Iai-america PCON-CFA Manual de usuario

PROFIBUS-DPACON-C/CGPCON-C/CG/CA/CFASCON-CA

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

4. SCON-CA 94 4.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this mode, the actuator is operated by specifying position numbers just like

4. SCON-CA 95 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 PCON-CA/CFA DI (port

4. SCON-CA 96 (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. (Fo

4. SCON-CA 97 Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 3 4 5 Category Port No. Symbol Signal n

4. SCON-CA 98 4.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) In this mode, the actuator is operated by specifying position numbe

4. SCON-CA 99 (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 signa

4. SCON-CA 100 PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits C

4. SCON-CA 101 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bi

4. SCON-CA 102 (* 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 103 4.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is operated by specifying the target position, po

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

4. SCON-CA 104 (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 sig

4. SCON-CA 105 PLC output address (* n indicates the initial output address for each axis.) 1 wor

4. SCON-CA 106 PLC input address (* n indicates the initial input address for each axis.) 1 wor

4. SCON-CA 107 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bi

4. SCON-CA 108 (* 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 109 (* 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 110 4.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating to

4. SCON-CA 111 (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 si

4. SCON-CA 112 PLC output address (* n indicates the initial output address for each axis.) 1 wo

4. SCON-CA 113 . PLC output address (* n indicates the initial output address for each axis.)

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

4. SCON-CA 114 PLC input address (* n indicates the initial input address for each axis.) 1 w

4. SCON-CA 115 Address (* “n” shows the head register address per each axis). one word = 16 bits n+10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4

4. SCON-CA 116 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bi

4. SCON-CA 117 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Symbo

4. SCON-CA 118 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Symbo

4. SCON-CA 119 (* 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 120 Signal type Bit Symbol Description Details b15 EMGS Emergency stop: An emergency stop is being executed when the signal is ON.

4. SCON-CA 121 4.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this mode, the actuator is operated by specifying position numbers just

4. SCON-CA 122 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 PCON-CA/CFA DI and

4. SCON-CA 123 PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes

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

4. SCON-CA 124 (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 4.4.2, “Rem

4. SCON-CA 125 4.4.7 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bi

4. SCON-CA 126 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo turns ON

4. SCON-CA 127 (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) PLC

4. SCON-CA 128 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (O

4. SCON-CA 129 (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position an

4. SCON-CA 130 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE 2) PLC input signal Position zone (PZONE) PLC input signal Each signal

4. SCON-CA 131 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operatio

4. SCON-CA 132 (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jo

4. SCON-CA 133 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is tur

8

4. SCON-CA 134 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is select

4. SCON-CA 135 (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the

4. SCON-CA 136 (26) Load output judgment (LOAD) PLC input signal This signal is valid only during push-motion operation. To use an actuator in a p

4. SCON-CA 137 (27) Torque level (TRQS) PLC input signal This signal is valid only during push-motion operation. This signal turns ON when the mot

4. SCON-CA 138 (28) Standstill control mode (SMOD) PLC output signal One general characteristic of pulse motors is that their holding current in a

4. SCON-CA 139 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select a desired acceleration/deceleratio

4. SCON-CA 140 (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal Select the stop mode for the duration before the movement to the next posit

4. SCON-CA 141 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 P

4. SCON-CA 142 4.6 Operation Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using examples

4. SCON-CA 143 [1] [2] Set value of target position data Specified position number Positioning start

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

4. SCON-CA 144 (2) Operation in the half direct mode Operate the actuator by specifying data for the PLC’s target position, positioning band, spec

4. SCON-CA 145 Set value of target position data [1] [2] [3] [4] [5] [6] [7] [8] [9] [10][11

4. SCON-CA 146 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such

4. SCON-CA 147 Set value of target position data [1] [2] Set value of positioning band data Set value o

4. SCON-CA 148 [9] [10] Positioning band Push specification Push direction specification Positioning command

4. SCON-CA 149 (4) Data change during movement In the half direct mode and full direct mode, the values of target position data, acceleration/dece

4. SCON-CA 150 4.7 PROFIBUS-DP Parameters The parameters relating to PROFIBUS-DP are parameter Nos. 84 to 87, 90 and 159. Category: C: External in

4. SCON-CA 151 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 152 (Example ii) Set value = “1” z indicates ON, while O indicates OFF. PCON input register Hexade

4. SCON-CA 153 (Example iii) Set value = “2” z indicates ON, while O indicates OFF. PCON input register Hex

3. SCON-CA/CFA 10 2. Specifications 2.1 Interface Specifications The table below lists the specifications of the PROFIBUS-DP interface. Item Spe

4. SCON-CA 154 (Example iv) Set value = “3” z indicates ON, while O indicates OFF. z FB Half Direct Mode Spee

4. SCON-CA 155 4.8 Troubleshooting 4.8.1 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condi

4. SCON-CA 156 4.9 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is

5. Flow and Commands of Basic MECHATROLINK Communication 157 PLC PLC Flat cable Communication cable 5. SCON-CA 5.1 Operation Modes and Functions

5. Flow and Commands of Basic MECHATROLINK Communication 158 [2] Position/simple direct mode: In this mode, the actuator is operated by specifyin

5. Flow and Commands of Basic MECHATROLINK Communication 159 䎳䎯䎦䎃Communication cable Flat cable [4] Full direct mode: In this mode, the actuator

5. Flow and Commands of Basic MECHATROLINK Communication 160 Flat cable Communication cable [7] Half direct mode 2: In this mode, the actuator is

5. Flow and Commands of Basic MECHATROLINK Communication 161 5.2 Model Names The model names of SCON-CA controller supporting PROFIBUS-DP are indic

5. Flow and Commands of Basic MECHATROLINK Communication 162 5.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each pa

5. Flow and Commands of Basic MECHATROLINK Communication 163 (3) Bus terminal processing If the connector is to be connected to the network termin

3. SCON-CA/CFA 11 3. ACON-C/CG, PCON-C/CG 3.1 Operation Modes and Functions ACON and PCON controllers supporting PROFIBUS-DP can be operated in

5. Flow and Commands of Basic MECHATROLINK Communication 164 (6) Status LED indications The board operating condition and network condition can be

5. Flow and Commands of Basic MECHATROLINK Communication 165 5.4 Communication with the Master Station 5.4.1 Operation Modes and Handling of PLC

5. Flow and Commands of Basic MECHATROLINK Communication 166 x PLC output o SCON-CA input (* n indicates the node address for each axis.) SCON-CA

5. Flow and Commands of Basic MECHATROLINK Communication 167 x SCON-CA output o PLC input (* n indicates the initial input address for each axis.)

5. Flow and Commands of Basic MECHATROLINK Communication 168 x SCON-CA output o PLC input (* n indicates the node address for each axis.) SCON-

5. Flow and Commands of Basic MECHATROLINK Communication 169 z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC addres

5. Flow and Commands of Basic MECHATROLINK Communication 170 5.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this mode, the actuator is op

5. Flow and Commands of Basic MECHATROLINK Communication 171 (1) PLC address configuration (* n indicates the initial input/output address for eac

5. Flow and Commands of Basic MECHATROLINK Communication 172 (3) I/O signal assignments Which signals are assigned to controller I/O ports vary ac

5. Flow and Commands of Basic MECHATROLINK Communication 173 Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mod

3. SCON-CA/CFA 12 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether t

5. Flow and Commands of Basic MECHATROLINK Communication 174 Setting of parameter No. 25 Force control mode 1 Force control mode 2 6 7 Category

5. Flow and Commands of Basic MECHATROLINK Communication 175 5.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) In this mode, the a

5. Flow and Commands of Basic MECHATROLINK Communication 176 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 wor

5. Flow and Commands of Basic MECHATROLINK Communication 177 PLC input address (* n indicates the initial input ad

5. Flow and Commands of Basic MECHATROLINK Communication 178 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “

5. Flow and Commands of Basic MECHATROLINK Communication 179 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates tha

5. Flow and Commands of Basic MECHATROLINK Communication 180 5.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is

5. Flow and Commands of Basic MECHATROLINK Communication 181 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 wor

5. Flow and Commands of Basic MECHATROLINK Communication 182 PLC output address (* n indicates th

5. Flow and Commands of Basic MECHATROLINK Communication 183 PLC input address (* n indicates t

3. SCON-CA/CFA 13 䎳䎯䎦䎃Flat cable Communication cable [4] Full direct mode: In this mode, the actuator is operated by specifying all values relatin

5. Flow and Commands of Basic MECHATROLINK Communication 184 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “

5. Flow and Commands of Basic MECHATROLINK Communication 185 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates tha

5. Flow and Commands of Basic MECHATROLINK Communication 186 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates tha

5. Flow and Commands of Basic MECHATROLINK Communication 187 5.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is

5. Flow and Commands of Basic MECHATROLINK Communication 188 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 wo

5. Flow and Commands of Basic MECHATROLINK Communication 189 PLC output address (* n indicates t

5. Flow and Commands of Basic MECHATROLINK Communication 190 PLC output address (* n indicate

5. Flow and Commands of Basic MECHATROLINK Communication 191 PLC input address (* n indicates the initia

5. Flow and Commands of Basic MECHATROLINK Communication 192 7" 7 7 7 7 7 7# 7" 7! 7 7 7 7 7 7 7! " &quo

5. Flow and Commands of Basic MECHATROLINK Communication 193 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “

3. SCON-CA/CFA 14 3.2 Model Names The model names of ACON and PCON controller supporting PROFIBUS-DP are indicated as follows, respectively: z AC

5. Flow and Commands of Basic MECHATROLINK Communication 194 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 195 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 196 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 197 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 198 5.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this mode, the actuator is

5. Flow and Commands of Basic MECHATROLINK Communication 199 (1) PLC address configuration (* n indicates the initial input/output address for ea

5. Flow and Commands of Basic MECHATROLINK Communication 200 PLC input address (* n indicates the initia

5. Flow and Commands of Basic MECHATROLINK Communication 201 (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to

5. Flow and Commands of Basic MECHATROLINK Communication 202 5.4.7 Position/Simple Direct Mode 2 (Number of Occupied Bytes: 8) In this mode, the a

5. Flow and Commands of Basic MECHATROLINK Communication 203 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 wo

3. SCON-CA/CFA 15 3.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each part relating to PROFIBUS-DP is shown.

5. Flow and Commands of Basic MECHATROLINK Communication 204 PLC input address (* n indicates the initial input addres

5. Flow and Commands of Basic MECHATROLINK Communication 205 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “

5. Flow and Commands of Basic MECHATROLINK Communication 206 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 207 5.4.8 Half Direct Mode 2 (Number of Occupied Bytes: 16) In this mode, the actuator i

5. Flow and Commands of Basic MECHATROLINK Communication 208 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 wor

5. Flow and Commands of Basic MECHATROLINK Communication 209 PLC output address (* n indicates th

5. Flow and Commands of Basic MECHATROLINK Communication 210 PLC input address (* n indicates th

5. Flow and Commands of Basic MECHATROLINK Communication 211 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is

5. Flow and Commands of Basic MECHATROLINK Communication 212 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 213 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

3. SCON-CA/CFA 16 (3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to t

5. Flow and Commands of Basic MECHATROLINK Communication 214 5.4.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) In this mode, the actuator is

5. Flow and Commands of Basic MECHATROLINK Communication 215 (1) PLC address configuration (* n indicates the initial input/output address for ea

5. Flow and Commands of Basic MECHATROLINK Communication 216 PLC input address (* n indicates the initi

5. Flow and Commands of Basic MECHATROLINK Communication 217 (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to

5. Flow and Commands of Basic MECHATROLINK Communication 218 5.4.10 Half Direct Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog func

5. Flow and Commands of Basic MECHATROLINK Communication 219 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 wor

5. Flow and Commands of Basic MECHATROLINK Communication 220 PLC output address (* n indicates th

5. Flow and Commands of Basic MECHATROLINK Communication 221 PLC input address (* n indicates th

5. Flow and Commands of Basic MECHATROLINK Communication 222 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is

5. Flow and Commands of Basic MECHATROLINK Communication 223 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

3. SCON-CA/CFA 17 (6) Status LED indications The board operating condition and network condition can be checked using the two LEDs provided on the

5. Flow and Commands of Basic MECHATROLINK Communication 224 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that

5. Flow and Commands of Basic MECHATROLINK Communication 225 5.4.11 I/O Signal Controls and Functions * ON indicates that the applicable bit is

5. Flow and Commands of Basic MECHATROLINK Communication 226 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When t

5. Flow and Commands of Basic MECHATROLINK Communication 227 (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input

5. Flow and Commands of Basic MECHATROLINK Communication 228 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output sign

5. Flow and Commands of Basic MECHATROLINK Communication 229 (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when th

5. Flow and Commands of Basic MECHATROLINK Communication 230 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position

5. Flow and Commands of Basic MECHATROLINK Communication 231 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals

5. Flow and Commands of Basic MECHATROLINK Communication 232 (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switch

5. Flow and Commands of Basic MECHATROLINK Communication 233 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES)

3. SCON-CA/CFA 18 3.4 Communication with the Master Station 3.4.1 Operation Modes and Handling of PLC Addresses The address assignments under e

5. Flow and Commands of Basic MECHATROLINK Communication 234 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC inp

5. Flow and Commands of Basic MECHATROLINK Communication 235 (23) Missed load during push-motion operation (PSFL) PLC input signal This signal tur

5. Flow and Commands of Basic MECHATROLINK Communication 236 (26) Load output judgment (LOAD) PLC input signal This signal is valid only during

5. Flow and Commands of Basic MECHATROLINK Communication 237 (27) Torque level (TRQS) PLC input signal This signal is valid only during push-mot

5. Flow and Commands of Basic MECHATROLINK Communication 238 (28) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal With an absolute

5. Flow and Commands of Basic MECHATROLINK Communication 239 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is us

5. Flow and Commands of Basic MECHATROLINK Communication 240 (31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals Select the stop mod

5. Flow and Commands of Basic MECHATROLINK Communication 241 *1 If the CLBR is turned OFF during this period, the signal is not reco

5. Flow and Commands of Basic MECHATROLINK Communication 242 5.5 I/O Signal Timings The maximum response time after a given control signal is tur

5. Flow and Commands of Basic MECHATROLINK Communication 243 5.6 Operation Next, timings in the position/simple direct mode 1, 2, half direct mode

3. SCON-CA/CFA 19 x ACON/PCON output o PLC input (* n indicates the initial input address for each axis.) ACON/PCON DO and output data resister Re

5. Flow and Commands of Basic MECHATROLINK Communication 244 [1] [2] Set value of target pos

5. Flow and Commands of Basic MECHATROLINK Communication 245 (2) Operation in the half direct mode 1 to 3 Operate the actuator by specifying data

5. Flow and Commands of Basic MECHATROLINK Communication 246 Set value of target position da

5. Flow and Commands of Basic MECHATROLINK Communication 247 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC

5. Flow and Commands of Basic MECHATROLINK Communication 248 Set value of target position data [1] [2]

5. Flow and Commands of Basic MECHATROLINK Communication 249 [9] [10] Positioning band Push specification Pu

5. Flow and Commands of Basic MECHATROLINK Communication 250 (4) Data change during movement In the half direct mode 1 to 3 and full direct mode,

5. Flow and Commands of Basic MECHATROLINK Communication 251 5.7 PROFIBUS-DP Parameters The parameters relating to PROFIBUS-DP are parameter Nos.

5. Flow and Commands of Basic MECHATROLINK Communication 252 z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not c

5. Flow and Commands of Basic MECHATROLINK Communication 253 (Example ii) Set value = “1” z indicates ON, while O indicates OFF.

3. SCON-CA/CFA 20 z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Pr

5. Flow and Commands of Basic MECHATROLINK Communication 254 (Example iii) Set value = “2” z indicates ON, while O indicates OFF.

5. Flow and Commands of Basic MECHATROLINK Communication 255 (Example iv) Set value = “3” z indicates ON, while O indicates OFF.

5. Flow and Commands of Basic MECHATROLINK Communication 256 5.8 Troubleshooting 5.8.1 Status LED Indicators The illumination patterns of statu

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

Manual No.: ME0258-3B (November 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvem

3. SCON-CA/CFA 21 3.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this mode, the actuator is operated by specifying position numbers just

3. SCON-CA/CFA 22 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 ACON/PCON DI (por

3. SCON-CA/CFA 23 (3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25.

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

3. SCON-CA/CFA 24 ACON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 3 4 5 Category Port No. Symbol

3. SCON-CA/CFA 25 PCON Setting of parameter No. 25 Positioning mode Teaching mode 256-point mode 0 1 2 Category Port No. Symbol Signal name

3. SCON-CA/CFA 26 PCON Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 3 4 5 Category Port No. Symbol

3. SCON-CA/CFA 27 3.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) In this mode, the actuator is operated by specifying position n

3. SCON-CA/CFA 28 (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 s

3. SCON-CA/CFA 29 PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bit

3. SCON-CA/CFA 30 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable

3. SCON-CA/CFA 31 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type B

3. SCON-CA/CFA 32 3.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is operated by specifying the target position,

3. SCON-CA/CFA 33 (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

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

3. SCON-CA/CFA 34 PLC output address (* n indicates the initial output address for each axis.) 1

3. SCON-CA/CFA 35 PLC input address (* n indicates the initial input address for each axis.) 1

3. SCON-CA/CFA 36 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable

3. SCON-CA/CFA 37 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type B

3. SCON-CA/CFA 38 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type B

3. SCON-CA/CFA 39 3.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating

3. SCON-CA/CFA 40 (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

3. SCON-CA/CFA 41 PLC output address (* n indicates the initial output address for each axis.) 1

3. SCON-CA/CFA 42 (*3) Dedicated PCON function. Cannot be used on ACON. PLC output address (*

3. SCON-CA/CFA 43 PLC input address (* n indicates the initial input address for each axis.)

Table of Contents Please Read Before Use ...

3. SCON-CA/CFA 44 (3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicabl

3. SCON-CA/CFA 45 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Sy

3. SCON-CA/CFA 46 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Sy

3. SCON-CA/CFA 47 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type B

3. SCON-CA/CFA 48 3.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this mode, the actuator is operated by specifying position numbers ju

3. SCON-CA/CFA 49 (1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 ACON/PCON DI and

3. SCON-CA/CFA 50 PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 by

3. SCON-CA/CFA 51 (3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 7.4.2, “

3. SCON-CA/CFA 52 3.4.7 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable

3. SCON-CA/CFA 53 (5) Servo ON command (SON) PLC output signal Ready (SV) PLC input signal When the SON signal is turned ON, the servo turns

4.8 Troubleshooting ... 155

3. SCON-CA/CFA 54 (6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) P

3. SCON-CA/CFA 55 (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading

3. SCON-CA/CFA 56 (10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position

3. SCON-CA/CFA 57 (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE 2) PLC input signal Position zone (PZONE) PLC input signal Each sign

3. SCON-CA/CFA 58 (13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog opera

3. SCON-CA/CFA 59 (14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the

3. SCON-CA/CFA 60 (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is

3. SCON-CA/CFA 61 (19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is sel

3. SCON-CA/CFA 62 (23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted t

3. SCON-CA/CFA 63 (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is valid only during push-motion operation

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

3. SCON-CA/CFA 64 (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is valid only during push-motion operation. This s

3. SCON-CA/CFA 65 (28) Standstill control mode (SMOD) PLC output signal Dedicated PCON function One general characteristic of pulse motors is that

3. SCON-CA/CFA 66 (29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function This signal is used to select a desir

3. SCON-CA/CFA 67 (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal Select the stop mode for the duration before the movement to the next po

3. SCON-CA/CFA 68 3.5 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using th

3. SCON-CA/CFA 69 3.6 Operation Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using exampl

3. SCON-CA/CFA 70 [1] [2] Set value of target position data Specified position number Positioning sta

3. SCON-CA/CFA 71 (2) Operation in the half direct mode Operate the actuator by specifying data for the PLC’s target position, positioning band, s

3. SCON-CA/CFA 72 Set value of target position data [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

3. SCON-CA/CFA 73 (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, s

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

3. SCON-CA/CFA 74 Set value of target position data [1] [2] Set value of positioning band data Set valu

3. SCON-CA/CFA 75 [9] [10] Positioning band Push specification Push direction specification Positioning comm

3. SCON-CA/CFA 76 (4) Data change during movement In the half direct mode and full direct mode, the values of target position data, acceleration/d

3. SCON-CA/CFA 77 3.7 PROFIBUS-DP Parameters The parameters relating to PROFIBUS-DP are parameter Nos. 84 to 87 and 90. Category: C: External inte

3. SCON-CA/CFA 78 z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. z Fieldbus I/O f

3. SCON-CA/CFA 79 (Example ii) Set value = “1” z indicates ON, while O indicates OFF. ACON/PCON input regist

3. SCON-CA/CFA 80 (Example iii) Set value = “2” z indicates ON, while O indicates OFF. ACON/PCON input reg

3. SCON-CA/CFA 81 (Example iv) Set value = “3” z indicates ON, while O indicates OFF. ACON/PCON input regist

3. SCON-CA/CFA 82 3.8 Troubleshooting 3.8.1 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating co

3. SCON-CA/CFA 83 3.9 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that

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

4. SCON-CA 84 PLC PLC Flat cable Communication cable 4. PCON-CA/CFA 4.1 Operation Modes and Functions PCON-CA/CFA controllers supporting PROFIBU

4. SCON-CA 85 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to sp

4. SCON-CA 86 䎳䎯䎦䎃PLC PLCFlat cable Communication cable [4] Full direct mode: In this mode, the actuator is operated by specifying all values rela

4. SCON-CA 87 4.2 Model Names The model names of PCON-CA/CFA controller supporting PROFIBUS-DP are indicated as follows, respectively: z PCON-CA-

4. SCON-CA 88 4.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each part relating to PROFIBUS-DP is shown.

4. SCON-CA 89 (3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to the P

4. SCON-CA 90 (6) Status LED indications The board operating condition and network condition can be checked using the two LEDs provided on the fro

4. SCON-CA 91 4.4 Communication with the Master Station 4.4.1 Operation Modes and Handling of PLC Addresses The address assignments under each

4. SCON-CA 92 x PCON-CA/CFA output o PLC input (* n indicates the initial input address for each axis.) PCON-CA/CFA DO and output data resister Re

4. SCON-CA 93 z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Prefix