Iai-america PCON-CFA Manual de usuario

DeviceNetACON-C/CGPCON-C/CG/CA/CFASCON-CAOperation Manual, Third Edition

4 No. Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make

3. PCON-CA/CFA 94 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 PCON-CA/CFA DI (port number) PLC

3. PCON-CA/CFA 95 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25.

3. PCON-CA/CFA 96 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 3 4 5 Category Port No. Symbol Signal name Symbo

3. PCON-CA/CFA 97 3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying position

3. PCON-CA/CFA 98 1 word (channel) = 16 bitsTarget position (lower word) Target position (upper word) If the target position is a negative value, it

3. PCON-CA/CFA 99 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number Status signal If

3. PCON-CA/CFA 100 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0

3. PCON-CA/CFA 101 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbo

3. PCON-CA/CFA 102 3.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acceleratio

3. PCON-CA/CFA 103 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output

5 No. Operation Description Description 6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is to be the

3. PCON-CA/CFA 104 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value,

3. PCON-CA/CFA 105 PLC input Channel (* n indicates the node address of each axis.) 1 word (ch

3. PCON-CA/CFA 106 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0

3. PCON-CA/CFA 107 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbo

3. PCON-CA/CFA 108 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbo

3. PCON-CA/CFA 109 3.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relati

3. PCON-CA/CFA 110 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen out

3. PCON-CA/CFA 111 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value,

3. PCON-CA/CFA 112 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bi

3. PCON-CA/CFA 113 PLC input Channel (* n indicates the node address of each axis.) 1 word (chann

6 No. Operation Description Description 8 Maintenance and Inspection  When the work is carried out with 2 or more persons, make it clear who is

3. PCON-CA/CFA 114 Address (* “n” shows the head register address per each axis). one word = 16 bits n+10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5

3. PCON-CA/CFA 115 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0

3. PCON-CA/CFA 116 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Fun

3. PCON-CA/CFA 117 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Fun

3. PCON-CA/CFA 118 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbo

3. PCON-CA/CFA 119 Signal type Bits Symbol Description Details b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON

3. PCON-CA/CFA 120 3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers,

3. PCON-CA/CFA 121 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 PCON-CA/CFA DI and input register

3. PCON-CA/CFA 122 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper wor

3. PCON-CA/CFA 123 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments fo

7 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows

3. PCON-CA/CFA 124 3.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit

3. PCON-CA/CFA 125 (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the servo will

3. PCON-CA/CFA 126 (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PL

3. PCON-CA/CFA 127 (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal] The CSTR command is processed at the

3. PCON-CA/CFA 128 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position

3. PCON-CA/CFA 129 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Each signal

3. PCON-CA/CFA 130 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog opera

3. PCON-CA/CFA 131 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed parameter

3. PCON-CA/CFA 132 (16) Teaching command (MODE) [PLC output signal] Teaching mode signal (MODES) [PLC input signal] When the MODE signal is turne

3. PCON-CA/CFA 133 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected

8

3. PCON-CA/CFA 134 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in p

3. PCON-CA/CFA 135 (26) Load output judgment (LOAD) [PLC input signal] This signal is effective only during push-motion operation. To use the LOAD

3. PCON-CA/CFA 136 (27) Torque level (TRQS) [PLC input signal] This signal is effective only during push-motion operation. If the motor current rea

3. PCON-CA/CFA 137 (28) Stopping control mode (SMOD) [PLC output signal] One general characteristic of pulse motors is that their holding current a

3. PCON-CA/CFA 138 (29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] These signals are used to select the acceleration/decelerat

3. PCON-CA/CFA 139 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal] Select the stop mode for the duration before the movement to the next

3. PCON-CA/CFA 140 3.8 I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequ

3. PCON-CA/CFA 141 3.9 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and f

3. PCON-CA/CFA 142 Set value of target position data (PLCPCON) [1] [2] [3] [4] [5][6] Specified po

3. PCON-CA/CFA 143 (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioni

1. Overview 9 1. Overview The open field network DeviceNet is a multi-bit, multi-vendor network for communication of both control and data signals

3. PCON-CA/CFA 144 [1] [2] [3] [4] [5] [6] [7] [8] [9] [10][14][13][12][11] *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of

3. PCON-CA/CFA 145 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channel

3. PCON-CA/CFA 146 [1] [2] [3] [4] [5] [6] [7] [8] Set value of target position data (PLCPCON) Set value of positioning band data (PLCPCON) Set

3. PCON-CA/CFA 147 Push-motion specification PUSH (PLCPCON) PushPositioning band *T1: Make sure “T1 t 0

3. PCON-CA/CFA 148 Speed n2Speed n3 [1] [2][3] (4) Data change during movement In the half direct mode or full direct mode, the value currently set

3. PCON-CA/CFA 149 3.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159. Category: C: External interface param

3. PCON-CA/CFA 150 z Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. z

3. PCON-CA/CFA 151 (Example ii) Set value = “1” z indicates ON, while O indicates OFF. PCON Input register Hex

3. PCON-CA/CFA 152 PCON Input register Hexa decimal data Output channel Hexa decimal data PCON Output register Input channel Hexa decimal data Hexa

3. PCON-CA/CFA 153 (Example iv) Set value = “3” z indicates ON, while O indicates OFF. z FB Half Direct Mode Sp

2. ACON-C/CG, PCON-C/CG 10 PLC PLC Flat cable Communication cable 2. ACON-C/CG, PCON-C/CG 2.1 Operation Modes and Functions ACON and PCON contro

3. PCON-CA/CFA 154 3.11 Troubleshooting z Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm code will

3. PCON-CA/CFA 155 3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that

4. SCON-CA 156 PLC PLC Flat cable Communication cable 4. SCON-CA 4.1 Operation Modes and Functions SCON-CA controllers supporting DeviceNet can b

4. SCON-CA 157 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to s

4. SCON-CA 158 Communication cable Flat cable Target position: 100.00 mmPositioning band: 0.10 mmSpeed specification: 100.0 mm/sec Acceleration:

4. SCON-CA 159 Flat cable Communication cable [7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration

4. SCON-CA 160 4.2 Model Numbers The model numbers of SCON-CA controller supporting DeviceNet are indicated as follows, respectively: z SCON-CA--

4. SCON-CA 161 4.3 Interface Specifications Item Specification DeviceNet 2.0 Group 2 only server Communication protocol Network-powered isolation

4. SCON-CA 162 Monitor LEDs DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AU (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AUM

4. SCON-CA 163 4.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (con

2. ACON-C/CG, PCON-C/CG 11 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select

4. SCON-CA 164 4.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front

4. SCON-CA 165 4.7 Communicating with the Master Station 4.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each m

4. SCON-CA 166 x PLC output o SCON-CA input side (* n indicates the node address of each axis.) SCON-CA DI and input data register Position/simple

4. SCON-CA 167 x SCON-CA output o PLC input side (* n indicates the node address of each axis.) SCON-CA DO and output data register Remote I/O mod

4. SCON-CA 168 x SCON-CA output o PLC input side (* n indicates the node address of each axis.) SCON-CA DO and input data register Position/simple

4. SCON-CA 169 4.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers just l

4. SCON-CA 170 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 SCON-CA DI (port number) PLC outpu

4. SCON-CA 171 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (F

4. SCON-CA 172 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 3 4 5 Category Port No. Symbol Signal name Symbol S

4. SCON-CA 173 Setting of Parameter No. 25 Force control mode 1 Force control mode 2 6 7 Category Port No. Symbol Signal name Symbol Signal na

2. ACON-C/CG, PCON-C/CG 12 䎳䎯䎦䎃Flat cable Communication cable [4] Full direct mode: In this mode, the actuator is operated by specifying all value

4. SCON-CA 174 4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying position nu

4. SCON-CA 175 1 word (channel) = 16 bitsTarget position (lower word) Target position (upper word) If the target position is a negative value, it is

4. SCON-CA 176 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number Status signal If th

4. SCON-CA 177 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

4. SCON-CA 178 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 179 4.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acceleration/de

4. SCON-CA 180 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output word

4. SCON-CA 181 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it i

4. SCON-CA 182 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel

4. SCON-CA 183 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

2. ACON-C/CG, PCON-C/CG 13 2.2 Model Numbers The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respecti

4. SCON-CA 184 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 185 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 186 4.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relating t

4. SCON-CA 187 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output

4. SCON-CA 188 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it i

4. SCON-CA 189 Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zo

4. SCON-CA 190 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits

4. SCON-CA 191 6!$ 6 6 6 6 6 6% 6$ 6# 6" 6! 6 6 6 6 6#"$"$ $% %" $ !!"$&

4. SCON-CA 192 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

4. SCON-CA 193 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Functio

2. ACON-C/CG, PCON-C/CG 14 2.3 Interface Specifications Item Specification DeviceNet 2.0 Group 2 only server Communication protocol Network-power

4. SCON-CA 194 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol Functio

4. SCON-CA 195 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 196 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 197 4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, jus

4. SCON-CA 198 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 SCON-CA DI and input register PLC out

4. SCON-CA 199 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) C

4. SCON-CA 200 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for th

4. SCON-CA 201 4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4) In this mode, the actuator is operated by means of force contr

4. SCON-CA 202 1 word (channel) = 16 bitsTarget position (lower word) Target position (upper word) If the target position is a negative value, it is

4. SCON-CA 203 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number Status signal If th

2. ACON-C/CG, PCON-C/CG 15 Status LEDs Monitor LEDs DeviceNet communication connector PCB side : MSTBA2.5/5-G-5.08AUM (PHOENIX CONTACT) Cable side

4. SCON-CA 204 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

4. SCON-CA 205 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 206 4.7.8 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the actuator is operated by means of force control (push-mot

4. SCON-CA 207 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output word

4. SCON-CA 208 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it i

4. SCON-CA 209 PLC input Channel (* n indicates the node address of each axis.) 1 word (channel

4. SCON-CA 210 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

4. SCON-CA 211 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 212 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol D

4. SCON-CA 213 4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6) In this mode, the actuator is operated by means of force control (push-mo

2. ACON-C/CG, PCON-C/CG 16 2.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check t

4. SCON-CA 214 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 SCON-CA DI and input register PLC out

4. SCON-CA 215 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word)

4. SCON-CA 216 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for th

4. SCON-CA 217 4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) In this operation mode, the jog function available in the half numerica

4. SCON-CA 218 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output word

4. SCON-CA 219 MOD1 MOD0 Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a

4. SCON-CA 220 PLC input Channel (* n indicates the node address of each axis.) 1 word (chann

4. SCON-CA 221 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)

4. SCON-CA 222 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit

4. SCON-CA 223 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit

2. ACON-C/CG, PCON-C/CG 17 2.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch o

4. SCON-CA 224 4.7.11 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit si

4. SCON-CA 225 (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the servo will tur

4. SCON-CA 226 (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC in

4. SCON-CA 227 (7) Positioning start (CSTR): Used in the position/simple direct mode 1,2 [PLC output signal] The CSTR command is processed at the

4. SCON-CA 228 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and

4. SCON-CA 229 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Each signal tur

4. SCON-CA 230 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation

4. SCON-CA 231 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed parameter when

4. SCON-CA 232 (16) Teaching command (MODE) [PLC output signal] Teaching mode signal (MODES) [PLC input signal] When the MODE signal is turned ON

4. SCON-CA 233 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as s

2. ACON-C/CG, PCON-C/CG 18 2.7 Communicating with the Master Station 2.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignmen

4. SCON-CA 234 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-

4. SCON-CA 235 (26) Load output judgment (LOAD) [PLC input signal] This signal is effective only during push-motion operation. To use the LOAD si

4. SCON-CA 236 (27) Torque level (TRQS) [PLC input signal] This signal is effective only during push-motion operation. If the motor current reach

4. SCON-CA 237 (28) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal With an absolute system, this signal is OFF when the absolute b

4. SCON-CA 238 (30) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] These signals are used to select the acceleration/deceleration

4. SCON-CA 239 (31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals Select the stop mode to be applied while the actuator is standing

4. SCON-CA 240 *1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not perfor

4. SCON-CA 241 4.8 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the P

4. SCON-CA 242 4.9 Operation Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are explained usi

4. SCON-CA 243 [1] [2] Set value of target position data Specified position number Positioni

2. ACON-C/CG, PCON-C/CG 19 x ACON or PCON output o PLC input side (* n indicates the node address of each axis.) ACON or PCON DO and output data

4. SCON-CA 244 (2) Operation in the half direct mode 1 to 3 Operate the actuator by specifying data for the PLC’s target position, positioning ban

4. SCON-CA 245 Set value of target position data [1] [2] [3] [4] [5] [6] [7] [8] [9] [10][14

4. SCON-CA 246 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such

4. SCON-CA 247 Set value of target position data [1] [2] Set value of positioning band data Set value o

4. SCON-CA 248 [9] [10] Positioning band Push specification Push direction specification Positioning command

4. SCON-CA 249 (4) Data change during movement In the half direct mode 1 to 3 and full direct mode, the values of target position data, accelerati

4. SCON-CA 250 4.10 DeviceNet Parameters The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and 159. Category: C: External inter

4. SCON-CA 251 z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. z Fieldbus I/O form

4. SCON-CA 252 (Example ii) Set value = “1” z indicates ON, while O indicates OFF. SCON input register Hexade

4. SCON-CA 253 (Example iii) Set value = “2” z indicates ON, while O indicates OFF. SCON input register Hexad

2. ACON-C/CG, PCON-C/CG 20 2.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position num

4. SCON-CA 254 (Example iv) Set value = “3” z indicates ON, while O indicates OFF. z FB Half Direct Mode Spee

4. SCON-CA 255 4.11 Troubleshooting z Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm code will be i

5. Troubleshooting 256 5. Troubleshooting If you encountered a problem concerning DeviceNet, check the operating condition using the table below a

6. Change History 257 6. Change History Revision Date Description of Revision November 2011 June 2012 November 2012 First edition C

Manual No.: ME0256-3B (November 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvem

2. ACON-C/CG, PCON-C/CG 21 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 ACON or PCON DI (port nu

2. ACON-C/CG, PCON-C/CG 22 (3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of paramete

2. ACON-C/CG, PCON-C/CG 23 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 3 4 5 Category Port No. Symbol Signal

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of

2. ACON-C/CG, PCON-C/CG 24 Setting of Parameter No. 25 Positioning mode (standard) Teaching mode (teaching type) 256-point mode (256-point type)

2. ACON-C/CG, PCON-C/CG 25 Setting of Parameter No. 25 512-point mode Solenoid mode 1 Solenoid mode 2 3 4 5 Category Port No. Symbol Signal

2. ACON-C/CG, PCON-C/CG 26 2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying

2. ACON-C/CG, PCON-C/CG 27 1 word (channel) = 16 bitsTarget position (lower word) Target position (upper word) If the target position is a negative

2. ACON-C/CG, PCON-C/CG 28 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) Completed position number Status

2. ACON-C/CG, PCON-C/CG 29 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the b

2. ACON-C/CG, PCON-C/CG 30 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bit

2. ACON-C/CG, PCON-C/CG 31 2.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acc

2. ACON-C/CG, PCON-C/CG 32 (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight

2. ACON-C/CG, PCON-C/CG 33 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative

Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview Control number 1 Device

2. ACON-C/CG, PCON-C/CG 34 PLC input Channel (* n indicates the node address of each axis.) 1

2. ACON-C/CG, PCON-C/CG 35 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the b

2. ACON-C/CG, PCON-C/CG 36 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bit

2. ACON-C/CG, PCON-C/CG 37 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bit

2. ACON-C/CG, PCON-C/CG 38 2.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all value

2. ACON-C/CG, PCON-C/CG 39 (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and six

2. ACON-C/CG, PCON-C/CG 40 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative

2. ACON-C/CG, PCON-C/CG 41 Channel (* n indicates the node address of each axis.) (*1) Signal ass

2. ACON-C/CG, PCON-C/CG 42 PLC input Channel (* n indicates the node address of each axis.) (

2. ACON-C/CG, PCON-C/CG 43 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the b

Table of Contents Safety Guide...

2. ACON-C/CG, PCON-C/CG 44 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Sym

2. ACON-C/CG, PCON-C/CG 45 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Sym

2. ACON-C/CG, PCON-C/CG 46 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bit

2. ACON-C/CG, PCON-C/CG 47 2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position

2. ACON-C/CG, PCON-C/CG 48 (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 ACON or PCON DI and input

2. ACON-C/CG, PCON-C/CG 49 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (u

2. ACON-C/CG, PCON-C/CG 50 (3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assign

2. ACON-C/CG, PCON-C/CG 51 2.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that

2. ACON-C/CG, PCON-C/CG 52 (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the se

2. ACON-C/CG, PCON-C/CG 53 (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GH

3.7 Communicating with the Master Station ... 91 3.7.1 Operat

2. ACON-C/CG, PCON-C/CG 54 (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal] The CSTR command is processed

2. ACON-C/CG, PCON-C/CG 55 (10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target

2. ACON-C/CG, PCON-C/CG 56 (12) Zone 1 (ZONE1) [PLC input signal] Zone 2 (ZONE2) [PLC input signal] Position zone (PZONE) [PLC input signal] Eac

2. ACON-C/CG, PCON-C/CG 57 (13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for j

2. ACON-C/CG, PCON-C/CG 58 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] This signal is used to switch between the jog speed pa

2. ACON-C/CG, PCON-C/CG 59 (16) Teaching command (MODE) [PLC output signal] Teaching mode signal (MODES) [PLC input signal] When the MODE signal

2. ACON-C/CG, PCON-C/CG 60 (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is s

2. ACON-C/CG, PCON-C/CG 61 (23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the l

2. ACON-C/CG, PCON-C/CG 62 (26) Load output judgment (LOAD) [PLC input signal] [Dedicated PCON function] This signal is effective only during push-

2. ACON-C/CG, PCON-C/CG 63 (27) Torque level (TRQS) [PLC input signal] [Dedicated PCON function] This signal is effective only during push-motion o

1 Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure t

2. ACON-C/CG, PCON-C/CG 64 (28) Stopping control mode (SMOD) [PLC output signal] [Dedicated PCON function] One general characteristic of pulse moto

2. ACON-C/CG, PCON-C/CG 65 (29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] [Dedicated ACON function] These signals are used

2. ACON-C/CG, PCON-C/CG 66 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal] Select the stop mode for the duration before the movement to t

2. ACON-C/CG, PCON-C/CG 67 2.8 I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a

2. ACON-C/CG, PCON-C/CG 68 2.9 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mo

2. ACON-C/CG, PCON-C/CG 69 Set value of target position data [1] [2] [3] [4] [5][6] Specified posit

2. ACON-C/CG, PCON-C/CG 70 (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, p

2. ACON-C/CG, PCON-C/CG 71 [1] [2] [3] [4] [5] [6] [7] [8] [9] [10][14][13][12][11] *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan

2. ACON-C/CG, PCON-C/CG 72 (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to

2. ACON-C/CG, PCON-C/CG 73 Set value of target position data Set value of positioning band data Set value of speed data Set value of push-motion cur

2 No. Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipm

2. ACON-C/CG, PCON-C/CG 74 Current position Moving Push-motion specification Push direction specificatio

2. ACON-C/CG, PCON-C/CG 75 Set value of speed or acceleration/deceleration Actuator speed Speed n2Speed n3 [1] [2][3] (4) Data change during moveme

2. ACON-C/CG, PCON-C/CG 76 2.10 DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87 and 90. Category: C: External interface pa

2. ACON-C/CG, PCON-C/CG 77 z Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setti

2. ACON-C/CG, PCON-C/CG 78 (Example ii) Set value = “1” z indicates ON, while O indicates OFF. Input register

2. ACON-C/CG, PCON-C/CG 79 Input register Hexa decimal data Output channel Hexa decimal data Output register Input channel Hexa decimal data Hexa d

2. ACON-C/CG, PCON-C/CG 80 (Example iv) Set value = “3” z indicates ON, while O indicates OFF. Input register H

2. ACON-C/CG, PCON-C/CG 81 2.11 Troubleshooting z Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm co

2. ACON-C/CG, PCON-C/CG 82 2.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME028

3. PCON-CA/CFA 83 PLC PLC Flat cable Communication cable 3. PCON-CA/CFA 3.1 Operation Modes and Functions PCON-CA/CFA controllers supporting Dev

3 No. Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, a

3. PCON-CA/CFA 84 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether t

3. PCON-CA/CFA 85 䎳䎯䎦䎃PLC PLCFlat cable Communication cable [4] Full direct mode: In this mode, the actuator is operated by specifying all values

3. PCON-CA/CFA 86 3.2 Model Numbers The model numbers of PCON-CA/CFA controller supporting DeviceNet are indicated as follows, respectively: z PC

3. PCON-CA/CFA 87 3.3 Interface Specifications Item Specification DeviceNet 2.0 Group 2 only server Communication protocol Network-powered isolati

3. PCON-CA/CFA 88 3.4 DeviceNet Interface 3.4.1 Name of Each Part The name of each part relating to DeviceNet is shown.

3. PCON-CA/CFA 89 3.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (

3. PCON-CA/CFA 90 3.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the fro

3. PCON-CA/CFA 91 3.7 Communicating with the Master Station 3.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in eac

3. PCON-CA/CFA 92 x PCON-CA/CFA output o PLC input side (* n indicates the node address of each axis.) PCON-CA/CFA DO and output data register Rem

3. PCON-CA/CFA 93 3.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, jus