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IAI RoboNet Operation Manual

Summary of RoboNet

  • Page 1

    Operation manual forth edition robonet.

  • Page 2

    Caution 24-v power supply to be certified for ul standards please see below for the 24-v power supply condition for ul certification. • for ul certification, class2 power supply is required based on nec nfpa 79 (electrical standard for industrial machinery). • if a single class2 power supply unit is...

  • Page 3

    Caution teaching pendant pc, etc. Do not connect the fg. Do not connect the fg of the pc to ground. If the fc may be connected to ground through other com port, disconnect the communication cable from the applicable com port. Pc software rs232 connection type usb connection type * the cable is suppl...

  • Page 4

    Caution if the positive terminal of the robonet’s 24-v power supply is grounded, a teaching pendant or pc cannot be connected directly to the gatewayr unit. If a teaching pendant or pc is connected directly to the gatewayr unit, the power supply may be short-circuited, causing the pc or teaching pen...

  • Page 5: Introduction

    Introduction introduction thank you for purchasing iai’s robonet. “robonet” is a general term for dedicated single-axis controllers used in a field network environment and characterized by their ultra-compact size, wire-saving features, and easy installation. This manual provides the information you...

  • Page 6

    Safety precautions safety precautions (please read before using the product.) carefully read this operation manual before using the product. In this operation manual, safety instructions are classified into “danger,” “warning,” “caution” and “note” as shown below. Level degree or danger/damage symbo...

  • Page 7

    Safety precautions the safety precautions pertaining to this product are listed below. No. Task precautions 1 model selection z this product is not planned or designed for uses requiring high degrees of safety. Accordingly, it cannot be used to sustain or support life and must not be used in the fol...

  • Page 8

    Safety precautions no. Task precautions z securely connect the cable connectors in a manner free from disconnection or looseness. Failure to do so may result in fire, electric shock or product malfunction. Z do not cut and reconnect the cables of the product to extend or shorten the cables. Doing so...

  • Page 9

    Safety precautions no. 7 automatic operation z before commencing automatic operation, make sure no one is inside the safety fences. Z before commencing automatic operation, make sure all related peripherals are ready to operate in the auto mode and no abnormalities are displayed or indicated. Z be s...

  • Page 10: Ce Mark

    Ce mark ce mark 1. Ec directives the ec directives are a new set of directives issued by the european commission that are intended to protect the health and safety of users and consumers of products distributed within the eu (european union) zone, while ensuring free movements of these products with...

  • Page 11

    Ce mark use environment item standard remarks overvoltage category ii pollution degree ii protection code ip 20 protection class *1 i altitude 2000 m or less *1) protection class i device a device in which additional safety measures are taken against electric shock, without depending solely on the b...

  • Page 12

    Ce mark 100 or 200-vac power supply bus control panel field network cable plc master clamp filter circuit breaker earth leakage breaker 24-vdc power supply surge protector network connector power- supply terminal fg ground robonet controller encoder cable actuator motor cable actuator encoder cable ...

  • Page 13

    Ce mark (5) clamp filter install clamp filters of the following type on the field network cable, motor cable and encoder cable. Install them immediately near the cable connectors on the controller unit. One clamp filter is required for each gateway unit, and two for each controller unit. On the fiel...

  • Page 14

    Ce mark (6) surge protector install a surge protector on the primary side of the 24-vdc power supply to protect the equipment from surge noise generated by lightning, etc. Manufacturer: okaya electric model: zcat3035-1330 external view of surge protector (7) cables take note that cables are also sub...

  • Page 15

    Warranty warranty the robonet you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: the details of the warranty are described below. (1) warranty period the warranty period ends upon either of the following, whichever occurs first: • 18 months afte...

  • Page 16

    Warranty related manuals • pc software rcm-101-** operation manual • rcm-* teaching pendant operation manual • robo cylinder series – serial communication [modbus version] operation manual • touch panel display rcm-pm-01 operation manual (not sold in the us market) manual revision history [1] august...

  • Page 17

    Table of contents table of contents introduction safety precautions ce mark warranty related manuals manual revision history part 1 specification ........................................................................................1 chapter 1 overview of robonet .....................................

  • Page 18

    Table of contents 3.8 i/o signals ................................................................................................................................................73 3.8.1 i/o signal timings .................................................................................................

  • Page 19

    Table of contents 6.4 name of each part and external dimensions .........................................................................................230 6.4.1 name of each part......................................................................................................................23...

  • Page 20

    Table of contents chapter 6 setting for external sio link and other .............................................................................. 340 6.1 scon/pcon-cf settings and signal assignments ...............................................................................340 6.2 other ..........

  • Page 21

    1 part 1 specification part 1 specification chapter 1 overview of robonet 1.1 overview “robonet” is a general term for dedicated controllers used to operate robo cylinders (rca/rca2/rcl/rcp2/rcp3) over a field network connected to a host programmable controller (hereinafter referred to as “plc”). A ...

  • Page 22

    2 part 1 specification 1.2 features (1) five types of component units the five types of units specified below can be combined in a desired fashion to build a robonet system. The maximum number of component axes is 16. [1] gatewayr unit four types—devicenet type, cc-link type, profibus type, and rs48...

  • Page 23

    3 part 1 specification (7) six robonet operation modes the robonet can operate robo cylinders in one of the following six modes under the control of the gatewayr unit, regardless of the type of the host fieldbus. The following three modes under [1] to [3] can be combined together. Also, the three mo...

  • Page 24

    4 part 1 specification list of robonet operation functions operation mode item positioner 1 mode simple direct mode direct numerical specification mode positioner 2 mode solenoid valve mode 1 solenoid valve mode 2 axis area (both input and output) 4 words 8 words 2 words 2 words fixed area (both inp...

  • Page 25

    5 part 1 specification (8) easy setting using the robonet gateway parameter setting tool with this tool, you can set the station number, baud rate, and operation mode of each axis, and also check the occupied areas. Also, reserved axes can be set in consideration of expansion of axis configuration i...

  • Page 26

    6 part 1 specification chapter 2 system configuration and general specifications 2.1 system configuration a robonet system is comprised of one gatewayr unit and up to 16 axes of controller units. The gatewayr unit is available in four types—devicenet specification, cc-link specification, profibus sp...

  • Page 27

    7 pa rt 1 sp ec if ica tio n field network (devicenet, cc-link, profibus) rs485 sio axis 0 axis 1 axis 2 axis 3 axis 14 axis 15 gateway r unit racon unit rpcon unit raon unit simple absolute r unit rpcon unit simple absolute r unit simple absolute connection circuit board terminal resistor circuit b...

  • Page 28

    8 part 1 specification gateway r unit racon unit rpcon unit raon unit simple absolute r unit extension unit simple absolute connection circuit board robonet communication connection circuit board power-supply connection plates extension unit racon unit rpcon unit extension unit unit link cable contr...

  • Page 29

    9 part 1 specification 2.3 general specifications the general specifications of a robonet system are listed below. Item specification power-supply voltage 24 vdc ± 10 % power-supply current varies depending on the system configuration. Maximum number of connectable axes 16 axes (controller units can...

  • Page 30

    10 part 1 specification gateway r unit robonet racon or rpcon (up to 16 axes) circuit breaker power supply the method to select an appropriate 24-vdc power supply to be used with your robonet system is explained below. (1) current consumption of controller units when the respective axes operate simu...

  • Page 31

    11 part 1 specification 2.5 connection diagram shown below is a connection diagram of a robonet system comprising of a rpcon and a racon connected to a simple absolute r unit. 24-v power supply terminal block emergency stop circuit rpcon encoder cable port racon encoder cable (cb-acs-pa***) gatewayr...

  • Page 32

    12 part 1 specification chapter 3 gatewayr unit 3.1 overview the gatewayr unit is a slave station with gateway function for connecting robo cylinders to a field network of a host plc and operating the connected robo cylinders. The gatewayr unit is available in four types to support field networks of...

  • Page 33

    13 part 1 specification 3.2 how to read the model name 3.3 gatewayr unit and accessories the four types of units each come with a different set of accessories appropriate for the applicable field network. Cc-link devicenet rs485 sio communication profibus fig. [1] fig. [2] fig. [3] - emg connector m...

  • Page 34

    14 part 1 specification 3.4 general specifications 3.4.1 cc-link this product is a maximum 4-station remote device station supporting cc-link version 2.00. (its specifications vary depending on the extended cyclic setting.) this product supports the following functions of cc-link version 2.00: • ext...

  • Page 35

    15 part 1 specification item specification power supply 24 vdc ± 10% current consumption 600 ma max. Communication protocol cc-link version 2.00 (version 1.10) baud rate 10m/5m/2.5m/625k/156k [bps] (set by a robonet gateway parameter) communication method broadcast polling method synchronization met...

  • Page 36

    16 part 1 specification 3.4.2 devicenet item specification power supply 24 vdc ± 10% current consumption 600 ma max. (*1) an interface module certified under devicenet 2.0 is used. Group 2 only server communication protocol network-powered insulated node bit strobe polling communication specificatio...

  • Page 37

    17 part 1 specification 3.4.3 profibus item specification power supply 24 vdc ± 10% current consumption 600 ma max. (*1) group 2 only server communication protocol network-powered insulated node bit strobe polling communication specification master-slave connection cyclic baud rate 9.6 kbps to 12 mb...

  • Page 38

    18 part 1 specification 3.4.4 rs485 sio two modes are available: the modbus gateway mode in which the unit operates as a modbus/rtu slave station, and the sio through mode in which the unit operates by means of serial communication per the modbus/rtu and ascii protocols. Specification item modbus ga...

  • Page 39

    19 part 1 specification 3.5 name/function of each part and external dimensions the four types of gatewayr units are exactly the same, except for the field network connector provided on top of the unit. 3.5.1 name of each part (front cover open) user setting switches robonet communication connector p...

  • Page 40

    20 part 1 specification 3.5.2 led indicators these leds are used to monitor the status of the gateway unit. Symbol indicator color explanation run/alm green/orange steady green: operating normally. Steady orange: an error is present. Emg red this led is lit when an emergency stop is actuated. Error ...

  • Page 41

    21 part 1 specification (3) profibus name indicator color status explanation steady online. Green blinking online (clear command executed). Status 1 orange blinking an error (parameter error or profibus configuration error) is present. Steady initialization has completed. Green blinking initializati...

  • Page 42

    22 part 1 specification 3.5.3 mode switch this switch is used to set the operation mode of the controller. Status explanation manu manual operation: the robonet system can be operated using a teaching pendant or pc. Auto auto operation: the robonet system is controlled via field network communicatio...

  • Page 43

    23 part 1 specification the photographs show the parts supplied with the axis controller unit or simple absolute r unit. 3.5.8 fg terminal (frame ground) this terminal is used to connect the gatewayr unit to ground. The thread size is m3. 3.5.9 emg connector (emergency stop) this connector is used t...

  • Page 44

    24 part 1 specification recommended emergency stop circuit shown below is an example of an emergency stop circuit of a robonet system. The built-in drive-source cutoff relays of all axis controller units are turned on/off simultaneously using the emergency stop switch of the emergency stop circuit o...

  • Page 45

    25 part 1 specification 3.5.10 field network connector this connector is used to connect the master unit of each field network. The connector varies according to the field network type. (1) cc-link (rgw-cc) rgw-cc-end connector: mstba2.5/5-g-5.08au (by phoenix contact) cable-end connector: mstb2.5/5...

  • Page 46

    26 part 1 specification (1) devicenet (rgw-dv) rgw-dv-end connector: mstba2.5/5-g-5.08abgyau (by phoenix contact) cable-end connector: mstb2.5/5-st-5.08abgyau (by phoenix contact) = standard accessory devicenet communication connector pin color explanation black power-supply cable- * blue communicat...

  • Page 47

    27 part 1 specification (3) profibus (rgw-pr) rgw-pr connector: d-sub, 9-pin connector (female) profibus communication connector pin number signal name explanation 1 nc not connected 2 nc not connected 3 b-line communication line b (rs485) 4 rts send request 5 gnd signal ground (insulated) 6 +5 v +5...

  • Page 48

    28 part 1 specification (4) rs485sio (rgw-sio) rgw-sio connector: mc1.5/4-g-3.5 (by phoenix contact) cable-end connector: mc1.5/4-st-3.5 (by phoenix contact) = standard accessory sio communication connector signal name explanation sa communication line a (+) sb communication line b (-) built-in term...

  • Page 49

    29 part 1 specification 3.5.11 external dimensions * installable on a 35-mm din rail (50 from din rail ce n ter) (69.3 from din rail surface).

  • Page 50

    30 part 1 specification 3.6 operation function list racon/rpcon function list positioner 1, 2 mode solenoid valve mode 1 and 2 home return operation o o solenoid valve mode 1 x solenoid valve mode 2 (not required) positioning operation u specify a position table number. U specify a position table nu...

  • Page 51

    31 part 1 specification {: direct control u: indirect control x: not available simple direct mode numerical specification mode { { { specify position data (32-bit signed integer). { specify position data (32-bit signed integer). U set in the position table. { specify speed data (16-bit integer). U s...

  • Page 52

    32 part 1 specification 3.7 address configuration robonet addresses are configured in the same manner with all four types of gateway units regardless of the type of field network. The addresses occupied by the network consist of a fixed 8-word area and a data area that changes according to the opera...

  • Page 53

    33 part 1 specification (3) data area configuration in the direct numerical specification mode plc output ⇒ axis input axis output ⇒ plc input upper byte lower byte number of words upper byte lower byte number of words position data specification (l)* current position data (l)* position data specifi...

  • Page 54

    34 part 1 specification „ example of overall cc-link address configuration (positioner 1 mode/simple direct mode + direct numerical specification mode) an example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specificati...

  • Page 55

    35 part 1 specification „ example of overall cc-link address configuration (positioner 2 mode and solenoid valve mode) an example of connecting 16 axes operating in the positioner 2 mode, solenoid valve mode 1 or 2 is shown. Plc output ⇒ robonet robonet ⇒ plc input output register upper byte lower b...

  • Page 56

    36 part 1 specification (2) devicenet „ example of overall devicenet address configuration (positioner 1 mode/simple direct mode + direct numerical specification mode) an example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numer...

  • Page 57

    37 part 1 specification „ example of overall devicenet address configuration (positioner 2 mode and solenoid valve mode)) an example of connecting 16 axes operating in the positioner 2 mode, solenoid valve mode 1 or 2 is shown. Plc output ⇒ robonet robonet ⇒ plc input relative channel* upper byte lo...

  • Page 58

    38 part 1 specification (3) profibus „ example of overall profibus address configuration (positioner 1 mode/simple direct mode + direct numerical specification mode) an example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numeric...

  • Page 59

    39 part 1 specification „ example of overall profibus address configuration (positioner 2 mode and solenoid valve mode)) an example of connecting 16 axes operating in the positioner 2 mode, solenoid valve mode 1 or 2 is shown. Plc output ⇒ robonet robonet ⇒ plc input relative channel* upper byte low...

  • Page 60

    40 part 1 specification (4) rs485sio „ example of overall rs485 sio (modbus gateway mode) address configuration (positioner 1 mode/simple direct mode + direct numerical specification mode) an example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operatin...

  • Page 61

    41 part 1 specification „ example of overall rs485 sio (modbus gateway mode) address configuration (positioner 2 mode and solenoid valve mode)) an example of connecting 16 axes operating in the positioner 2 mode, solenoid valve mode 1 or 2 is shown. Plc output ⇒ robonet robonet ⇒ plc input register ...

  • Page 62

    42 part 1 specification 3.7.2 gateway control/status signals in the address configuration of the gatewayr unit, the first two input words and output words are used to control the gatewayr unit. These signals can be used to perform on/off control of robonet communication (sio control) and monitor the...

  • Page 63

    43 part 1 specification i/o signal list signal type bit signal name description 15 mon when this signal is on (“1”), control outputs from the plc are effective (outputs from the plc are reflected in the controller unit). When the signal is off (“0”), the outputs are ineffective. 14 - cannot be used....

  • Page 64

    44 part 1 specification 3.7.3 command area the eight input words and eight output words from the initial address of the gateway unit are fixed areas. With both output and input, six words in this fixed area are assigned as a command area where various commands can be used to read/write the position ...

  • Page 65

    45 part 1 specification (2) command list the available command and command codes are listed below. Function classification code explanation positioner 1 mode simple direct mode direct numerical specification mode positioner 2 mode solenoid valve mode 1 and 2 handshake 0000h clear request command { {...

  • Page 66

    46 part 1 specification (3) commands and data formats the rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table constantly. [1] position table data write commands relative address from beginning command name cc-link*8 devicenet profibus rs...

  • Page 67

    47 part 1 specification relative address from beginning command name cc-link devicenet profibus rs485sio *1 plc output (request) plc input (response) ry 2*/rx 2* +2 +4/+5 1006h ry 3*/rx 3* +3 +6/+7 position number ry 4*/rx 4* +4 +8/+9 deceleration data *6 ry 5*/rx 5* +5 +10/+11 0 ry 6*/rx 6* +6 +12/...

  • Page 68

    48 part 1 specification [2] position table data read commands relative address from beginning command name cc-link*6 devicenet profibus rs485sio *1 plc output (request) plc input (response) ry 2*/rx 2* +2 +4/+5 1040h ry 3*/rx 3* +3 +6/+7 position number if the command has been successful, the value ...

  • Page 69

    49 part 1 specification relative address from beginning command name cc-link*6 devicenet profibus rs485sio *1 plc output (request) plc input (response) ry 2*/rx 2* +2 +4/+5 1046h ry 3*/rx 3* +3 +6/+7 deceleration read pos number if the command has been successful, the value returned in the response ...

  • Page 70

    50 part 1 specification [3] group-specific broadcast operation commands these operations can be used in the positioner mode. The axes specified by the group number are started simultaneously to the position specified by the pos number. Since these commands implement broadcast communication between t...

  • Page 71

    51 part 1 specification (4) error responses if a command error occurs, the most significant bit (b15) of the response command will turn on and an error code will be set in response data 1. Code explanation 0101h invalid axis number *1 0102h invalid position number *1 0103h invalid request command *1...

  • Page 72

    52 part 1 specification 3.7.4 position table racon and rpcon controllers can be operated in one of six modes—positioner mode 1and 2, simple direct mode, direct numerical specification mode and solenoid valve mode 1 and 2—using one of four types of gatewayr units. To perform positioning operation in ...

  • Page 73

    53 part 1 specification position the position table is explained using the screen of the pc software as an example. (the display is different on the teaching pendant.) (1) no. • a position data number is indicated. (2) position • input the target position to which to move the actuator [mm]. Absolute...

  • Page 74

    54 part 1 specification (4) acceleration/deceleration • input the acceleration/deceleration at which to move the actuator (unit: [g]). Input a value within the rated range. (refer to appendix, “specification list of supported actuators.”) exercise caution when setting the acceleration/deceleration, ...

  • Page 75

    55 part 1 specification “push operation” this field defines the maximum distance traveled from the target position in push operation. Consider the mechanical variation of the load and set an appropriate positioning band so that the positioning will not complete before the actuator contacts the load....

  • Page 76

    56 part 1 specification [for straight slide actuators] caution zone functions differ depending on the application version. • for application version v0015 or earlier, zone output is not performed for the setting below; zone setting + ≤ zone setting – • for application version v0016 or earlier, zone ...

  • Page 77

    57 part 1 specification (9) acceleration/deceleration mode • this field defines the acceleration/deceleration pattern characteristics. The factory setting is “0.” 0: trapezoid pattern 1: s-motion 2: primary delay filter the acceleration and deceleration are set in the “acceleration” and “deceleratio...

  • Page 78

    58 part 1 specification the actuator accelerates/decelerates over a curve that is more gradual than in linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don’t want the load to receive micro-vibration during acceleration/deceleration. The primary delay level is set in para...

  • Page 79

    59 part 1 specification profibus position data specification(signed integer) plc output = axis control signal position data specification(signed integer) command position number control signal bkrl mode pwr t jog + jog - pc512 pc256 pc128 pc64 pc32 pc16 pc8 pc4 pc2 pc1 jvel jisl son res stp home cst...

  • Page 80

    60 part 1 specification i/o signal list signal type bit signal name description positioner simple direct details position data specification 32-bit data - set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) example) to set +25.4 mm, specify “0009ec” (decimal number: 2540). Z th...

  • Page 81

    61 part 1 specification i/o signal list signal type bit signal name description positioner simple direct details current position data 32-bit data - output as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm). Example) to set +25.4 mm, specify “0009ec” (decimal number: 2540). Z the ...

  • Page 82

    62 part 1 specification [alarm list] listed below are simple alarm codes that will be output when the respective alarms generate. For details, refer to part 3, “maintenance.” simple alarm codes and alarm codes are given as hexadecimal numbers. * simple alarm codes are indicated by the status0 to 3 l...

  • Page 83

    63 part 1 specification 3.7.6 assignments in the direct numerical specification mode assignments in the direct numerical specification mode are shown below. Set the push-current limiting value, acceleration/deceleration and speed within the ranges specified for the applicable actuator, and set the t...

  • Page 84

    64 part 1 specification * m indicates the initial register address of each axis. N indicates the relative address at the beginning of each address. The cc-link and devicenet types use word addresses, while the profibus and rs485 sio types use byte addresses. Plc input = axis status signal address* 1...

  • Page 85

    65 part 1 specification i/o signal list signal type bit signal name description details position data specification 32-bit data - set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) example) to set +25.4 mm, specify “0009ech” (decimal number: 2540). Z the maximum settable value...

  • Page 86

    66 part 1 specification i/o signal list signal type bit signal name description details push-current limiting value 8-bit data - set the push-current limiting value as a hexadecimal number (unit: %) to set the push force. Settable range is 00h to 1ffh, ffh = 100% and 1ffh = 200% example) to set 50%,...

  • Page 87

    67 part 1 specification i/o signal list signal type bit signal name description details current position data 32-bit data - the current position data is output as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm). Example) if the data is +25.4 mm, “000009ech” (decimal number: 2540) ...

  • Page 88

    68 part 1 specification 3.7.7 assignment in positioner 2 mode assignment in the positioner 2 mode is explained below. Plc output = axis control signal plc input = axis status signal * m indicates the initial register address of each axis. N indicates the relative address at the beginning of each add...

  • Page 89

    69 part 1 specification 3.7.8 assignment in solenoid valve mode 1 assignment in the solenoid valve mode 1 is explained below. Plc output = axis control signal plc input = axis status signal * m indicates the initial register address of each axis. N indicates the relative address at the beginning of ...

  • Page 90

    70 part 1 specification i/o signal list signal type bit symbol description details b15-b7 - cannot be used. - b6 st6 start position command 6 b5 st5 start position command 5 b4 st4 start position command 4 b3 st3 start position command 3 b2 st2 start position command 2 b1 st1 start position command ...

  • Page 91

    71 part 1 specification 3.7.9 assignment in solenoid valve mode 2 assignment in the solenoid valve mode 2 is explained below. Plc output = axis control signal plc input = axis status signal * m indicates the initial register address of each axis. N indicates the relative address at the beginning of ...

  • Page 92

    72 part 1 specification i/o signal list signal type bit symbol description details b15-b3 - cannot be used. - b2 st2 intermediate point move command b1 st1 front end move command command position number b0 st0 rear end move command 3.8.2 (21) b15 bkrl forced brake release 3.8.2 (19) b14-b5 - cannot ...

  • Page 93

    73 part 1 specification 3.8 i/o signals 3.8.1 i/o signal timings to operate the robo cylinder using the plc’s sequence program, a given control signal is turned on. The maximum response time after the signal turns on until the response (status) signal is returned to the plc is calculated by the form...

  • Page 94

    74 part 1 specification 3.8.2 i/o signal functions (1) controller ready (crdy) plc input signal this signal turns “1” (on) when the controller has become ready to perform control after the power is turned on. „ function this signal turns “1” (on) when the controller has been successfully initialized...

  • Page 95

    75 part 1 specification (5) servo on command (son) plc output signal ready (sv) plc input signal turn the son signal “1” (on), and the servo will turn on. When the servo is turned on, the sv led (green) on the front panel of the controller will illuminate. The sv signal is synchronized with this led...

  • Page 96

    76 part 1 specification (6) home return command (home) plc output signal home return complete (hend) plc input signal home return operation will start at the “0” (off) Æ “1” (on) leading edge of the home signal. When home return is complete, the hend (home return complete) signal will turn “1” (on)....

  • Page 97

    77 part 1 specification (7) positioning start (cstr) plc output signal upon detection of the “0” (off) → “1” (on) leading edge of this signal, the controller will read the target position number consisting of a 10-bit binary code from pc1 to pc512, and perform positioning to the target position spec...

  • Page 98

    78 part 1 specification (10) pause (stp) plc output signal turn this signal “1” (on), and the axis movement will pause (the axis will decelerate to a stop). Turn the signal “0” (off), and the axis movement will resume. (11) command position number (pc1 to pc512) plc output signal the command positio...

  • Page 99

    79 part 1 specification an example is shown below. [for index mode of rotary actuators] [for straight slide actuators] caution zone functions differ depending on the application version. • for application version v0015 or earlier, zone output is not performed for the setting below; zone setting + ≤ ...

  • Page 100

    80 part 1 specification (14) jog+ command/jog- command (jog+/jog-) plc output signal these signals function as start commands for jogging operation or inching operation. The + command starts operation in the direction opposite home, while the – command starts operation in the home direction. Jogging...

  • Page 101

    81 part 1 specification (15) jogging speed/inching distance switching (jvel) plc output signal this signal switches between the parameter for specifying the jogging speed when jogging operation is selected and the parameter for specifying the inching distance when inching operation is selected. The ...

  • Page 102

    82 part 1 specification (17) teaching mode command (mode) plc output signal (effective only in the positioner mode) teaching mode status (modes) plc input signal when this signal is turned “1,” the controller will switch from the normal operation mode to the teaching mode. After switching to the tea...

  • Page 103

    83 part 1 specification (20) start position command (st0 to st6) [solenoid valve mode 1] plc output signal upon detection of an off → on rise edge of this signal or detection of the on level of the signal, the actuator will move to the target position set in the corresponding position data. Before e...

  • Page 104

    84 part 1 specification (22) current position number signal (pe0 to pe6) [solenoid valve mode 1] plc input signal position numbers (0 to 6) that received move command is output individually when positioning is completed. Table for output signal and completed position output signal completed position...

  • Page 105

    85 part 1 specification 3.8.3 basic operation timings (1) ready follow the steps below to start the system after confirming that the slider or rod is not contacting a mechanical end and the load is not contacting any peripherals, either: [1] cancel the emergency stop or enable the motor drive power....

  • Page 106

    86 part 1 specification warning the racon controller performs magnetic-pole phase detection operation during the first servo on processing after the power has been turned on. During this detection operation, the actuator will generally move by approx. 0.5 to 2 mm, although the specific dimension var...

  • Page 107

    87 part 1 specification (2) home return operation this controller unit uses an incremental position detector (encoder) and therefore its mechanical coordinates will be lost once the power is cut off. After the power is turned on, therefore, home return must be performed to establish mechanical coord...

  • Page 108

    88 part 1 specification (3) operation in the positioner 1 mode and positioner 2 mode input position data in the controller’s position table beforehand, and specify a desired position number using a link register of the plc. ■ operation [1] set the position number in the command position number regis...

  • Page 109

    89 part 1 specification *1 t1: set an appropriate time so that “t1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. *2 yt + 2mt + xt ≤ tdpf ≤ yt + 2mt + xt + 7 (ms) [1] [2] [4] * [3] [5] [6] ≤ 1mt ≤ 1mt command position number (plc → gw) start command cstr (plc → gw) positi...

  • Page 110

    90 part 1 specification (4) operation in the simple direct mode in this mode, position data is written to a link register of the plc and other data such as speed, acceleration/deceleration, positioning band and push current-limiting value are specified by a position table. „ preparation set in the p...

  • Page 111

    91 part 1 specification *1 set an appropriate time so that “t1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. *2 yt + 2mt + xt ≤ tdpf ≤ yt + 2mt + xt + 7 (msec) *3 twcson ≥ 1mt *4 twcsoff ≥ 1mt [1] [2] [3] [4] [5] [6] [7] [8] *3 twcson *4 twcsoff *2 tdpf ≤ 1mt ≤ 1mt comma...

  • Page 112

    92 part 1 specification (5) operation in the direct numerical specification mode in this mode, the actuator is operated by writing the target position data, acceleration/deceleration data, speed data, push-current limiting value data and positioning band data to link registers in the plc, without us...

  • Page 113

    93 part 1 specification *1 set an appropriate time so that “t1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. *2 yt + 2mt + xt ≤ tdpf ≤ yt + 2mt + xt + 7 (msec) [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [13] [12] ≤ 1mt ≤ 1mt target position data setting (plc Æ gw) spe...

  • Page 114

    94 part 1 specification the target position data, acceleration/deceleration data, speed data, positioning band data and push-current limiting value data can be changed while the actuator is moving. To do so, turn the cstr “1” (on) and keep it “1” (on) for tdpf or more after the data has been changed...

  • Page 115

    95 part 1 specification (6) operation by solenoid valve mode 1 enter the position data into the position table in the controller in advance, and specify the position number with the link register on plc and operate. „ operation [1] be sure that the positioning complete (pend) is on “1” (on), and cha...

  • Page 116

    96 part 1 specification (7) operation by solenoid valve mode 2 enter the position data into the position table in the controller in advance, and specify the position number with the link register on plc and operate. „ operation [1] turn to “0” (off) for all the movement commands. [2] turn a movement...

  • Page 117

    97 part 1 specification 3.8.4 other basic operations (1) push operation [1] basic operation as shown below, the actuator moves to the specified target position, and then moves at the specified push speed by up to the specified positioning band while pushing the load. The moment the push force reache...

  • Page 118

    98 part 1 specification „ push mode specification • in the positioner 1, 2 mode, simple direct mode, solenoid valve mode 1 or 2, set a value other than “0” (push-current limiting value) in the “push” field of the position table. • i in the direct numerical specification mode, set a value in the push...

  • Page 119

    99 part 1 specification [2] when the load was missed in push operation if the load is not contacted (the motor current does not reach the push-current limiting value) after the actuator has moved the distance corresponding to the specified positioning band, the position complete signal is not output...

  • Page 120

    100 part 1 specification [4] when the push direction is set incorrectly if the push direction is set incorrectly, the actuator position will deviate by “positioning band x 2,” as shown below. Exercise caution. [5] when the return operation after push is specified in relative coordinates take note th...

  • Page 121

    101 part 1 specification (2) pause when the pause command signal (stp) is turned “1” (on) while the actuator is moving, the actuator will decelerate to a stop. Since the remaining travel distance is retained, the remaining travel can be resumed by turning the stp “0” (off) again. The remaining trave...

  • Page 122

    102 part 1 specification (3) speed change during movement the actuator can be controlled at multiple speeds in a single operation. In other words, the speed can be decreased or increased at a given point. However, a position data must be set for every point at which the speed is changed. This functi...

  • Page 123

    103 part 1 specification caution [1] when the start signal (cstr) is turned “1” (on), the position complete signal (pend) will turn “0” (off) and the moving signal (move) will turn “1” (on). Turn the start signal (cstr) “0” (off) after confirming that the position complete signal (pend) has turned “...

  • Page 124

    104 part 1 specification (4) operation at different acceleration and deceleration [1] when the controller is used in the positioner 1, 2 mode or simple direct mode, separate values can be set for acceleration and deceleration using the position table. [2] direct numerical specification mode in this ...

  • Page 125

    105 part 1 specification (5) operation by relative coordinate specification the target position in the position table can also be specified in relative coordinates. This function can be used to repeat positioning operations at equal pitches. [1] example of operation in the positioner 1, 2 mode the f...

  • Page 126

    106 part 1 specification * set an appropriate time so that “t1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller. [explanation of operation] [1] positioning operation to position 1 (100.00 mm) is performed. [2] upon completion of positioning to position 1, the position comple...

  • Page 127

    107 part 1 specification [2] notes on positioning operation if a position number specified in relative coordinates is selected/entered and a start signal is input during positioning operation, the actuator will move to the initial target position plus the relative travel distance. (if the relative t...

  • Page 128

    108 part 1 specification [3] notes on push operation if a position number specified in relative coordinates (for which the push mode is specified) is selected/input and a start signal is input while the actuator is moving in the push mode, the actuator will move to the position at which the start si...

  • Page 129

    109 part 1 specification 3.8.5 command transmission a command transmission chart is shown below. The gatewayr unit analyzes each request command and returns a response every time the replacement of control/status data of all axes, which is performed constantly, is completed. The plc and gatewayr uni...

  • Page 130

    110 part 1 specification 3.9 modbus gateway mode of rs485 sio 3.9.1 overview with the rs485 sio gatewayr unit, the modbus gateway mode in which the unit operates as a modbus/rtu slave station, and the sio through mode in which the unit operates by means of serial communication per the modbus/rtu and...

  • Page 131

    111 part 1 specification 3.9.2 modbus/rtu protocol specification the rs485 sio gatewayr unit has an asynchronous serial bus interface conforming to eia rs485 for interfacing with the host. The modbus protocol is used for communication to receive commands from the host or reference internal informati...

  • Page 132

    112 part 1 specification (2) communication method the modbus protocol uses the single-master/multiple-slave communication method. Only the master can issue a query (to start communication). The slave receives a query, performs the specified function, and returns a response message. The master can is...

  • Page 133

    113 part 1 specification (4) message frame query and response messages use the following message frame. Header address function data error check trailer t1-t2-t3-t4 8 bits 8 bits n x 8 bits 16 bits t1-t2-t3-t4 * “t1-t2-t3-t4” represents a silent interval. [1] header field the frame starts with a sil...

  • Page 134

    114 part 1 specification (5) error check crc check each message contains an error check field based on the crc method. The crc field is used to check the content of the entire message. This check is independent of the parity check of individual characters comprising the message. The crc field consis...

  • Page 135

    115 part 1 specification 3.9.9 protocol format 3.9.3.1 gateway address map the slave address is fixed to “63 (3fh)” for the rs485 sio gateway. As for gateway registers, inputs (plc ⇒ robonet) are assigned to word addresses f600 h onward in the plc, while outputs (robonet ⇒ plc) are assigned to word ...

  • Page 136

    116 part 1 specification example of overall rs485sio gateway address configuration an example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown. Plc output ⇒ robonet robonet ⇒ plc input register a...

  • Page 137

    117 part 1 specification 3.9.3.2 query list the table below lists queries that can be used. Fc function remarks (performable operation) positioner mode axis simple direct mode axis direct numerical mode axis details [1] read gateway status signal 0, 1 1 each 1 each 1 each 3.9.3.3 (2) [1] [2] read re...

  • Page 138

    118 part 1 specification fc function remarks (performable operation) positioner mode axis simple direct mode axis direct numerical mode axis details • forced brake release (bkrl) { { { 3.9.3.4 (2) [3] • push operation mode specification x x { 06h write register • push direction specification x x { 3...

  • Page 139

    119 part 1 specification 3.9.3.3 read holding registers (query using fc = 03h) this query reads the contents of holding registers in the slave. Broadcast is not supported. The basic query/response structures and examples of queries are shown below. (1) basic query/response structures [1] query forma...

  • Page 140

    120 part 1 specification (2) examples of queries/responses queries are implemented by reading a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. [1] read gateway status signal 0, 1 the configuration of the completed posi...

  • Page 141

    121 part 1 specification z response field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 data bytes 04 h 1 1-word register x 2 = 4 bytes data 1 (upper) arbitrary data 1 (lower) arbitrary 1 each for upper and lower words 2 data 2...

  • Page 142

    122 part 1 specification [2] read response command data 0 to 3 z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) f7 h starting address (lower) 02 h 2 initial address of the response command nu...

  • Page 143

    123 part 1 specification [3] monitor current position – axis (0) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) f7 h starting address (lower) 08 h 2 the addresses of current position data o...

  • Page 144

    124 part 1 specification [4] monitor current electrical current – axis (1) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) f7 h starting address (lower) 0e h 2 address of the current electri...

  • Page 145

    125 part 1 specification [5] monitor current speed – axis (1) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) f7 h starting address (lower) 10 h 2 address of the current speed data of axis (...

  • Page 146

    126 part 1 specification [6] monitor alarm information – axis (1) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) f7 h starting address (lower) 12 h 2 alarm address of axis (1) number of reg...

  • Page 147

    127 part 1 specification [7] read completed position number status – axis (0) the configuration of the completed position number register of axis (0) is shown below. Z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 s...

  • Page 148

    128 part 1 specification [8] read status signal status – axis (0) the configuration of the status signal register of axis (0) is shown below. Z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 03 h 1 starting address (upper) ...

  • Page 149

    129 part 1 specification z actual example after axis (0) servo on „ sent query: 3f03f70b0001c362 „ received response: 3f03024011604d (explanation) the crdy, sv and pend signals are on. Z actual example after axis (0) home return „ sent query: 3f03f70b0001c362 „ received response: 3f03027013f58c (exp...

  • Page 150

    130 part 1 specification 3.9.3.4 preset single register (query using fc = 06h) data is written to (changed in) a holding register in the slave. The basic query/response structures and examples of queries are shown below. (1) basic query/response structures [1] query format the query message specifie...

  • Page 151

    131 part 1 specification (2) examples of queries/responses queries are implemented by changing (writing) a 1-word register and thus the basic pattern is the same with all queries. The only differences are the starting address and data. The following explanations use axis (0) or axis (12) in the exam...

  • Page 152

    132 part 1 specification [2] output command position number a position number (= 1) is specified for axis (0). The configuration of the command position number register of axis (0) is shown below. Z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h ...

  • Page 153

    133 part 1 specification [3] output control signals (axis 0 = positioner mode or simple direct mode) an example of control signals of axis (0) is explained. The configuration of the control signal register of axis (0) is shown below. ‹ servo on command (son) z query field name rtu mode data (8 bits)...

  • Page 154

    134 part 1 specification ‹ home return command (home) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) ...

  • Page 155

    135 part 1 specification ‹ start command (cstr) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) new da...

  • Page 156

    136 part 1 specification ‹ pause command (stp) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) new dat...

  • Page 157

    137 part 1 specification ‹ reset command (res) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) new dat...

  • Page 158

    138 part 1 specification ‹ jogging/inching switching command (jisl) this signal is used to switch jogging operation and inching operation. Jisl = “0”: jogging operation jisl = “1”: inching operation z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f ...

  • Page 159

    139 part 1 specification ‹ jogging speed/inching distance switching command (jvel) in jogging operation and inching operation, the jogging speed and inching distance are determined by referencing the applicable control parameters. This signal is used to switch these parameters. Jvel jogging speed of...

  • Page 160

    140 part 1 specification ‹ jog+ command (jog+) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) new dat...

  • Page 161

    141 part 1 specification ‹ jog- command (jog-) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of axis (0) new dat...

  • Page 162

    142 part 1 specification [summary of jogging operation and inching operation] with both jogging operation and inching operation, the jisl, jvel, jog+ and jog- signals are used in combination. The relationships of these signals are summarized in the table below. Jogging operation inching operation ji...

  • Page 163

    143 part 1 specification ‹ teaching mode command (mode) the controller will switch to the teaching mode when the mode signal turns “1.” z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h s...

  • Page 164

    144 part 1 specification ‹ position data load command (pwrt) z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 06 h 1 starting address (upper) f6 h starting address (lower) 0b h 2 address of the control signal register of ax...

  • Page 165

    145 part 1 specification ‹ forced brake release command (bkrl) normally brake control is linked to the servo on/off operations. However, the brake can be forcibly released while the servo is off, by using this command. Z query field name rtu mode data (8 bits) data length (bytes) remarks header none...

  • Page 166

    146 part 1 specification [4] output control signals (axis 1 = direct numerical specification mode) an example of control signals of axis (1) is explained. The configuration of the control signal register of axis (1) is shown below. The method of use is the same as in [3], except for the dir and push...

  • Page 167

    147 part 1 specification 3.9.3.5 preset multiple registers (query using fc = 10h) data is changed in (written to) multiple successive holding registers in the slave. The basic query/response structures and examples of queries are shown below. (1) basic query/response structures [1] query format the ...

  • Page 168

    148 part 1 specification [2] response format if the data has been changed (written) successfully, the response returned is a copy of the query excluding the number of bytes and new data. Field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function ...

  • Page 169

    149 part 1 specification (2) basic axis operations [1] axis area in the direct numerical specification mode assignments of axis control signals for axis (1) (direct numerical specification mode) are shown below. Refer to the section on gateway specifications for the detailed explanation of signals. ...

  • Page 170

    150 part 1 specification „ speed • 16-bit integer • register size: 1 (2 bytes) • unit: 1.0 mm/sec or 0.1 mm/sec. Establish the setting in robonet gateway parameter setting tool. • settable range: 0 to 9999 mm/sec if a value exceeding the maximum actuator speed is set, an alarm will generate when a m...

  • Page 171

    151 part 1 specification [1] procedure in the direct numerical specification mode, the actuator is operated by writing data to the axis control signal registers (position data, positioning band, speed, acceleration/deceleration, push-current limiting value, control signals). Operation is started whe...

  • Page 172

    152 part 1 specification (3) examples of queries/responses (axis 1, direct numerical specification mode) [1] query format for normal operation write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current limiting value) to the registers. Z qu...

  • Page 173

    153 part 1 specification [2] query format for normal operation where only the position is changed use the same format in [1] by changing only the position data, to operate the axis. Z query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Functi...

  • Page 174

    154 part 1 specification [3] query format for normal operation where the position and speed are changed. In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis. The following two queries are transmitted. Z query (position data change) field ...

  • Page 175

    155 part 1 specification [4] query format for push operation write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current limiting value) to the registers. Z query (position data change) field name rtu mode data (8 bits) data length (bytes) r...

  • Page 176

    156 part 1 specification (4) use of gateway commands the position table can be read/written by writing request commands and data in the command area of the gateway unit. For details, refer to the specifications of the gateway unit. An address map of the command area is shown below. Register address ...

  • Page 177

    157 part 1 specification [1] write position table data an example of writing the target position, positioning band and speed data one by one to the position table under no. 10 corresponding to positioner mode axis (0) is explained. • target position 100 mm → 10000 = 2710h • positioning band 0.3 mm →...

  • Page 178

    158 part 1 specification z positioning band write query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 10 h 1 starting address (upper) f6 h starting address (lower) 02 h 2 initial request command register address of axis (0) numb...

  • Page 179

    159 part 1 specification z speed write query field name rtu mode data (8 bits) data length (bytes) remarks header none - slave address 3f h 1 fixed. Function code 10 h 1 starting address (upper) f6 h starting address (lower) 02 h 2 initial request command register address of axis (0) number of regis...

  • Page 180

    160 part 1 specification [2] read position table data in [1], the target position, positioning band and speed were written one by one to the position table under no. 10 corresponding to positioner mode axis (0). Next, an example of reading data from this position table is explained. Query send proce...

  • Page 181

    161 part 1 specification send a register read (fc = 03h) query. „ sent query: 3f03f702000512a3 „ received response: 3f030a 1040 000a 27100000 0000 2e8a position data the position data (2710h) written to the position table in [1] has been read. Caution each gateway command must be cleared after use. ...

  • Page 182

    162 part 1 specification send a register read (fc = 03h) query. „ sent query: 3f03f702000512a3 „ received response: 3f030a 1041 000a 001e0000 0000 4c0c positioning band data the data (001eh) written to the position table in [1] has been read. Caution each gateway command must be cleared after use. Z...

  • Page 183

    163 part 1 specification send a register read (fc = 03h) query. „ sent query: 3f03f702000512a3 „ received response: 3f030a 1042 000a 00c80000 0000 4c0c speed data the data (00c8h) written to the position table in [1] has been read. Caution each gateway command must be cleared after use..

  • Page 184

    164 part 1 specification in [1] and [2], the target position, positioning band and speed data were written to the position table and the write results were checked. The applicable position table in the rc pc software is shown as follows. „ before sending the write query „ after sending the write que...

  • Page 185

    165 part 1 specification 3.9.4 function block 3.9.4.1 dedicated robonet function block (1) overview iai provides a dedicated function block for robonet systems. It is called “robonet gateway modbus cyclic communication fbl” (robonet gw). This function block performs the following operations between ...

  • Page 186

    166 part 1 specification the function block parameters are used to specify the following addresses of the plc’s i/o memory to be linked with the gateway unit’s memory areas: • initial gateway control signal address • initial request command area address • initial axis data specification area address...

  • Page 187

    167 part 1 specification (2) specifications name robonet gateway modbus cyclic communication fbl function overview • read gateway information, command responses and axis data cyclically from the robonet gateway. • write gateway control information, command requests and axis data to the robonet gatew...

  • Page 188

    168 part 1 specification „ variable table (parameter settings) the variables and parameter settings of the function block (fb) are described. [inputs] (input variables) name variable name data type default explanation of variable and parameter settings en en bool false 1 (on): start the fb 2 (off): ...

  • Page 189

    169 part 1 specification [ver-in/out] (input/output variables) name variable name data type explanation of variable and parameter settings gateway information table gateway information _table int [2] gateway information data is returned. Set the i/o memory address to be assigned to the initial statu...

  • Page 190

    170 part 1 specification ■ explanation of function [1] when the “start trigger” signal is turned on, gateway information, command responses and axis data will be read cyclically. (constant read mode) [2] when data is set in the gateway control table and the gateway control write signal is turned on,...

  • Page 191

    171 part 1 specification ■ operation timing chart timing chart successful pattern of read-only operation data is read from the gateway unit in each cycle. 1. Successful pattern, no request 2. Error pattern, no request 3. Successful pattern, with request fb_busy reading successful response error resp...

  • Page 192

    172 part 1 specification 4. Error pattern, with request caution notes on using the fb • do not issue position data write commands successively, because these commands are written to the flash memory area. The flash memory can be written only so many times. • if communication is cut off while the axi...

  • Page 193

    173 part 1 specification (3) address association matrix as explained in (1), “overview,” the plc’s i/o memory is associated with the gateway unit’s memory. Before setting the parameters or creating a ladder sequence, therefore, create an association matrix of sio gateway addresses. An example is sho...

  • Page 194

    174 pa rt 1 sp ec if ica tio n sio gateway fb address association matrix (plc output) (example) function block variable name set address gateway register address description gw control 0 gw control 1 request command data 0 data 1 data 2 data 3 cannot be used. (axis 0) position data specification (l)...

  • Page 195

    17 5 part 1 speci ficat ion sio gateway fb address association matrix (plc input) (example) function block variable name set address gateway register address description gw control 0 gw control 1 response command data 0 data 1 data 2 data 3 cannot be used. (axis 0) current position data (l) (axis 0)...

  • Page 196

    176 part 1 specification 3.9.4.2 what is a function block? (1) overview a function block is a graphical program language for plcs. It is one of the five program languages for plcs defined by the iec standard (iec 61131-3). Ladder logic (or ladder language) currently adopted by the largest number of ...

  • Page 197

    177 part 1 specification (2) function block configuration a function block consists of a predetermined function block definition and an instance that actually places the function block definition in a program. [1] function block definition a program described in a function block. An algorithm is des...

  • Page 198

    178 part 1 specification [3] parameter every time an instance is created, actual i/o memory addresses (or constants) must be set for data exchange with input/output variables. These set addresses (or constants) are called parameters. Z what is exchanged between the parameters and function block is t...

  • Page 199

    179 part 1 specification [4] variable addresses are not described as actual i/o memory addresses, but they are all described as variable names. The basic items you should know about variables are explained below. „ variable types [1] internal variable (internals): used only in an instance. [2] input...

  • Page 200

    180 part 1 specification chapter 4 controller unit 4.1 overview the racon and rpcon controllers are dedicated robonet controllers that drive rca* actuators (24-v servo motor type) and rcp* actuators (24-v pulse motor type), respectively. Their basic functions and performance are the same as those of...

  • Page 201

    181 part 1 specification racon controller: 1 unit robonet communication connection circuit board (model jb-1): 1 pc power-supply connection plate (model pp-1): 2 pcs rpcon controller: 1 unit robonet communication connection circuit board (model jb-1): 1 pc power-supply connection plate (model pp-1):...

  • Page 202

    182 part 1 specification 4.2 basic specifications the basic specifications are the same between the racon and rpcon. Item specification number of controllable axes 1 axis power-supply voltage 24 vdc ± 10% standard specification, high acceleration/deceleration type energy-saving type actuator rating ...

  • Page 203

    183 part 1 specification 4.3 name/function of each part and external dimensions. The name/function of each part and external dimensions are exactly the same with both the racon and rpcon. However, the connector is different between the racon and rpcon. 4.3.1 name of each part axis no. Setting switch...

  • Page 204

    184 part 1 specification 4.3.2 led indicators these leds are used to monitor the status of the racon/rpcon. Symbol indicator color explanation sv/alm green/red a steady green light comes on when the servo is on, and changes to a steady read light when an alarm is present. Tx/rx green /yellow a stead...

  • Page 205

    185 part 1 specification alarm indicator list status 3 2 1 0 simple alarm code alarm code alarm name rpcon racon 90 software reset command with servo on { { 91 position number error during teaching { { 92 pwrt signal detection during movement { { { { z { 2 93 pwrt signal detection before home return...

  • Page 206

    186 part 1 specification 4.3.3 brake release switch when an actuator with brake is used, this switch is used to forcibly release the brake when adjusting the actuator assembly, etc. Normally this switch is kept in the bottom (nom) position. Switch name status explanation top (rls) position the brake...

  • Page 207

    187 part 1 specification 4.3.6 robonet communication connector this connector is used to connect racon/rpcon controllers via sio link below the gatewayr unit. It connects to the sio communication (modbus) signal and emergency stop signal. Racon/rpcon controllers are connected using the robonet commu...

  • Page 208

    188 part 1 specification the photographs below show the condition before and after interconnection of units. Gatewayr unit rpcon controller simple absolute r unit racon controller before connection after connection.

  • Page 209

    189 part 1 specification 4.3.9 motor cable connector this connector is used to connect the dedicated actuator motor cable. The connector is different between the racon and rpcon. Specification item racon rpcon connector name mot mot applicable connector df1e-3p-2.5ds (hirose) (cable end) df1e-3s-2.5...

  • Page 210

    190 part 1 specification 4.3.10 encoder cable connector this connector is used to connect the dedicated actuator encoder cable. The connector is different between the racon and rpcon. Specification item racon rpcon connector name pg pg applicable connector s18b-phdrs (jst) (cable end) phdr-18vs (jst...

  • Page 211

    191 part 1 specification 4.3.11 external dimensions the external dimensions are exactly the same between the racon and rpcon. Take note that the motor cable connector and encoder cable connector are different. (50 fr om d in r a il cent er) * installable on a 35-mm din rail (69.3 from din rail surfa...

  • Page 212

    192 part 1 specification 4.4 parameters 4.4.1 parameter list the parameters are classified into the following four types depending on their function. Types: a: parameter relating to actuator stroke b: parameter relating to actuator operating characteristic c: parameter relating to external interface...

  • Page 213

    193 part 1 specification *2 no. Type symbol rpcon racon name unit factory default 43 b hmc { { home check sensor input polarity - (as specified at the time of order) 46 b ovrd { { speed override % 100 47 b iov2 { { pio jogging speed 2 mm/sec 100 48 b ioid { { pio inching distance mm 0.1 49 b iod2 { ...

  • Page 214

    194 part 1 specification 4.4.2 parameters relating to actuator stroke z soft limits (nos. 3/4, limm/liml) set the + soft limit in parameter no. 3 and – soft limit in parameter no. 4. Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if neces...

  • Page 215

    195 part 1 specification z home return offset (no. 22, ofst) parameter no. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain constant. The minimum setting unit is 0.01 mm. This parameter can be adjusted in the following conditions: [1...

  • Page 216

    196 part 1 specification 4.4.3 parameters relating to actuator operating characteristics z default speed (no. 8, vcmd) the factory setting is the rated speed of the actuator. This value is treated as the speed data corresponding to the applicable position number when a target position has been writt...

  • Page 217

    197 part 1 specification z speed override (no. 46, ovrd) this parameter is used if you want to move the actuator at a slower speed to prevent danger during trial operation or at startup. When issuing a move command from the plc, you can override the travel speed set in the “speed” field of the posit...

  • Page 218

    198 part 1 specification z excited phase signal detection time (no. 29, pdir2) the excited phase is detected when the servo is turned on for the first time after turning on the power. This parameter defines the time of this detection (excitation switching period). Before shipment, this parameter has...

  • Page 219

    199 part 1 specification z push speed (no. 34, pshv) this parameter defines the push speed to become effective after the target position is reached in push operation. Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator. Set an appropriate speed...

  • Page 220

    200 part 1 specification z home check sensor input polarity (no. 43, hmc) although not equipped on the standard specification, the home check sensor can be added as an option. This parameter need not be changed in normal conditions of use. If the customer wishes to change the mode after shipment, ch...

  • Page 221

    201 part 1 specification z pio inching distance (no. 48, ioid) pio inching distance 2 (no. 49, iod2) these parameters set the inching distances for inching operation. The inching distance parameter is switched according to the jogging speed/inching distance switching signal (jvel), as follows: jvel ...

  • Page 222

    202 part 1 specification z position feed-forward gain (no. 71, plfg) parameter no. Unit input range default 71 - 0 to 100 0 this parameter sets the feed-forward gain of the position control system. When this parameter is set, the servo gain will increase and the response of the position control loop...

  • Page 223

    203 part 1 specification z ball screw lead (no. 77, lead) this parameter defines the ball screw lead. Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator. * do not change this parameter. Z axis operation type (no. 78, atyp) this parameter sets ...

  • Page 224

    204 part 1 specification if the actuator is moved sequentially from position no. 1 to nos. 2, 3 and 4, the operation will differ as follows depending on whether or not the shortcut mode is selected. To be specific, while the actuator will reverse its direction to move from position no. 4 to no. 1 wh...

  • Page 225

    205 part 1 specification [various settings for rotational operation axis and operation details] the list below summarizes the operation details of a rotational operation axis. Encoder system axis operation type (no. 78) rotational axis mode selection (no. 79) rotational axis shortcut selection (no. ...

  • Page 226

    206 part 1 specification 4.4.4 parameters relating to external interface z position complete signal output mode (no. 39, pend) this parameter defines the status of the position complete signal when the servo is turned off or a “position deviation” occurs while the actuator is stopped after position ...

  • Page 227

    207 part 1 specification 4.4.5 parameters relating to servo gain adjustment since the servo has been adjusted at the factory to stabilize positioning operation at the maximum load capacity of the actuator, the servo gain need not be changed in normal conditions of use. In actual use, however, the lo...

  • Page 228

    208 part 1 specification z speed loop proportional gain (no. 31, vlpg) parameter number unit input range default 31 - 1 to 27661 set individually in accordance with the actuator characteristics. This parameter determines the level of response with respect to a speed control loop. Increasing the sett...

  • Page 229

    209 part 1 specification z torque filter time constant (no. 33, trqf) parameter number unit input range default 33 - 1 to 2500 set individually in accordance with the actuator characteristics. This parameter determines the filter time constant applicable to the torque command. If the mechanical reso...

  • Page 230

    210 part 1 specification 4.5 notes on robo rotary (1) home return direction the moving end of the output axis in counterclockwise direction becomes the home position. Actuators of multi-rotational specification can be ordered with their rotating direction reversed. On these reverse rotation models, ...

  • Page 231

    211 part 1 specification (4) home return operation ■ 330 °-rotation specification [1] start of home return → [2] detection of a mechanical stopper → [3] reversing → [4] movement by the offset → [5] home position ■ multi-rotational specification [1] start of home return → [2] detection of a home sens...

  • Page 232

    212 part 1 specification 4.6 notes on robo gripper (1) finger operation [1] definition of position the home of each finger is where the finger is open. The position command specifies the travel distance of each finger from its home position toward the closing side. Accordingly, the maximum command v...

  • Page 233

    213 part 1 specification (2) removing the gripped load this gripper is structured so that the load-gripping force will be maintained by a self-lock function even after the servo is turned off or the controller power is cut off. If the gripped load must be removed while the power is cut off, turn the...

  • Page 234

    214 part 1 specification chapter 5 simple absolute r unit 5.1 overview rpcon and racon controller units can be used as absolute axes by connecting a simple absolute r unit. If the controller unit is used as an absolute axis, home return will not be necessary once an absolute reset is performed, even...

  • Page 235

    215 part 1 specification 5.2 how to read the model name simple absolute r unit: rabu (backup battery included) backup battery: model ab-7, 1 unit (simple absolute connection circuit board), robonet communication connection circuit board: common model jb-1, 2 units power-supply connection plate: mode...

  • Page 236

    216 part 1 specification 5.3 specifications 5.3.1 general specifications model rabu power-supply voltage 24 vdc ± 10% power-supply current max 300 ma environment surrounding air temperature 0 to 40 °c surrounding humidity 95% rh max. (non-condensing) surrounding environment free from corrosive gases...

  • Page 237

    217 part 1 specification 5.3.2 backup battery the absolute specification uses a secondary battery (nickel hydrogen battery) to retain absolute counter data in the fpga and supply power to the encoder drive circuit even when the power is cut off. (1) battery specifications item description classifica...

  • Page 238

    218 part 1 specification 5.4 name/function of each part and external dimensions 5.4.1 name of each part [6]rcp2 and rcp3 actuator connector [7]rca, rca2 and rcl actuator connector front view [4]ni-mh battery [5]power-supply terminal block reference battery replacement timining [1]status indicator le...

  • Page 239

    219 part 1 specification 5.4.2 functions [1] status indicator leds rdy/alm indicator color steady green steady red { - system normal - { system error (alarm) blinking green blinking red { { update mode status 1 steady green steady red operation { - absolute reset completed (rdy: steady green light) ...

  • Page 240

    220 part 1 specification [2] setting switches these switches are used to switch the speed setting and update mode. (the switches are arranged in the order of 1, 2, 3 and 4, from the top.) switch function 1 speed setting switch 1 2 speed setting switch 2 3 update mode selector switch (keep this switc...

  • Page 241

    221 part 1 specification [5] power-supply terminal block use the supplied power-supply connection plate to connect to the power-supply terminal block of the paired controller. [6] rcp2 connector (white) this connector is used to connect the pg cable of the rcp2 actuator. [7] rca connector (red) this...

  • Page 242

    222 part 1 specification 5.4.3 external dimensions (5 0 from din rail center) 35-mm din rail (69.3 from din rail surface).

  • Page 243

    223 part 1 specification 5.5 notes (1) notes on changing parameters if the following parameters are changed, an absolute error will occur. Accordingly, an absolute reset must be performed after changing any of these parameters: [1] parameter no. 5, “home return direction” [2] parameter no. 22, “home...

  • Page 244

    224 part 1 specification [1] [2] [3] [5] [6] [7] [4] [1] [2] [3] [4] [5] [6] [7] [1] [2] [3] rpcon or racon junction gatewayr unit gatewayr unit extension unit unit link cable extension unit gatewayr unit rpcon or racon extension unit controller connection cable terminal resistor chapter 6 extension...

  • Page 245

    225 part 1 specification 6.2 specifications model rext (main unit) power-supply voltage 24 vdc ± 10% power-supply current max 100 ma surrounding air temperature 0 to 40 °c surrounding humidity 95% rh max. (non-condensing) surrounding environment free from corrosive gases and dust. Surrounding storag...

  • Page 246

    226 part 1 specification 6.3 product configuration name model description application figure robonet extension unit rext • main unit x 1 • power-supply connection plate x 2 • communication connection circuit board x 1 • for robonet multi-stage layout • for external sio link figure 1 unit reversing s...

  • Page 247

    227 part 1 specification fig 3 controller connection set (rext-ctl) communication connection circuit board (model: jb-1) power-supply connection plates (model: pp-1) robonet extension unit unit link cable fig 2 controller connection set (rext-sio) communication connection circuit board (model: jb-1)...

  • Page 248

    228 part 1 specification harness connection view connection diagram ……… indicates the cable length (l). Example) 010 = 1 m fig. 4 unit link cable (cb-rext-sio ………) black2/white red2/white black2/gray red2/gray black2/orange red2/orange black1/pink red1/pink black1/yellow red1/yellow black1/white red...

  • Page 249

    229 part 1 specification harness connection view connection diagram ……… indicates the cable length (l). Example) 010 = 1 m fig. 5 controller connection cable (cb-rext-ctl ………) white gray orange gray orange white gray orange gray orange signal name signal name braided shielded wire ground.

  • Page 250

    230 part 1 specification 6.4 name of each part and external dimensions 6.4.1 name of each part no. Name description [1] robonet communication connector this communication connector is used to connect a unit in the same row (same stage). It is connected using a robonet communication connection circui...

  • Page 251

    231 part 1 specification no. Name description [4] upstream unit connector this connector is used to connect a group of upstream units (units in the upper stage) using a unit link cable (cb-rext-sio). [5] downstream unit connector this connector is used to connect a group of downstream units (units i...

  • Page 252

    232 part 2 startup chapter part 2 startup chapter 1 overview 1.1 required tools the tools needed to configure a robonet system and start the system include the pc software, teaching pendant, and robonet gateway parameter setting tool, as specified below. [1] pc software rcm-101-** version 6.00.04.00...

  • Page 253

    233 part 2 startup chapter 1.2 startup procedure the basic startup procedure for a robonet system is shown below. (1) installation (refer to 2.1) mount on a din rail the gatewayr unit, controller unit and/or simple absolute r unit as required, interconnect the units, and install the units in a contr...

  • Page 254

    234 part 2 startup chapter chapter 2 mounting and installation 2.1 installation 2.1.1 important information and items to note to enhance the reliability of your robonet and allow it to demonstrate its functions fully, consider the following items before installing the robonet. (1) installation locat...

  • Page 255

    235 part 2 startup chapter a. Ac solenoid valves, magnet switches and relays measure --- install a surge killer in parallel with the coils. B. Dc solenoid valves, magnet switches and relays measure --- install a diode in parallel with the coils. Determine an appropriate diode capacity according to t...

  • Page 256

    236 part 2 startup chapter [3] installation in a panel • the robonet should be installed only in the manner shown below. { installed correctly • never install the robonet in the manners shown below. X installed upside down x installed sideways.

  • Page 257

    237 part 2 startup chapter x installed face down x installed face up.

  • Page 258

    238 part 2 startup chapter 2.1.2 mounting on a din rail affixing equipment install the robonet using a 35-mm din rail. 35-mm din rail fixtures (2 pieces) * the din rail and the fixtures are provided by the customer. Procedure (1) “release” the din-rail mounting pin provided at the back of the unit (...

  • Page 259

    239 part 2 startup chapter (3) mount all necessary units on the din rail. (4) after the necessary units have been installed, be sure to set two fixtures on both ends to affix the units. Orient each fixture so that the arrow points upward. Hook the bottom of the fixtures on the din rail, hook the top...

  • Page 260

    240 part 2 startup chapter 2.1.3 interconnecting multiple units (1) connecting 24-v power supply terminal blocks connect the power-supply terminal blocks (24 v, 0 v) of adjacent units using power connection plates, as shown below. All units other than the gatewayr unit come with power connection pla...

  • Page 261

    241 part 2 startup chapter (3) connecting a simple absolute connection board as shown below, place the simple absolute unit on the immediate right of the applicable controller unit and connect the two using a simple absolute connection board (same as the robonet communication connection board). The ...

  • Page 262

    242 part 2 startup chapter direction of air from the internal fan ventilation 100 50 50 2.1.4 installing in a control panel the robonet must be installed using a din rail. Since the robonet adopts natural convection cooling, provide a clearance of 50 mm or more above and below the unit, and 100 mm o...

  • Page 263

    243 part 2 startup chapter 2.2 wiring 2.2.1 wiring the power supply wire the 24-vdc power supply as shown below. Gatewayr unit controller unit use the following parts for wiring: • wire ∅1.0 single wire or 0.8-mm 2 stranded wire (awg18) • terminal m3 round terminal of 6 mm or less in width (example)...

  • Page 264

    244 part 2 startup chapter caution if multiple units of iai’s ps24 are connected in parallel (up to five ps24s can be connected) to supply power to the robonet, wire them as shown below. [1] as shown above, connect all ps24s in parallel at the terminal block. [2] use a twisted pair cable to wire eac...

  • Page 265

    245 part 2 startup chapter 2.2.2 grounding wire connect the fg terminal of the gatewayr unit to the copper grounding bar inside the control panel, or other appropriate part, using a grounding wire over the shortest possible distance. • class d grounding (formely class-iii grounding) • wire 2.0 to 5....

  • Page 266

    246 part 2 startup chapter 2.2.4 motor cable and encoder cable (1) when the rpcon controller is of incremental specification plug the motor cable and encoder cable into the respective connectors on the rpcon controller, as shown below. Bottom view of robonet (2) when the simple absolute r unit is co...

  • Page 267

    247 part 2 startup chapter motor cable encoder cable (3) when the racon controller is of incremental specification plug the motor cable and encoder cable into the respective connectors on the racon controller, as shown below. Bottom view of robonet (4) when the simple absolute r unit is connected to...

  • Page 268

    248 part 2 startup chapter 2.2.5 multi-stage robonet layout an example of a multi-stage layout achieved by using rext extension units is shown to the right. (1) the units are installed on din rails. (2) each extension unit connected to the downstream side (stage below) is placed at the far right in ...

  • Page 269

    249 part 2 startup chapter 24-v power supply gatewayr unit extension unit extension unit 24-v power supply 24-v power supply (7) connect the power supply (+24 v, 0 v) to the unit positioned at the far left in each stage using a twisted pair cable. The power rise timing should be the same for all sta...

  • Page 270

    250 part 2 startup chapter 4-way junction gatewayr unit extension unit unit link cable extension unit [2] extension unit [3] terminal resistor junction interconnection cable controller link cable network connection cable terminal power-supply & i/o cable controller connection cable scon or pcon-cf 2...

  • Page 271

    251 part 2 startup chapter (red) (black) 24-v power supply extension unit gatewayr unit 24-v power supply terminal resistor (7) the terminal resistor supplied with the gatewayr unit is not used (not installed to the robonet controller). Install the 220- Ω terminal resistor supplied with the controll...

  • Page 272

    252 part 2 startup chapter yellow orange blue the following parts are supplied. [1] 4-way junction [2] e-con connector [3] terminal resistor model: 5-1473574-4 4-1473562-4 outer sheath size of applicable wire 220 Ω 1/4 w manufacturer: amp quantity: 1 manufacturer: amp quantity: 1 1.35 to 1.6 mm with...

  • Page 273

    253 part 2 startup chapter 2.2.7 emergency stop circuit (1) an emergency stop circuit for normal layout and multi-stage layout is shown below. Emg connector tp connector teaching pendant gatewayr unit axis controller unit robonet communication connector drive-source cutoff signal (cpu control signal...

  • Page 274

    254 part 2 startup chapter (2) an emergency stop circuit for normal layout when external sio link is used is shown below. [1] [3] [1] [2] [3] emg connector tp connector teaching pendant gatewayr unit axis controller unit robonet communication connector drive-source cutoff signal (cpu control signal)...

  • Page 275

    255 part 2 startup chapter caution 1. For the relay rya, use a relay with a rated contact capacity of 160 ma or more. 2. The relay that can be connected between emg + and emg - of the extension unit cannot exceed 160ma in the total of (10ma × the number of the controllers connected to the extension ...

  • Page 276

    256 part 2 startup chapter 2.2.8 network wiring (1) cc-link check the operation manual for the master (plc) for details on cc-link. The following explains the points to note regarding network wiring. An example of network connection is shown below. [1] an equipment connected via cc-link is called a ...

  • Page 277

    257 part 2 startup chapter (2) devicenet check the operation manual for the master (plc) for details on devicenet. The following explains the points to note regarding network wiring. An example of network connection is shown below. (1) an equipment connected to a network and having an assigned addre...

  • Page 278

    258 part 2 startup chapter (3) nodes can be connected in one of the following two ways. Both methods can be used together in a single network. [1] t-branch method use a t-branch tap, etc. [2] multi-drop method use a multi-drop connector to branch the line directly at the node. (4) communication powe...

  • Page 279

    259 part 2 startup chapter (3) profibus-dp for details on profibus-dp, refer to the operation manual of the master (plc) and also visit the website of the japanese profibus organization. The following explains the points to note regarding network wiring. A network connection example is shown below [...

  • Page 280

    260 part 2 startup chapter [6] the rgw-pr connector is a d-sub, 9-pin profibus-dp connector (female) recommended in the en 50170 standard. Network connectors are not provided. Pin number signal name explanation 1 nc not connected 2 nc not connected 3 b-line communication line b (positive side) 4 nc ...

  • Page 281

    261 part 2 startup chapter (4) rs485sio using the 2-wire method, connect the gatewayr unit (rgw-sio) to the rs-422a/485 port on the serial communication unit (scu) of the plc, as shown below. Gatewayr unit plc-scu signal name explanation sa communication line a (+) sb communication line b (-) sg sig...

  • Page 282

    262 part 2 startup chapter teaching pendant pc, etc. Do not connect the fg. Do not connect the fg of the pc to ground. If the fc may be connected to ground through other com port, disconnect the communication cable from the applicable com port. Pc software rs232 connection type usb connection type *...

  • Page 283

    263 part 2 startup chapter chapter 3 controller address setting the address of each controller unit is set using the address setting switch (hexadecimal rotary switch) provided on the front face of the unit. The range of settable addresses is 0 to f. After setting the operation mode of each axis usi...

  • Page 284

    264 part 2 startup chapter chapter 4 absolute reset 4.1 overview of simple absolute system to combine the rpcon or racon controller unit with the simple absolute r unit for use as an absolute axis, an absolute reset must be performed. Once an absolute reset is performed, home return will no longer b...

  • Page 285

    265 part 2 startup chapter 4.2 setting the configuration switches the configuration switches are used to change the level of retention function with respect to absolute data. Disconnect the backup battery before setting the configuration switches (piano switches). Connect the backup battery after th...

  • Page 286

    266 part 2 startup chapter [update-mode selector switch] switch 3 function on update mode off normal mode this switch need not be used in a normal condition of use, and should therefore remain in the “off” position. (do not set the switch to the “on” position.) in the update mode, the rdy/alm led bl...

  • Page 287

    267 part 2 startup chapter 4.3 connecting the backup battery after the configuration switches have been set, connect the backup battery to the backup battery connector. 4.4 setting the parameters if the simple absolute r unit is installed later, the setting of a user parameter in the controller unit...

  • Page 288

    268 part 2 startup chapter (5) select a desired manual operation mode. Select teaching mode 1 or teaching mode 2. (6) “0ee: absolute encoder error (2)” generates. (7) select yes (y). (8) from position (t) [1], select edit/teach (e) [2], select the applicable address [3], and then select ok. Axis 1 g...

  • Page 289

    269 part 2 startup chapter (9) when the position data dialog box appears, click the servo on button. After the servo has turned on properly, the servo lamp illuminates in blue. (10) click the home return button. After the home return is successfully completed, the home lamp illuminates in blue. This...

  • Page 290

    270 part 2 startup chapter chapter 5 network setup 5.1 how to use the robonet gateway parameter setting tool this section explains the parameter setting tool of version 1.0.4.0 or later. To set up the network, use this tool to set the following items on the robonet side: [1] station number [2] baud ...

  • Page 291

    271 part 2 startup chapter (5) the following main screen is displayed. In the main screen, set the station number (address), baud rate, and operation mode of each axis. 5.1.3 explanation of the main screen the screen in the setting example is explained by assuming a generic window. The same screen i...

  • Page 292

    272 part 2 startup chapter z button operations [1] tool communication setup clicking this button opens the communication setup dialog box. [2] load clicking this button loads the parameters from the gatewayr unit. [3] transfer transfer to the gatewayr unit the parameters that have been set. [4] save...

  • Page 293

    273 part 2 startup chapter (10) occupancy information the items shown in this area are used to check the current settings. The displayed items vary depending on the network type, as shown below. Z occupancy information display of the network types profibus, devisenet and rs485 out ····output data si...

  • Page 294

    274 part 2 startup chapter (11) editing the operation mode of each axis (checkboxes) one of six operation modes can be set. Select a desired operation mode for each address using the corresponding checkbox. Left-click the applicable cell to place an asterisk (*) in the cell. The occupied i/o size pe...

  • Page 295

    275 part 2 startup chapter setting range rs485sio network type cc-link devicenet profibus modbus gateway mode sio through mode [7] address desired value from 1 to 64 (normally the master unit has address 0.) desired value from 0 to 63 (normally the master unit has address 63.) desired value from 1 t...

  • Page 296

    276 part 2 startup chapter 5.1.4 operating procedures (1) reading the parameters this tool establishes communication with the gatewayr unit when the parameters are read. Accordingly, always read the parameters if the tool or gatewayr unit has been restarted. [1] click the read button. When a message...

  • Page 297

    277 part 2 startup chapter caution if the firmware of the gatewayr unit does not support the settings of the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2, the following message will appear. If the firmware is ver.000a or earlier if the firmware is ver.000b.

  • Page 298

    278 part 2 startup chapter (2) editing (setting) the parameters edit the address, baud rate and enable operation according to the explanations given in 5.1.3. (3) editing (setting) the operation mode of each axis set the operation mode of each axis using the checkboxes shown on the right side of the...

  • Page 299

    279 part 2 startup chapter „ example of use in the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2 if the number of axes for which the simple direct/positioner 1 mode or direct numerical specification mode (positioning mode) is set is 0, the positioner 2 mode, solenoid valve mode 1...

  • Page 300

    280 part 2 startup chapter (4) writing the parameters when all necessary items have been edited (set),write the parameters to the gatewayr unit. When writing the parameters, set the operation mode of the gatewayr unit to “manu.” [1] click the write button. [2] when a message box appears to confirm w...

  • Page 301

    281 part 2 startup chapter caution if one of the following warning messages appears, the parameters contain one or more invalid settings. Correct the applicable setting or settings, and then write the parameters again. • if not all items have been selected in the editing of operation mode for each a...

  • Page 302

    282 part 2 startup chapter z remark if parameters are transferred, the following window will be displayed. The window enables to check in what number of pio pattern the mode that was set in advance should be set on the used controller. If “do not display this window at the transfer” box at the botto...

  • Page 303

    283 part 2 startup chapter if the parameter write has failed, the following warning messages will appear. (5) other settings (special parameters) in this section, the settings for the cases that the following functions are to be used are mentioned. (i) enable operation : specify the control method o...

  • Page 304

    284 part 2 startup chapter [2] setup the necessary items * setting items may decrease depending on the versions of robonet gateway parameter setting tool and the firmware. (i) enable operation … it is allowed to select an appropriate controller control method when the enable function is effective. (...

  • Page 305

    285 part 2 startup chapter (v) robonet communications number of retries setting … number of retries for robonet communications (communications of robonet gateway ⇔ each unit such as racon) can be set in the range of 0 to 6 times. The factory setting is 0. (firmware version 000e to) caution speed set...

  • Page 306

    286 part 2 startup chapter (6) restarting the gatewayr unit the gatewayr unit must be restarted to make the transferred parameters effective. [1] when the parameter transfer is completed, a message box appears and prompts you to restart the unit, as shown below. Click yes (y). [2] after the unit has...

  • Page 307

    287 part 2 startup chapter (7) saving parameters save the gateway parameters you have set. Click the save to file button in the top left-hand corner of the window, specify the destination and file name, and then click the save (s) button. (8) opening saved parameters click the open file button in th...

  • Page 308

    288 part 2 startup chapter caution the following message may appear occasionally, although it should not be displayed in normal conditions of use. 1. The following error message will appear when a file is opened, if the parameter file contains undefined data or missing data. 2. The following error m...

  • Page 309

    289 part 2 startup chapter (9) creating new parameters click the new file button in the top left-hand corner of the window to open the following screen. Select the network type and click the ok button. When the main screen for the selected network type appears, set each parameter. Caution the parame...

  • Page 310

    290 part 2 startup chapter (10) monitor function • this function enables to monitor the received data from the master and sent data to the master. • this function enables to check the number of communication error occurrences (err-t and err-c). Caution for the monitor function, be sure to put the mo...

  • Page 311

    291 part 2 startup chapter [2]-1 choosing i/o data will lead to display the resister monitor window. (initially it is displayed in hexadecimal numbers. The example below is a window of binary numbers.) data consists of bit f (15) on the left end, and bit 0 on the right end. Data consists of bit f (1...

  • Page 312

    292 part 2 startup chapter [2]-2 choosing diagnosis information will lead to display the number of err_t, c occurrences window. * there may be some items that are not displayed depending on the version of robonet gateway parameter setting tool. Caution there is a case that err-t or err-c occurs stra...

  • Page 313

    293 part 2 startup chapter (11) setting support function it helps to confirm in what number of pio pattern the mode that was set in the gateway parameter setting tool should be set on the used controller. [1] select “help” from the menu in the main window of the robonet gateway parameter setting too...

  • Page 314

    294 part 2 startup chapter 5.2 setting up the master 5.2.1 cc-link to operate a cc-link system, the network parameters of the plc must be set. These parameters are set using mitsubishi electric’s sequencer programming software gx-developer. • network parameters these parameters are set in the master...

  • Page 315

    295 part 2 startup chapter (2) setting the parameters [1] in the project data list, double-click “network parameters.” when the network parameter selection dialog box appears, click the cc-link button. [2] when the cc-link network parameter setting screen appears, set “1” under “number of units.” (m...

  • Page 316

    296 part 2 startup chapter [3] set other parameters as shown below. “mode setting” should be set to “remote network version 1 mode,” because the master is set as a version 1 remote device station according to the occupancy information reflecting the settings of robonet gateway parameters (refer to 5...

  • Page 317

    297 part 2 startup chapter [4] click the station information button to open the edit screen for station information unit 1, set the remote station as shown below, and then click the apply button at the bottom of the screen. The settings should conform to the occupancy information reflecting the sett...

  • Page 318

    298 part 2 startup chapter (3) writing the parameters write to the plc the parameters you have set in (2). [1] specifying the connection destination click specify connection destination (c) from the online (o) menu. The following connection destination specification screen appears. Confirm that the ...

  • Page 319

    299 part 2 startup chapter [2] writing click the pc write tool button to display the pc write dialog box. In the pc write dialog box, click the parameters + programs button and then select “main” and “pc/network” under “programs” and “parameters,” respectively. Clicking the write button starts the w...

  • Page 320

    300 part 2 startup chapter 5.2.2 devicenet slave addresses are assigned using devicenet configurator (addresses can be assigned freely). This configurator by omron comes preinstalled with the eds files for omron’s devicenet products. However, the eds file for robonet is not preinstalled and must be ...

  • Page 321

    301 part 2 startup chapter (2) creating a network configuration [1] installing the eds file • select install (i) from the eds file (s) menu, specify the location where the eds file is saved, and install the file. • when the installation is completed, a new “hms fieldbus system ab” level is created b...

  • Page 322

    302 part 2 startup chapter [2] registering the master station register the master station (cj1w-drm21 in this example) to the network. This can be done manually or via automatic recognition. (a) manual registration • drag the applicable master unit (cj1w-drm21) to the network configuration window fr...

  • Page 323

    303 part 2 startup chapter • when the change node address dialog box appears, set “63” (a desired value can be set between 0 and 63). Normally the master unit is used with its node address set to the maximum value, or 63. (the master node address has been set to “63” at the factory.) (b) automatic r...

  • Page 324

    304 part 2 startup chapter • the master station is automatically recognized and the master station (cj1w-drm21) is registered to the network configuration window on the right side of the screen. [3] registering a slave in the hardware list, select the eds file you have registered in [1], and drag an...

  • Page 325

    305 part 2 startup chapter (3) creating a scan list a scan list is a list of registered slave stations with which the master station will communicate via remote i/o communication over the devicenet network. Use the configurator to assign i/os to each slave station and register the assignments to the...

  • Page 326

    306 part 2 startup chapter (c) when the change i/o size dialog box appears, select “poll” (polling) and set the in/out sizes in the “poll” area. The settings should conform to the occupancy information reflecting the settings of robonet gateway parameter. The robonet gateway parameter setting screen...

  • Page 327

    307 part 2 startup chapter (d) after all necessary items have been set, click the ok button. The anybus-cc properties dialog box appears. Confirm the settings and click the close button. [2] registering a slave station (gateway unit) to the master (a) in the network configuration window, drag and dr...

  • Page 328

    308 part 2 startup chapter (b) in the network configuration window, double-click the master station to open the edit device parameters dialog box and confirm that the list of registered devices matches the settings made in (3)-[1]. (c) in the edit device parameters dialog box accessed in the followi...

  • Page 329

    309 part 2 startup chapter (d) once the slave station has been registered to the master station, a return icon appears at the bottom right of the slave station, followed by a # sign and the node address of the master station..

  • Page 330

    310 part 2 startup chapter (4) online connection [1] from the network (n) menu, left-click connect to bring the unit online. (you can also achieve an online status by left-clicking the connect button in the toolbar.) [2] when the interface settings are displayed, change them according to the setting...

  • Page 331

    311 part 2 startup chapter [3] when the unit has successfully become online, the indicator in the status bar in the bottom right-hand corner of the screen changes to blue and the text changes from “off-line” to “on-line.” (5) downloading the master scan list download to the network master station th...

  • Page 332

    312 part 2 startup chapter [2] when the dialog box appears and asks if you want to permit writing of device parameters, left-click the yes button. [3] the following dialog box is displayed while the scan list is being written. [4] when all device parameters have been written, click the ok button..

  • Page 333

    313 part 2 startup chapter 5.2.3 profibus (1) installing the gsd file an example of installation using siemens’s step7 hardware configuration (hereinafter referred to as “hw config”) is explained. To define a gateway, a gsd file for the gateway must be downloaded in advance. The gsd file you need is...

  • Page 334

    314 part 2 startup chapter (2) inserting the profibus-dp master system select insert from the menu bar, select master system in the pull-down menu, and left-click dp. The profibus-dp master system is inserted. When the insertion has been successful, the master system is displayed as shown below..

  • Page 335

    315 part 2 startup chapter (3) inserting the gateway rack into the network insert the rack module by dragging “anybus-s pdp” in the catalog window and dropping it over the master system, as shown below. The address is set automatically. To change the address, do so in the properties dialog box. The ...

  • Page 336

    316 part 2 startup chapter double-clicking the inserted universal module opens the properties dialog box shown below. Set “out-input” under “i/o type,” and set the output length and input length according to the occupancy information set by the robonet gateway parameter setting tool. In the example ...

  • Page 337

    317 part 2 startup chapter (5) setting the i/o data consistency under the normal settings, consistency of i/o data is assured in units of words or bytes for in the case of a profibus system. It is important that the command area be read and written in a manner maintaining consistency between the com...

  • Page 338

    318 part 2 startup chapter 5.2.4 rs485sio 1. Modbus gateway mode the procedures for setting and starting the master are explained below. If function blocks are to be used, download the following file in advance from our website. Dedicated robonet function block file: rbnet_rw website: http://www.Iai...

  • Page 339

    319 part 2 startup chapter (1) setting up the plc [1] setting the switches on the serial communication unit (scu) for details, refer to the operation manual for your plc. The following explains an example with the serial communication unit cj1w-scu41-v1. Model number: cj1w-scu41-v1 setting the unit ...

  • Page 340

    320 part 2 startup chapter [2] creating an i/o table [a] launch cx-programmer (version 7.0). [b] connect cx-programmer to the plc. You can connect cx-programmer to the plc by setting the network type, baud rate and other necessary items in an offline state, or by selecting a connection port to autom...

  • Page 341

    321 part 2 startup chapter [c] double-click the cpu unit settings tab in the plc system settings dialog box, and set the necessary items in the “communication command settings in fb” area as follows: • number of resends: set the number of times the data will be resent if the plc has experienced a co...

  • Page 342

    322 part 2 startup chapter [4] setting up the serial communication unit (scu) software in the same condition as in the previous step (online, program mode), set the operation of the serial communication unit. [a] double-click “i/o table/unit settings” in the workspace window to open the i/o table. D...

  • Page 343

    323 part 2 startup chapter [b] when the parameter edit dialog box for the serial communication unit appears, set the communication parameters separately for the applicable port. The gateway unit and serial communication unit (cj1w-scu41-v1) are connected via the rs485 protocol. Accordingly, the port...

  • Page 344

    324 part 2 startup chapter [c] once all necessary items have been set, click the transfer [pc → unit] (t) tab. When the transfer is completed, the program prompts you to restart the unit. Click yes..

  • Page 345

    325 part 2 startup chapter (2) importing the function block definitions [1] before importing the definitions, download from our website the cxf file for dedicated robonet function block (file name: rbnet_rw). [2] launch cx-programmer and keep it offline. [3] select file (f) from the menu bar and cli...

  • Page 346

    326 part 2 startup chapter [5] when the function block library selection dialog box appears, specify the cxf function block file (rbnet_rw) and opens the file from the location where it is saved. [6] when the import of function block definitions is completed, click ok. One more function block (j_ser...

  • Page 347

    327 part 2 startup chapter [7] if the import of function block definitions has been successful, the rbnet_rw.Cxf file is now added to the function block tree. (j_serialgateway_cyclic is also added simultaneously.).

  • Page 348

    328 part 2 startup chapter (3) generating an instance generate an instance of function block definitions in the ladder section window. [1] in the same condition as in (2) (plc is offline), move the cursor to the location in the ladder section window where you want to generate an instance, and press ...

  • Page 349

    329 part 2 startup chapter (4) setting function block parameters set parameters for the function block instance generated in (3) to assign i/os for communication with external devices. [1] bring the cursor to the location where you want to set a parameter, and press the “p” key. When the parameter e...

  • Page 350

    330 part 2 startup chapter [2] when all parameters have been set, the window should look like the one shown below. Z en (the fb operates when this parameter is “on”) and eno (this parameter turns “on” while the fb is operating) at the top of the fb are connected using contact points and lines just l...

  • Page 351

    331 part 2 startup chapter [3] when the cursor is moved to the next line in the function block, the red line in (2) disappears and the window looks like the one shown below. The red line disappears..

  • Page 352

    332 part 2 startup chapter 2. Sio through mode if the sio through mode is to be used, refer to the operation manual on serial communication (modbus version). In this mode, the gatewayr unit exchanges data with the host master in units of bytes (at the specified baud rate). It also exchanges data wit...

  • Page 353

    333 part 2 startup chapter 5.3 creating a controller position table if the robonet system is to be used in the positioner mode or simple direct mode, a position table must be registered in the controller beforehand. The items that must be set are summarized in the table below. Positioner mode simple...

  • Page 354

    334.

  • Page 355

    335 part 2 startup chapter 5.4 address correlation diagram the correlation between the plc’s i/o addresses (internal addresses) and the robonet addresses (gateway addresses) over the network that has been set up is explained for cc-link, devicenet and rs485sio systems. 5.2 and 5.3 explained an examp...

  • Page 356

    336 part 2 startup chapter 5.4.1 address correlation diagram for cc-link system (example) refreshed automatically. Buffer memory of master station (station number 0) gateway r unit (rgw-cc) (station number 1) refreshed automatically. Input register upper byte lower byte gateway status signal 0 gatew...

  • Page 357

    337 part 2 startup chapter refreshed automatically. Refreshed automatically. Output register upper byte lower byte input register upper byte lower byte (axis 0) position data specification (l) (axis 0) position data specification (h) (axis 0) position number (axis 0) control signal (axis 1) position...

  • Page 358

    338 part 2 startup chapter 5.4.2 address correlation diagram for devicenet system (example) master station (station number 63) gateway r unit (rgw-dv) (station number 0) plc address (channel number) gateway register (plc output) upper byte lower byte corresponding channel (node address) refreshed au...

  • Page 359

    339 part 2 startup chapter 5.4.3 address correlation diagram for rs485sio system (example) the following diagram assumes the modbus gateway mode and use of a function block. Plc gateway r unit (rgw-sio) gateway register (plc output) upper byte lower byte (axis 0) position data specification (l) (axi...

  • Page 360

    340 part 2 startup chapter chapter 6 setting for external sio link and other 6.1 scon/pcon-cf settings and signal assignments scon controllers can be operated only in the positioner mode. They cannot be operated in the pulse-train input mode. Set scon as shown below. (1) user parameters {: applicabl...

  • Page 361

    341 part 2 startup chapter 6.2 other items to note regarding the condition of user setting switch sw1 on the gatewayr unit are given below. (1) when sw1 = off (tp enable switch signal disabled) the tp enable switch signal of each connected rpcon, racon, pcon-cf or scon controller becomes ineffective...

  • Page 362

    342 part 3 maintenance part 3 maintenance chapter 1 troubleshooting 1.1 actions to be taken upon problems if you encountered a problem, follow the procedure below for speedy recovery and to prevent the same problem from occurring again: a. Check the led indicators on the gatewayr unit run/alm, error...

  • Page 363

    343 part 3 maintenance 1.2 alarms of the gatewayr unit the gatewayr unit indicates various alarms using the led indicators provided on the front face of the unit. The four leds of run/alm, emg, err-t and err-c indicate the same conditions regardless of the gateway type (common alarm indicators). The...

  • Page 364

    344 part 3 maintenance 1.2.1 common alarms the table below lists the alarms and their descriptions. Led name displayed color condition action green normal - run/alm orange an alarm is present (applicable to all alarms). Check the error-t/c and status-0/1 leds. Red an emergency stop is actuated. Chec...

  • Page 365

    345 part 3 maintenance 1.2.2 alarms by field network type the alarms indicated by the status0 and status1 leds vary depending on the field network type, as shown below. (1) cc-link led name displayed color condition action unlit [1] normal [2] reset process is in progress. - - orange [1] crc error (...

  • Page 366

    346 part 3 maintenance (2) devicenet led name displayed color condition action unlit offline/no power communication with the master is not yet established. Check the devicenet communication power supply (+24 v), power supply of the gateway unit, communication cable, etc. Green the unit is online and...

  • Page 367

    347 part 3 maintenance (4) rs485sio led name displayed color condition action status-1 unlit data send stopped - green sending data - status-0 unlit data receive stopped - green receiving data - * these are not alarm signals..

  • Page 368

    348 part 3 maintenance 1.2.3 examples of indicator statuses corresponding to representative alarms examples of indicator statuses corresponding to representative alarms are shown for cc-link and devicenet systems. (1) cc-link z: lit {: unlit ~: blinking gateway unit master error-t (orange) error-c (...

  • Page 369

    349 part 3 maintenance 1.3 alarms of the controller unit and simple absolute r unit 1.3.1 overview of alarms (1) the status monitor leds shown below are provided on the front face of the racon and rpcon units. When an alarm generates, the nature of the alarm can be checked using these leds. Symbol e...

  • Page 370

    350 part 3 maintenance alarms are classified into two levels based on the symptoms associated. Alarm level alm lamp alm signal logic condition of generation reset method operation cancellation lit “1” after deceleration stop servo off input the alarm reset signal (res) from the plc. Perform a reset ...

  • Page 371

    351 part 3 maintenance alarm list * status 3 2 1 0 simple code alarm code alarm name reset method rpcon racon 90 software reset command with servo on { { 91 position number error during teaching { { 92 pwrt signal detection during movement { { { { z { 2 93 pwrt signal detection before home return { ...

  • Page 372

    352 part 3 maintenance 1.3.2 alarms, causes and actions (1) operation-cancellation alarms (these alarms can be reset with the reset signal.) code alarm name cause/action 080 movement command with servo off cause: a movement command was issued as a numerical command when the servo was off. Action: co...

  • Page 373

    353 part 3 maintenance code alarm name cause/action 0a2 position data error cause: [1] a movement command was input when a target position was not set in the “position” field. [2] the target position in the “position” field exceeds the specified soft limits. Action: [1] set a target position first. ...

  • Page 374

    354 part 3 maintenance code alarm name cause/action 0ba home sensor not detected this alarm indicates that the actuator equipped with the home check sensor has not yet successfully completed the home return operation. Cause: [1] the load contacted a surrounding equipment or structure during home ret...

  • Page 375

    355 part 3 maintenance code alarm name cause/action 0cc control power-supply overvoltage this alarm indicates that the 24-v input power-supply voltage is excessively high (24 v + 20%: 28.8 v or above). Cause: [1] the 24-v input power-supply voltage is high. [2] a faulty part inside the controller ac...

  • Page 376

    356 part 3 maintenance code alarm name cause/action 0ed absolute encoder error (1) cause: [1] when the power was reconnected following the completion of an absolute reset, the current position changed due to an external factor or other cause occurring while the controller was communicating with the ...

  • Page 377

    357 part 3 maintenance (2) cold start level code alarm name cause/action 0a1 parameter error cause: the input range of data in the parameter area is not appropriate. (example) this alarm generates when the magnitude relationship of a pair of input values is clearly inappropriate, such as when the va...

  • Page 378

    358 part 3 maintenance code alarm name cause/action 0cb current-sensor offset adjustment error (racon only) when the controller is started, the condition of the current detection sensor in the controller is checked as part of the initialization process. This alarm indicates that an error was found i...

  • Page 379

    359 part 3 maintenance code alarm name cause/action 0e8 phase-a/b open detection 0e9 phase-a open detection (rpcon only) 0ea phase-b open detection (rpcon only) encoder signals cannot be detected correctly. Cause: [1] loose or disconnected encoder-relay cable connector [2] piano switch 4 of the simp...

  • Page 380

    360 part 3 maintenance 1.3.3 messages displayed during operation using the teaching pendant or pc software this section explains the warning messages that may be displayed during operation using the teaching pendant or pc software. Code message description 112 invalid data an invalid value was input...

  • Page 381

    361 part 3 maintenance code message description 20c cstr-on during operation this message indicates that a start command signal (cstr) was changed to “1” by the plc while the actuator was moving, and that duplicate movement commands occurred as a result. 20e soft limit over this message indicates th...

  • Page 382

    362 part 3 maintenance chapter2 maintenance/inspection carry out daily or periodic inspection to make sure your robonet continues to demonstrate its functions fully. Danger z do not touch the terminals while the power is supplied. Doing so may result in electric shock. Z connect the backup battery c...

  • Page 383

    363 part 3 maintenance 2.1 periodic inspection items the robonet may suffer deterioration of electronic parts or exhibit other undesirable conditions depending on the environment. To prevent these problems, periodic inspection is necessary. The standard inspection interval is six months to one year....

  • Page 384

    364 part 3 maintenance no. Inspection item description judgment criterion action 4 connection condition loose wiring connectors (motor cable, encoder cable, field network cable, emergency-stop circuit) not loose. Insert the connector again until it is locked. Note) the encoder cable connector is not...

  • Page 385

    365 part 3 maintenance 2.3 replacing the backup battery the backup battery for simple absolute r unit lasts for three years. The expiration date label is attached on the front face of the battery, as shown below. Replace the backup battery if the expiration date has passed, even when the battery is ...

  • Page 386

    366 appendix racon specification list of supported actuators z slider type z rod type z arm type z dustproof/splashproof type type stroke (mm) and maximum speed (mm/sec) *1 maximum load capacity rated acceleration/ deceleration horizontal vertical horizontal vertical thrust type stroke (mm) and maxi...

  • Page 387

    367 appendix rpcon specification list of supported actuators z slider, ball screw drive z slider, belt drive z clean type the rcp2cr-sa5c/sa6c/sa7c/ss7c/ss8c are exactly the same as the rcp2. Model stroke (mm) and maximum speed (mm/sec) (*1) load capacity (*2) rated acceleration/ deceleration horizo...

  • Page 388

    368 appendix z rod type z gripper model stroke maximum gripping force maximum speed lead rated acceleration/ deceleration rcp2-grs-i-pm-1-10-p1 10 mm (5 mm per side) 21 n 33.3 mm/s (per side) 1.0 mm 0.3 g 2- fi n g er rcp2-grm-i-pm-1-14-p1 14 mm (7 mm per side) 80 n 36.7 mm/s (per side) 1.1 mm 0.3 g...

  • Page 389

    369 appendix z correlation diagrams of speed and load capacity – slider type (motor straight type) horizontal installation vertical installation high -s peed typ e m e di u m -s p e ed t y pe lo w-s pe e d typ e l o ad c apa c ity (k g) speed (mm/sec) l o ad c apa c ity (k g) speed (mm/sec) lo ad c ...

  • Page 390

    370 appendix z correlation diagrams of speed and load capacity – slider type (motor reversing type) horizontal installation vertical installation high -s peed typ e m e di u m -s p e ed t y pe lo w-s p e e d ty p e l oad c apa c ity (k g) speed (mm/sec) l oad c apa c ity (k g) speed (mm/sec) lo ad c...

  • Page 391

    371 appendix z correlation diagrams of speed and load capacity – standard rod type horizontal installation (note 1) vertical installation high -s peed typ e m e di u m -s p e ed t y pe lo w-s p e e d ty p e l oad c apa c ity (k g) speed (mm/sec) l oad c apa c ity (k g) speed (mm/sec) lo ad c apa c i...

  • Page 392

    372 appendix z correlation diagrams of speed and load capacity – single-guide type horizontal installation vertical installation h igh -s pe e d t y p e me dium-speed type l o w-s p ee d typ e lo ad c apa c ity (kg) speed (mm/sec) lo ad c apa c ity (kg) speed (mm/sec) loa d cap a ci ty (kg) speed (m...

  • Page 393

    373 appendix z correlation diagrams of speed and load capacity – double-guide type horizontal installation vertical installation high -s peed typ e m e di u m -s p e ed t y pe lo w -s peed type l o ad c a pa c ity (k g) speed (mm/sec) l o ad c a pa c ity (k g) speed (mm/sec) lo ad c apa c ity ( k g)...

  • Page 394

    374 appendix z correlation diagrams of speed and load capacity – dustproof/splashproof type horizontal installation (note1) vertical installation (note2) high -s peed typ e m e di u m -s p e ed t y pe low-s peed type load capacity (k g) speed (mm/sec) load capacity (k g) speed (mm/sec) lo ad c apa c...

  • Page 395

    375.

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    376.

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    377.

  • Page 398

    Catalog no.: me0208-4a head office: 2690 w. 237th street, torrance, ca 90505 tel (310) 891-6015 fax (310) 891-0815 chicago office: 1261 hamilton parkway, itasca, il 60143 tel (630) 467-9900 fax (630) 467-9912 atlanta office: 1220-e kennestone circle, marrietta, ga 30066 tel (678) 354-9470 fax (678) ...