2
PC4
3
PC8
Command position
4
PC16
number
5
PC32
6
PC64
PLC
7
PC128
output PCON
PC256
8
input
9
Forced brake release BKRL
10
Operation mode
RMOD
11
Home return
HOME
12
Pause
*STP
13
Positioning start
CSTR
14
Reset
RES
15
Servo ON command
SON
0
PM1
Completed position 0
PE0
1
PM2
Completed position 1
PE1
PM4
Completed position 2
PE2
PM8
PM16
PM32
PM64
PM128
PM256
RMDS
Completed position 3
Completed position 4
Completed position 5
Completed position 6
Zone 1
Position zone
Operation mode
PE3
PE4
PE5
PE6
ZONE1
PZONE
RMDS
Solenoid valve mode 2
5
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Cannot be used.
Reset
RES
Servo ON command
SON
Rear end move
LS0
command 0
Rear end move
LS1
command 1
Rear end move
LS2
command 2
Cannot be used.
Zone 1
ZONE1
Position zone
PZONE
Operation mode
RMDS
HEND
Home return complete
HEND
Home return complete
HEND
PEND
SV
*EMGS
*ALM
LOAD/
TRQS
Positioning complete
Operation ready
Emergency stop
Alarm
Load output
judgment/torque level
PEND
SV
*EMGS
*ALM
LOAD/
TRQS
Cannot be used.
Operation ready
Emergency stop
Alarm
SV
*EMGS
*ALM
Cannot be used.
-
2
PCON
output PLC
input
Setting of parameter No. 25
Solenoid valve mode 1
4
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Start position 3
ST3
Start position 4
ST4
Start position 5
ST5
Start position 6
ST6
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Home return
HOME
Pause
*STP
Cannot be used.
Reset
RES
Servo ON command
SON
3
4
5
6
7
8
9
10
11
12
13
14
15
Completed position
number
Operation mode
Home return
complete
Positioning complete
Operation ready
Emergency stop
Alarm
Load output
judgment/torque level
* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
24
3.4.3
Position/Simple Direct Mode (Number of Occupied Bytes: 8)
{: Direct control
: Indirect control
x: Invalid
ROBO Cylinder function
Home return operation
Positioning operation
Speed & 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
x
Remarks
{
Position data must
be set
{
Zones are set using
parameters.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
1
ACON/PCON input
register
PLC output address
ACON/PCON output
register
PLC input address
Target position
n+0
n+1
Current position
n+0
n+1
Specified position
number
n+2
Control signal
n+3
(Note) Pay attention to use of duplicate addresses.
Completed position
number
(simple alarm code)
Status signal
n+2
n+3
25
3. ACON, PCON
In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target
position directly as a value or use a value registered in the position data table, by switching a control signal
(PMOD signal).
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
3. ACON, PCON
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z The specified position number and completed position number are both a 1-word (16-bit) binary data.
Although values from 0 to 767 can be handled by the PLC, use the PC software or teaching pendant to specify
a position number for which operation conditions are already set.
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Specified
position
number
Control signal
26
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
3. ACON, PCON
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Complete
position
number
Status signal
27
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Bit
Symbol
Target position
32-bit data
-
Specified position
number
16-bit data
PC1 ~
PC512
b15
BKRL
b14
RMOD
b13
b12
-
b11
PMOD
b10
MODE
b9
PWRT
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
CSTR
PLC output
3. ACON, PCON
Signal type
Control signal
28
Description
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.40 mm, specify “2540.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
16-bit integer.
To operate the actuator, position data is needed for which
operation conditions have already been entered using the PC
software or teaching tools.
Use this register to specify the position number for which data
has been entered.
The specifiable range is 0 to 767.
If an out-of-range value is specified or the specified position
number is not yet set, an alarm will occur when the start signal
is turned ON.
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.
Cannot be used.
Position/simple direct switching: Position mode when the
signal is OFF, or simple direct mode when the signal is ON.
Teaching mode command: Normal mode when the signal is
OFF, or teaching mode when the signal is ON.
Position data read command: Position data is read when the
signal is ON.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start: A move command is issued when the signal
turns ON.
Details
3.6 (1)
3.6 (1)
3.4.7 (18)
3.4.7 (19)
3.4.7 (20)
3.4.7 (16)
3.4.7 (17)
3.4.7 (13)
3.4.7 (13)
3.4.7 (14)
3.4.7 (15)
3.4.7 (5)
3.4.7 (4)
3.4.7 (11)
3.4.7 (6)
3.4.7 (7)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Symbol
Current position
32 bit
-
Completed
position number
(simple alarm
code)
16 bit
PM1 ~
PM512
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
PZONE
b10
MODES
b9
WEND
b8
RMDS
b7
b6
-
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
Status signal
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
16-bit integer.
After the actuator has moved to the target position and entered
the positioning band, the position number corresponding to the
completed positioning is output.
“0” is output when no position movement has been performed
yet or while the actuator is moving.
If an alarm occurs (= the ALM status signal turns ON), a
corresponding simple alarm code (refer to the operation
manual for the controller) will be output.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside
the specified zone.
Zone 1: The signal is ON when the current position is inside
the specified zone.
Position zone: The signal is ON when the current position is
inside the specified position zone.
Teaching mode signal: The signal is ON when the teaching
mode is selected.
Position data read complete: The signal turns ON when the
position data read is complete.
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Cannot be used.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
3.6 (1)
3. ACON, PCON
Bit
PLC input
Signal type
3.6 (1)
3.4.7 (2)
3.4.7 (1)
3.4.7 (12)
3.4.7 (12)
3.4.7 (12)
3.4.7 (16)
3.4.7 (17)
3.4.7 (19)
3.4.7 (23)
3.4.7 (5)
3.4.7 (3)
3.4.7 (9)
3.4.7 (6)
3.4.7 (10)
29
3.4.4
Half Direct Mode (Number of Occupied Bytes: 16)
3. ACON, PCON
In this mode, the actuator is operated by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as values from the PLC.
Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
{: Direct control
: Indirect control
x: Invalid
ROBO Cylinder function
Home return operation
Positioning operation
Speed & 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
x
Remarks
{
{
{
{
{
x
{
Parameters must be
set.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
ACON/PCON input
register
Target position
Positioning band
PLC output address
n+0
n+1
n+2
n+3
n+4
Speed
Acceleration/
n+5
deceleration
Push-current limiting
n+6
value
Control signal
n+7
(Note) Pay attention to use of duplicate addresses.
2
30
ACON/PCON output
register
Current position
Command current
Current speed
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
Alarm code
n+6
Status signal
n+7
(2) I/O signal assignments for each axis
Set value
Push-current
limiting value
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.
z The alarm code is a 1-word (16-bit) binary data.
31
3. ACON, PCON
An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The specified speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec) can
be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
3. ACON, PCON
Target
position
(upper word)
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band (upper
word)
Positioning
band (lower
word)
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
32
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
3. ACON, PCON
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Current speed
(upper word)
Current speed
(lower word)
If the current speed is a negative value, it is expressed by a 2’s complement.
Alarm code
Status signal
33
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
3. ACON, PCON
Signal type
PLC output
Target position
Positioning band
Speed
Acceleration/
deceleration
34
Bit
32-bit data
32-bit data
16-bit data
16-bit data
Symbol
Description
Details
-
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
3.6 (2)
-
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
3.6 (2)
-
16-bit integer.
Specify the speed at which to move the actuator.
The unit is 1.0 mm/sec, while the specifiable range is 0 to
65535.
(Example) To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
3.6 (2)
-
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
3.6 (2)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Control signal
Symbol
16-bit data
-
b15
BKRL
b14
RMOD
b13
DIR
b12
PUSH
b11
b10
b9
-
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
Description
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.
Cannot be used.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start command: A move command is issued when
the signal turns ON.
Details
3.6 (2)
3.4.7 (18)
3.4.7 (19)
3.4.7 (22)
3.4.7 (21)
-
3.4.7 (13)
3.4.7 (13)
3.4.7 (14)
3.4.7 (15)
3.4.7 (5)
3.4.7 (4)
3.4.7 (11)
3.4.7 (6)
3.4.7 (8)
35
3. ACON, PCON
PLC output
Push-current
limiting value
Bit
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Bit
Symbol
32-bit data
-
Command current 32-bit data
-
Current speed
32-bit data
-
Alarm code
16-bit data
-
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
b10
b9
-
b8
RMDS
b7
b6
-
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
PLC input
3. ACON, PCON
Current position
Status signal
36
Description
Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
3.6 (2)
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
3.6 (2)
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
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
home.
3.6 (2)
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
3.6 (2)
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is being executed when
3.4.7 (2)
the signal is ON.
Controller ready: The signal turns ON when the controller
3.4.7 (1)
becomes ready.
Zone 2: The signal is ON when the current position is inside
3.4.7 (12)
the specified zone.
Zone 1: The signal is ON when the current position is inside
3.4.7 (12)
the specified zone.
Cannot be used.
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Cannot be used.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
-
3.4.7 (19)
3.4.7 (23)
3.4.7 (5)
3.4.7 (3)
3.4.7 (9)
3.4.7 (6)
3.4.7 (10)
3.4.5
Full Direct Mode (Number of Occupied Bytes: 32)
In this mode, the actuator is operated by specifying all values relating to position control (target position, speed,
etc.) directly as values from the PLC.
Set each value in an I/O address.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
Home return operation
Positioning operation
Speed & 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
3. ACON, PCON
{: Direct control
x: Invalid
ROBO Cylinder function
{
{
{
{
{
{
{
{
{
x
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
3
ACON/PCON input
register
Target position
Positioning band
Speed
Zone boundary+
Zone boundaryAcceleration
Deceleration
Push-current limiting
value
ACON Occupied area
PCON
Load current
threshold
PLC output address
ACON/PCON output
register
n+0
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
Current position
Command current
Current speed
Alarm code
Occupied area
n+13
Control signal 1
n+14
Control signal 2
n+15
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
Status signal
n+14
n+15
37
3. ACON, PCON
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses.
z Control signals 1 and 2 and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The speed is a 2-word (32-bit) binary data. Although values from 0 to 999999 (unit: 0.01 mm/sec) can be
handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
Set value
Push-current
limiting value
z Set a desired load current threshold. The load current threshold is a 1-word (16-bit) binary data. Values from 0
(0%) to 255 (100%) can be handled by the PLC. (Refer to the graph of push-current limiting value (upper
graph).)
z The zone boundary+ and zone boundary- are both a 2-word (32-bit) binary data. Although values from
-999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set values so that the zone boundarybecomes smaller than the zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.
z The alarm code is a 1-word (16-bit) binary data.
38
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
3. ACON, PCON
Target
position
(upper word)
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(upper word)
Positioning
band
(lower word)
Speed
(upper word)
Speed
(lower word)
Zone
boundary+
(upper word)
Zone
boundary+
(lower word)
If the zone boundary+ is a negative value, it is expressed by a 2’s complement.
39
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
3. ACON, PCON
Zone
boundary-
(upper word)
Zone
boundary-
(lower word)
If the zone boundary- is a negative value, it is expressed by a 2’s complement.
Acceleration
Deceleration
Push-current
limiting value
Load current
threshold
(*3)
Control
signal 1
Control
signal 2
(*1) b10 signal assignment for n+14
(*2) b7 and b6 signal assignment for n+14
Symbol
Controller
Symbol
Controller
(*3) Dedicated PCON function. Cannot be used on ACON.
40
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
3. ACON, PCON
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Current
speed
(upper word)
Current
speed
(lower word)
If the current speed is a negative value, it is expressed by a 2’s complement.
Alarm code
Cannot be
used.
Status signal
(*1) b10 and b9 signal assignment for n+15
Symbol
Controller
41
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Bit
Symbol
Target position
32-bit data
-
Positioning band
32-bit data
-
Speed
32-bit data
-
Zone boundary+ /
32-bit data
Zone boundary-
-
PLC output
3. ACON, PCON
Address
42
Function
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
32-bit integer.
Specify the speed at which to move the actuator.
The unit is 0.01 mm/sec, while the specifiable range is 0 to
999999.
(Example) To set 25.41 mm/sec, specify “2541.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
32-bit signed integer.
A valid zone signal is output after the end of home return,
separately from the zone boundaries specified by parameters.
If the current position is inside these boundaries, the status
signal PZONE turns ON.
(Example) To set +25.40 mm, specify “2540.”
The unit of specification is 0.01 mm, while the specifiable
range is -999999 to 999999.
Enter values satisfying the relationship of “Zone boundary+ >
Zone boundary-.”
If this function is not used, enter the same value for both boundaries.
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
Details
3.6 (3)
3.6 (3)
3.6 (3)
3.6 (3)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Address
Acceleration
Bit
Symbol
16-bit data
16-bit data
-
Load current
threshold
16-bit data
-
b15
b14
b13
b12
b11
-
PCON ACON
Push-current
limiting value
PLC output
-
b9
b7
b6
3.6 (3)
3.6 (3)
-
Cannot be used.
-
Cannot be used.
3.4.7 (28)
-
MOD Acceleration/deceleration mode:
1
MOD1
MOD0
Function
MOD
0
PCON
b6
ACON
b7
3.6 (3)
Cannot be used.
SMO Standstill control mode: When the signal is ON, servo
D
control is performed at in a standstill state.
-
b8
Control signal 1
-
Details
3. ACON, PCON
16-bit data
b10
16-bit integer.
Specify the acceleration and deceleration at which to move the
actuator.
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
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.
16-bit integer.
If judgment will be made as to whether or not the load current
exceeded the set value, specify the threshold value for current
using this register.
The specifiable range is 0 (0%) to 255 (100%).
If judgment is not performed, enter “0.”
-
Deceleration
Function
-
b5
b4
-
b3
INC
OFF
OFF
ON
OFF
ON
OFF
Trapezoid pattern
S-motion
primary delay filter
3.4.7 (29)
Cannot be used.
-
Cannot be used.
-
Incremental specification:
Absolute position command when the signal is OFF, or
incremental position command when the signal is ON.
3.4.7 (24)
43
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Address
Bit
Symbol
b2
DIR
b1
PUSH
b0
-
b15
BKRL
b14
RMOD
b13
b12
b11
b10
b9
-
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
PLC output
3. ACON, PCON
Control signal 1
Control signal 2
44
Function
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.
Cannot be used.
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.
Cannot be used.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start: A move command is issued when the signal
turns ON.
Details
3.4.7 (22)
3.4.7 (21)
3.4.7 (18)
3.4.7 (19)
-
3.4.7 (13)
3.4.7 (13)
3.4.7 (14)
3.4.7 (15)
3.4.7 (5)
3.4.7 (4)
3.4.7 (11)
3.4.7 (6)
3.4.7 (8)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Symbol
32 bit data
-
Command current 32-bit data
-
Current position
32-bit data
-
Alarm code
16-bit data
-
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
PZONE
PLC input
Current speed
ACON
b10
PCON LOAD
ACON
b9
Status signal
-
-
PCON TROS
b8
RMDS
b7
GHMS
b6
PUSHS
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
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 home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0 is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside the
specified zone.
Zone 1: The signal is ON when the current position is inside the
specified zone.
Position zone: The signal is ON when the current position is
inside the specified position zone.
Cannot be used. (ON/OFF statuses are indeterminable.)
Load output judgment: Reached when the signal is ON, or not
yet reached when the signal is OFF. (For details, refer to the
operation manual for the controller.)
Cannot be used. (ON/OFF statuses are indeterminable.)
Torque level: Reached when the signal is ON, or not yet
reached when the signal is OFF. (For details, refer to the
operation manual for the controller.)
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Home return in progress: The signal is ON while the home
return is in progress.
Push-motion operation in progress: The signal is ON while the
push-motion operation is in progress.
Missed load during push-motion operation: The signal turns ON
when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
3.6 (3)
3. ACON, PCON
Bit
3.6 (3)
3.6 (3)
3.6 (3)
3.4.7 (2)
3.4.7 (1)
3.4.7 (12)
3.4.7 (12)
3.4.7 (12)
3.4.7 (26)
3.4.7 (27)
3.4.7 (19)
3.4.7 (6)
3.4.7 (25)
3.4.7 (23)
3.4.7 (5)
3.4.7 (3)
3.4.7 (9)
3.4.7 (6)
3.4.7 (10)
45
3. ACON, PCON
3.4.6
Remote I/O Mode 2 (Number of Occupied Bytes: 12)
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.”
This mode combines the functions available in the remote I/O mode and the current-position and
command-current read functions.
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)
Setting of parameter No. 25
Operation mode
I/O specification
0
Positioning mode 64 positioning points, 2 zone outputs
64 positioning points, 1 zone output
Positioning and jog operations are supported.
1
Teaching mode
The current position can be written under a specified position
number.
2
256-point mode 256 positioning points, 1 zone output
3
512-point mode 512 positioning points, no zone output
7 positioning points, 2 zone outputs
An operation command can be specified directly for each
Solenoid valve
4
position number.
mode 1
A positioning complete signal is output for each position
number.
3 positioning points, 2 zone outputs
Operation using forward, reverse and interim position
Solenoid valve
5
commands.
mode 2
A positioning complete signal is output individually for forward,
reverse and interim positions.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
PIO pattern
ROBO Cylinder
0:
1:
2:
3:
4:
5:
function
Positioning
Teaching
256-point
512-point
Solenoid
Solenoid
mode
mode
mode
mode
valve mode 1 valve mode 2
{
{
{
{
{
Home return operation
x
{
{
{
{
{
{
Positioning operation
Speed &
{
{
{
{
{
{
acceleration/decelerati
on 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 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.
46
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
ACON/PCON DI and
input register
Port number 0 to 15
PLC output address
ACON/PCON DO and
output register
Port number 0 to 15
Occupied area
n+0
n+1
n+2
n+3
n+4
n+5
3. ACON, PCON
n+0
n+1
n+2
Current position
4
Occupied area
n+3
n+4
Command current
n+5
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.
PLC input address
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 6 words (12 bytes) of I/O addresses.
z Addresses controlled by port numbers are controlled by bit ON/OFF signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Controller
input port
number
47
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
3. ACON, PCON
Controller
output port
number
Cannot be
used.
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
48
(3) I/O signal assignments
For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 7.4.2, “Remote I/O
Mode.”
The signal assignments for command-current and current-position read functions are shown below.
Signal type
Symbol
32-bitdata
-
Command current 32-bitdata
-
PLC input
Current position
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
Details
3. ACON, PCON
Bit
-
-
49
3.4.7
I/O Signal Controls and Functions
3. ACON, PCON
* ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”
The following specifies the controls and functions of I/O signals used in the position/simple direct mode, half direct
mode and full direct mode. For the I/O signals 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 after the power was turned on.
„ Function
This signal turns ON when the controller has been initialized successfully following a power on and become ready
to perform control, regardless of the alarm condition, servo condition, etc.
The PWR signal turns ON as long as the controller is ready to perform control, even when an alarm is present.
(2) Emergency stop (EMGS) PLC input signal
This signal turns ON when the controller has entered an emergency stop mode.
„ Function
This signal turns ON when the control has entered an emergency stop mode (= the motor drive power has
become cut off). It will turn OFF once the emergency stop mode is cancelled.
(3) Alarm (ALM) PLC input signal
This signal turns ON when the controller’s protective circuit (function) has detected an abnormality.
„ Function
This signal turns ON when a protective circuit (function) has actuated following a detection of abnormality.
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-cancellation alarm. (In the case of a cold-start alarm, the power must be
reconnected.)
Upon detection of an alarm, the status indicator LED (refer to (6) in 7.3) on the front side of the controller
illuminates in red.
(4) Reset (RES) PLC output signal
This signal has two functions: it can be used to reset controller alarms or cancel the remaining travel during a
pause.
„ Function
[1] If the cause of the present alarm is removed and then this signal is turned from OFF to ON, the alarm (ALM)
signal will be reset. (In the case of a cold-start alarm, the power must be reconnected.)
[2] When this signal is turned from OFF to ON while the actuator is paused, the remaining travel will be
cancelled.
50
(5) Servo ON command (SON)
Ready
(SV)
PLC output signal
PLC input signal
51
3. ACON, PCON
When the SON signal is turned ON, the servo turns ON.
When the servo turns ON, the status indicator LED (refer to (6) in 7.3) on the front side of the controller illuminates
in green.
The SV signal is synchronized with this LED.
„ Function
The controller servo can be turned ON/OFF using the SON signal.
The controller servo remains ON to enable operation while the SV signal is ON.
The relationship of SON and SV signals is shown below.
(6) Home return
(HOME) PLC output signal
Home return complete
(HEND)
PLC input signal
3. ACON, PCON
Home return in progress (GHMS) PLC input signal
When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and
home return operation will be performed automatically. The GHMS signal turns ON while the home return is in
progress.
When the home return is completed, the HEND signal turns ON while the GHMS signal turns OFF.
Turn the HOME signal OFF when the HEND signal turns ON. Once the HEND signal turns ON, it will not turn OFF
until the power is turned OFF or the HOME signal is input again.
Even after home return has been completed once, another home return can be performed by turning the HOME
signal ON.
HOME
(PLCACON, PCON)
GHMS
(ACON, PCONPLC)
HEND
(ACON, PCONPLC)
PEND
(ACON, PCONPLC)
MOVE
(ACON, PCONPLC)
Actuator operation
Mechanical endStopped 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 immediately after the power has been turned on, before home
return is performed, will cause the actuator to automatically return home and then perform
positioning, provided that this is the first positioning command after the power on.
In the half direct mode or full direct mode, issuing a positioning command to a given position
immediately after the power has been turned on, before home return is performed, will generate
an alarm (error code 83: ALARM HOME ABS (absolute position move command when home
return is not yet completed) (operation-cancellation alarm)). Exercise caution.
52
(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal
This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position
set by the target position corresponding to the specified position or the PLC’s target position.
Whether to use the target position corresponding to the specified position number or PLC’s target position is
determined by the control signal b11 (position/simple direct switching (PMOD) signal).
PMOD = OFF: Use the target position data under the specified position number
PMOD = ON: Use the set value of the PLC’s target position
Target position
(PLCACON, PCON)
CSTR
(PLCACON, PCON)
PEND
(ACON, PCONPLC)
(8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal
This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the target
position entered as the PLC’s target position (*). If this command is issued immediately after the power has been
turned on, before home return is performed (= when the HEND signal is OFF), an alarm (operation-cancellation
alarm) will occur.
Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.
Target position
(PLCACON, PCON)
DSTR
(PLCACON, PCON)
PEND
(ACON, PCONPLC)
(9) Moving signal (MOVE) PLC input signal
This signal turns ON while the actuator slider or rod is moving (including cases where the actuator is performing
home return operation, push-motion operation or jog operation).
The signal turns OFF after the positioning, home return or push-motion operation is completed or while the
operation is paused.
53
3. ACON, PCON
If this command is issued immediately after the power has been turned on, before home return is performed (=
when the HEND signal is OFF), the actuator will automatically perform home return operation and then move to
the target position.
Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.
(10) Positioning complete signal (PEND) PLC input signal
This signal turns ON when the actuator has moved to the target position and entered the positioning band or
completed the push motion.
Timing at which the positioning
complete signal turns ON
3. ACON, PCON
Speed
Target position
Travel
Time
Positioning band
When the servo turns from OFF to ON, positioning is performed based on the current position being the target
position. As a result, this signal turns ON and will turn OFF when another positioning operation is started
subsequently using the home return (HOME) signal, positioning start (DSTR) signal or positioning command
(CSTR) signal.
Caution: If the servo turns OFF or an emergency stop is actuated while the actuator is standing still at the
target position, the PEND signal turns OFF.
When the servo turns ON again, the signal will turn ON if the actuator is inside the positioning
band.
The PEND signal will not turn ON if the CSTR or DSTR signal is ON, even after the positioning is
completed.
(11) Pause (STP) PLC output signal
When this signal is turned ON, the moving axis will decelerate to a stop. Turning it OFF will resume the axis
movement.
The acceleration upon resumption of operation, and deceleration at stopping, conform to the
acceleration/deceleration set by the specified position number (*) in the position/simple direct mode, or to the
value of acceleration/deceleration (*) in the half direct mode.
In the full direct mode, the values of acceleration (*) and deceleration (*) are used.
(*) Refer to 3.4.1.
54
(12) Zone 1
(ZONE1)
PLC input signal
Zone 2
(ZONE 2) PLC input signal
Position zone
(PZONE)
PLC input signal
Zone signal
+ direction
Actuator operation
Home
Zone setting-
Zone setting+
55
3. ACON, PCON
Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the
actuator is outside the range.
[1] Zones 1, 2
A desired zone is set using user parameters.
The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.”
The ZONE2 signal is set using parameter Nos. 23, “Zone boundary 2+” and 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become valid upon completion of home return, after which they will remain valid
even while the servo is turned OFF.
[2] Position zone
A desired zone is set using the position table or PLC.
In the position/simple direct mode, set the PZONE signal using the position table.
In the full direct mode, set the PZONE signal using the zone boundaries (refer to 3.4.1).
(*) The PZONE signal is not available in the half direct mode.
The PZONE signal becomes valid upon issuance of a move command after completion of home return, after
which it will remain valid even while the servo is turned OFF.
(13) +Jog
(JOG+) PLC output signal
-Jog
(JOG-) PLC output signal
3. ACON, PCON
These signals are used as starting commands for jog operation or inching operation.
A + command starts the applicable operation in the direction opposite home, while a – command starts the
applicable operation in the direction of home.
[1]
Jog operation
Jog operation can be performed when the jog/inching switching (JISL) signal is OFF.
While JOG+ is ON, the actuator moves in the direction opposite home. When the signal turns OFF, the
actuator will decelerate to a stop.
While JOG- is ON, the actuator moves in the direction of home. When the signal turns OFF, the actuator will
decelerate to a stop.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the jog
speed/inching distance switching (JVEL) signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”
When the JVEL signal is ON, the actuator moves at the value of parameter No. 47, “PIO jog speed 2.”
The actuator moves at the rated acceleration/deceleration (the specific value varies depending on the
actuator).
When both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2]
Inching operation
Inching operation can be performed when the jog/inching switching (JISL) signal is ON.
The actuator moves by the inching distance with every ON input.
While JOG+ is ON, the actuator moves in the direction opposite home. While JOG- is ON, the actuator
moves in the direction of home.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the JVEL
signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”
When the JVEL signal is ON, the actuator moves at the value of parameter No. 47, “PIO jog speed 2.”
The actuator moves by the travel corresponding to the value of the parameter specified by the JVEL
signal.
When the JVEL signal is OFF, the actuator moves by the value of parameter No. 48, “PIO inching
distance.”
When the JVEL signal is ON, the actuator moves by the value of parameter No. 49, “PIO inching distance
2.”
The actuator moves at the rated acceleration/deceleration (the specific value varies depending on the
actuator).
During normal operation, the actuator will continue with the normal operation even when the JOG+ or JOG- is
turned ON (= the JOG signal will be ignored).
While paused, the actuator will not move even when the JOG+ or JOG- is turned ON.
(Note) Take note that before completion of home return, the actuator may collide with the mechanical end
because the software stroke limits are not valid.
56
(14) Jog speed/inching distance switching (JVEL) PLC output signal
This signal switches between the parameter that specifies the jog speed to be used when the jog mode is
selected, and one that specifies the inching distance to be used when the inching mode is selected.
The relationships of applicable parameters are shown below.
JVEL signal
Jog operation: JISL = OFF
Parameter No. 26, “Jog speed”
ON
Parameter No. 47, “Jog speed2”
3. ACON, PCON
OFF
Inching operation: JISL = ON
Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Parameter No. 47, “Jog speed2”
Parameter No. 49, “Inching distance2”
(15) Jog/inching switching (JISL) PLC output signal
This signal switches between jog operation and inching operation.
JISL = OFF: Jog operation
JISL = ON: Inching operation
If the JISL signal switches to ON (inching) while the actuator is jogging, the actuator will decelerate to a stop and
the inching function will become effective.
If the JISL signal switches to OFF (jog) while the actuator is inching, the jog function will become effective after
the actuator completes its movement.
The table below specifies the relationship of the ON/OFF statuses of JISL signal and jog speed/inching distance
switching (JVEL) signal.
JISL
Speed
Travel
JVEL=OFF
Acceleration/
deceleration
Speed
Travel
JVEL=ON
Acceleration/
deceleration
Operation
Jog operation
OFF
Parameter No. 26, “Jog speed”
Rated value (the specific value varies
depending on the actuator)
Parameter No. 47, “Jog speed2”
Rated value (the specific value varies
depending on the actuator)
When JOG+/JOG- is ON
Inching operation
ON
Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Rated value (the specific value varies
depending on the actuator)
Parameter No. 47, “Jog speed2”
Parameter No. 49, “Inching distance2”
Rated value (the specific value varies
depending on the actuator)
Upon detection of the leading (ON) edge
of JOG+/JOG-
57
(16) Teaching mode command (MODE)
3. ACON, PCON
Teaching mode signal
PLC output signal
(MODES) PLC input signal
When the MODE signal is turned ON, the normal operation mode switches to the teaching mode.
When the mode switches to teaching, the controller of each axis turns ON the MODES signal.
The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
(Note) For the normal operation mode to switch to the teaching mode, the following conditions must be satisfied:
The actuator (motor) is stopped.
The +jog (JOG+) and -jog (JOG-) signals are OFF.
The position data read command (PWRT) signal and positioning start (CSTR) signal are 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 valid when the teaching mode signal (MODES) is ON.
Turn the PWRT signal ON (*1). This causes the current position data to be written to the Position field of the
position number currently set under the position number specified by the PLC (refer to 7.4.1). (*2)
When the writing is completed, the WEND signal turns ON.
The host PLC should turn the PWRT signal OFF after the WEND signal has turned ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
Turning the PWRT signal OFF causes the WEND signal to turn OFF.
(*1) Keep the signal ON for 20 msec or more. If the signal is turned on for less than 20 msec, the data may not be
written.
(*2) If any data other than position is yet to be defined, the default value of the corresponding parameter is written.
(Refer to the operation manual for the controller.)
MODES
(ACON, PCONPLC)
20 msec or more
PWRT
(PLCACON, PCON)
WEND
(ACON, PCONPLC)
(18) Forced brake release (BKRL) PLC output signal
The brake can be forcibly released by turning this signal ON.
58
(19) Operation mode (RMOD)
PLC output signal
Operation mode status (RMDS)
PLC input signal
A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front
side of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
RMOD signal and mode switch combinations, and corresponding operation modes, are shown below.
3. ACON, PCON
RMOD signal OFF (AUTO
mode is specified)
RMOD signal ON (MANU
mode is specified)
Controller’s MODE switch
in AUTO position
AUTO mode
(RMDS=OFF)
MANU mode
(RMDS=ON)
Controller’s MODE switch
in MANU position
MANU mode
(RMDS=ON)
MANU mode
(RMDS=ON)
(Note) Operation from the PLC is not supported in the MANU mode.
(20) Position/simple direct switching (PMOD) PLC output signal
This signal switches between the mode where a value registered in the controller’s position table is used as the
target position for movement, and the mode where the PLC’s target position (*) is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the PLC’s target position(*)
(*) Refer to 3.4.1.
(21) Push specification (PUSH) PLC output signal
When a move command is issued after turning this signal ON, the actuator will perform push-motion operation.
If this signal is turned OFF, the actuator will perform normal positioning operation.
(Refer to (2), “Operation in the half direct mode” under 3.6, “Operation.”)
(22) Push direction specification (DIR) PLC output signal
This signal specifies the direction in which the actuator will push the load.
When this signal is turned OFF, the actuator will push the load toward the position obtained by subtracting the
positioning band from the target position.
When this signal is turned ON, the actuator will push the load toward the position obtained by adding the
positioning band to the target position.
This signal is invalid during normal positioning operation.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 3.6, “Operation.”)
Speed
Travel
Positioning Positioning
Positioning
band
band
band
Target position
DIR = OFF
DIR = ON
59
(23) Missed load during push-motion operation (PSFL) PLC input signal
3. ACON, PCON
This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the
positioning band in the controller’s position table or PLC’s positioning band (refer to 3.4.1) during push-motion
operation.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 3.6, “Operation.”)
(24) Incremental specification (INC) PLC output signal
When a move command is issued while this signal is ON, the actuator will move by the value entered as the
PLC’s target position (*) with reference to the current position. (Incremental moves)
If this signal is OFF, the actuator will move to the value of the PLC’s target position (*).
(*) Refer to 3.4.1.
(25) Push-motion operation in progress (PUSHS) PLC input signal
This signal turns ON while the push-motion operation is in progress.
Speed
Target position
Travel
Positioning band
PUSHS=ON
This signal turns OFF if the actuator has missed the load in push-motion operation or paused, or the next move
command has been issued, or the servo has been turned OFF.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 3.6, “Operation.”)
60
(26) Load output judgment (LOAD) PLC input signal Dedicated PCON function
This signal turns ON here due to the
command torque exceeding the threshold
inside the torque certification range.
Speed
The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Certification
band
Travel
Positioning band(maximum push distance)
Target position
Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
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 certification range” to “0 [Enable].”
Set the threshold certification band using the PLC’s zone boundary+ and zone boundary- (*).
Set the threshold using the PLC’s load current threshold (*).
Set the positioning band using the PLC’s positioning band (*).
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.
(*) Refer to 3.4.1.
Warning: If the actuator contacts the load before the target position is reached, a servo error will occur.
Pay due attention to the position relationship of the target position and load.
The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in
this condition.
61
3. ACON, PCON
This signal is valid only during push-motion operation.
To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the
push-motion operation must be recognized.
The load threshold and certification band are set by the PLC, and this signal will turn ON when the command
torque (motor current) exceeds the threshold inside the certification band.
For this signal, judgment is made based on whether the command torque has exceeded the threshold for the
specified total time.
The specific procedure is the same as that for push judgment. The load output judgment time can be changed as
desired using parameter No. 50, “Load output judgment time.”
This signal will be retained until the next move command is received.
(27) Torque level (TRQS) PLC input signal Dedicated PCON function
3. ACON, PCON
This signal is valid only during push-motion operation.
This signal turns ON when the motor current has reached the load threshold during push-motion operation (while
the actuator is moving inside the positioning band). Since the current is monitored by level, when the current
changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion
operation vary depending on the motor and lead. Accordingly, the applicable parameters must be adjusted.
The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Speed
Range within which this signal is output
Travel
Positioning band(maximum push distance)
Target position
Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
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 certification range” to “1 [Disable].”
Set the threshold using the PLC’s load current threshold (*).
Set the positioning band using the PLC’s positioning band (*).
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.
(*) Refer to 3.4.1.
Warning: If the actuator contacts the load before the target position is reached, a servo error will occur.
Pay due attention to the position relationship of the target position and load.
The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in
this condition.
62
(28) Standstill control mode (SMOD) PLC output signal Dedicated PCON function
One general characteristic of pulse motors is that their holding current in a standstill state is greater than that of
AC servo motors. Accordingly, a means to reduce power consumption in a standstill state is provided as an
energy-saving measure to address situations where the actuator remains standstill for a long period at a standby
position.
SMOD = ON: Use the full-servo control mode during standby
SMOD = OFF: Normal standby mode
Before using this mode, confirm that the overall system will not be negatively affected.
63
3. ACON, PCON
Full-servo control mode
The holding current can be reduced by servo-controlling the pulse motor.
Although the specific level of reduction varies according to the actuator model, load condition, etc., the holding
current will decrease 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 noises may occur in conditions where the actuator is subject to external forces or
depending on the standstill position.
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function
This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic
before issuing an actuator move command.
3. ACON, PCON
MOD1
OFF
OFF
ON
ON
MOD0
OFF
ON
OFF
ON
Pattern name
Trapezoid pattern
S-motion
Primary delay filter
Cannot be used.
Remarks
Factory setting
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 acceleration/deceleration curve rises gradually at first and then draws a steep curve
from a certain point. Use this mode if you want to set high acceleration/deceleration to
meet the tact time requirement, but keep the acceleration/deceleration gradual at the
start of movement or immediately before stopping.
Speed
Time
*
The S-motion level is set using parameter No. 56, “S-motion ratio setting.” The setting
unit is %, while the setting range is 0 to 100.
(The above graph shows a curve assuming a 100% S-motion ratio.)
When “0” is set, the S-motion mode is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.
Primary delay filter
A more gradual acceleration/deceleration curve than linear acceleration/deceleration (trapezoid
pattern) is drawn. Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Speed
Time
*
64
The primary delay level is set using parameter No. 55, “Position-command primary
filter time constant.” The minimum input unit is 0.1 msec, while the setting range is
0.0 to 100.0.
When “0” is set, the primary delay filter is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.
3.5
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:
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 PROFIBUS-DP master unit and the PLC in which the master unit is
installed.
PLC sequence program
Control signal
Status signal
Master station slave
station transmission
delay time (Yt)
Slave station master
station delay time (Xt)
ACON, PCON
Control signal
Status signal
Command
processing time
65
3. ACON, PCON
Maximum response time (msec) = Yt + Xt + 2 + 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
3.6
Operation
3. ACON, PCON
Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using
examples of basic operations.
For the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
(In remote I/O mode 2, read the current position and current speed from the PLC as deemed necessary.)
(1) Operation in the position/simple direct mode
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.
z 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.
z 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.
(*)
66
Refer to 3.4.1.
[1]
Set value of target
position data
[2]
3. ACON, PCON
Specified position number
Positioning start
[3]
[4]
[5]
Positioning complete
[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.
67
3. ACON, PCON
(2) Operation in the half direct mode
Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed,
acceleration/deceleration and push-current limiting specification.
z 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 3.4.7.)
[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.
z 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.
(*)
68
Refer to 3.4.1.
[1]
Set value of target
position data
[2]
3. ACON, PCON
Set value of positioning
band data
[3]
Set value of
speed data
[4]
Set value of
acceleration/
deceleration data
[5]
Set value of push-current
limiting value
[6]
Push specification
[7]
Push direction
specification
Positioning command
[14]
[8]
Positioning complete/missed load
during push-motion operation
[9]
[10]
[13]
Current position
[11]
[12]
Moving
Push
Actuator operation
(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.
69
3. ACON, PCON
(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.
z 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 3.4.7.)
[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.
z 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.
(*)
70
Refer to 3.4.1.
[1]
Set value of target
position data
[2]
3. ACON, PCON
Set value of positioning
band data
[3]
Set value of
speed data
[4]
Set value of position
zone boundary data
[5]
Set value of
acceleration data
[6]
Set value of
deceleration data
[7]
Set value of push-current
limiting value data
[8]
Set value of load current
threshold data
71
[9]
Push specification
3. ACON, PCON
[10]
Push direction specification
Positioning command
[17]
[11]
Positioning complete/missed load
during push-motion operation
[12]
[13]
[16]
Current position
[14]
[15]
Moving
Push
Actuator operation
(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.
72
(4) Data change during movement
In the half direct mode 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.
3. ACON, PCON
[1]
Set value of speed or
acceleration/deceleration
[2]
[3]
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.
73
3.7
PROFIBUS-DP Parameters
Factory default
3. ACON, PCON
~
The parameters relating to PROFIBUS-DP are parameter Nos. 84 to 87 and 90.
Category: C: External interface parameter
No. Category Symbol
Name
1
For parameter Nos. 1 to 83, refer to the operation
manual for the controller.
83
84
C
FMOD Fieldbus operation mode
85
C
NADR Fieldbus node address
86
C
FBRS Fieldbus baud rate
87
C
NYTP Network type
90
C
FMIO
Fieldbus I/O format
0
1
0
3
0
z 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
2
PROFIBUS-DP.
The target position can be specified directly as a
Position/simple
value or using a value in the position data table.
1
8
direct mode
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,
2
Half direct mode
16
in addition to the target position, directly using
values.
Operate the actuator by specifying all values
3
Full direct mode
32
relating to position control directly using values.
The current-position and current-speed read
4
Remote I/O mode 2
12
functions are added to the functions available in the
remote I/O mode.
z 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.)
z 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.
74
z Network type (No. 87 NTYP)
Specify the network module in parameter No. 87. Do not change the default value.
(Example i) Set value = “0”
z indicates ON, while O indicates OFF.
ACON/
PCON
input
register
Hexadecimal
data
PLC:
Output
Hexadecimal
data
ACON/
PCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
75
3. ACON, PCON
z 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. 90
0 (factory setting) 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
In the case of a word register, the upper word and lower word are also swapped.
(Refer to Example iv.)
(Example ii) Set value = “1”
ACON/
PCON
input
register
3. ACON, PCON
Hexadecimal
data
PLC:
Output
Hexadecimal
data
ACON/
PCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
76
z indicates ON, while O indicates OFF.
(Example iii) Set value = “2”
z indicates ON, while O indicates OFF.
ACON/
PCON
input
register
Hexadecimal
data
3. ACON, PCON
PLC:
Output
Hexadecimal
data
ACON/
PCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
77
(Example iv) Set value = “3”
ACON/
PCON
input
register
3. ACON, PCON
Hexadecimal
data
PLC:
Output
Hexadecimal
data
ACON/
PCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
78
z indicates ON, while O indicates OFF.
3.8
Troubleshooting
3.8.1
Status LED Indicators
3.8.2
Alarm Details and Causes/Actions
If an alarm occurs, the completed position number (four bits of PM1 to PM8) indicates a corresponding simple
alarm code in the remote I/O mode or remote I/O mode 2.
In the position/simple direct mode, a simple alarm code is output to input address n+2.
In the half direct mode or full direct mode, an alarm code is output to input address n+6.
[1] Check the alarm code using the PLC’s monitor function, etc., or connect the RC PC software or teaching
pendant and check the code on the status monitor screen.
[2] Use the identified alarm code as the key to search the alarm list provided in the operation manual for the
controller.
[3] Take an appropriate action according to the description provided under the applicable alarm code.
For the alarm codes listed below, take the actions specified in the following table.
ID
RES
Code
Error name
Cause/action
(*1)
(*2)
Cause: A fieldbus module error was detected.
0F2 Fieldbus module error 05
x
Action: Check the applicable parameters.
Fieldbus module
Cause: The module could not be detected.
0F3
04
x
non-detection error
Action: Reconnect the power. If the problem persists, contact IAI.
(*1) ID Simple alarm code
(*2) RES Whether or not the alarm can be reset
{: Alarm can be reset / X: Alarm cannot be reset
79
3. ACON, PCON
The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the PROFIBUS-DP
module as well as the network condition.
Should you encounter a problem, check the current conditions based on the illumination patterns of the status
LEDs.
The illumination patterns of status LEDs, and corresponding communication conditions, are shown below.
Indicator
LED
Color
Description of indication (Meaning of indication)
condition
The board is online with the fieldbus network and communicating
Lit
normally.
Green
STATUS1
Blinking
The board is offline from the fieldbus network.
Orange
Blinking
A communication error is present.
Lit
The board is operating properly.
Green
Blinking
The
board is not yet ready.
STATUS0
A communication hardware error was detected when the board
Orange
Lit
was not yet ready.
3.9
CE Marking
3. ACON, PCON
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
80
4.
4.1
SCON-CA
Operation Modes and Functions
SCON-CA controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected from the
following nine modes.
Key function
Position/si
mple 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
2
8
16
32
12
8
16
12
8
x
{(*1)
{
{
x
{(*1)
{
x
{
x
x
{
{
x
x
{
x
{
{
{
{
{
{
{
{
{
{
x
{
{
{
{
{
{
{
{
x
x
{
{
x
x
{
x
{
{
{
x
x
{
{
x
{
x
{
{
x
x
{
{
x
{
x
512
768
Not used
Not used
512
768
Not used
512
Not used
U(*2)
x
x
{
U(*2)
{
{
{
x
{
{
x
{
{
{
x
{
{
{
{
{
{
{
{
x
{
{
4. SCON-CA
Number of
occupied bytes
Operation by
position data
specification
Direct
speed/acceleratio
n specification
Push-motion
operation
Current position
read
Current speed
read
Operation by
position number
specification
Completed
position number
read
Maximum
position table size
Force control
Vibration
damping control
Servo gain
switching
Remote I/O
mode
(*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 PROFIBUS-DP
communication.
Number of occupied bytes: 2 bytes (1 word)
SCON-CA supporting
SCON-CA not supporting
PROFIBUS-DP
PLC
Flat cable
PIO connection
PROFIBUS-DP
PLC
Communication
cable
PROFIBUS-DP connection
81
4. SCON-CA
[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: 8 bytes (4 word)
Target position: 100.00 mm
+
Position No. 0
Speed
SCON-CA supporting
Acceleration Deceleration
Push
Actuator
PROFIBUS-DP
[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: 16 bytes (8 word)
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration/deceleration:
0.30 G
Push current: 50%
Speed
Acceleration Deceleration
Push
SCON-CA supporting
PROFIBUS-DP
82
Actuator
[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: 32 bytes (16 words)
䣒䣎䣅䢢
4. SCON-CA
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
Zone+: 50.00 mm
Zone-: 30.00 mm
SCON-CA supporting
PROFIBUS-DP
Actuator
[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via PROFIBUS-DP
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 12 bytes (6 words)
SCON-CA supporting
PROFIBUS-DP
SCON-CA not supporting
PROFIBUS-DP
Communication
cable
Flat cable
PROFIBUS-DP
PIO connection
[6] Position/simple direct mode 2: In this mode, the actuator is operated by specifying position numbers.
In this mode, the force control function is available instead of the teaching
function and zone function available in mode [2].
Number of occupied bytes: 8 bytes (4 word)
Target position: 100.00 mm
+
Position No. 0
SCON-CA supporting
Speed
Acceleration Deceleration
Push
Actuator
PROFIBUS-DP
83
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, 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 bytes: 16 bytes (8 word)
4. SCON-CA
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration/deceleration:
0.30 G
Push current: 50%
Speed
Acceleration Deceleration
Push
SCON-CA supporting
PROFIBUS-DP
Actuator
[8] Remote I/O mode 3: In this mode, the actuator is operated by DeviceNet instead of PIO (24 V I/O). Current
position and command current function is added to the function [1].
Number of occupied bytes: 12 bytes (6 word)
SCON-CA supporting
SCON-CA not supporting
PROFIBUS-DP
PROFIBUS-DP
Communication
cable
Flat cable
PIO connection
PROFIBUS-DP 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 function is supported instead of the jog function
available in mode [3].
Number of occupied bytes: 16 bytes (8 word)
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration/deceleration:
0.30 G
Push current: 50%
Speed
Acceleration Deceleration
Push
SCON-CA supporting
PROFIBUS-DP
84
Actuator
4.2
Model Names
The model names of SCON-CA controller supporting PROFIBUS-DP are indicated as follows, respectively:
z SCON-CA-…-PR-…
4. SCON-CA
85
4.3
PROFIBUS-DP (Slave Station) Settings
(1) Name of each part
4. SCON-CA
The name of each part relating to PROFIBUS-DP is shown.
Status LEDs
PROFIBUS-DP communication connector
(2) PROFIBUS-DP communication connector interface specifications
This is a 9-pin, female D-sub connector recommended by the PROFIBUS-DP standard EN 50170.
Connector
Pin No.
Description
Contents
3
B-Line
RxD, TxD (Positive signal line)
4
RTS
Request to send
5
GND
Signal ground (isolation)
6
+5V
+5-V output (isolation)
8
A-Line
/RxD, /TxD (Negative signal line)
Housing
Shield
Cable shield (enclosure and connection)
(Note 1) Pins 1, 2, 7 and 9 are not used (they need not be wired).
(Note 2) The cable-end connector is not supplied.
86
(3) Bus terminal processing
If the connector is to be connected to the network terminal node, connect the terminal resistor to the
PROFIBUS-DP communication connector as shown below or use a connector with terminal resistor.
z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)
z Connecting the terminal resistor
Board-end female Network-end male connector
connector
(from counter-insertion side)
4. SCON-CA
Network
wiring
(4) Operation mode selection (setting)
Set a desired operation mode using a parameter.
Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No.
84, “FMOD: Fieldbus operation mode” using the RC PC software (V8.00.00.00 or later).
(Refer to 4.7, “PROFIBUS-DP Parameters.”)
Number of
occupied bytes
0 (factory setting)
Remote I/O mode
2
1
Position/simple direct mode
8
2
Half direct mode
16
3
Full direct mode
32
4
Remote I/O mode 2
12
5
Position/simple direct mode 2
8
6
Half direct mode 3
16
7
Remote I/O mode 3
12
8
Half direct mode 3
16
* If a greater value is entered, an excessive input error will occur.
Set value
Operation mode
(5) Node address setting
Set the node address using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software.
(Refer to 4.7, “PROFIBUS-DP Parameters.”)
Settable range: 0 to 125 (The parameter has been set to 1 at the factory.)
(Note 1) Pay attention to duplicate node address settings.
(Note 2) PROFIBUS-DP node addresses are set with the master station always having address 0. Accordingly,
addresses of slave stations can be set between 1 and 125.
87
(6) Status LED indications
The board operating condition and network condition can be checked using the two LEDs provided on the front
side of the controller.
LED
4. SCON-CA
STATUS1
Color
Green
Orange
Green
STATUS0
Orange
Indicator
condition
Lit
Blinking
Blinking
Lit
Blinking
Lit
Description of indication (Meaning of indication)
The board is online with the fieldbus network and communicating
normally.
The board is offline from the fieldbus network.
A communication error is present.
The board is operating properly.
The board is not yet ready.
A communication hardware error was detected when the board
was not yet ready.
(Note 1) After the necessary parameters have been set, reconnect the controller power and return the mode
selector switch on the front side of the controller to the AUTO position. If the switch remains in the
MANU position, PLC operation cannot be performed.
(Note 2) The baud rate is automatically set according to the corresponding setting on the master side and
thus need not be set.
88
4.4
Communication with the Master Station
4.4.1
Operation Modes and Handling of PLC Addresses
The address assignments under each operation mode are shown below.
PLC output SCON-CA input (* n indicates the output input address for each axis.)
n
Remote I/O
mode
Number of
occupied bytes: 2
Port number 0 to
15
SCON-CA and input data resister
Position/simple
Half direct mode Full direct mode
direct mode
Number of
occupied bytes: 8
Target position
Remote I/O
mode 2
Number of
Number of
Number of
occupied bytes: 16 occupied bytes: 32 occupied bytes: 12
Port number 0 to
15
Target position
Target position
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
Specified position
number
Control signal
Positioning band
Positioning band
Occupied area
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
Speed
specification
Zone boundary+
Zone boundaryAcceleration
Deceleration
Push-current
limiting value
n+13
Load current
threshold
n+14
n+15
Control signal 1
Control signal 2
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
89
4. SCON-CA
PLC output
address (word
address)
PLC output SCON-CA input (* n indicates the node address for each axis.)
PLC input
address
(word address)
n
n+1
4. SCON-CA
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
Position/simple
direct mode 2
SCON-CA DI and input data resister
Half direct mode
Remote I/O
Half direct mode
2
mode 3
3
Number of
occupied bytes: 8
Number of
Number of
Number of
occupied bytes: 16 occupied bytes: 12 occupied bytes: 16
Target position
Target position
Specified position
number
Control signal
Positioning band
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
Target position
Occupied area
Positioning band
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
90
SCON-CA output PLC input (* n indicates the initial input address for each axis.)
SCON-CA DO and output data resister
PLC input
Remote I/O mode
address
(word address) Number of occupied
n
n+1
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
Current position
Half direct mode
Full direct mode
Number of
Number of
occupied bytes: 16 occupied bytes: 32
Current position
Completed position
number (simple
Command current
alarm ID
Status signal
Current position
Remote I/O mode 2
Number of
occupied bytes: 12
Port number 0 to 15
Occupied area
Command current
Current position
Current speed
Current speed
Command current
Alarm code
Status signal
Alarm code
Occupied area
Force feedback
data
Occupied area
Status signal 1
Status signal 2
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
91
4. SCON-CA
n+2
bytes: 2
Port number 0 to 15
Position/simple
direct mode
Number of
occupied bytes: 8
SCON-CA output PLC input (* n indicates the node address for each axis.)
SCON-CA DO and output data resister
PLC input
Position/simple
Half direct mode 2 Remote I/O mode 3
Half direct mode 3
address
direct mode 2
(word address) Number of occupied Number of occupied Number of occupied Number of occupied
4. SCON-CA
n
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
channels: 8
channels: 16
Current position
Current position
Completed position
number (simple
alarm ID)
Status signal
Force feedback
data
Current position
Command current
Current speed
Force feedback data
Current speed
Alarm code
Status signal
channels: 12
Port number 0 to 15
Occupied area
channels: 16
Current position
Alarm code
Status signal
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
92
z Reference: Example of PLC address assignment rules --- Fuji Electric
The PLC address assignment rules are shown below.
Bus station
number
Prefix
Word number
Bit address
Prefix
Input bit address (address per bit)
4. SCON-CA
Input word address (address per word)
Output bit address (address per bit)
Output word address (address per word)
Bus station number
This number indicates the installation position of the PROFIBUS-DP master unit within the PLC units is indicated.
PROFIBUS-DP
master station
CPU
Power supply
Station 1 Station 2
Word address
Word addresses refer to addresses of DI/DOs and I/O data registers of a SCON-CA assigned to the master
station, being arranged sequentially in units of words.
Bit address
Bit addresses refer to addresses of DI/DOs and I/O data registers of a SCON-CA assigned to a word address,
being arranged sequentially in units of bits.
93
4.4.2
Remote I/O Mode (Number of Occupied Bytes: 2)
4. SCON-CA
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.)
Setting of parameter No. 25
0
1
2
3
4
5
6
7
Operation mode
Positioning mode
Teaching mode
I/O specification
64 positioning points, 2 zone outputs
64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
256-point mode
256 positioning points, 1 zone output
512-point mode
512 positioning points, no zone output
Solenoid valve
7 positioning points, 2 zone outputs
mode 1
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
Solenoid valve
3 positioning points, 2 zone outputs
mode 2
Operation using forward, reverse and interim position commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
Force control mode 1 32 positioning points, 1 zone outputs
(when a dedicated
load cell is used)
Force control mode 2 5 positioning points, 1 zone outputs
(when a dedicated An operation command can be specified directly for each position
load cell is used)
number.
A positioning complete signal is output for each position number.
The key functions that are available on Actuator controllable in this mode are shown in the table below.
Actuator function
Home return operation
Positioning operation
Speed &
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 (set
by parameter)
0:
Positioning
mode
{
{
1:
Teaching
mode
{
{
2:
256-point
mode
{
{
PIO pattern
3:
6:
5:
4:
Force control
Solenoid
Solenoid
512-point
valve mode 1 valve mode 2 mode 1
mode
{
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{ (*1)
{
{
{
{
{
{
{
{
{
{
{
{
{
{: 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.
94
7:
Force control
mode 2
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
SCON-CA DI
PLC output address
No. 84
(port number)
0
0 to 15
n
Pay attention to use of duplicate addresses.
SCON-CA DO
(port number)
0 to 15
PLC input address
n
(2) I/O signal assignments for each axis
PLC output
address
4. SCON-CA
An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses.
z I/O addresses are controlled by bit ON/OFF signals from the PLC.
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Controller
input port
number
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Controller
output port
number
95
(3) I/O signal assignments
Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)
Category Port No.
4. SCON-CA
0
1
2
3
4
5
Positioning mode
0
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
6
PLC
output SCON-CA
input
SCON-CA
output PLC input
Cannot be used.
7
8
9
10
11
12
Forced brake release
Operation mode
Home return
Pause
BKRL
RMOD
HOME
*STP
13
Positioning start
CSTR
14
15
0
1
2
3
4
5
6
7
8
9
Reset
Servo ON command
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
MOVE
ZONE1
PZONE
RMDS
10
Completed position
number
Moving signal
Zone 1
Position zone
Operation mode
Home return
complete
HEND
11
Positioning complete
signal
PEND
12
13
14
15
Operation ready
Emergency stop
Alarm
Battery alarm
SV
*EMGS
*ALM
*BALM
Setting of parameter No. 25
Teaching mode
1
Signal name
Symbol
PC1
PC2
PC4
Command position
number
PC8
PC16
PC32
Teaching mode
MODE
command
Jog/inching switching
JISL
+Jog
JOG+
-Jog
JOGOperation mode
RMOD
Home return
HOME
Pause
*STP
Positioning start /
CSTR/
Positioning data read
PWRT
command
Reset
RES
Servo ON command
SON
PM1
PM2
PM4
Completed position
number
PM8
PM16
PM32
Moving signal
MOVE
Teaching mode signal MODES
Position zone
PZONE
Operation mode
RMDS
Home return complete
Positioning complete
signal/position data
read complete
Operation ready
Emergency stop
Alarm
Battery alarm
256-point mode
2
Signal name
Symbol
PC1
PC2
PC4
PC8
Command position
PC16
number
PC32
PC64
Cannot be used.
Forced brake release
Operation mode
Home return
Pause
PC128
BKRL
RMOD
HOME
*STP
Positioning start
CSTR
Reset
Servo ON command
Position zone
Operation mode
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PZONE
RMDS
HEND
Home return complete
HEND
PEND/
WEND
Positioning complete
signal
PEND
SV
*EMGS
*ALM
*BALM
Operation ready
Emergency stop
Alarm
Battery alarm
SV
*EMGS
*ALM
*BALM
Completed position
number
* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
96
0
PM1
Completed position 0
PE0
1
PM2
Completed position 1
PE1
PM4
Completed position 2
PE2
PM8
PM16
PM32
PM64
PM128
PM256
RMDS
Completed position 3
Completed position 4
Completed position 5
Completed position 6
Zone 1
Position zone
Operation mode
PE3
PE4
PE5
PE6
ZONE1
PZONE
RMDS
Solenoid valve mode 2
5
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Cannot be used.
Reset
RES
Servo ON command
SON
Rear end move
LS0
command 0
Rear end move
LS1
command 1
Rear end move
LS2
command 2
Cannot be used.
Zone 1
ZONE1
Position zone
PZONE
Operation mode
RMDS
HEND
Home return complete
HEND
Home return complete
HEND
PEND
Cannot be used.
-
SV
*EMGS
*ALM
*BALM
Operation ready
Emergency stop
Alarm
Battery alarm
SV
*EMGS
*ALM
*BALM
2
SCON-CA
output PLC
input
Setting of parameter No. 25
Solenoid valve mode 1
4
Signal name
Symbol
Start position 0
ST0
Start position 1
ST1
Start position 2
ST2
Start position 3
ST3
Start position 4
ST4
Start position 5
ST5
Start position 6
ST6
Cannot be used.
Forced brake release
BKRL
Operation mode
RMOD
Home return
HOME
Pause
*STP
Cannot be used.
Reset
RES
Servo ON command
SON
3
4
5
6
7
8
9
10
11
12
13
14
15
Completed position
number
Operation mode
Home return
complete
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Battery alarm
PEND
SV
*EMGS
*ALM
*BALM
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Battery alarm
* Indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
97
4. SCON-CA
512-point mode
3
Category Port No.
Signal name
Symbol
0
PC1
1
PC2
2
PC4
3
PC8
Command position
4
PC16
number
5
PC32
6
PC64
PLC
7
PC128
output SCON-CA
8
PC256
input
9
Forced brake release BKRL
10
Operation mode
RMOD
11
Home return
HOME
12
Pause
*STP
13
Positioning start
CSTR
14
Reset
RES
15
Servo ON command
SON
Setting of parameter No. 25
4. SCON-CA
Force control mode 1
Category Port No.
0
1
2
3
4
5
6
PLC
7
output SCON-CA
input
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
SCON-CA
output PLC input
7
8
9
10
11
12
13
14
15
6
Signal name
Command position
number
Cannot be used.
Load cell calibration
command
Forced brake release
Operation mode
Home return
Pause
Positioning start
Reset
Servo ON command
Completed position
number
Torque level status
Load output judgment
status
Load cell calibration
complete
Position zone
Operation mode
Home return complete
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Battery alarm
Symbol
PC1
PC2
PC4
PC8
PC16
CLBR
BKRL
RMOD
HOME
*STP
CSTR
RES
SON
PM1
PM2
PM4
PM8
PM16
TRQS
LOAD
CEND
PZONE
RMDS
HEND
PEND
SV
*EMGS
*ALM
*BALM
Force control mode 2
7
Signal name
Start position 0
Start position 1
Start position 2
Start position 3
Start position 4
Cannot be used.
Load cell calibration
command
Forced brake release
Operation mode
Home return
Pause
Reset
Servo ON command
Completed position number 0
Completed position number 1
Completed position number 2
Completed position number 3
Completed position number 4
Torque level status
Load output judgment
status
Load cell calibration
complete
Position zone
Operation mode
Home return complete
Positioning complete
signal
Operation ready
Emergency stop
Alarm
Battery alarm
Symbol
ST0
ST1
ST2
ST3
ST4
CLBR BKRL
RMOD
HOME
*STP
RES
SON
PE0
PE1
PE2
PE3
PE4
TRQS
LOAD
CEND
PZONE
RMDS
HEND
PEND
SV
*EMGS
*ALM
*BALM
* Indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
98
4.4.3
Position/Simple Direct Mode (Number of Occupied Bytes: 8)
{: Direct control
: Indirect control
x: Invalid
Actuator function
Home return operation
Positioning operation
Speed & 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
x
Remarks
{
Position data must
be set
{
Position data or
parameters
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
1
SCON-CA input
register
PLC output address
SCON-CA output
register
PLC input address
Target position
n+0
n+1
Current position
n+0
n+1
Specified position
number
n+2
Control signal
n+3
(Note) Pay attention to use of duplicate addresses.
Completed position
number
(simple alarm code)
Status signal
n+2
n+3
99
4. SCON-CA
In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target
position directly as a value or use a value registered in the position data table, by switching a control signal
(PMOD signal).
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
(2) I/O signal assignments for each axis
4. SCON-CA
An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z The specified position number and completed position number are both a 1-word (16-bit) binary data.
Although values from 0 to 767 can be handled by the PLC, use the PC software or teaching pendant to specify
a position number for which operation conditions are already set.
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Specified
position
number
Control signal
100
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
4. SCON-CA
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Complete
position
number
Status signal
101
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Bit
Symbol
Target position
32-bit data
-
Specified position
number
16-bit data
PC1 ~
PC512
b15
BKRL
b14
RMOD
b13
b12
-
b11
PMOD
b10
MODE
b9
PWRT
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
CSTR
PLC output
4. SCON-CA
Signal type
Control signal
102
Description
Details
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.40 mm, specify “2540.”
4.6 (1)
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
16-bit integer.
To operate the actuator, position data is needed for which
operation conditions have already been entered using the PC
software or teaching pendant.
Use this register to specify the position number for which data
4.6 (1)
has been entered.
The specifiable range is 0 to 767.
If an out-of-range value is specified or the specified position
number is not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when the signal
4.4.11 (18)
turns ON.
Operation mode: AUTO mode when the signal is OFF, or
4.4.11 (19)
MANU mode when the signal is ON.
Cannot be used.
Position/simple direct switching: Position mode when the
signal is OFF, or simple direct mode when the signal is ON.
Teaching mode command: Normal mode when the signal is
OFF, or teaching mode when the signal is ON.
Position data read command: Position data is read when the
signal is ON.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start: A move command is issued when the signal
turns ON.
4.4.11 (20)
4.4.11 (16)
4.4.11 (17)
4.4.11 (13)
4.4.11 (13)
4.4.11 (14)
4.4.11 (15)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (7)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Symbol
Current position
32 bit
-
Completed
position number
(simple alarm
code)
16 bit
PM1 to
PM512
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
PZONE
b10
MODES
b9
WEND
b8
RMDS
b7
BALM
b6
-
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
Status signal
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
16-bit integer.
After the actuator has moved to the target position and entered
the positioning band, the position number corresponding to the
completed positioning is output.
“0” is output when no position movement has been performed
yet or while the actuator is moving.
If an alarm occurs (= the ALM status signal turns ON), a
corresponding simple alarm code (refer to the operation
manual for the controller) will be output.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside
the specified zone.
Zone 1: The signal is ON when the current position is inside
the specified zone.
Position zone: The signal is ON when the current position is
inside the specified position zone.
Teaching mode signal: The signal is ON when the teaching
mode is selected.
Position data read complete: The signal turns ON when the
position data read is complete.
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Absolute battery voltage low warning: This signal turns ON
when the voltage drops.
Cannot be used.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
4.6 (1)
4.6 (1)
4.4.11 (2)
4.4.11 (1)
4.4.11 (12)
4.4.11 (12)
4.4.11 (12)
4.4.11 (16)
4.4.11 (17)
4.4.11 (19)
4.4.11 (28)
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
103
4. SCON-CA
Bit
PLC input
Signal type
4.4.4
Half Direct Mode (Number of Occupied Bytes: 16)
4. SCON-CA
In this mode, the actuator is operated by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as values from the PLC.
Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
{: Direct control
: Indirect control
x: Invalid
ROBO Cylinder function
Home return operation
Positioning operation
Speed & 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
x
Remarks
{
{
{
{
{
x
{
Parameters must be
set.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
Target position
Positioning band
PLC output address
n+0
n+1
n+2
n+3
n+4
Speed
Acceleration/
n+5
deceleration
Push-current limiting
n+6
value
Control signal
n+7
(Note) Pay attention to use of duplicate addresses.
2
104
SCON-CA output
register
Current position
Command current
Current speed
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
Alarm code
n+6
Status signal
n+7
(2) I/O signal assignments for each axis
Set value
Push-current
limiting value
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.
z The alarm code is a 1-word (16-bit) binary data.
105
4. SCON-CA
An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The specified speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec) can
be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
4. SCON-CA
Target
position
(lower word)
Target
position
(upper word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(lower word)
Positioning
band
(upper word)
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
106
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(lower word)
4. SCON-CA
Current
position
(upper word)
Command
current
(lower word)
Command
current
(upper word)
Current speed
(lower word)
Current speed
(upper word)
Alarm code
Status signal
107
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
32-bit data
Symbol
Description
Details
-
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
4.6 (2)
-
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
4.6 (2)
-
16-bit integer.
Specify the speed at which to move the actuator.
The unit is 1.0 mm/sec, while the specifiable range is 0 to
65535.
(Example) To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
4.6 (2)
-
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
4.6 (2)
PLC output
4. SCON-CA
Target position
Bit
Positioning band
Speed
Acceleration/
deceleration
108
32-bit data
16-bit data
16-bit data
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Symbol
16-bit data
-
b15
BKRL
b14
RMOD
b13
DIR
b12
PUSH
b11
GSL1
Description
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.
Select the servo gain parameter set to be
Servo gain
parameter set used.
selection 1
Control signal
b10
GSL0
b9
-
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
GSL1
OFF
OFF
ON
ON
GSL0
OFF
ON
OFF
ON
Function
Select parameter set 0.
Select parameter set 1.
Select parameter set 2.
Select parameter set 3.
Servo gain
parameter set
selection 0
Cannot be used.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start command: A move command is issued when
the signal turns ON.
Details
4.6 (2)
4.4.11 (18)
4.4.11 (19)
4.4.11 (22)
4.4.11 (21)
4.4.11 (33)
4.4.11 (13)
4.4.11 (13)
4.4.11 (14)
4.4.11 (15)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (8)
109
4. SCON-CA
PLC output
Push-current
limiting value
Bit
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Bit
Symbol
32-bit data
-
Command current 32-bit data
-
Current speed
32-bit data
-
Alarm code
16-bit data
-
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
b10
b9
-
b8
RMDS
b7
BALM
b6
-
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
PLC input
4. SCON-CA
Current position
Status signal
110
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
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
home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside
the specified zone.
Zone 1: The signal is ON when the current position is inside
the specified zone.
Cannot be used.
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Absolute battery voltage low warning: This signal turns ON
when the voltage drops.
Cannot be used.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
4.6 (2)
4.6 (2)
4.6 (2)
4.6 (2)
4.4.11 (2)
4.4.11 (1)
4.4.11 (12)
4.4.11 (12)
-
4.4.11 (19)
4.7.11 (28)
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
4.4.5
Full Direct Mode (Number of Occupied Bytes: 32)
In this mode, the actuator is operated by specifying all values relating to position control (target position, speed,
etc.) directly as values from the PLC.
Set each value in an I/O address.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
{: Direct control
x: Invalid
ROBO Cylinder function
{
{
{
{
{
{
{
{
{
x
4. SCON-CA
Home return operation
Positioning operation
Speed & 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
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
Target position
Positioning band
Speed
Zone boundary+
3
Zone boundaryAcceleration
Deceleration
Push-current limiting
value
PLC output address
n+0
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
Control signal 1
n+14
Control signal 2
n+15
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.
SCON-CA output
register
Current position
Command current
Current speed
Alarm code
Occupied area
Force feedback data
Occupied area
Load current threshold
Status signal 1
Status signal 2
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
n+6
n+7
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
111
4. SCON-CA
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses.
z Control signals 1 and 2 and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The speed is a 2-word (32-bit) binary data. Although values from 0 to 999999 (unit: 0.01 mm/sec) can be
handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
Set value
Push-current
limiting value
z Set a desired load current threshold. The load current threshold is a 1-word (16-bit) binary data. Values from 0
(0%) to 255 (100%) can be handled by the PLC. (Refer to the graph of push-current limiting value (upper
graph).)
z The zone boundary+ and zone boundary- are both a 2-word (32-bit) binary data. Although values from
-999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set values so that the zone boundarybecomes smaller than the zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.
z The alarm code is a 1-word (16-bit) binary data.
z The force feedback data is 2-word (32-bit) binary data (unit: 0.01 N).
112
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
4. SCON-CA
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(upper word)
Positioning
band
(lower word)
Speed
(upper word)
Speed
(lower word)
Zone
boundary+
(upper word)
Zone
boundary+
(lower word)
If the zone boundary+ is a negative value, it is expressed by a 2’s complement.
113
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
4. SCON-CA
Zone
boundary-
(upper word)
Zone
boundary-
(lower word)
If the zone boundary- is a negative value, it is expressed by a 2’s complement.
Acceleration
Deceleration
Push-current
limiting value
Load current
threshold
(*3)
Control
signal 1
Control
signal 2
114
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
4. SCON-CA
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Current
speed
(upper word)
Current
speed
(lower word)
If the current speed is a negative value, it is expressed by a 2’s complement.
Alarm code
115
4. SCON-CA
Cannot be
used.
Force
feedback data
(upper word)
Force
feedback data
(lower word)
If the force feedback data is a negative value, it is expressed by a 2’s complement.
Cannot be
used.
Status signal 1
Status signal 2
116
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Symbol
Target position
32-bit data
-
Positioning band
32-bit data
-
Speed
32-bit data
-
Zone boundary+ /
32-bit data
Zone boundary-
-
Function
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
32-bit integer.
Specify the speed at which to move the actuator.
The unit is 0.01 mm/sec, while the specifiable range is 0 to
999999.
(Example) To set 25.41 mm/sec, specify “2541.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
32-bit signed integer.
A valid zone signal is output after the end of home return,
separately from the zone boundaries specified by parameters.
If the current position is inside these boundaries, the status
signal PZONE turns ON.
(Example) To set +25.40 mm, specify “2540.”
The unit of specification is 0.01 mm, while the specifiable
range is -999999 to 999999.
Enter values satisfying the relationship of “Zone boundary+ >
Zone boundary-.”
If this function is not used, enter the same value for both boundaries.
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
Details
4.6 (3)
4. SCON-CA
Bit
PLC output
Address
4.6 (3)
4.6 (3)
4.6 (3)
117
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Address
16-bit data
Symbol
-
Function
16-bit data
-
Push-current
limiting value
16-bit data
-
Load current
threshold
16-bit data
-
b15
b14
-
Cannot be used.
NTC1
Vibration
damping control
mode selection 1
b12
NTC0
Vibration
damping control
mode selection 0
b11
b10
-
Cannot be used.
b9
ASO1
b13
Details
16-bit integer.
Specify the acceleration and deceleration at which to move the
actuator.
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
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.
16-bit integer.
If judgment will be made as to whether or not the load current
exceeded the set value, specify the threshold value for current
using this register.
The specifiable range is 0 (0%) to 255 (100%).
If judgment is not performed, enter “0.”
Deceleration
PLC output
4. SCON-CA
Acceleration
Bit
4.6 (3)
4.6 (3)
4.6 (3)
Select the vibration damping control
parameter set to be used.
NTC1
OFF
NTC0
OFF
OFF
ON
ON
ON
OFF
ON
Function
Do not use vibration
damping control.
Select parameter set 1.
Select parameter set 2.
Select parameter set 3.
4.4.11 (29)
-
Select the stop mode during standby.
Stop mode 1
Control signal 1
b8
118
ASO0
b7
MOD1
b6
MOD0
b5
GSL1
b4
GSL0
b3
INC
Stop mode 2
ASO1
OFF
ASO0
OFF
OFF
ON
ON
OFF
ON
ON
Function
Invalid (The servo is always on.)
The servo turns off after the
time is set in parameter No. 36.
The servo turns off after the
time is set in parameter No. 37.
The servo turns off after the
time is set in parameter No. 38.
Acceleration/deceleration mode:
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.
Servo gain
Select the servo gain parameter set to be
parameter set
used.
GSL1
GSL0
Function
selection 1
Servo gain
parameter set
selection 0
OFF
OFF
ON
ON
OFF
ON
OFF
ON
Select parameter set 0.
Select parameter set 1.
Select parameter set 2.
Select parameter set 3.
Incremental specification:
Absolute position command when the signal is OFF, or
incremental position command when the signal is ON.
4.4.11 (31)
4.4.11 (30)
4.4.11 (33)
4.4.11 (24)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Address
Symbol
b2
DIR
b1
PUSH
b0
-
b15
BKRL
b14
RMOD
b13
b12
b11
b10
-
b9
CLBR
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
PLC output
Control signal 1
Control signal 2
Function
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.
Cannot be used.
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.
Cannot be used.
Load cell calibration command: Calibration is performed when
this signal turns ON.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start: A move command is issued when the signal
turns ON.
Details
4.4.11 (22)
4.4.11 (21)
4.4.11 (18)
4.4.11 (19)
-
4.4.11 (32)
4.4.11 (13)
4.4.11 (13)
4.4.11 (14)
4.4.11 (15)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (8)
119
4. SCON-CA
Bit
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Bit
Symbol
32 bit data
-
Command current 32-bit data
-
PLC input
4. SCON-CA
Current position
Current speed
32-bit data
-
Alarm code
16-bit data
-
Force feedback
data
32-bit data
-
Status signal 1
120
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
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 home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0 is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
32-bit signed integer.
The current load cell reading is indicated.
The unit is 0.01 N.
Details
4.6 (3)
4.6 (3)
4.6 (3)
4.6 (3)
4.9 (3)
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
-
b2
CEND
b1
BALM
Cannot be used.
Load cell calibration is complete: This signal turns ON
when calibration is complete.
Absolute battery voltage low warning: This signal turns
ON when the voltage drops.
-
4.4.11
(32)
4.4.11
(28)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Bit
Symbol
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
PZONE
b10
LOAD
b9
TRQS
b8
RMDS
b7
GHMS
b6
PUSHS
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
Status signal 2
Description
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside the
specified zone.
Zone 1: The signal is ON when the current position is inside the
specified zone.
Position zone: The signal is ON when the current position is
inside the specified position zone.
Load output judgment: Reached when the signal is ON, or not
yet reached when the signal is OFF. (For details, refer to the
operation manual for the controller.)
Torque level: Reached when the signal is ON, or not yet
reached when the signal is OFF. (For details, refer to the
operation manual for the controller.)
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Home return in progress: The signal is ON while the home
return is in progress.
Push-motion operation in progress: The signal is ON while the
push-motion operation is in progress.
Missed load during push-motion operation: The signal turns ON
when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
4.4.11 (2)
4.4.11 (1)
4.4.11 (12)
4.4.11 (12)
4.4.11 (12)
4.4.11 (26)
4.4.11 (27)
4.4.11 (19)
4.4.11 (6)
4.4.11 (25)
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
121
4. SCON-CA
PLC input
Signal type
4.4.6
Remote I/O Mode 2 (Number of Occupied Bytes: 12)
4. SCON-CA
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.)
Setting of parameter No. 25
0
1
2
3
4
5
6
7
Operation mode
Positioning mode
Teaching mode
I/O specification
64 positioning points, 2 zone outputs
64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
256-point mode
256 positioning points, 1 zone output
512-point mode
512 positioning points, no zone output
Solenoid valve
7 positioning points, 2 zone outputs
mode 1
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
Solenoid valve
3 positioning points, 2 zone outputs
mode 2
Operation using forward, reverse and interim position commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
Force control mode 1 32 positioning points, 1 zone outputs
(when a dedicated
load cell is used)
Force control mode 2 5 positioning points, 1 zone outputs
(when a dedicated An operation command can be specified directly for each position
load cell is used)
number.
A positioning complete signal is output for each position number.
The key functions that are available on Actuator controllable in this mode are shown in the table below.
Actuator function
Home return operation
Positioning operation
Speed &
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 (set
by parameter)
0:
Positioning
mode
{
{
1:
Teaching
mode
{
{
2:
256-point
mode
{
{
PIO pattern
3:
6:
5:
4:
Force control
Solenoid
Solenoid
512-point
valve mode 1 valve mode 2 mode 1
mode
{
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{
{
{
{
{
{
x
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{ (*1)
{
{
{
{
{
{
{
{
{
{
{
{
{
{: 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.
122
7:
Force control
mode 2
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA DI and input
register
Port number 0 to 15
PLC output address
SCON-CA DO and
output register
Port number 0 to 15
Occupied area
n+0
n+1
n+2
n+3
n+4
n+5
4. SCON-CA
n+0
n+1
n+2
Current position
4
Occupied area
n+3
n+4
Command current
n+5
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.
PLC input address
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 6 words (12 bytes) of I/O addresses.
z Addresses controlled by port numbers are controlled by bit ON/OFF signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Controller
input port
number
123
PLC input
address
Address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
4. SCON-CA
Controller
output port
number
Cannot be
used.
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
124
(3) I/O signal assignments
For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 8.4.2, “Remote I/O
Mode.”
The signal assignments for command-current and current-position read functions are shown below.
Signal type
Symbol
32-bitdata
-
Command current 32-bitdata
-
PLC input
Current position
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
Details
-
4. SCON-CA
Bit
-
125
4. SCON-CA
4.4.7
Position/Simple Direct Mode 2 (Number of Occupied Bytes: 8)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying position numbers. You can select whether to specify target positions
directly as numerical values by switching the control signal (PMOD signal) or to use values already registered in
the position data table.
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
{: Direct control
U: Indirect
control
x: Invalid
Actuator function
Home return operation
Positioning operation
Speed & acceleration/deceleration setting
Pitch feed (inching)
Push-motion operation
Speed change during movement
Operation at different acceleration and deceleration
Pause
Remarks
{
{
U
U
U
U
U
Position data must
be set
{
Zone signal output
U
PIO pattern selection
x
Position data or
parameters
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
5
SCON-CA input
register
PLC output address
SCON-CA output
register
PLC input address
Target position
n+0
n+1
Current position
n+0
n+1
Command current
n+2
Specified position
n+2
number
Control signal
n+3
(Note) Pay attention to use of duplicate node addresses.
126
n+3
(2) I/O signal assignments for each axis
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Specified
position
number
Control signal
127
4. SCON-CA
An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z The specified position number and completed position number are both a 1-word (16-bit) binary data.
Although values from 0 to 767 can be handled by the PLC, use the PC software or teaching pendant to specify
a position number for which operation conditions are already set.
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
4. SCON-CA
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Status signal
128
PZONE/
ZONE2
Complete
position
number
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Symbol
Target position
32-bit data
-
Specified position
number
16-bit data
PC1 ~
PC512
b15
BKRL
b14
RMOD
b13
b12
-
b11
PMOD
b10
-
b9
CLBR
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
CSTR
Control signal
Description
Details
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.40 mm, specify “2540.”
4.9 (1)
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
16-bit integer.
To operate the actuator, position data is needed for which
operation conditions have already been entered using the PC
software or teaching pendant.
Use this register to specify the position number for which data
4.9 (1)
has been entered.
The specifiable range is 0 to 767.
If an out-of-range value is specified or the specified position
number is not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when the signal
4.4.11 (18)
turns ON.
Operation mode: AUTO mode when the signal is OFF, or
4.4.11 (19)
MANU mode when the signal is ON.
Cannot be used.
Position/simple direct switching: Position mode when the
signal is OFF, or simple direct mode when the signal is ON.
Cannot be used.
Load cell calibration command: Calibration is performed when
this signal turns ON.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start: A move command is issued when the signal
turns ON.
4.4.11 (20)
4.4.11 (32)
4.4.11 (13)
4.4.11 (13)
4.4.11 (14)
4.4.11 (15)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (7)
129
4. SCON-CA
Bit
PLC output
Signal type
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Bit
Symbol
Current position
32 bit
-
Completed
position number
(simple alarm
code)
16 bit
PM1 ~
PM512
b15
EMGS
b14
PWR
b13
CEND
Load cell calibration complete: This signal turns ON
when the load cell calibration is complete.
4.4.11 (32)
b12
ZONE1
Zone 1: The signal is ON when the current position is inside
the specified zone.
4.4.11 (12)
b11
PZONE/
ZONE2
b10
LOAD
b9
TRQS
b8
RMDS
b7
BALM
b6
PUSHS
b5
PSFL
b4
SV
b3
ALM
b2
MOVE
b1
HEND
b0
PEND
PLC input
4. SCON-CA
Signal type
Status signal
130
Description
Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
4.9 (1)
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
16-bit integer.
After the actuator has moved to the target position and entered
the positioning band, the position number corresponding to the
completed positioning is output.
“0” is output when no position movement has been performed
4.9 (1)
yet or while the actuator is moving.
If an alarm occurs (= the ALM status signal turns ON), a
corresponding simple alarm code (refer to the operation
manual for the controller) will be output.
Emergency stop: An emergency stop is being executed when
4.4.11 (2)
the signal is ON.
Controller ready: The signal turns ON when the controller
4.4.11 (1)
becomes ready.
PZONE and ZONE2 can be switched in Parameter No.149.
No.149 = 0
: This signal turns ON when the current
Position zone position is inside the specified position zone. 4.4.11 (12)
No.149 = 1
: This signal turns ON when the current
Zone2
position is inside the specified zone.
Load output judgment:
When this signal is ON, the specified load output judgment has
4.4.11 (26)
been reached. If the signal is OFF, it is not yet reached.
(For details, refer to the operation manual for your controller.)
Torque level:
When this signal is ON, the specified torque level has been
4.4.11 (27)
reached. If the signal is OFF, it is not yet reached.
(For details, refer to the operation manual for your controller.)
+JOG: The actuator moves in the direction opposite the
4.4.11 (19)
home when this signal turns ON.
Absolute battery voltage low warning: This signal turns ON
4.4.11 (28)
when the voltage drops.
Push-motion operation in progress: The signal is ON when the
4.4.11 (23)
Push-motion operation in progress.
Jog/inch switching: The actuator jogs when this signal is
OFF, and inches when it is ON.
Servo ON command: The servo turns ON when this
signal turns ON.
Reset: A reset is executed when this signal turns ON.
Pause: A pause command is issued when this signal
turns ON.
Home return: A home return command is issued when
this signal turns ON.
Positioning command: A move command is issued when
this signal turns ON.
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
4.4.8
Half Direct Mode 2 (Number of Occupied Bytes: 16)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration
and push current directly as numerical values. Set each value in the applicable I/O area. To use the zone function,
set the necessary values in parameter Nos. 1, 2, 23 and 24.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
Home return operation
Positioning operation
Speed & 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
x
Remarks
4. SCON-CA
{: Direct control
: Indirect control
x: Invalid
Actuator function
{
{
{
{
{
x
{
Parameters must be
set.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
Target position
Positioning band
PLC output address
n+0
n+1
n+2
n+3
n+4
Speed
Acceleration/
n+5
deceleration
Push-current limiting
n+6
value
Control signal
n+7
(Note) Pay attention to use of duplicate addresses.
6
SCON-CA output
register
Current position
Force feedback data
Current speed
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
Alarm code
n+6
Status signal
n+7
131
4. SCON-CA
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The specified speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec) can
be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
Set value
Push-current
limiting value
z The force feedback data is 2-word (32-bit) binary data (unit: 0.01 N).
z The current position is 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.
132
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
4. SCON-CA
Target
position
(lower word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(upper word)
Positioning
band
(lower word)
Speed
Acceleration/
deceleration
Push-current
limiting value
Control signal
133
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
4. SCON-CA
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Force feedback
data
(upper word)
Force
feedback data
(lower word)
If the force feedback data is a negative value, it is expressed by a 2’s complement.
Positioning
band
(upper word)
Positioning
band
(lower word)
If the current speed is a negative value, it is expressed by a 2’s complement.
Alarm code
Status signal
134
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Positioning band
Speed
Acceleration/
deceleration
32-bit data
32-bit data
16-bit data
16-bit data
Symbol
Description
Details
-
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
4.9 (2)
-
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
4.9 (2)
-
16-bit integer.
Specify the speed at which to move the actuator.
The unit is 1.0 mm/sec, while the specifiable range is 0 to
65535.
(Example) To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
4.9 (2)
-
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
4.9 (2)
4. SCON-CA
PLC output
Target position
Bit
135
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
PLC output
4. SCON-CA
Push-current
limiting value
Control signal
136
Bit
Symbol
16-bit data
-
b15
BKRL
b14
RMOD
b13
DIR
b12
PUSH
b11
b10
-
b9
CLBR
b8
JOG+
b7
JOG-
b6
JVEL
b5
JISL
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
Description
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.
Cannot be used.
Load cell calibration command: Calibration is performed when
this signal turns ON.
+Jog: The actuator moves in the direction opposite home when
the signal is ON.
-Jog: The actuator moves in the direction of home when the
signal is ON.
Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.
Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start command: A move command is issued when
the signal turns ON.
Details
4.9 (2)
4.4.11 (18)
4.4.11 (19)
4.4.11 (22)
4.4.11 (21)
4.4.11 (32)
4.4.11 (13)
4.4.11 (13)
4.4.11 (14)
4.4.11 (15)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (8)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Symbol
Current position
32-bit data
-
Force feedback
data
32-bit data
-
Current speed
32-bit data
-
Alarm code
16-bit data
-
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
b10
-
b9
CEND
b8
RMDS
b7
BALM
b6
PUSHS
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
Status signal
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit signed integer indicating the current position.
The current load cell reading is indicated.
The unit is 0.01 N.
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
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
home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside
the specified zone.
Zone 1: The signal is ON when the current position is inside
the specified zone.
Cannot be used.
Load cell calibration is complete: This signal turns ON when
calibration is complete.
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
Absolute battery voltage low warning: This signal turns ON
when the voltage drops
Push-motion operation in progress: The signal is ON when the
Push-motion operation in progress.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
4.9 (2)
4.9 (3)
4. SCON-CA
Bit
PLC input
Signal type
4.9 (2)
4.9 (2)
4.4.11 (2)
4.4.11 (1)
4.4.11 (12)
4.4.11 (12)
4.4.11 (32)
4.4.11 (19)
4.4.11 (28)
4.4.11 (23)
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
137
4.4.9
Remote I/O Mode 3 (Number of Occupied Bytes: 12)
4. SCON-CA
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 a position number just like when PIOs (24-V I/Os) are used.
Set position data using the RC PC software or other teaching tool.
The number of available positions varies depending on the setting of parameter No. 25, “PIO pattern.”
In this mode, all functions available in the remote I/O mode are supported, plus functions to read the current
position and force feedback data.
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)
Setting of parameter No. 25
Operation mode
0
1
Positioning mode
Teaching mode
2
3
4
5
6
7
I/O specification
64 positioning points, 2 zone outputs
64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
256-point mode
256 positioning points, 1 zone output
512-point mode
512 positioning points, no zone output
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.
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.
Force control mode 1 32 positioning points, 1 zone outputs
(when a dedicated
load cell is used)
Force control mode 2 5 positioning points, 1 zone outputs
(when a dedicated
An operation command can be specified directly for each position
load cell is used)
number.
A positioning complete signal is output for each position number.
The key functions that are available on Actuator controllable in this mode are shown in the table below.
Actuator function
Home return operation
Positioning operation
Speed &
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 (set
by parameter)
0:
Positioning
mode
{
{
1:
Teaching
mode
{
{
2:
256-point
mode
{
{
PIO pattern
3:
6:
5:
4:
Force control
Solenoid
Solenoid
512-point
valve mode 1 valve mode 2 mode 1
mode
{
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{
{
{
{
{
{
x
{
{
x
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
x
{
{
{ (*1)
{
{
{
{
{
{
{
{
{
{
{
{
{
{: 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.
138
7:
Force control
mode 2
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA DI and input
register
Port number 0 to 15
PLC output address
SCON-CA DO and
output register
Port number 0 to 15
Occupied area
n+0
n+1
n+2
n+3
n+4
n+5
4. SCON-CA
n+0
n+1
n+2
Current position
4
Occupied area
n+3
n+4
Force feedback data
n+5
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.
PLC input address
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 6 words (12 bytes) of I/O addresses.
z Addresses controlled by port numbers are controlled by bit ON/OFF signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The force feedback data is a 2-word (32-bit) binary data (unit: 0.01N).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Controller
input port
number
139
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Address
4. SCON-CA
Controller
output port
number
Cannot be
used.
Current
position
(lower word)
Current
position
(upper word)
If the current position is a negative value, it is expressed by a 2’s complement.
Force feedback
data
(upper word)
Force feedback
data
(lower word)
If the current force feedback data is a negative value, it is expressed by a 2’s complement.
140
(3) I/O signal assignments
For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 4.7.2, “Remote I/O
Mode.”
The signal assignments for command-current and current-position read functions are shown below.
Bit
Symbol
Current position
32-bitdata
-
Force feedback
data
32-bitdata
-
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit signed integer indicating the current position.
The current load cell reading is indicated.
The unit is 0.01 N.
Details
-
4. SCON-CA
PLC input
Signal type
-
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
141
4.4.10 Half Direct Mode 3 (Number of Occupied Bytes: 16)
4. SCON-CA
In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping
parameter set can be changed. Set each value in the applicable I/O area. To use the zone function, set the
necessary values in parameter Nos. 1, 2, 23 and 24.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
{: Direct control
: Indirect control
x: Invalid
Actuator function
Home return operation
Positioning operation
Speed & 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
x
Remarks
{
{
{
{
{
x
{
Parameters must be
set.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
Target position
Positioning band
PLC output address
n+0
n+1
n+2
n+3
n+4
Speed
Acceleration/
n+5
deceleration
Push-current limiting
n+6
value
Control signal
n+7
(Note) Pay attention to use of duplicate addresses.
6
142
SCON-CA output
register
Current position
Command current
Current speed
PLC input address
n+0
n+1
n+2
n+3
n+4
n+5
Alarm code
n+6
Status signal
n+7
(2) I/O signal assignments for each axis
Set value
Push-current
limiting value
z The command current is 2-word (32-bit) binary data (unit: 1 mA).
z The current position is 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.
143
4. SCON-CA
An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The specified speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec) can
be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
PLC output
address
(* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
4. SCON-CA
Target
position
(lower word)
Target
position
(upper word)
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(lower word)
Positioning
band
(upper word)
Speed
Acceleration/
deceleration
144
MOD0
Control signal
MOD1
Push-current
limiting value
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
4. SCON-CA
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Current speed
(lower word)
Current speed
(upper word)
If the current speed is a negative value, it is expressed by a 2’s complement.
Alarm code
Status signal
145
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
PLC output
4. SCON-CA
Target position
Positioning band
Speed
Acceleration/
deceleration
146
Bit
32-bit data
32-bit data
16-bit data
16-bit data
Symbol
Description
Details
-
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
4.9 (2)
-
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
4.9 (2)
-
16-bit integer.
Specify the speed at which to move the actuator.
The unit is 1.0 mm/sec, while the specifiable range is 0 to
65535.
(Example) To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
4.9 (2)
-
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
4.9 (2)
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Symbol
16-bit data
-
b15
BKRL
b14
RMOD
b13
DIR
b12
PUSH
b11
GSL1
Description
Details
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
Select the servo gain parameter set to be
parameter set
used.
GSL1
GSL0
Function
selection 1
OFF
OFF
ON
ON
OFF
ON
OFF
ON
Select parameter set 0.
Select parameter set 1.
Select parameter set 2.
Select parameter set 3.
b10
GSL0
Servo gain
parameter set
selection 0
b9
NTC1
Vibration
Select the vibration damping control
damping control parameter set to be used.
NTC0
Function
mode selection 1 NTC1
b8
NTC0
Vibration
damping control
mode selection 0
b7
MOD1
b6
MOD0
b5
b4
b3
b2
SON
RES
STP
b1
HOME
b0
DSTR
Control signal
OFF
OFF
OFF
ON
ON
ON
OFF
ON
Do not use vibration
damping control.
Select parameter set 1.
Select parameter set 2.
Select parameter set 3.
Acceleration/deceleration mode:
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.
Not available
Servo ON command: The servo is ON when the signal is ON.
Reset: A reset is performed when the signal turns ON.
Pause: A pause command is issued when the signal turns ON.
Home return: A home return command is issued when the
signal turns ON.
Positioning start command: A move command is issued when
the signal turns ON.
4.9 (2)
4.4.11 (18)
4.4.11 (19)
4.4.11 (22)
4.4.11 (21)
4.4.11 (33)
4.4.11 (29)
4.4.11 (30)
4.4.11 (5)
4.4.11 (4)
4.4.11 (11)
4.4.11 (6)
4.4.11 (8)
147
4. SCON-CA
PLC output
Push-current
limiting value
Bit
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type
Bit
Symbol
32-bit data
-
Command current 32-bit data
-
4. SCON-CA
Current position
The current load cell reading is indicated.
The unit is 0.01 N.
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
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
home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is being executed when
the signal is ON.
Controller ready: The signal turns ON when the controller
becomes ready.
Zone 2: The signal is ON when the current position is inside
the specified zone.
Zone 1: The signal is ON when the current position is inside
the specified zone.
32-bit data
-
Alarm code
16-bit data
-
b15
EMGS
b14
PWR
b13
ZONE2
b12
ZONE1
b11
b10
b9
-
b8
RMDS
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
b7
BALM
Absolute battery voltage low warning: This signal turns
ON when the voltage drops.
b6
-
b5
PSFL
b4
b3
b2
SV
ALM
MOVE
b1
HEND
b0
PEND
PLC input
Current speed
Status signal
148
Description
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit signed integer indicating the current position.
Cannot be used.
Cannot be used.
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
Ready: The signal is ON when the servo is ON.
Alarm: The signal turns ON when an alarm occurs.
Moving signal: The signal is ON while the actuator is moving.
Home return complete: The signal turns ON when the home
return is completed.
Positioning complete signal: The signal turns ON when the
positioning is completed.
Details
4.9 (2)
4.9 (2)
4.9 (2)
4.9 (2)
4.4.11 (2)
4.4.11 (1)
4.4.11 (12)
4.4.11 (12)
-
4.4.11 (19)
4.4.11 (28)
4.4.11 (23)
4.4.11 (5)
4.4.11 (3)
4.4.11 (9)
4.4.11 (6)
4.4.11 (10)
4.4.11 I/O Signal Controls and Functions
* ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”
The following specifies the controls and functions of I/O signals used in the position/simple direct mode 1 and 2,
half direct mode and full direct mode 1 to 3. For the I/O signals in the remote I/O mode 1 to 3, refer to the
operation manual for the controller.
(1) Controller ready (PWR) PLC input signal
(2) Emergency stop (EMGS) PLC input signal
This signal turns ON when the controller has entered an emergency stop mode.
„ Function
This signal turns ON when the control has entered an emergency stop mode (= the motor drive power has
become cut off). It will turn OFF once the emergency stop mode is cancelled.
(3) Alarm (ALM) PLC input signal
This signal turns ON when the controller’s protective circuit (function) has detected an abnormality.
„ Function
This signal turns ON when a protective circuit (function) has actuated following a detection of abnormality.
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-cancellation alarm. (In the case of a cold-start alarm, the power must be
reconnected.)
Upon detection of an alarm, the status indicator LED (refer to (6) in 7.3) on the front side of the controller
illuminates in red.
(4) Reset (RES) PLC output signal
This signal has two functions: it can be used to reset controller alarms or cancel the remaining travel during a
pause.
„ Function
[1] If the cause of the present alarm is removed and then this signal is turned from OFF to ON, the alarm (ALM)
signal will be reset. (In the case of a cold-start alarm, the power must be reconnected.)
[2] When this signal is turned from OFF to ON while the actuator is paused, the remaining travel will be
cancelled.
149
4. SCON-CA
This signal turns ON when the controller has become ready to perform control after the power was turned on.
„ Function
This signal turns ON when the controller has been initialized successfully following a power on and become ready
to perform control, regardless of the alarm condition, servo condition, etc.
The PWR signal turns ON as long as the controller is ready to perform control, even when an alarm is present.
(5) Servo ON command (SON)
4. SCON-CA
Ready
(SV)
PLC output signal
PLC input signal
When the SON signal is turned ON, the servo turns ON.
When the servo turns ON, the status indicator LED (refer to (6) in 4.3) on the front side of the controller illuminates
in green.
The SV signal is synchronized with this LED.
„ Function
The controller servo can be turned ON/OFF using the SON signal.
The controller servo remains ON to enable operation while the SV signal is ON.
The relationship of SON and SV signals is shown below.
150
(6) Home return
(HOME) PLC output signal
Home return complete
(HEND)
PLC input signal
Home return in progress (GHMS) PLC input signal
Actuator operation
Mechanical endStopped 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 immediately after the power has been turned on, before home return is
performed, will cause the actuator to automatically return home and then perform positioning,
provided that this is the first positioning command after the power on.
In the half direct mode 1 to 3, issuing a positioning command to a given position immediately after
the power has been turned on, before home return is performed, will generate an alarm (error
code 083: ALARM HOME ABS (absolute position move command when home return is not yet
completed) (operation-cancellation alarm)). Exercise caution.
151
4. SCON-CA
When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and
home return operation will be performed automatically. The GHMS signal turns ON while the home return is in
progress.
When the home return is completed, the HEND signal turns ON while the GHMS signal turns OFF.
Turn the HOME signal OFF when the HEND signal turns ON. Once the HEND signal turns ON, it will not turn OFF
until the power is turned OFF or the HOME signal is input again.
Even after home return has been completed once, another home return can be performed by turning the HOME
signal ON.
(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal
This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position
set by the target position corresponding to the specified position or the PLC’s target position.
Whether to use the target position corresponding to the specified position number or PLC’s target position (*) is
determined by the control signal b11 (position/simple direct switching (PMOD) signal).
PMOD = OFF: Use the target position data under the specified position number
PMOD = ON: Use the set value of the PLC’s target position (*)
4. SCON-CA
(*)
Refer to 4.4.1.
If this command is issued immediately after the power has been turned on, before home return is performed (=
when the HEND signal is OFF), the actuator will automatically perform home return operation and then move to
the target position.
Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.
Target position
(8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal
This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the target
position entered as the PLC’s target position (*). If this command is issued immediately after the power has been
turned on, before home return is performed (= when the HEND signal is OFF), an alarm (operation-cancellation
alarm) will occur.
Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.
Target position
(*)
Refer to 4.4.1.
(9) Moving signal (MOVE) PLC input signal
This signal turns ON while the actuator slider or rod is moving (including cases where the actuator is performing
home return operation, push-motion operation or jog operation).
The signal turns OFF after the positioning, home return or push-motion operation is completed or while the
operation is paused.
152
(10) Positioning complete signal (PEND) PLC input signal
This signal turns ON when the actuator has moved to the target position and entered the positioning band or
completed the push motion.
Timing at which the positioning
complete signal turns ON
Speed
Target position
Travel
Positioning band
When the servo turns from OFF to ON, positioning is performed based on the current position being the target
position. As a result, this signal turns ON and will turn OFF when another positioning operation is started
subsequently using the home return (HOME) signal, positioning start (DSTR) signal or positioning command
(CSTR) signal.
Caution: If the servo turns OFF or an emergency stop is actuated while the actuator is standing still at the
target position, the PEND signal turns OFF.
When the servo turns ON again, the signal will turn ON if the actuator is inside the positioning
band.
The PEND signal will not turn ON if the CSTR or DSTR signal is ON, even after the positioning is
completed.
(11) Pause (STP) PLC output signal
When this signal is turned ON, the moving axis will decelerate to a stop. Turning it OFF will resume the axis
movement.
The acceleration upon resumption of operation, and deceleration at stopping, conform to the
acceleration/deceleration set by the specified position number (*) in the position/simple direct mode, or to the
value of acceleration/deceleration (*) in the half direct mode.
In the full direct mode, the values of acceleration (*) and deceleration (*) are used.
153
4. SCON-CA
Time
4. SCON-CA
(12) Zone 1
(ZONE1)
PLC input signal
Zone 2
(ZONE2)
PLC input signal
Position zone
(PZONE)
PLC input signal
Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the
actuator is outside the range.
[1] Zones 1, 2
A desired zone is set using user parameters.
The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.”
The ZONE2 signal is set using parameter Nos. 23, “Zone boundary 2+” and 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become valid upon completion of home return, after which they will remain valid
even while the servo is turned OFF.
[2] Position zone
A desired zone is set using the position table or PLC.
In the position/simple direct mode, set the PZONE signal using the position table.
In the full direct mode, set the PZONE signal using the zone boundaries (refer to 4.4.1).
(*) The PZONE signal is not available in the half direct mode 1 to 3.
The PZONE signal becomes valid upon issuance of a move command after completion of home return, after
which it will remain valid even while the servo is turned OFF.
Zone signal
+ direction
Actuator operation
Home
Zone setting-
154
Zone setting+
(13) +Jog
(JOG+) PLC output signal
-Jog
(JOG-) PLC output signal
These signals are used as starting commands for jog operation or inching operation.
A + command starts the applicable operation in the direction opposite home, while a – command starts the
applicable operation in the direction of home.
Jog operation
Jog operation can be performed when the jog/inching switching (JISL) signal is OFF.
While JOG+ is ON, the actuator moves in the direction opposite home. When the signal turns OFF, the
actuator will decelerate to a stop.
While JOG- is ON, the actuator moves in the direction of home. When the signal turns OFF, the actuator will
decelerate to a stop.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the jog
speed/inching distance switching (JVEL) signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”
When the JVEL signal is ON, the actuator moves at the value of parameter No. 47, “PIO jog speed 2.”
The actuator moves at the rated acceleration/deceleration (the specific value varies depending on the
actuator).
When both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2]
Inching operation
Inching operation can be performed when the jog/inching switching (JISL) signal is ON.
The actuator moves by the inching distance with every ON input.
While JOG+ is ON, the actuator moves in the direction opposite home. While JOG- is ON, the actuator
moves in the direction of home.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the JVEL
signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”
When the JVEL signal is ON, the actuator moves at the value of parameter No. 47, “PIO jog speed 2.”
The actuator moves by the travel corresponding to the value of the parameter specified by the JVEL
signal.
When the JVEL signal is OFF, the actuator moves by the value of parameter No. 48, “PIO inching
distance.”
When the JVEL signal is ON, the actuator moves by the value of parameter No. 49, “PIO inching distance
2.”
The actuator moves at the rated acceleration/deceleration (the specific value varies depending on the
actuator).
During normal operation, the actuator will continue with the normal operation even when the JOG+ or JOG- is
turned ON (= the JOG signal will be ignored).
While paused, the actuator will not move even when the JOG+ or JOG- is turned ON.
(Note) Take note that before completion of home return, the actuator may collide with the mechanical end
because the software stroke limits are not valid.
155
4. SCON-CA
[1]
(14) Jog speed/inching distance switching (JVEL) PLC output signal
This signal switches between the parameter that specifies the jog speed to be used when the jog mode is
selected, and one that specifies the inching distance to be used when the inching mode is selected.
The relationships of applicable parameters are shown below.
4. SCON-CA
JVEL signal
Jog operation: JISL = OFF
OFF
Parameter No. 26, “Jog speed”
ON
Parameter No. 47, “Jog speed2”
Inching operation: JISL = ON
Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Parameter No. 47, “Jog speed2”
Parameter No. 49, “Inching distance2”
(15) Jog/inching switching (JISL) PLC output signal
This signal switches between jog operation and inching operation.
JISL = OFF: Jog operation
JISL = ON: Inching operation
If the JISL signal switches to ON (inching) while the actuator is jogging, the actuator will decelerate to a stop and
the inching function will become effective.
If the JISL signal switches to OFF (jog) while the actuator is inching, the jog function will become effective after
the actuator completes its movement.
The table below specifies the relationship of the ON/OFF statuses of JISL signal and jog speed/inching distance
switching (JVEL) signal.
JISL
Speed
Travel
JVEL=OFF
Acceleration/
deceleration
Speed
Travel
JVEL=ON
Acceleration/
deceleration
Operation
156
Jog operation
OFF
Parameter No. 26, “Jog speed”
Rated value (the specific value varies
depending on the actuator)
Parameter No. 47, “Jog speed2”
Rated value (the specific value varies
depending on the actuator)
When JOG+/JOG- is ON
Inching operation
ON
Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Rated value (the specific value varies
depending on the actuator)
Parameter No. 47, “Jog speed2”
Parameter No. 49, “Inching distance2”
Rated value (the specific value varies
depending on the actuator)
Upon detection of the leading (ON) edge
of JOG+/JOG-
(16) Teaching mode command (MODE)
Teaching mode signal
PLC output signal
(MODES) PLC input signal
(17) Position data read command (PWRT) PLC output signal
Position data read complete
(WEND) PLC input signal
The PWRT signal is valid when the teaching mode signal (MODES) is ON.
Turn the PWRT signal ON (*1). This causes the current position data to be written to the Position field of the
position number currently set under the position number specified by the PLC (refer to 4.4.1). (*2)
When the writing is completed, the WEND signal turns ON.
The host PLC should turn the PWRT signal OFF after the WEND signal has turned ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
Turning the PWRT signal OFF causes the WEND signal to turn OFF.
(*1) Keep the signal ON for 20 msec or more. If the signal is turned on for less than 20 msec, the data may not be
written.
(*2) If any data other than position is yet to be defined, the default value of the corresponding parameter is written.
(Refer to the operation manual for the controller.)
20 msec or more
(18) Forced brake release (BKRL) PLC output signal
The brake can be forcibly released by turning this signal ON.
157
4. SCON-CA
When the MODE signal is turned ON, the normal operation mode switches to the teaching mode.
When the mode switches to teaching, the controller of each axis turns ON the MODES signal.
The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
(Note) For the normal operation mode to switch to the teaching mode, the following conditions must be satisfied:
The actuator (motor) is stopped.
The +jog (JOG+) and -jog (JOG-) signals are OFF.
The position data read command (PWRT) signal and positioning start (CSTR) signal are OFF.
(Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF.
(19) Operation mode (RMOD)
PLC output signal
Operation mode status (RMDS)
PLC input signal
4. SCON-CA
A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front
side of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
RMOD signal and mode switch combinations, and corresponding operation modes, are shown below.
RMOD signal OFF (AUTO
mode is specified)
RMOD signal ON (MANU
mode is specified)
Controller’s MODE switch
in AUTO position
AUTO mode
(RMDS=OFF)
MANU mode
(RMDS=ON)
Controller’s MODE switch
in MANU position
MANU mode
(RMDS=ON)
MANU mode
(RMDS=ON)
(Note) Operation from the PLC is not supported in the MANU mode.
(20) Position/simple direct switching (PMOD) PLC output signal
This signal switches between the mode where a value registered in the controller’s position table is used as the
target position for movement, and the mode where the PLC’s target position (*) is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the PLC’s target position(*)
(*) Refer to 4.4.1.
(21) Push specification (PUSH) PLC output signal
When a move command is issued after turning this signal ON, the actuator will perform push-motion operation.
If this signal is turned OFF, the actuator will perform normal positioning operation.
(Refer to (2), “Operation in the half direct mode 1 to 3” under 4.6, “Operation.”)
(22) Push direction specification (DIR) PLC output signal
This signal specifies the direction in which the actuator will push the load.
When this signal is turned OFF, the actuator will push the load toward the position obtained by subtracting the
positioning band from the target position.
When this signal is turned ON, the actuator will push the load toward the position obtained by adding the
positioning band to the target position.
This signal is invalid during normal positioning operation.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode 1 to 3” under 4.6, “Operation.”)
Speed
Travel
Positioning Positioning
Positioning
band
band
band
Target position
DIR = OFF
DIR = ON
158
(23) Missed load during push-motion operation (PSFL) PLC input signal
This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the
positioning band in the controller’s position table or PLC’s positioning band (refer to 4.4.1) during push-motion
operation.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 4.6, “Operation.”)
(24) Incremental specification (INC) PLC output signal
4. SCON-CA
When a move command is issued while this signal is ON, the actuator will move by the value entered as the
PLC’s target position (*) with reference to the current position. (Incremental moves)
If this signal is OFF, the actuator will move to the value of the PLC’s target position (*).
(*) Refer to 4.4.1.
(25) Push-motion operation in progress (PUSHS) PLC input signal
This signal turns ON while the push-motion operation is in progress.
Speed
Target position
Travel
Positioning band
PUSHS=ON
This signal turns OFF if the actuator has missed the load in push-motion operation or paused, or the next move
command has been issued, or the servo has been turned OFF.
(For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 4.6, “Operation.”)
159
4. SCON-CA
(26) Load output judgment (LOAD) PLC input signal
This signal is valid only during push-motion operation.
To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the
push-motion operation must be recognized.
The load threshold and certification band are set by the PLC, and this signal will turn ON when the command
torque (motor current) exceeds the threshold inside the certification band.
For this signal, judgment is made based on whether the command torque has exceeded the threshold for the
specified total time.
The specific procedure is the same as that for push judgment. The load output judgment time can be changed as
desired using parameter No. 50, “Load output judgment time.”
This signal will be retained until the next move command is received.
This signal turns ON here due to the
command torque exceeding the threshold
inside the torque certification range.
Speed
The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Certification
band
Travel
Positioning band(maximum push distance)
Target position
Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
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 certification range” to “0 [Enable].”
Set the threshold certification band using the PLC’s zone boundary+ and zone boundary- (*).
Set the threshold using the PLC’s load current threshold (*).
Set the positioning band using the PLC’s positioning band (*).
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.
(*) Refer to 4.4.1.
Warning: The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in this
condition.
160
(27) Torque level (TRQS) PLC input signal
This signal is valid only during push-motion operation.
This signal turns ON when the motor current has reached the load threshold during push-motion operation (while
the actuator is moving inside the positioning band). Since the current is monitored by level, when the current
changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion
operation vary depending on the motor and lead. Accordingly, the applicable parameters must be adjusted.
4. SCON-CA
The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Speed
Range within which this signal is output
Travel
Positioning band(maximum push distance)
Target position
Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
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 certification range” to “1 [Disable].”
Set the threshold using the PLC’s load current threshold (*).
Set the positioning band using the PLC’s positioning band (*).
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.
(*) Refer to 4.4.1.
Warning: The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in this
condition.
161
(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 Mode Selection 0, 1 (NTC0, NTC1) PLC Output Signals
4. SCON-CA
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
OFF
OFF
ON
ON
NTC0
OFF
ON
OFF
ON
Function
Do not use vibration damping control.
Select parameter set 1
Select parameter set 2
Select parameter set 3
Remarks
Factory setting
Input timing
An input timing chart of NTC0/NTC1 signals is shown below.
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.
162
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal
This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic
before issuing an actuator move command.
MOD0
OFF
ON
OFF
ON
Pattern name
Trapezoid pattern
S-motion
Primary delay filter
Cannot be used.
Remarks
Factory setting
4. SCON-CA
MOD1
OFF
OFF
ON
ON
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 acceleration/deceleration curve rises gradually at first and then draws a steep curve
from a certain point. Use this mode if you want to set high acceleration/deceleration to
meet the tact time requirement, but keep the acceleration/deceleration gradual at the
start of movement or immediately before stopping.
Speed
Time
*
The S-motion level is set using parameter No. 56, “S-motion ratio setting.” The setting
unit is %, while the setting range is 0 to 100.
(The above graph shows a curve assuming a 100% S-motion ratio.)
When “0” is set, the S-motion mode is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.
Primary delay filter
A more gradual acceleration/deceleration curve than linear acceleration/deceleration (trapezoid
pattern) is drawn. Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Speed
Time
*
The primary delay level is set using parameter No. 55, “Position-command primary
filter time constant.” The minimum input unit is 0.1 msec, while the setting range is
0.0 to 100.0.
When “0” is set, the primary delay filter is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.
163
(31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals
4. SCON-CA
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
OFF
OFF
ASO0
OFF
ON
ON
OFF
ON
ON
Standstill mode
Disabled
Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 36.
Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 37.
Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 38.
Movement command
Remarks
Factory setting
Auto servo OFF mode
(A green LED blinks.)
Servo status
Servo ON status
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 Input Signal
The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the
reference (0 N), perform the following calibration. 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.
164
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
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 Signals
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
OFF
OFF
ON
ON
GSL0
OFF
ON
OFF
ON
Function
Select parameter set 0
Select parameter set 1
Select parameter set 2
Select parameter set 3
Remarks
Factory setting
165
4.5
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:
4. SCON-CA
Maximum response time (msec) = Yt + Xt + 2 + 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 PROFIBUS-DP master unit and the PLC in which the master unit is
installed.
PLC sequence program
Control signal
Status signal
Master station slave
station transmission
delay time (Yt)
SCON-CA
Control signal
Status signal
Command
processing time
166
Slave station master
station delay time (Xt)
4.6
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 force feedback data from each
applicable byte on the PLC side as deemed necessary.)
(1) Operation in the position/simple direct mode 1, 2
z 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.
(*)
Refer to 4.4.1.
167
4. SCON-CA
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.
z 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.
[1]
Set value of target
position data
[2]
4. SCON-CA
Specified position number
Positioning start
[3]
[4]
[5]
Positioning complete
[7]
Current position
[6]
Moving
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)
168
(2) Operation in the half direct mode 1 to 3
z 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.
(*)
Refer to 4.4.1.
169
4. SCON-CA
Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed,
acceleration/deceleration and push-current limiting specification.
z 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 4.4.7.)
[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.
[1]
Set value of target
position data
[2]
Set value of positioning
band data
[3]
4. SCON-CA
Set value of
speed data
Set value of
acceleration/
deceleration data
[4]
[5]
Set value of push-current
limiting value
[6]
Push specification
[7]
Push direction
specification
Positioning command
[14]
[8]
Positioning complete/missed load
during push-motion operation
[9]
[10]
[13]
Current position
[12]
Moving
Push
Actuator operation
(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)
170
(3) Operation in the full direct mode
z 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.
(*)
Refer to 4.4.1.
171
4. SCON-CA
Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target
position and positioning band.
z 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 4.4.7.)
[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.
[1]
Set value of target
position data
[2]
4. SCON-CA
Set value of positioning
band data
[3]
Set value of
speed data
[4]
Set value of position
zone boundary data
[5]
Set value of
acceleration data
[6]
Set value of
deceleration data
[7]
Set value of push-current
limiting value data
[8]
Set value of load current
threshold data
172
[9]
Push specification
[10]
Push direction specification
4. SCON-CA
Positioning command
[17]
[11]
Positioning complete/missed load
during push-motion operation
[12]
[13]
[16]
Current position
[14]
[15]
Moving
Push
Actuator operation
(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)
173
(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.
4. SCON-CA
[1]
Set value of speed or
acceleration/deceleration
[2]
[3]
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.
174
4.7
PROFIBUS-DP Parameters
Factory default
~
The parameters relating to PROFIBUS-DP are parameter Nos. 84 to 87 and 90.
Category: C: External interface parameter
No. Category Symbol
Name
1
For parameter Nos. 1 to 83, refer to the operation
manual for the controller.
83
84
C
FMOD Fieldbus operation mode
85
C
NADR Fieldbus node address
86
C
FBRS Fieldbus baud rate
87
C
NYTP Network type
90
C
FMIO
Fieldbus I/O format
4. SCON-CA
0
1
0
3
0
z 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
Remote I/O mode
2
The actuator is operated by PIOs (24-V I/Os) via
PROFIBUS-DP.
1
Position/simple direct
mode
8
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.
2
Half direct mode
16
Operate the actuator by specifying the speed,
acceleration/deceleration and push-current value, in
addition to the target position, directly using values.
3
Full direct mode
32
Operate the actuator by specifying all values relating to
position control directly using values.
4
Remote I/O mode 2
12
The current-position and current-speed read functions
are added to the functions available in the remote I/O
mode.
5
Position/simple direct
mode 2
8
Set this value to implement force control in the
position/simple direct numerical mode.
6
Half direct mode 2
16
Set this value to implement force control in the half direct
numerical mode.
7
Remote I/O mode 3
12
Set this value to implement force control in the remote I/O
mode 2.
8
Half direct mode 3
16
Set this value to switch servo gains or vibration damping
control parameters in the half direct numerical mode.
0 (factory setting)
z 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.)
z 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.
175
4. SCON-CA
z Network type (No. 87 NTYP)
Specify the network module in parameter No. 87. Do not change the default value.
z 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. 90
0 (factory setting) 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
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
Hexadecimal
data
PLC:
Output
Hexadecimal
data
SCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
176
z indicates ON, while O indicates OFF.
(Example ii) Set value = “1”
z indicates ON, while O indicates OFF.
SCON
input
register
Hexadecimal
data
4. SCON-CA
PLC:
Output
Hexadecimal
data
SCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
177
(Example iii) Set value = “2”
SCON
input
register
4. SCON-CA
Hexadecimal
data
PLC:
Output
Hexadecimal
data
SCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
178
z indicates ON, while O indicates OFF.
(Example iv) Set value = “3”
z indicates ON, while O indicates OFF.
SCON
input
register
Hexadecimal
data
4. SCON-CA
PLC:
Output
Hexadecimal
data
SCON
output
register
Hexadecimal
data
PLC:
Input
Hexadecimal
data
179
4. SCON-CA
4.8
Troubleshooting
4.8.1
Status LED Indicators
The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the PROFIBUS-DP
module as well as the network condition.
If a problem occurs, the current condition can be checked based on the illumination pattern of status LEDs.
The illumination patterns of status LEDs, and corresponding communication conditions, are shown below.
Indicator
LED
Color
Description of indication (Meaning of indication)
condition
The board is online with the fieldbus network and communicating
Lit
normally.
Green
STATUS1
Blinking
The board is offline from the fieldbus network.
Orange
Blinking
A communication error is present.
Lit
The board is operating properly.
Green
Blinking
The
board is not yet ready.
STATUS0
A communication hardware error was detected when the board
Orange
Lit
was not yet ready.
4.8.2
Alarm Details and Causes/Actions
If an alarm occurs, the completed position number (four bits of PM1 to PM8) indicates a corresponding simple
alarm code in the remote I/O mode 1 to 3
In the position/simple direct mode, a simple alarm code is output to input address n+2.
In the half direct numerical modes 1 to 3 and full direct numerical mode, an alarm code is output to the input
address n+6.
[1] Check the alarm code using the PLC’s monitor function, etc., or connect the RC PC software or teaching
pendant and check the code on the status monitor screen.
[2] Use the identified alarm code as the key to search the alarm list provided in the operation manual for the
controller.
[3] Take an appropriate action according to the description provided under the applicable alarm code.
For the alarm codes listed below, take the actions specified in the following table.
ID
RES
Code
Error name
Cause/action
(*1)
(*2)
Cause: A fieldbus module error was detected.
0F2 Fieldbus module error 05
x
Action: Check the applicable parameters.
Fieldbus module
Cause: The module could not be detected.
0F3
04
x
non-detection error
Action: Reconnect the power. If the problem persists, contact IAI.
(*1) ID Simple alarm code
(*2) RES Whether or not the alarm can be reset
{: Alarm can be reset / X: Alarm cannot be reset
180
5.
Change History
Revision Date
November 2011
Description of Revision
First edition
Contents changed in Safety Guide
Caution notes added for when working with two or more persons
ACON and PCON picked up from existing Operation Manual and SCON-CA
added to rearrange new Operation Manual
5. Change History
181
Manual No.: ME0258-1A (November 2011)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
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TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
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TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2011. Nov. IAI Corporation. All rights reserved.
11.11.000
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