Iai-america RCM-GW-CC Uživatelský manuál

IAI America Inc. CC-Link RCM-GW-CC Gateway Unit Operation Manual First Edition

6 1.5 How to identify model RCM-GW-CC Basic model For CC-Link Gateway unit

96 [2] Master station ← Gateway unit Master station Remote I/O station (Station No. 1: Exclusive one station) Gateway unit RCM-GW-CC (Station

97 8.4. CSP file When using GX Configurator –CC (Mitsubishi Electric), download the following CSP file from our website. Website http://www.iai-r

98 9. CC-Link operation case 9.1 Outline of configuration (Mitsubishi)Station No. 0 Power Switch Operation Pause Emergency stop release Emer

99 9.2 Actuator operating pattern Prepare position tables for all of the three axes, and designate position No. from the PLC to operate. 9.3

100 (3) Creation of position table Start from the personal computer software initial screen subsequently from (2). [1] Click the [Position (T)] →

101 9.4 Setting of gateway unit (1) Mode setting for gateway unit As operation is performed in the position No. designated mode, set the mode se

102 9.5.2 Parameter setting In order to make the CC-Link operate, it is necessary to set network parameters and automatic refresh parameters. Se

103 (2) Parameter setting [1] Double-click the [Network param] from the project data list, and network parameter select dialog box appears, then cl

104 [3] Set parameters as shown below from now. Mode setting should be “Remote net [Ver. 1 mode].” Parameters different from initial setting a

105 [4] Click the Station information button to display the station information unit 1 edit screen, and set the remote station as follows, the

7 2. Specifications and name of each part 2.1 General specifications Item Specification Power supply 24V DC ±10% Consuming current 300mA max. C

106 (3) Writing parameters Write parameters set in (2) into the PLC. [1] Transfer setup Click the [Online (O)]→[Transfer setup (C)] menu, then the

107 [2] Writing Click write to PLC tab to display the following PLC write screen. Click Param+Prog button on the PLC write screen, and sele

108 9.6 Address Correlation Diagram 9.6 Address Correlation Diagram Master station buffer memory (Station No. 0) CC-Link gateway unit (Statio

109 Automatic refresh Output (Write) Register=Word register Command position Cannot be used Command position Command position Command

110 9.7 Ladder Sequence Flowchart Operation flowchart for the second axis (axis 0) and third axis (axis 1) which are DeviceNet slave axes is as fo

111 Command P.No=1 to axes (0)(1)Set CSTR to “1” Set CSTR to “0” Positioning completed One second timer [2] [1]

112 9.8 Ladder Sequence Emergency stop Emergency stop releaseEmergency stop Master unit abnormality Master unit ready Master data link Station No.

113 No.2 (Axis 0) Operation lamp (Axis 0) PWR No.2 (Axis 0) Servo on lampAxis (0) Servo on (Axis 0) SV (Axis 0) HEN Axis (0) Servo onNo.2 (Axis 0)

114 Flag Axis (0) Operation flag Axis (0) MOVE Axis command position No Axis command position No Axis command position No Axis command position No

115 Axis (0) PO completion 1 second1 second Axis (0) operation flag Axis (0) MOVE Axis (0) P1 setting flagAxis command position No. Axis (0) P1 se

8 2.2 External dimension drawing (Mounting dimension)

116 Axis (0) PEND Completion P. No Completion P. No Completion P. No Completion P. No Completion P. No Completion P. No Axis (0) P1 completio

117 Axis (0) pause No.3 (Axis 1) start No.2 (Axis 0) pause lampAxis (0) STPNo.3 (Axis 1) operation lamp Axis (1) ALM Emergency stop No.3 (Axis 1)

118 Flag Axis (1) operation flag Axis (1) MOVE Axis command position No Axis command position No Axis command position No Axis command position No

119 Axis (1) PO completion 1 second1 second Axis (1) operation flag Axis (1) MOVE Axis (1) P1 setting flagAxis (1) P1 setting flag Axis (1) P1 set

120 Axis (1) PEND Completion P. No Completion P. No Completion P. No Completion P. No Completion P. No Completion P. No Axis (1) CSTR Axis (1

121 No.3 (Axis 1) pause No.3 (Axis 1) pause lampNo.3 (Axis 1) STP

122 10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Trouble Upon occurrence of a problem, take an appropriate action according to

123 10.2 Troubleshooting Statuses of failures are classified into the following three types. a. Abnormality of gateway unit b. Abnormality of SI

124 10.2.3 Abnormality of CC-Link communication When the CC-Link communication is abnormal, C.ER (Red) on the gateway status indication LED is lit

125 CC-Link communication status indication list ○: Lit ●: Unlit ◎: Flashing RUN (Green) ERR (Red) SD (Green) RD (Green) Operation ○ ◎ ◎

9 2.3 Name and function of each part [1] Gateway status indication LED RUN: Normal G.ER: Error C.ER: CC-Link error T.ER: SIO link error [2] S

126

Manual No.: ME0169-1A (December 2011)The information contained in this document is subject to change without notice for purposes of product improvemen

10 [1] Gateway status indication LED Indicating status Description Lit in green Indicates that the CPU of the gateway is operating. RUN Unlit I

11 [3] Mode setting switch This switch sets the operation mode of the CC-Link gateway. Turn off the power for the CC-Link gateway to operate this s

12 [7] CC-Link setting switch Switch Description BR [Baud rate setting switch] This switch sets the communication rate. Setting of 5 or higher is

13 [9] Port switch This is a switch to enable the connector (T.P.) for teaching box and personal computer (PORT ON=Communication start). When connec

14 3. Installation and Noise Elimination Pay sufficient attention to the installation environment. 3.1 Installation Environment a. Since the ga

15 b. Precautions regarding wiring method Separate the communication lines for the gateway unit and the wiring for the CC-Link communication line f

Table of Contents 1. Outline････････････････････････････････････････････････････････････････････････････････････････････････1 1.1 CC-Link gateway

16 3.4 Installation Design the control box size, installing position of the gateway unit and cooling method of the control box in such a way that t

17 4. Wiring 4.1 Overall Configuration The following diagram shows an example of configuration to build a CC-Link by using a gateway unit. Host

18 SIO communication connection is allowed even by multi-drop method using terminal blocks as follows. Gateway unit Terminal block Terminal res

19 Reference Outline of CC-Link network configuration For details of the CC-Link, refer to the Operation Manual for the master side (PLC). Th

20 4.2 Input and output signal of gateway unit (1) Connection diagram Gateway unit CC-Link cable (Blue) (White) (Yellow) (Not colored) Connect

21 (2) Port control and emergency stop signal output The connector port for the teaching box and personal computer can be also turned ON/OFF by an

22 (3) Specification of input and output signal and wiring material Connecting plug is standard attachment. MC1.5/6-ST3･81 (PHOENIX CONTACT) Conne

23 4.3 Building of SIO communication network (SIO communication) 4.3.1 Wiring (1) Basic Item Contents Number of connecting units 16 axes max. (

24 a. Detail Connection Diagram The diagram below shows the details of the SIO communication connection. The controller link cables are optionally

25 c. Controller Link Cable (CB-RCB-CTL002) * Controller’s option The following parts are provided together: [1] Four-way junction

8. System build-up･････････････････････････････････････････････････････････････････････････････････････90 8.1. Communication setting for controlle

26 (3) Link connection for ERC2-SE Gateway unit (Incorporating terminal resistor) e-CON connector (AMP made 4-1473562-4: Green) e-CON connect

27 Detail connection diagram Connection between the gateway unit and four-way junction is the same as in item (2). Connection between each ERC2-SE

28 (5) Wiring of emergency stop (EMG) circuit When incorporating an emergency stop switch on the teaching box connected to the gateway unit into a

29 [1] Example of drive signal shutdown Caution: [1] The input current to the EMG terminal of PCON-SE is 5 mA. When connecting the contact

30 [2] Example of motor drive power shutdown Input power supply 24V DC (2A max/one unit) Teaching box EMG push button T.P. connector Gateway

31 4.3.2 Setting of axis No. For PCON-SE, ACON-SE and ERC2-SE Set axis No. for slave station No. on the SIO link. Set the axis No. in a hexadecima

32 5. Outline of CC-Link 5.1 Data communication A scheme for basic data communication of the CC-Link is as shown in the following diagram. For sl

33 * CPU internal user device for PLC Input: X Bit device Output: Y Internal relay: M Data register: D Link register: W 5.2 Address as

34 CC-Link memory map (MITSUBISHI Q series) PLC-CPU Master station buffer memory Remote station Internal device Remote input (RX)Automatic ref

35 6. Address configuration of gateway As described in 1.4 Features of gateway unit, actuators can be roughly operated by five modes. Address conf

36 Details of input and output signal Signal type Bit Signal name Contents 15 MON Link communication starts at ON, and stops at OFF. When all of C

37 Signal type Bit Signal name Contents 15 RUN Gateway unit now normally operating output This is turned ON while gateway unit is normally operatin

38 6.2 Position data limit designation mode This is an operation mode in which function of the controller is limited only to positioning, and allo

39 (1) Address configuration In this mode, gateway control signal/status signal consists of two words respectively for input and output word registe

40 (2) Assignment for each axis Input and output signal for each signal consists of one byte respectively for input and output bit register (RX, RY

41 Details of input and output signal Signal type Bit Signal name Contents Detail F/7 - Cannot be used. - E/6 - Cannot be used. - D/5 - Ca

42 6.3 Position No. designation mode This is an operation mode to operate by designating position No. of the position table, and allows for contro

43 (1) Address configuration In this mode, the input and output signal for gateway control signals consist of two words respectively, and control s

44 (2) Assignment for each axis Input and output signal for each axis consists of one byte respectively for input and output bit register and one

45 Details of input and output signal Signal type Application Signal name Contents Detail F/7 - Cannot be used. - E/6 - Cannot be used. - D/

1 1. Outline 1.1 CC-Link gateway unit CC-Link Gateway Unit (hereinafter, referred to as CC-Link gateway or gateway unit) is a unit to connect the

46 [List of alarm content] This list shows alarm content to be outputted (binary code) in PM8 to PM1 while an alarm occurring. For details of alar

47 6.4 Position/speed/acceleration and deceleration designation This is an operation mode to perform operation by directly writing position data,

48 (1) Address configuration In this mode, input and output for gateway control signal consist of two words respectively, and control signal for eac

49 (2) Assignment for every axis Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration are set

50 Details of input and output signal Signal type Bit Signal name Contents Detail Acceleration and deceleration designation 8 bit data Set accele

51 Signal type Bit Signal name Contents Detail 7 EMGS On emergency stop 6 - Cannot be used. - 5 PWR Controller preparation completion 4

52 6.5 Push operation enable mode This is an operation mode to perform operation by directly writing current limit value (%) and positioning width

53 (1) Address configuration In this mode, input and output for gateway control signal consist of two words respectively, and control signal for ea

54 (2) Assignment for each axis Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration are set

55 CAUTION 1. 24 bit binary data with a sign of PLC output and input is handled as a negative number when the uppermost bit is “1.” Howeve

2 1.2 What is CC-Link (1) System of FA communication For FA communication, communication specifications depend on equipment on the communicating

56 Details of input and output signal Signal type Application Signal name Contents Detail Position data designation 24bit data - 24 bit integer w

57 Signal type Application Signal nameContents Detail Positioning width designation 24 bit data - 24 bit integer (Unit: 0.01mm) Set it in hexadeci

58 6.6 Simple direct value/Position No. designation mode This is an operation mode for operation by mixing a mode to operate by designating positi

59 6.6.1 Overall address configuration Input and output for gateway control signal are two words respectively, and only in this mode, patterns of p

60 PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input Output register Input registerHigher byte Lower byte Higher

61 6.6.2 Assignment for each axis Input and output signals for each axis position No. designated mode and those in simple direct value mode are dif

62 Detail of input and output signal Signal type Bit Signal name Pattern No. Contents Detail b15 SON 0 – 4 Servo on command b14 RES 0 – 4

63 (2) Simple direct value designated axis Each axis consists of four words for output and three words for input as shown below. Position data des

64 Details of input and output signal Signal type Bit Signal name Contents Detail Target position data 32 bit data - This is a 32 bit integer with

65 CAUTION Setting of the “Parameter initial value” is not applied to the movement data which must be directly designated in numeric value from th

3 (5) CC-Link CC-Link has become wide spread mainly for FA as an open network for device level. Communication specifications are open to the public,

66 6.6.3 Command region When request command RY (2F-20) and data RY (8F-30) related to the request command are outputted from the PLC, response com

67 (2) Each command and data format [1] Position table data write command Command name *1 PLC output (request) PLC input (response) +2 1000H 3 P

68 Command name *1 PLC output (request) PLC input (response) +2 1006H 3 Position No. 4 Deceleration data (8 bit integer)5 0 6 Axis No. 0 to FH

69 [2] Position table data read command Command name *1 PLC output (request) PLC input (response) +2 1040H 3 Position No. Same value as request a

70 Command name *1 PLC output (request) PLC input (response) +2 1046H 3 Deceleration reading POS No. Same value as request at normal 4 0 Deceler

71 [3] Position table data ROM writing command Command name *1 PLC output (request) PLC input (response) +2 0DA0H 3 0 4 Coil ON/OFF 00FFH = ON 00

72 [5] Group designated broadcast POS movement start This command simultaneously starts an axis designated by group No. to a position designated by

73 (3) Error response When command error occurs, the uppermost bit (b15) is turned ON. Further, the following error codes are set to the response

74

75 7. Contents of communication signal 7.1 Outline of timing for communication signal In order to operate robo-cylinder by the sequence program

4 1.4 Features For CC-Link gateway, operation modes of the following four patterns can be selected. (1) Position data limit designation mode Only

76 7.2 Communication signal and operation timing (1) Controller preparation completion (PWR) This is turned ON when the controller becomes contr

77 (5) Direct numeric value designated operation (Position data, present position data, CSTR, PEND, MOVE, acceleration and deceleration data, speed

78 Position data measurement value Present position [1][2][3] [4][4][5] [6][7]

79 b. Acceleration and deceleration, speed data designation This is an effective function when the positioning data designated mode is selected. [

80 Speed, acceleration and deceleration set value Actuator speed Speed n2 Speed n3 [1][2] [3]

81 (6) Positioning data designated mode push operation (Position data, acceleration and deceleration data, speed data, current limit value, positio

82 Position data set value Speed, acceleration and deceleration set value Positioning width value set value Current limit value set value Present

83 (7) Position No. designated operation (Command position No., completion position No., CSTR, PEND, MOVE) This is an effective function when the

84 Command position No. Completion position No. [1] [2] [3] [4][5] [6]

85 (8) Pause (STP, MOVE) This is a function to perform pause during movement of axis. Function Axis movement can be stopped and restarted by th

5 Operation mode and primary functions Positioning data designated mode Primary functions Position data limit designated mode Position No. designated

86 (10) Home return (HOME, HEND) Home return is executed at ON edge (at startup of signal) of HOME (Home return). When home return is completed, t

87

88 7.3 Command transmission and reception The diagram below shows a timing chart for command transmission and reception. The gateway analyzes the

89

90 8. System build-up It is necessary to set as follows in order to make the controller communicate with the CC-Link Master (PLC) and controller th

91 8.2. CC-Link communication setting It is necessary to set as follows in order to make the gateway communicate with master station. As for this

92 For an example of the CC-Link setting in GX Developer V8, refer to the 9.5.2 (2). Number of exclusive stations, expanded cyclic setting and si

93 8.3. Master PLC address assignment The basic concept of address assignment (memory map) for the CC-Link master PLC has been explained in 5.2. T

94 The following shows an example that a remote I/O exclusive one station is set to the station No.1 and gateway unit is set to the station No.2. (

95 (2) Remote register [1] Master station ← Gateway unit Master station Remote I/O station (Station No. 1: Exclusive one station) Gateway uni