CC-Link

Instruction Manual Tenth Edition

Describes Model
ACON C/CG/CA/CB/CGB

PCON C/CG/CA/CFA/
CB/CFB/CGB/CGFB
DCON CA/CB/CGB

SCON CA/CAL/CGAL/
CB/CGB (Servo Press)
 CC-Link

Please Read Before Use

Thank you for purchasing our product.

This Instruction Manual describes all necessary information to operate this product safely such as the
operation procedure, structure and maintenance procedure.

Before operation, read this manual carefully and fully understand it to operate this product safely. The
enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or display them
using the personal computer.

After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.

[Important]
• This Instruction Manual is original.
• The product cannot be operated in any way unless expressly specified in this Instruction Manual.
IAI shall assume no responsibility for the outcome of any operation not specified herein.
• Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
• If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.

Note : For the function stated below, refer to Instruction Manual.

Instruction Manual/Overview Manual No.
CC-Link Instruction Manual
1 For X-SEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C and ME0123
E-Con, see this manual.
CC-Link
 CC-Link

Construction of Instruction Manual for Each Controller Model

and This Manual
ACON-CB/CGB
ACON-CA
ACON-C/CG
DCON-CB/CGB
DCON-CA

●Operation Patterns
・Remote I/O Control Operation CC-Link (This Manual) ME0254
・Direct Number Indication Operation ACON-CB/CGB ME0343
◎ Basic Specifications DCON-CB/CGB ME0343
and Patterns ACON-CA, DCON-CA ME0326
ACON-C/CG ME0176
■Teaching Tool
・PC Software PC Software ME0155
・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

PCON-CB/CFB/CGB/CGFB
PCON-CA/CFA
PCON-C/CG

●Operation Patterns
・Remote I/O Control Operation CC-Link (This Manual) ME0254
・Direct Number Indication Operation
PCON-CB/CFB/CGB/CGFB ME0342
◎ Basic Specifications
PCON-CA/CFA ME0289
and Patterns
PCON-C/CG ME0170

■Teaching Tool
・PC Software PC Software ME0155

・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

SCON-CB/CGB
SCON-CA
SCON-CAL/CGAL

●Operation Patterns
・Remote I/O Control Operation CC-Link (This Manual) ME0254
・Direct Number Indication Operation
SCON-CB/CGB ME0340
◎ Basic Specifications
SCON-CB (Servo Press Type) ME0345
and Patterns
SCON-CA/CAL/CGAL ME0243

■Teaching Tool
・PC Software PC Software ME0155

・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

 CC-Link

Chapter Contents

1. Overview 9

2. Interface Specifications 10

3. ACON-C/CG, PCON-C/CG 11

4. ・PCON-CA/CB/CFA/CFB/CGB/CGFB
・ACON-CA/CB/CGB ・DCON-CA/CB/CGB
83

5. ・SCON-CA/CB/CGB ・SCON-CAL/CGAL 156

6. Servo Press Type SCON-CB/CGB 255

7. Common Items 296

 CC-Link

Table of Contents
Safety Guide ···············································································································1

Handling Precaution ·····································································································8

1. Overview ··············································································································9

2. Interface Specifications ·························································································· 10

3. ACON-C/CG, PCON-C/CG ····················································································· 11

3.1 Operation Modes and Functions ···················································································· 11
3.2 Model No. ················································································································· 14
3.3 CC-Link Interface ······································································································· 15
3.4 Operation Mode Selection (Setting) ················································································ 16
3.5 Station No. Setting ······································································································ 16
3.6 Communication Speed Setting ······················································································ 17
3.7 Communication with the Master Station··········································································· 18
3.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses ································ 18
3.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) ············ 20
3.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One
Station) ··············································································································· 26
3.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) ···· 31
3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) ····· 38
3.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) ·········· 47
3.7.7 I/O Signal Control and Functions··············································································· 51
3.8 I/O Signal Timing ········································································································ 67
3.9 Operation·················································································································· 68
3.10 CC-Link Related Parameters ························································································ 76
3.11 Troubleshooting ········································································································· 81
3.11.1 Status LED Indication ···························································································· 81
3.11.2 Alarm Description and Cause/Treatment ··································································· 81
3.12 CE Marking ··············································································································· 82

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB ················· 83

4.1 Operation Modes and Functions ···················································································· 83
4.2 Model No. ················································································································· 86
4.3 CC-Link Interface ······································································································· 87
4.4 Operation Mode Selection (Setting) ················································································ 88
4.5 Station No. Setting ······································································································ 88
4.6 Communication Speed Setting ······················································································ 89
4.7 Communication with the Master Station··········································································· 90
4.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses································ 90
4.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) ············· 92
4.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One
Station) ··············································································································· 96
4.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations)··· 101
4.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations)··· 108
4.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) ········ 119
4.7.7 I/O Signal Control and Functions············································································· 123
4.8 I/O Signal Timing ······································································································ 140
4.9 Operation················································································································ 141
4.10 CC-Link Related Parameters ······················································································ 149
4.11 Troubleshooting ······································································································· 154
4.11.1 Status LED Indication ·························································································· 154
4.11.2 Alarm Description and Cause/Treatment ································································· 154
4.12 CE Marking·············································································································· 155
 CC-Link

5. SCON-CA/CB/CGB/CAL/CGAL ············································································· 156

5.1 Operation Modes and Functions ·················································································· 156
5.2 Model No. ··············································································································· 160
5.3 CC-Link Interface ····································································································· 161
5.4 Operation Mode Selection (Setting) ·············································································· 162
5.5 Station No. Setting ···································································································· 162
5.6 Communication Speed Setting ···················································································· 163
5.7 Communication with the Master Station········································································· 164
5.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses······························ 164
5.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) ··········· 168
5.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One
Station) ············································································································· 173
5.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations)··· 178
5.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) ··· 185
5.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station)·············· 196
5.7.7 Position/Simplified Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations:
One Station) ······································································································· 199
5.7.8 Half Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Two Stations) 204
5.7.9 Remote I/O Mode 3 (Remote Device Station: No. of Occupied Stations: One Station)·············· 211
5.7.10 Half Direct Value Mode 3 (Remote Device Station: No. of Occupied Stations: Two Stations) 215
5.7.11 I/O Signal Control and Functions ············································································ 222
5.8 I/O Signal Timing ······································································································ 239
5.9 Operation················································································································ 240
5.10 CC-Link Related Parameters ······················································································ 248
5.11 Troubleshooting ······································································································· 254
5.11.1 Status LED Indication ·························································································· 254
5.11.2 Alarm Description and Cause/Treatment ································································· 254

6. Servo Press Type SCON-CB/CGB ········································································· 255

6.1 Operation Modes and Functions ·················································································· 255
6.2 Model Numbers········································································································ 256
6.3 CC-Link Interface ····································································································· 257
6.3.1 Name of Each Section ·························································································· 257
6.3.2 Status LED Indication ··························································································· 257
6.4 Setting······················································································································ 258
6.4.1 Operation mode selection (setting) ·········································································· 258
6.4.2 Station No. setting································································································ 258
6.4.3 Communication Speed Setting················································································ 258
6.5 Communicating with the Master Station ··········································································· 259
6.5.1 Operation Modes and Corresponding PLC I/O Areas ·················································· 259
6.5.2 Remote I/O Mode (No. of Occupied Stations: One Station) ··········································· 261
6.5.3 Full Function Mode (Number of Occupied Stations: Four Station) ·································· 263
6.5.4 I/O Signal Controls and Function ············································································ 274
6.6 I/O Signal Timings ···································································································· 283
6.7 Operation················································································································ 284
6.8 CC-Link Related Parameters ······················································································ 290
6.10 Troubleshooting ······································································································· 295

7. Common Items··································································································· 296

7.1 Communication Cable ······························································································· 296
7.1.1 Examples for Connection ······················································································ 296
7.1.2 Terminal Resistance ····························································································· 296

8. Change History ································································································· 297

 CC-Link

Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

Operation
No. Description
Description
1 Model ● This product has not been planned and designed for the application
Selection where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.

1
 CC-Link

Operation
No. Description
Description
2 Transportation ● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold,
weight and weight balance and pay special attention to the carried
object so it would not get hit or dropped.
● Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and ● The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention
of condensation.
● Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation (1) Installation of Robot Main Body and Controller, etc.
and Start ● Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product. Failure to do so may
cause an accidental fall, injury or damage to the product due to a drop
of anything, malfunction of the product, performance degradation, or
shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

2
 CC-Link

Operation
No. Description
Description
4 Installation (2) Cable Wiring
and Start ● Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do
not coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
● Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
● The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
● For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).

3
 CC-Link

Operation
No. Description
Description
4 Installation (4) Safety Measures
and Start ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection
fence) so that nobody can enter the area within the robot’s movable
range. When the robot under operation is touched, it may result in
death or serious injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
● When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure
or emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to
secure safety.
● Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or
fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection
fence, if possible. In the case that the operation is to be performed
unavoidably inside the safety protection fence, prepare the “Stipulations
for the Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actoruat dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

4
 CC-Link

Operation
No. Description
Description
6 Trial ● When the work is carried out with 2 or more persons, make it clear who
Operation is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic ● Check before starting the automatic operation or rebooting after
Operation operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
● When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

5
 CC-Link

Operation
No. Description
Description
8 Maintenance ● When the work is carried out with 2 or more persons, make it clear who
and is to be the leader and who to be the follower(s) and communicate well
Inspection with each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification ● Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.

6
 CC-Link

Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning
level, as follows, and described in the Instruction Manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the
Danger product is not handled correctly, will result in death or serious Danger
injury.

This indicates a potentially hazardous situation which, if the

Warning product is not handled correctly, could result in death or serious Warning
injury.

This indicates a potentially hazardous situation which, if the

Caution product is not handled correctly, may result in minor injury or Caution
property damage.

This indicates lower possibility for the injury, but should be kept to
Notice
use this product properly. Notice

7
 CC-Link

Handling Precautions
1. Please see in the table below for the products explained in this instruction manual (and the
chapter number explained in this manual).

{ : Applied, × : N/A, Slash : No applicable model (**) : Chapter number to describe in this manual
Type CA/CB/CFA/CFB Servo Press
C/CG CAL/CGAL SE/PL/PO/CY
Series /CGB/CGFB (Note 1) Type
{ {
ACON
(Chapter 3) (Chapter 4)
×
{ {
PCON
(Chapter 3) (Chapter 4)
×
{ { {
SCON × (Chapter 5) (Chapter 5) (Chapter 6)
{
DCON
(Chapter 4)
Note 1 CFA, CFB, CGFB Type set to only PCON.

2. Servo press type, RC gateway function and ROBONET the extension I/O unit cannot be
connected (control).

8
 CC-Link

1. Overview
CC-Link is an abbreviation for Control & Communication Link, and is one of the open field network standards.
IAI controllers listed below are available for connection to CC-Link network.

1. Overview
Model Type Characteristic
ACON-C/CG/CA/CB/CGB, Remote device In addition to the processing as the same
PCON-C/CG/CA/CFA/CB/CFB/CGB/CGFB, station as the operation with PIO, it can be
SCON-CA/CAL/CGCAL/CB/CFB/CGB/CGFB, operated with the target position, speed
DCON-CA/CB/CGB and acceleration/deceleration speed
directly setup using the values.
XSEL-J/K/P/Q/R/S (Note 1) Remote device I/O data of XSEL is treated as bit data or
station word data for operation.
For each of input and output points, max.
256 points are available.
XSEL-K (Note 1) Remote I/O This is the remote I/O module with 16 I/O
station points.
ASEL, PSEL, SSEL (Note 1) Remote device It can be operated as the same as the
station control with PIO.
TT, TTA (Note 1) Remote device I/O data of TT is treated as bit data or
station word data for operation.
For each of input and output points, max.
240 points are available.
(Note 1)
RCS-C, E-CON, SCON-C Remote I/O It can be operated as the same as the
station control with PIO.
Note 1 For the details, refer to Instruction Manual (ME0123 CC-Link) that is enclosed separately.

System Configuration Example

XSEL-P/Q SSEL

PCON ACON SCON PSEL ASEL

(C type is
excluded)

Note For further information on CC-Link, refer to the Instruction Manuals for the master unit and the
programmable controller (PLC) to be mounted.
Use this Instruction Manual together with the Instruction Manual of each controller.
CC-Link cannot be used for any method other than those described as possible in this Instruction
Manual.

9
 CC-Link

2. Interface Specifications
Item Specification
Communications standard CC-Link Ver1.10
Communications speed [Mbps] 10 / 5 / 2.5 / 0.625 / 0.156
Communications system Broadcast polling system
2. Interface Specifications

Synchronization system Frame synchronization system

Encoding system NRZI
Transmission path format Bus format (EIA RS485 conformance)
Transmission format HDLC conformance
Error control system CRC (X16 + X12 + X5 + 1)
Number of occupied stations Remote device station 1 to 4 stations
Communications Baud rate [Mbps] 10 5 2.5 0.625 0.156
cable length
(Note 1) Total Cable Length [m] 100 160 400 900 1200

Note 1 For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be
mounted.

10
 CC-Link

3. ACON-C/CG, PCON-C/CG
3.1 Operation Modes and Functions
ACON or PCON applicable to CC-Link can be operated by means of selecting one mode out of the following
five operation modes.
* Set the Station Data for the Master Station to “ver 1, Remote Device Station”.

3. ACON-C/CG, PCON-C/CG
Operation Modes and Main Functions
Position /
Remote I/O Half Direct Full Direct Remote I/O
Main Function Simplified Direct
Mode Value Mode Value Mode Mode 2
Value Mode
No. of Occupied
1 Station 1 Station 2 Stations 4 Stations 1 Station
Stations
Position Data
Setup Operation
× ○(*1) ○ ○ ×
Speed/Acceleration
Direct Command
× × ○ ○ ×
Pressing Operation ○ ○ ○ ○ ○
Current Position
Read
× ○ ○ ○ ○
Current Speed
Read
× × ○ ○ ×
Position No. Setup
Operation
○ ○ × × ○
Completed
Position No. Read
○ ○ × × ○
No. of Max.
512 768 Unused Unused 512
Position Tables
(*1) For the position data items except for position data, operate the system with the position No. set up.

1) Remote I/O Mode : This is the operation method using CC-Link, instead of PIO (24V I/O).
No. of Occupied Stations: One Station

ACON or PCON
ACON or PCON applicable to CC-Link
not applicable to CC-Link

Communications
cable
Flat cable

In the case of the connection using PIO In the case of the connection using CC-Link

11
 CC-Link

2) Position/Simplified Direct Value Mode : This is the operation method with the position No. set up.
Whether if setup the target position using a value directly by means
of the change over of the control signal, or using the value
registered on the position data, can be selected.
For “Speed”, “Acceleration/Deceleration” and “Positioning Width”,
use the values already registered on the position data. The settable
No. of position data items is max 768 points.
No. of Occupied Stations: One Station
3. ACON-C/CG, PCON-C/CG

Target Position: 100.00 mm

Speed Acceleration Deceleration Pressing

Position No. 0

ACON or PCON Actuator

applicable to CC-Link

3) Half Direct Value Mode : This is the operation method with the “Speed”, “Acceleration/Deceleration”,
“Pressing Current Value” set up directly using the numerical values, in addition to
the “Target Position”.
No. of Occupied Stations: Two Stations

Target Position: 100.00mm

Positioning Width: 0.10mm
Speed Setup: 100.0mm/s
Acceleration/Deceleration: 0.30G
Pressing Current Value: 50%

ACON or PCON Actuator

applicable to CC-Link

12
 CC-Link

4) Full Direct Value Mode : This is the operation method with all the values (“Target Position”, “Speed”,
“Acceleration/Deceleration”, etc.) related to the position control set up directly
using the numerical values.
No. of Occupied Stations: Four Stations

Target Position: 100.00mm

Positioning Width: 0.10mm
Speed Setup: 100.0mm/s

3. ACON-C/CG, PCON-C/CG
Acceleration: 0.30G
Deceleration: 0.30G
Pressing Current Value: 50%
Load Current Threshold: 0
Zone +: 50.00mm
Zone - : 30.00mm

ACON or PCON
applicable to CC-Link Actuator

5) Remote I/O Mode 2 : This is the operation method using CC-Link, instead of PIO (24CV I/O).
The current position and command current value reading functions are added to
the functions of (1).
No. of Occupied Stations: One Station

ACON or PCON
ACON or PCON applicable to CC-Link
not applicable to CC-Link

Communications
cable
Flat cable

In the case of the connection using PIO In the case of the connection using CC-Link

13
 CC-Link

3.2 Model No.

The Model Nos. of ACON and PCON applicable to CC-Link are described as follows.

z ACON-C / CG-□-CC-□
z PCON-C / CG-□-CC-□
3. ACON-C/CG, PCON-C/CG

Printed Series Name

Front Panel Color
• ACON
• ACON: Dark Blue
• PCON
• PCON: Dark Green

14
 CC-Link

3.3 CC-Link Interface

(1) Names of Each Section

The names of each section related to CC-Link are described as follows.

Status Indicator LED

3. ACON-C/CG, PCON-C/CG
Status LED

CC-Link Communication Connector

PCB side : MSTB2.5/5-GF-5.08AU
(PHOENIX CONTACT)
Cable side : MSTB2.5/5-STF-5.08AU
(PHOENIX CONTACT)

(2) Status LED Indication

The board operation status and network condition are obtained with the two LEDs located in the front of
the controller.
○ : Illuminating, × : OFF, ☆ : Flashing
LED Color Indication Status Indication Description (Meaning)
STATUS1 OR • An error occurs.
(CRC Error/Station No. (parameters) Setting Error/Baud Rate
○ Setting (parameters) Error)
• Period between power up or software reset and the CC-Link
initialization completion
× • Under Normal Communication
• Station No. setting or communication speed setting is changed
☆
during the communication.
STATUS0 GN ○ • Communicating normally
× • Not communicating

15
 CC-Link

3.4 Operation Mode Selection (Setting)

The operation mode is set using the parameters.
Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the personal computer application software (V6,00 05 00 or later)
(Refer to “3.10 CC-Link Related Parameters”).

Set Value Operation Mode Number of occupied stations

3. ACON-C/CG, PCON-C/CG

0: (Already set in system delivery) Remote I/O Mode 1 Station

1 Position/Simplified Direct Value Mode 1 Station
2 Half Direct Value Mode 2 Stations
3 Full Direct Value Mode 4 Stations
4 Remote I/O Mode 2 1 Station
* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.

Note: Set the Station Data for the Master Station to “ver 1 Remote Device Station”.

3.5 Station No. Setting

The Station No. is set using the parameters.
Set the parameter No. 85 “NADR: Field Bus Node Address” using the RC personal computer application
software.
(Refer to “3.10 CC-Link Related Parameters”).

Settable Range: 1 to 64 (Already set in system delivery)

Note: The PLC's CC-Link head I/O address is decided depending on the master unit installation position and the number
of I/O points occupied by the unit installed before it.
Following this head I/O address, the I/O addresses in PLC are allocated in order of the station No.
Also, for the details of the Station No. setting and I/O address setting in PLC, refer to the instruction manuals for the
master unit and loaded PLC.

16
 CC-Link

3.6 Communication Speed Setting

The communication speed is set using the parameters.
Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer
application software.
(Refer to “3.10 CC-Link Related Parameters”).

Set Value Communication Speed

3. ACON-C/CG, PCON-C/CG
0: (Already set in system delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
* Entering any value except for the ones described above will
cause an “Excessive Input Value Error”.

Note: After the parameter setting, turn on the power to the controller again and return the mode toggle switch on the front
of the controller to “AUTO” side.
When the switch is set to “MANU”, the operation using PLC is not available.

17
 CC-Link

3.7 Communication with the Master Station

The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register
per station.
Set the station data for the master station to the number of stations setup in the operation mode for each
station No.

3.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses

The addresses allocated for each operation mode are described as follows.
3. ACON-C/CG, PCON-C/CG

• PLC Output → ACON or PCON Input (* “n” shows the head register address per each axis).
ACON or PCON DI and Input data register
Position/Simplified Half Direct Value Full Direct Value
PLC address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RY n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RY
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area Occupied Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY
(n+6)0 – (n+6)F
RY
System Area
(n+7)0 – (n+7)F
RWw (n+0)
Target Position Target Position Target Position
RWw (n+1)
Occupied Area Occupied Area
Command position
RWw (n+2)
number
Positioning Width Positioning Width
RWw (n+3) Control Signal

RWw (n+4) Speed

Speed
Acceleration/
RWw (n+5)
Deceleration
Pressing Current
RWw (n+6)
Limit Value
Zone Value “+”
RWw (n+7) Control signal

RWw (n+8)
Zone Value “-”
RWw (n+9)

RWw (n+A) Acceleration

RWw (n+B) Deceleration

Pressing Current
RWw (n+C)
Limit Value
Occupied
ACON
Area
RWw (n+D)
Load Current
PCON
Threshold
RWw (n+E) Control signal 1

RWw (n+F) Control signal 2

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

18
 CC-Link

• ACON or PCON Output → PLC Input side (* “n” shows the head register address per each axis).
ACON or PCON side DO and Output data register
Position/Simplified Half Direct Value Full Direct Value
PLC side address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RX n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RX
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RX

3. ACON-C/CG, PCON-C/CG
(n+2)0 – (n+2)F
RX
System Area Occupied Area
(n+3)0 – (n+3)F
RX
(n+4)0 – (n+4)F
RX
(n+5)0 – (n+5)F
RX
(n+6)0 – (n+6)F
RX
System Area
(n+7)0 – (n+7)F
RWr (n+0)
Current Position Current Position Current Position Current Position
RWr (n+1)
Occupied Area Completed Position
RWr (n+2) No.
(Simplified Alarm ID) Command Current Command Current Command Current
RWr (n+3) Status Signal

RWr (n+4)
Current Speed Current Speed
RWr (n+5)

RWr (n+6) Alarm code Alarm code

RWr (n+7) Status Signal

RWr (n+8)

RWr (n+9)

RWr (n+A)
Occupied Area
RWr (n+B)

RWr (n+C)

RWr (n+D)

RWr (n+E)

RWr (n+F) Status Signal

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

19
 CC-Link

3.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the RC personal computer application software or teaching pendant. The number of operable
positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
Parameter No. 25 Set Value Operation Mode I/O Specifications
3. ACON-C/CG, PCON-C/CG

0 Positioning mode 64 positioning points and 2 zone output points

1 Teaching mode 64 positioning points and 1 zone output point
The positioning and jog operations are available.
The current position can be written on the setup position
data.
2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
4 Electromagnetic 7 positioning points and 2 zone output points
valve mode 1 The direct operation command is available for each
position No.
The positioning completion signal is output for each
position No.
5 Electromagnetic 3 positioning points and 2 zone output points
valve mode 2 It is operated with the Forward/Backward/Intermediate
Position Commands.
The positioning completion signal is output individually
for each Forward End/Backward End/Intermediate
Positions.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
PIO Pattern
Robot Cylinder Function 0: 1: 2: 3: 4: 5:
Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic
mode mode mode mode valve mode 1 valve mode 2
Homing ○ ○ ○ ○ ○ ×
Positioning ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ ×
Speed change during the
○ ○ ○ ○ ○ ○
movement
Different Acceleration Speed
○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1)
Zone Signal Output ○ ○ ○ × ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○
(Set using the parameters)

O: Operation Available X: Operation Unavailable

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

20
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter Acon or Pcon side Acon or Pcon side
PLC side PLC side
No.84 DI (Port No.) DI (Port No.)
0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
RWw (n+1) RWr (n+1)

3. ACON-C/CG, PCON-C/CG
Occupied Area Occupied Area
RWw (n+2) RWr (n+2)
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 1 word for each I/O bit register.
z The I/O bit register is controlled using the ON/OFF signal in units of bit.

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11

Input Port
9

0
No.

PLC Input (* “n” shows the head register address per each axis).
Address one word = 16 bits
RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Output
15

14

13

12

10
11

Port
No.

21
 CC-Link

(3) I/O Signal Allocation

The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to instruction
manual for the controller main body for more information).
ACON
Parameter No. 25 setting

Positioning mode Teaching mode 256 point mode

0 1 2
3. ACON-C/CG, PCON-C/CG

Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 PC1 PC1

1 PC2 PC2 PC2

2 PC4 Command position PC4 PC4

Command position No.
No.
3 PC8 PC8 PC8
Command position No.
4 PC16 PC16 PC16

5 PC32 PC32 PC32

Teaching Mode
6 ⎯ MODE PC64
Command
PLC Unavailable
Output 7 ⎯ JISL Jog/Inching selection PC128
→
ACON 8 ⎯ JOG+ + Jog ⎯ Unavailable
Input
9 BKRL Forced brake release JOG- - Jog RKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin HOME Return to origin

12 *STP Pause *STP Pause *STP Pause

Positioning Start/
CSTR/
13 CSTR Positioning Start Position Data Import CSTR Positioning Start
PWRT
Command
14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 Completion position PM4 Completion position PM4

No. No.
3 PM8 PM8 PM8 Completion position
No.
4 PM16 PM16 PM16

5 PM32 PM32 PM32

6 MOVE Moving Signal MOVE Moving Signal PM64

ACON 7 ZONE1 Zone 1 MODES Teaching Mode Signal PM128

Output
→ 8 PZONE Position zone status PZONE Position zone status PZONE Position zone status
PLC Input Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end
Positioning end Signal/
PEND/
11 PEND Positioning end Signal Position Data PEND Positioning end Signal
WEND
Import Completion
Operation preparation
12 SV SV Operation preparation end SV Operation preparation end
end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

15 ⎯ Unavailable ⎯ Unavailable ⎯ Unavailable

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

22
 CC-Link

ACON
Parameter No. 25 setting

512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2

3 4 5
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 ST0 Start position 0 ST0 Start position 0

3. ACON-C/CG, PCON-C/CG
1 PC2 ST1 Start position 1 ST1 Start position 1

2 PC4 ST2 Start position 2 ST2 Start position 2

3 PC8 ST3 Start position 3 ⎯

Command position
4 PC16 No. ST4 Start position 4 ⎯

5 PC32 ST5 Start position 5 ⎯

Unavailable
6 PC64 ST6 Start position 6 ⎯
PLC
Output 7 PC128 ⎯ ⎯
→ Unavailable
ACON 8 PC256 ⎯ ⎯
Input
9 BKRL Forced brake release BKRL Forced brake release BKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin ⎯

12 *STP Pause *STP Pause ⎯ Unavailable

13 CSTR Positioning Start ⎯ Positioning Start ⎯

14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

Retracting end
0 PM1 PE0 Completed position 0 LS0
movement command 0
Retracting end
1 PM2 PE1 Completed position 1 LS1
movement command 1
Retracting end
2 PM4 PE2 Completed position 2 LS2
movement command 2
3 PM8 PE3 Completed position 3 ⎯
Completion position
4 PM16 No. PE4 Completed position 4 ⎯
Unavailable
5 PM32 PE5 Completed position 5 ⎯

6 PM64 PE6 Completed position 6 ⎯

ACON
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
Output
→
PLC Input 8 PM256 PZONE Position zone status PZONE Position zone status
Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end

11 PEND Positioning end Signal PEND Positioning end Signal ⎯ Unavailable

Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

15 ⎯ Unavailable ⎯ Unavailable ⎯ Unavailable

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

23
 CC-Link

PCON
Parameter No. 25 setting

Positioning mode Teaching mode 256 point mode

0 1 2
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 PC1 PC1
3. ACON-C/CG, PCON-C/CG

1 PC2 PC2 PC2

2 PC4 PC4 PC4

Command position
Command position No.
No.
3 PC8 PC8 PC8
Command position No.
4 PC16 PC16 PC16

5 PC32 PC32 PC32

Teaching Mode
6 ⎯ MODE PC64
Command
PLC Unavailable
7 ⎯ JISL Jog/Inching selection PC128
Output
→
PCON 8 ⎯ JOG+ + Jog ⎯ Unavailable
Input
9 BKRL Forced brake release JOG- - Jog RKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin HOME Return to origin

12 *STP Pause *STP Pause *STP Pause

Positioning Start/
CSTR/
13 CSTR Positioning Start Position Data Import CSTR Positioning Start
PWRT
Command
14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 PM4 PM4

Completion position Completion position
No. No.
3 PM8 PM8 PM8
Completion position
No.
4 PM16 PM16 PM16

5 PM32 PM32 PM32

6 MOVE Moving Signal MOVE Moving Signal PM64

PCON 7 ZONE1 Zone 1 MODES Teaching Mode Signal PM128

Output
→ 8 PZONE Position zone status PZONE Position zone status PZONE Position zone status
PLC Input
Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end
Positioning end Signal/
PEND/
11 PEND Positioning end Signal Position Data PEND Positioning end Signal
WEND
Import Completion
Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

LOAD/ Load output judgment/ LOAD/ Load output judgment/
15 ⎯ Unavailable
TRQS Torque level TRQS Torque level

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

24
 CC-Link

PCON
Parameter No. 25 setting

512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2

3 4 5
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 ST0 Start position 0 ST0 Start position 0

3. ACON-C/CG, PCON-C/CG
1 PC2 ST1 Start position 1 ST1 Start position 1

2 PC4 ST2 Start position 2 ST2 Start position 2

3 PC8 ST3 Start position 3 ⎯

Command position
4 PC16 No. ST4 Start position 4 ⎯

5 PC32 ST5 Start position 5 ⎯

Unavailable
6 PC64 ST6 Start position 6 ⎯
PLC
Output 7 PC128 ⎯ ⎯
→ Unavailable
PCON 8 PC256 ⎯ ⎯
Input
9 BKRL Forced brake release BKRL Forced brake release BKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin ⎯ Return to origin

12 *STP Pause *STP Pause ⎯ Pause

13 CSTR Positioning Start ⎯ Positioning Start ⎯ Positioning Start

14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

Retracting end
0 PM1 PE0 Completed position 0 LS0
movement command 0
Retracting end
1 PM2 PE1 Completed position 1 LS1
movement command 1
Retracting end
2 PM4 PE2 Completed position 2 LS2
movement command 2
3 PM8 PE3 Completed position 3 ⎯
Completion position
4 PM16 No. PE4 Completed position 4 ⎯
Unavailable
5 PM32 PE5 Completed position 5 ⎯

6 PM64 PE6 Completed position 6 ⎯

PCON
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
Output
→
PLC Input 8 PM256 PZONE Position zone status PZONE Position zone status
Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end

11 PEND Positioning end Signal PEND Positioning end Signal ⎯ Unavailable

Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

LOAD/ Load output judgment/ LOAD/ Load output judgment/
15 ⎯ Unavailable
TRQS Torque level TRQS Torque level

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

25
 CC-Link

3.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied
Stations: One Station)
This is the operation mode with the position No. set up. The change over of the control signals (PMOD
signals), can select whether the target position is set directly using the value or the value registered on the
position data is used.
For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values
in the position table within the controller are used. Setup the position data referring the instruction manual for
the controller main body.
3. ACON-C/CG, PCON-C/CG

The number of settable position data items is max. 768.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

○:Direct Control
Robot Cylinder Function ∆:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ∆
Pitch Feeding (Inching) ∆
Pressing Operation ∆ Position data setting is required.
Speed change during the movement ∆
Different Acceleration Speed
Operation in Deceleration
∆
Pause ○
Zone Signal Output △ Zone is set using the parameters.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter Acon or Pcon side Acon or Pcon side
PLC side PLC side
No.84 Input register Output register
1 Occupied Area RY n0 to nF Occupied Area RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
Command position Completed Position No.
RWw (n+2) RWr (n+2)
number (Simplified Alarm CORD)
Control signal RWw (n+3) Status Signal RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

26
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 4 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z The specified position No. and completed position No. are expressed using 1-word (16 bits) binary
data. The figures from 0 to 767 can be set in PLC. However, set the position No. for which the

3. ACON-C/CG, PCON-C/CG
operation conditions have been set in advance using the personal computer software or teaching
pendant.

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the
complement of 2.

one word = 16 bits

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Command
PC512

PC256

PC128

PC64

PC32

PC16

PC8

PC4

PC2

PC1

position
⎯

No.

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

PMOD

MODE

HOME
PWRT

CSTR
JOG+
BKRL

Control
JVEL
JOG-

SON

RES
JISL

STP
⎯

signal

27
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)
3. ACON-C/CG, PCON-C/CG

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Completed
PM512

PM256

PM128

PM64

PM32

PM16

PM8

PM4

PM2

PM1
Position
⎯

No.

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

MODES
PZONE
ZONE2

ZONE1

WEND
EMGS

MOVE
RMDS

HEND

PEND
PSFL

Status
PWR

ALM
SV
⎯

Signal

28
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits
⎯ When it is “+25.40mm”, set it as “2540”. 3.9 (1)

3. ACON-C/CG, PCON-C/CG
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
16-bit Integer
For the operation, the position data is required, for which the
operation conditions have been set in advance using the
Command personal computer software or teaching pendant.
16bits PC1 to
position Set up the position No. for which the data has been input using 3.9 (1)
Data PC512
number this register.
The settable range is 0 to 767.
In the case that any value out of the range is set, or position No.
that has not been set is specified, an alarm is output.
b15 BKRL Brake Forcible Release: Brake Release with “ON”. 3.7.7 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
PLC Output

b14 RMOD 3.7.7 (19)

mode
b13
⎯ Unavailable ⎯
b12
Position/Simplified Direct Value Change-Over
b11 PMOD 3.7.7 (20)
“OFF” for Position Mode, “ON” for Simplified Direct Value Mode
Teaching Mode Command
b10 MODE 3.7.7 (16)
“OFF” for Normal Mode, “ON” for Teaching Mode
Position Data Import Command
b9 PWRT 3.7.7 (17)
“ON” for Position Data Import
b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 3.7.7 (13)
Control
b7 JOG- - Jog: “ON” for Movement to the Home Direction 3.7.7 (13)
Signal
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set for the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 3.7.7 (14)
“ON” for using the values set for the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 3.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 3.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 3.7.7 (4)
b2 STP Pause: “ON” for Pause Command 3.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 3.7.7 (6)
b0 CSTR Positioning Start: “ON” for Movement Command 3.7.7 (7)

29
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
Current Position: 32-bit Signed Integer
The unit is 0.01mm.
Current (Example)
32bits ⎯ 3.9 (1)
Position Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
When the value is read in hexadecimal notation, the negative
3. ACON-C/CG, PCON-C/CG

figure is expressed as a compliment of 2.

16-bit Integer
Completed It is moved to the target position and the positioning completed
Position position No. within the positioning width is output.
No. PM1 to In the case that the position movement has not been performed
16bits 3.9 (1)
(Simplified PM512 at all, or during the movement, “0” is output.
Alarm When an alarm is issued (in the case that the status signal ALM
CODE) is “ON”), the simplified alarm code (Refer to the instruction
manual for the controller main body) is output.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 3.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 3.7.7 (1)
b13 ZONE2 Zone 2: “ON” with the current position within the zone set range 3.7.7 (12)
b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 3.7.7 (12)
PLC Input

Position Zone:
b11 PZONE 3.7.7 (12)
“ON” with the current position within the position zone set range
Teaching Mode Signal;
b10 MODES 3.7.7 (16)
“ON” during teaching mode selection
Position Data Import Completion:
b9 WEND 3.7.7 (17)
“ON” for import completion
Operation Mode Status:
Status b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 3.7.7 (19)
Signal mode
b7
⎯ Unavailable ⎯
b6
b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 3.7.7 (27)
b4 SV Operation Ready: “ON” with Servo ON 3.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 3.7.7 (3)
Under Movement Signal:
b2 MOVE 3.7.7 (9)
“ON” during Actuator Movement
Homing Completion
b1 HEND 3.7.7 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 3.7.7 (10)
“ON” with Positioning Completion

30
 CC-Link

3.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two
Stations)
This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and
pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is
used, set it using the parameter Nos. 1, 2, 23 and 24.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
○:Direct Control

3. ACON-C/CG, PCON-C/CG
Robot Cylinder Function △:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○

Different Acceleration Speed

×
Operation in Deceleration

Pause ○
Zone Signal Output △ Parameter setting is required.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter Acon or Pcon side Acon or Pcon side
PLC side PLC side
No.84 Input register Output register
2 RY n0 to nF RX n0 to nF
Occupied Area RY (n+1)0 to (n+1)F Occupied Area RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Current Speed
Acceleration/Deceleration RWw (n+5) RWr (n+5)
Pressing Current Limit
RWw (n+6) Alarm code RWr (n+6)
Value
Control signal RWw (n+7) Status Signal RWr (n+7)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

31
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 8 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.
3. ACON-C/CG, PCON-C/CG

z The speed is expressed using 1-word (16 bits) binary data. The figures from 0 to +65535 (Unit:
1.0mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value for the
actuator in question.
z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to
300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 255 (100%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255

Pressing Current Limit Value 10% 50% 100%

z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

32
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

3. ACON-C/CG, PCON-C/CG
RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

Width 64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Speed
8

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Acceleration/
256

128

64

32

16
⎯

Deceleration

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pressing
128

64

32

16

Current
⎯

Limit Value

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

HOME
PUSH

DSTR
JOG+
BKRL

Control
JOG-

JVEL

SON

RES
JISL

STP
DIR

signal

33
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)
3. ACON-C/CG, PCON-C/CG

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Current 128

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ZONE2

ZONE1
EMGS

MOVE
RMDS

HEND

PEND
PSFL

Status
PWR

ALM
SV
⎯

Signal

34
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits

3. ACON-C/CG, PCON-C/CG
⎯ When it is “+25.41mm”, set it as “2541”. 3.9 (2)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01mm and settable range is between +1 to
+999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 3.9 (2)
Width Data 1) In the case of positioning operation, it shows the allowable
PLC Output

range from the target position, that is regarded as the

positioning completion.
2) In the case of pressing operation, it shows the pressing width
value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
16-bit Integer
Set the speed in movement.
Unit is 1.0mm/sec and settable range is between 0 and 65535.
16bits Deceleration stop if and to specify in motion 0. It under
Speed ⎯ 3.9 (2)
Data suspension, it will remain stopped on the spot.
(Example) In the case of “254.0mm/sec”, set it as “254”.
When the movement command is set with the value bigger than
the max. speed, an alarm is issued.
16-bit Integer
Set the acceleration/deceleration in movement (The same value
is applied both to acceleration and deceleration).
Acceleration/ 16bits The unit is 0.01G and settable range is between 1 and 300.
⎯ 3.9 (2)
Deceleration Data (Example) In the case of “0.30G”, set is as “30”.
When the movement command is set with the value of “0” or
bigger than the max. acceleration/deceleration value, an alarm
is issued.

35
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
16-bit Integer
Set the current limit in pressing operation.
Pressing
The settable range is between 0 (0%) and 255 (100%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 3.9 (2)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
3. ACON-C/CG, PCON-C/CG

When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
b15 BKRL Brake Forcible Release: “ON” for brake release 3.7.7 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
b14 RMOD 3.7.7 (19)
Mode
Pressing Direction Setup
”OFF” for the direction reducing the positioning width from the
b13 DIR 3.7.7 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup: “OFF” for Positioning Operation, “ON” for
b12 PUSH 3.7.7 (21)
PLC Output

Pressing Operation
b11
b10 ⎯ Unavailable ⎯

b9
Control b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 3.7.7 (13)
signal b7 JOG- - Jog: “ON” for Movement to the Home Direction 3.7.7 (13)
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set using the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 3.7.7 (14)
“ON” for using the values set using the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 3.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 3.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 3.7.7 (4)
b2 STP Pause: “ON” for Pause Command 3.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 3.7.7 (6)
b0 DSTR Positioning Command: “ON” for Movement Command 3.7.7 (8)

36
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Integer with a Symbol
The unit is 0.01mm.
Current 32bits (Example)
⎯ 3.9 (2)
Position Data Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.

3. ACON-C/CG, PCON-C/CG
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ 3.9 (2)
Current Data The unit is mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Integer with a Symbol
It shows the current speed.
Positive Figure: Under movement in the opposite direction of home
Negative Figure: Under movement in the home direction
Current 32bits The unit is 0.01mm/sec.
⎯ 3.9 (2)
Speed Data (Example)
Read Value: 000003FFH = 1023 (decimal system)
= 10.23mm/sec
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
⎯ When any alarm is not issued, it is “0H”. 3.9 (2)
PLC Input

code Data
Refer to the instruction manual for the controller main body for
the details of the alarms.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 3.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 3.7.7 (1)
b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 3.7.7 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 3.7.7 (12)
b11
b10 ⎯ Unavailable ⎯

b9
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 3.7.7 (19)
mode
Status
Signal b7
⎯ Unavailable ⎯
b6
b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 3.7.7 (23)
b4 SV Operation Ready: “ON” with Servo ON 3.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 3.7.7 (3)
Movement Signal:
b2 MOVE 3.7.7 (9)
“ON” with Actuator Movement
Homing Completion
b1 HEND 3.7.7 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 3.7.7 (10)
“ON” with Positioning Completion

37
 CC-Link

3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four
stations)
This is the operation mode with all the values (target position, speed, etc.) set up directly using values from
PLC.
Set each value in the I/O data register.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

Robot Cylinder Function

○:Direct Control
×:Disabled
3. ACON-C/CG, PCON-C/CG

Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○
Different Acceleration Speed ○
Operation in Deceleration ○
Pause ○
Zone Signal Output ○
PIO Pattern Selection ×
(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter Acon or Pcon side Acon or Pcon side
PLC side PLC side
No.84 Input register Output register
3 RY n0 to nF RX n0 to nF
RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
Occupied Area RY (n+3)0 to (n+3)F Occupied Area RX (n+3)0 to (n+3)F
RY (n+4)0 to (n+4)F RX (n+4)0 to (n+4)F
RY (n+5)0 to (n+5)F RX (n+5)0 to (n+5)F
RY (n+6)0 to (n+6)F RX (n+6)0 to (n+6)F
System Area RY (n+7)0 to (n+7)F System Area RX (n+7)0 to (n+7)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
RWw (n+4) RWr (n+4)
Speed Current Speed
RWw (n+5) RWr (n+5)
RWw (n+6) Alarm code RWr (n+6)
Zone Value “+”
RWw (n+7) RWr (n+7)
RWw (n+8) RWr (n+8)
Zone Value “-”
RWw (n+9) RWr (n+9)
Acceleration RWw (n+A) RWr (n+A)
Deceleration RWw (n+B) RWr (n+B)
Occupied Area
Pressing Current
RWw (n+C) RWr (n+C)
Limit Value
ACON Occupied Area
RWw (n+D) RWr (n+D)
PCON Load Current Threshold
Control signal 1 RWw (n+E) RWr (n+E)
Control signal 2 RWw (n+F) Status Signal RWr (n+F)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

38
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 16 words for each I/O bit register.
z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.

3. ACON-C/CG, PCON-C/CG
z The speed is expressed using 2-word (32 bits) binary data. The figures from 0 to +999999 (Unit:
0.01mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value for the
actuator in question.
z The Acceleration and Deceleration are expressed using 1-word (16 bits) binary data. The figures
from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 255 (100%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 127 255

Pressing Current Limit Value 10% 50% 100%

z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary
data. The figures from 0 (0%) to 255 (100%) can be set in PLC (Refer to pressing current limit value
(above figure)).
z Zone Value “+” and Zone Value “-” are expressed using 2-word (32 bits) binary data. The figures
from -999999 to +999999 (Unit: 0.01mm) can be set in PLC. However make sure to set the smaller
value for the Zone Value “-” than that for the Zone Value “+”.
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

39
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target Position
(Slave Word)
3. ACON-C/CG, PCON-C/CG

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target Position
(Host Word)

When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Width 128

64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning

524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

Speed
512

256

128

64

32

16

1
(Slave Word)

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

524,288

262,144

131,072

65,536

Speed
⎯

(Host Word)

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Slave Word)

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Host Word)
When the zone is shown using the negative figure, it is expressed using the complement of 2.

40
 CC-Link

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Zone Value
“-”
(Slave Word)

3. ACON-C/CG, PCON-C/CG
RWw (n+9) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Zone Value
“-”
(Host Word)
When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+A) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

256

128

64

32

16
⎯

Acceleration

1
RWw (n+B) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
256

128

64

32

16
⎯

Deceleration

1
RWw (n+C) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Pressing
128

64

32

16

Current
⎯

1
Limit Value

RWw (n+D) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Load Current
128

Threshold
64

32

16
⎯

(*3)

RWw (n+E) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
PUSH
ASO1

ASO0

INC

DIR
(*1)

(*2)

position
⎯

number 1

RWw (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
RMOD

HOME

DSTR
JOG+
BKRL

JVEL
JOG-

SON

RES
JISL

STP

position
⎯

number 2
(*1) RWw (n+E) b10 Signal Allocation (*2) RWw (n+E) b7 and b6 Signal Allocation
Symbol Symbol
Controller ACON PCON Controller ACON PCON
b10 ⎯ SMOD b7 MOD1 ⎯
b6 MOD0 ⎯
(*3) This function is only for PCON. It can not be used in ACON.

41
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

3. ACON-C/CG, PCON-C/CG

Current Position
(Host Word)
When the current position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128
Current

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

⎯
(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) to
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
RWr (n+F)

Unavailable

RWr (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PZONE
ZONE2

ZONE1

GHMS
EMGS

MOVE
RMDS

HEND
PUSH

PEND
PSFL

Status
PWR

ALM
(*1)

SV

Signal

(*1) RWr (n+F) b10 and b9 Signal Allocation

Symbol
Controller ACON PCON
b10 ⎯ LOAD
b9 ⎯ TRQS

42
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 3.9 (3)

3. ACON-C/CG, PCON-C/CG
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01mm and settable range is between +1 to
+999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 3.9 (3)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
2) In the case of pressing operation, it shows the pressing width
PLC Output

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
32-bit Integer
Set the speed in movement.
Unit is 0.1mm/sec and settable range is between 0 and 999999.
32bits Deceleration stop if and to specify in motion 0. It under
Speed ⎯ 3.9 (3)
Data suspension, it will remain stopped on the spot.
(Example) In the case of “254.1mm/sec”, set it as “2541”.
When the movement command is set with the value bigger than
the max. speed, an alarm is issued.
32-bit Integer with a Symbol
Apart from the zone specified using the parameter setting, the
zone signal effective after the homing operation is output.
When the current position is inside of this “+” Value, the status
signal “PZONE” is turned “ON”.
Zone
The unit for setting is 0.01mm and settable range is between
Value “+” 32bits
⎯ –999999 and +999999. 3.9 (3)
Zone Data
Input the value satisfying the relationship of “Zone Value “+” >
Value “-”
Zone Value “-””.
When this function is not to be used, the same value is applied
to both Zone Values.
* When it is input in hexadecimal notation, input the negative
value using a compliment of 2.

43
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
16-bit Integer
16bits Set the acceleration and deceleration in the movement.
Acceleration ⎯
Data The unit is 0.01G and the settable range is from1 to 300.
(Example)
3.9 (3)
When it is 0.30G, set it as “30”.
16bits When the movement command is issued with the value of
Deceleration
3. ACON-C/CG, PCON-C/CG

⎯
Data “0” or bigger than the max. acceleration/deceleration value,
an alarm is output.
16-bit Integer
Set the current limit in the pressing operation.
Pressing The settable range is between 0 (0%) and 255 (100%).
Current 16bits The actual settable range varies depending on each
⎯ 3.9 (3)
Limit Data actuator. (Refer to the catalog or instruction manual for the
Value actuator).
When the movement command is set with the value bigger
than the max. pressing current value, an alarm is issued.
16-bit Integer
Load Set the current threshold in this register when whether or
16bits
Current ⎯ not the load current exceeds the threshold is judged. 3.9 (3)
Data
Threshold The settable range is between 0 (0%) and 255 (100%).
When the judgment is not to be performed, set it to “0”.
b15
b14
PLC Output

b13 ⎯ Unavailable ⎯

b12
b11
ACON

⎯ Unavailable ⎯

b10
PCON

Stop Control Mode: “ON” for servo control while it is

SMOD 3.7.7 (28)
stopped

Select stop mode while standing by

Control
Stop ASO1 ASO0 Functions
signal 1 b9 ASO1
Mode 1 Disable
OFF OFF
(Servo is ON at all times)
Sever turns OFF in time
OFF ON 3.7.7 (30)
set in Parameter No. 36
Sever turns OFF in time
Stop ON OFF
b8 ASO0 set in Parameter No. 37
Mode 0 Sever turns OFF in time
ON ON
set in Parameter No. 38

Acceleration/Deceleration Mode
b7 MOD1
MOD1 MOD0 Functions
ACON

OFF OFF Trapezoid Pattern 3.7.7 (29)

OFF ON S-shaped Motion
b6 MOD0
ON OFF First-Order Lag Filter

44
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details

b7

PCON
⎯ Unavailable ⎯

b6

b5

3. ACON-C/CG, PCON-C/CG
⎯ Unavailable ⎯
b4
Incremental Command
b3 INC “OFF” for Absolute Position Command, “ON” for Relative 3.7.7 (24)
Control
Position Command
signal 1
Pressing Direction Setup:
“OFF” for the direction reducing the positioning width from
b2 DIR 3.7.7 (22)
the target position, “ON” for the direction adding the
positioning width from the target position
Pressing Setup:
b1 PUSH “OFF” for Positioning Operation, “ON” for Pressing 3.7.7 (21)
Operation
b0 ⎯ Unavailable ⎯

b15 BKRL Brake Forcible Release: “ON” for brake release 3.7.7 (18)
Operation mode:
b14 RMOD 3.7.7 (19)
PLC Output

“OFF” for Auto mode, “ON” for MANU mode

b13
b12
b11 ⎯ Unavailable ⎯

b10
b9
+ Jog: “ON” for Movement in the Opposite Direction of
b8 JOG+ 3.7.7 (13)
Home
b7 JOG- - Jog: “ON” for Movement to the Home Direction 3.7.7 (13)
Control
signal 2 Jog Speed/Inching Distance Change-Over:
“OFF” for using the values set using the Parameter No. 26
b6 JVEL “Jog Speed” and Parameter No. 48 “Inching Distance” 3.7.7 (14)
“ON” for using the values set using the Parameter No. 47
“Jog Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over:
b5 JISL 3.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 3.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 3.7.7 (4)
b2 STP Pause: “ON” for Pause Command 3.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 3.7.7 (6)
b0 DSTR Positioning Start: “ON” for Movement Command 3.7.7 (8)

45
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Signal name Description Details
32-bit Signed Integer
The unit is 0.01mm.
Current 32bits (Example)
⎯ 3.9 (3)
Position Data Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
* When the value is read in hexadecimal notation, the negative figure
is expressed as a compliment of 2.
3. ACON-C/CG, PCON-C/CG

32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ 3.9 (3)
Current Data The unit is mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Signed Integer
It shows the current speed.
Positive Figure: Under movement in the opposite direction of the
home
Current 32bits Negative Figure: Under movement in the home direction
⎯ 3.9 (3)
Speed Data The unit is 0.01mm/sec.
(Example)
Read Value: 000003FFH = 1023 (decimal system) = 10.23mm/sec
* When it is read in hexadecimal notation, input the negative value
using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
⎯ When any alarm is not issued, it is “0”. 3.9 (3)
code Data
Refer to the instruction manual for the controller main body for the
details of the alarms.
PLC Input

b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 3.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 3.7.7 (1)
b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 3.7.7 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 3.7.7 (12)
Position Zone:
b11 ＰZONE 3.7.7 (12)
“ON” when the current position is within the position zone set range
ACON ⎯ Unavailable (ON/OFF is undefined) ⎯
Load Output Judgment
b10 “ON” for Reached “OFF” for Not reached
PCON LOAD 3.7.7 (26)
(Refer to the instruction manual for the controller main body for more
information).
ACON ⎯ Unavailable (ON/OFF is undefined). ⎯
Status Torque Level:
Signal b9 “ON” for Reached “OFF” for Not Reached
PCON TRQS 3.7.7 (27)
(Refer to the instruction manual for the controller main body for more
information).
Operation Mode Status:
b8 RMDS 3.7.7 (19)
“OFF” for currently “AUTO” mode, “ON” for currently “MANU” mode
b7 GHMS Under Homing Operation: “ON” for Homing Operation 3.7.7 (6)
b6 PUSHS Under Pressing Operation: “ON” for Pressing Operation 3.7.7 (25)
b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 3.7.7 (23)
b4 SV Operation Ready: “ON” with Servo ON 3.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 3.7.7 (3)
b2 MOVE Movement Signal: “ON” with Actuator Movement 3.7.7 (9)
b1 HEND Homing Completion: “ON” with Homing Completion 3.7.7 (6)
b0 PEND Positioning Completion Signal: “ON” with Positioning Completion 3.7.7 (10)

46
 CC-Link

3.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the RC personal computer application software or teaching pendant. The number of operable
positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
Parameter No. 25 Set Value Operation Mode I/O Specifications

3. ACON-C/CG, PCON-C/CG
0 Positioning mode 64 positioning points and 2 zone output points
1 Teaching mode 64 positioning points and 1 zone output point
The positioning and jog operations are available.
The current position can be written on the setup position
data.
2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
4 Electromagnetic 7 positioning points and 2 zone output points
valve mode 1 The direct operation command is available for each
position No.
The positioning completion signal is output for each
position No.
5 Electromagnetic 3 positioning points and 2 zone output points
valve mode 2 It is operated with the Forward/Backward/Intermediate
Position Commands.
The positioning completion signal is output individually
for each Forward End/Backward End/Intermediate
Positions.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
PIO Pattern
Robot Cylinder Function 0: 1: 2: 3: 4: 5:
Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic
mode mode mode mode valve mode 1 valve mode 2
Homing ○ ○ ○ ○ ○ ×
Positioning ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ ×
Speed change during the
○ ○ ○ ○ ○ ○
movement
Different Acceleration
Speed ○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1)
Zone Signal Output ○ ○ ○ × ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○
(Set using the parameters)

O: Operation Available X: Operation Unavailable

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

47
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter Acon or Pcon side Acon or Pcon side
PLC side PLC side
No.84 DI and Input register DO and Output register
4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Current Position
RWw (n+1) RWr (n+1)
3. ACON-C/CG, PCON-C/CG

Occupied Area
RWw (n+2) RWr (n+2)
Command Current
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signal for each axis consists of 1 word for each I/O bit register.
The I/O signal for each axis consists of 4 words for each I/O data register.
z The I/O bit register controls with the ON/OFF signal in units of bit.
z The current position is expressed using 2-word (32 bits) binary data (Unit: 0.01mm).
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Input Port
15

14

13

12

10
11

No. 0

48
 CC-Link

PLC Input (* “n” shows the head register address per each axis).

Address one word = 16 bits

RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11
Output

0
Port No.

3. ACON-C/CG, PCON-C/CG
Address one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Current
8

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

49
 CC-Link

(3) I/O Signal Allocation

Refer to “3.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation.

The signal allocation for the Command Current and Current Position, is shown in the following table.
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01mm.
3. ACON-C/CG, PCON-C/CG

Current 32bits (Example)

⎯ ⎯
Position Data Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
PLC Input

* When the value is read in hexadecimal notation, the negative

figure is expressed as a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ ⎯
Current Data The unit is 1mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA

50
 CC-Link

3.7.7 I/O Signal Control and Functions

* “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “0”.
The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode
and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and
Remote I/O Mode 2, refer to the instruction manual for the controller main body.

(1) Controller Ready (PWR) PLC Input Signal

3. ACON-C/CG, PCON-C/CG
When the controller can control the system after power up, it is turned “ON”.
„ Function:
Regardless of the alarm or servo conditions, when the controller initialization is completed normally
after power up and the controller can control the system, it is turned “ON”.
Even in the alarm condition, when the controller can control the system, it is turned “ON”.

(2) Emergency Stop (EMGS) PLC Input Signal

When the controller is stopped in an emergency, it is turned “ON”.
„ Function:
When the controller is stopped in an emergency (motor driving power is cut off), it is turned “ON”. When
the emergency stop status is cleared, it is turned “OFF”.

(3) Alarm (ALM) PLC Input Signal

When any error is detected using the controller protection circuit (function), it is turned “ON”.
„ Function:
When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”.
When the cause of the alarm is eliminated and the reset signal is turned “ON”, the alarm is turned
“OFF” in the case that it is the alarm with the operation cancellation level (In the case of the alarm with
the cold start level, cycling the power is required).
When the alarm is detected, the Status Indicator LED (Refer to “3.3 CC-Link Interface”) on the front
surface of the controller illuminates in red.

(4) Reset (RES) PLC Output Signal

This signal has two functions. It can reset the controller alarm and cancel the reminder for planned
movements during pause conditions.
„ Function:
1. When this signal is turned ON from OFF condition after eliminating the cause of the alarm during
the alarm output, the alarm (ALM) signal can be reset (in the case of the alarm with the cold start
level, cycling the power is required).
2. When this signal is turned ON from OFF condition during the pause condition, the reminder of the
planned movement left can be cancelled.

51
 CC-Link

(5) Servo ON Command (SON) PLC Output Signal

Operation Ready (SV) PLC Input Signal
When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON,
the Status Indicator LED (Refer to “3.3 CC-Link Interface”) on the front surface of the controller
illuminates in green.
The “SV” signal is synchronized with this LED.
„ Function:
Using the “SON” signal, the turning ON/OFF of the controller is available.
3. ACON-C/CG, PCON-C/CG

While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes
available.
The relationship between the “SON” signal and “SV” signal is as follows.

(PLC→ACON, PCON)

(ACON, PCON→PLC)

52
 CC-Link

(6) Homing (HOME) PLC Output Signal

Homing Completion (HEND) PLC Input Signal
Under Homing Operation (GHMS) PLC Input Signal
When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the
homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned
“ON”.

3. ACON-C/CG, PCON-C/CG
When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal. Once the “HEND” signal is
turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input
again.
Even after the completion of the homing operation, when the “HOME” signal is turned “ON”, the homing
operation can be performed.

Caution: In the Remote I/O mode, Remote I/O Mode 2 and Position/Simplified Direct Value
Mode, when the positioning command is issued without performing the homing
operation after power up, the positioning is performed after the automatic homing
operation. However, it is limited to only once after power up.
In the Half Direct Value Mode and Full Direct Value Mode, when the positioning
command is issued without performing the homing operation after power up, the alarm
for the “Error Code 83: ALARM HOME ABS (Absolute Position Movement Command
in the Homing Unfinished Condition)” is issued (Operation Cancellation Level). Take
the greatest care.

53
 CC-Link

(7) Positioning Start (CSTR): Used in Position/Simplified Direct Value Mode,

PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning is performed to the target position
with the specified position No. or set using the PLC's target position register.
Whether if the target position with the specified position No. is used or the setting using the PLC's
target position register is used, depends on the Control Signal b11: “Position/Simplified Direct Value
Change-Over (PMOD) Signal”.
3. ACON-C/CG, PCON-C/CG

• PMOD = OFF: Target position data for the specified position No. is used.
• PMOD = ON: Value for the target position set using the PLC's target position register is used.

When this signal is issued in the condition where the homing operation has not performed at all after
the power injection (HEND signal OFF), the positioning to the target position is performed after the
homing operation is performed automatically.
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC→ACON, PCON)

CSTR
(PLC→ACON, PCON)

PEND
(ACON, PCON→PLC)

(8) Positioning Command (DSTR): Used in Half Direct Value Mode or Full Direct Value
Mode, PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning to the target position input in the
PLC's target position register is performed. When this signal is issued in the condition where the
homing operation has not performed at all after the power injection (HEND signal OFF), an alarm is
issued (Operation Cancellation Level).
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC→ACON, PCON)

DSTR
(PLC→ACON, PCON)

PEND
(ACON, PCON→PLC)

(9) Under Movement Signal (MOVE), PLC Input Signal

This signal is turned ON while the actuator's slider or rod is moving (including the pressing or jog
operation after the homing operation).
After the completion of the positioning, homing or pressing operation, or during the pause condition, this
signal is turned “OFF”.

54
 CC-Link

(10) Positioning Completion Signal (PEND) PLC Input Signal

This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning
width and the pressing is completed.

Timing for turning ON the Positioning

Completion Signal
Speed
Target Position

3. ACON-C/CG, PCON-C/CG
Travel Distance
Time
Positioning Width

When the servo-motor is turned ON from OFF condition, the positioning is performed with the position
set as the target position. Accordingly, this signal is turned “ON” and after that, when the positioning
operation is started with the homing (HOME) signal, positioning start (CSTR) signal and positioning
command (DSTR) signal, this signal is turned “OFF”.

Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is
stopped at the target position, the PEND signal is turned “OFF” temporarily.
Then, when the servo-motor is turned “ON” and the actuator is within the positioning
width, the PEND signal is turned “ON” again.
When the positioning is completed with the CSTR signal or DSTR signal turned “ON”,
the PEND signal is not turned “ON”.

(11) Pause (STP) PLC Output Signal

When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned
“OFF”, the actuator movement is restarted.
The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the
value for the acceleration/deceleration for the position No. set using the specified position No. register
in the Position/Simplified Direct Value Mode, and as the value set in the acceleration/deceleration
register in the Half Direct Value Mode.
In the Full Direct Value Mode, the value is expressed as the value set in the acceleration register or
deceleration register.

55
 CC-Link

(12) Zone 1 (ZONE 1) PLC Input Signal

Zone 2 (ZONE 2) PLC Input Signal
Position Zone (PZONE) PLC Input Signal
These signals are turned ON when the current position of the actuator is within the set area and turned
OFF when the current position is out of the set area.
1) Zone 1, Zone 2
3. ACON-C/CG, PCON-C/CG

The zone is set using the user parameters.

The Zone 1 Signal is set using the parameter No. 1 “Zone 1 “+” Side” and No. 2 “Zone 1 “-” Side”.
The Zone 2 Signal is set using the parameter No. 23 “Zone 2 “+” Side” and No. 24 “Zone 2 “-” Side”.
The Zone 1 Signal and Zone 2 Signal become effective when the homing operation is completed.
After that, even during the servo OFF, it is effective.

2) Position Zone
The zone is set using the position table I/O data register.
In the case of the Position/Simplified Direct Value Mode, the PZONE signal is set using the position
table.
In the case of the Full Direct Value Mode, the PZONE signal is set using the Zone Value Register.
(*) In the Half Direct Value Mode, there is no PZONE signal.
The PZONE signal becomes effective with the movement command after the homing operation. After
that, even during the servo OFF, it is effective.

Zone Signal

Actuator Operation "+" Direction

Home
Zone Setting Zone Setting
"-" Side "+" Side

56
 CC-Link

(13) “+” Jog (JOG+) PLC Output Signal

“-” Jog (JOG-) PLC Output Signal
This signal is the command for the jog operation startup or inching operation startup.
In the case of the “+” command, the movement direction is to the opposite of the home and in the case
of the “-” command, the movement direction is to the home.

1) Jog Operation

3. ACON-C/CG, PCON-C/CG
The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”.
While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it
is turned “OFF”, the actuator is decelerated and stopped.
While the “JOG-” is turned “ON”, the movement direction is to the home, and when it is turned OFF,
the actuator is decelerated and stopped.
The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF : The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON : The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).
• When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.
2) Inching Operation
The inching operation is available while the JISL signal is turned “ON”.
Once it is turned “ON”, the actuator is moved as much as the inching distance.
When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is
turned “ON”, the movement is to the home.
The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF : The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON : The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Travel Distance is based on the set values of the following parameters.
JVEL Signal OFF : The travel distance is based on the parameter No. 48 “PIO Inching Distance”
value.
JVEL Signal ON : The travel distance is based on the parameter No. 49 “PIO Inching Distance 2”
value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).

During the normal operation, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the normal
operation is continued (The Jog signal is ignored).
In the pause condition, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the actuator is not
moved.

Note: Because the software stroke limit is disabled before the homing operation, the actuator might run against the
mechanism end. Take the greatest care.

57
 CC-Link

(14) Jog Speed/Inching Distance Change-Over (JVEL) PLC Output Signal

This change-over signal is used for the parameters specifying the jog speed when the jog operation is
selected or the inching distance when the inching operation is selected.
The relationship is as follows:

JVEL Signal Jog Operation : JISL = OFF Inching Operation: JISL = ON

Parameter No. 26 “Jog Speed”
OFF Parameter No. 26 “Jog Speed”
Parameter No. 48 “Inching Distance”
3. ACON-C/CG, PCON-C/CG

Parameter No. 47 “Jog Speed 2”

ON Parameter No. 47 “Jog Speed 2”
Parameter No. 49 “Inching Distance 2”

(15) Jog/Inching Change-Over (JISL) PLC Output Signal

This signal changes over the jog operation and the inching operation.
JISL = OFF: Jog Operation
JISL = ON: Inching Operation
When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is
decelerated and performs the inching operation.
When the JISL signal is turned “OFF” (for jog operation) during the inching operation, the actuator
performs the jog operation after the movement is completed.
The relationship between the JISL Signal and Jog Speed/Inching Distance Change-Over (JVEL) Signal
ON/OFF is described as follows.

Jog Operation Inching Operation

JISL OFF ON
Speed Parameter No. 26 “Jog Speed” Parameter No. 26 “Jog Speed”
Travel Distance ⎯ Parameter No. 48 “Inching Distance”
JVEL = OFF
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
Speed Parameter No. 47 “Jog Speed 2” Parameter No. 47 “Jog Speed 2”
Travel Distance ⎯ Parameter No. 49 “Inching Distance 2”
JVEL = ON
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
When the JOG+/Jog- startup (ON
Operation When JOG+/JOG- is “ON”:
edge) is detected:

58
 CC-Link

(16) Teaching Mode Command (MODE) PLC Output Signal

Teaching Mode Signal (MODES) PLC Input Signal
When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode.
When the mode for the controllers for each actuator is changed to the teaching mode, the MODES
signal is turned ON.
After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.

Note: In order to change the normal operation mode to the teaching mode, the following conditions are required.

3. ACON-C/CG, PCON-C/CG
• The actuator operation (motor) is stopped.
• The + JOG (JOG+) signal and – JOG (JOG-) signal are turned “OFF”.
• The Position Data Import Command (PWRT) Signal and Positioning Start (CSTR) Signal are turned
“OFF”.

Note: When the PWRT signal is not turned OFF, the mode is not returned to the normal operation mode.

(17) Position Data Import Command (PWRT) Signal PLC Output Signal
Position Data Import Completion (WEND) Signal PLC Input Signal
The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”.
Turn ON the PWRT signal (*1). Then, the current position data will be written in the position data box for
the position No. set using the PLC's specified Position No. register (*2).
When the data writing is completed, the WEND signal is turned “ON”.
After the WEND signal is turned ON, turn OFF the PWRT signal in the host machine.
When the PWRT signal is turned ON before the WEND signal is turned “ON”, the WEND signal is not
turned “ON”.
When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
(*1) Turn it ON for 20msec or more. If the time is shorter than 20msec, the writing is not completed.
(*2) When the data items except for the position have not been defined, the parameter initial values are
written (Refer to the instruction manual for the controller main body).

MODES
(ACON, PCON→PLC) 20msec or more

PWRT
(PLC→ACON, PCON)

WEND
(ACON, PCON→PLC)

(18) Brake Forcible Release (BKRL) Signal PLC Output Signal

Turning this signal “ON” can release the brake forcibly.

59
 CC-Link

(19) Operation Mode (RMOD) PLC Output Signal

Operation Mode Status (RMDS) PLC Input Signal
The operation mode is selected with the RMOD signal and the MODE switch located on the front
surface of the controller.
Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal.
The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are
described as follows.
3. ACON-C/CG, PCON-C/CG

Controller MODE Controller MODE

Switch set to “AUTO” Switch set to “MANU”
RMOD Signal “OFF” AUTO Mode MANU Mode
(AUTO Mode Command) (RMDS = OFF) (RMDS = ON)
RMOD Signal “ON” MANU Mode MANU Mode
(MANU Mode Command) (RMDS = ON) (RMDS = ON)

Note: In MANU mode, the startup of the operation from PLC is not available.

(20) Position/Simplified Direct Value Change-Over (PMOD) PLC Output Signal

This signal changes over the use of the value registered in the controller position table for the target
position in the movement and the use of the value specified in the PLC's target position register.
PMOD = OFF : Using the value register in the Position Table
PMOD = ON : Using the value specified in the Target Position Register

(21) Pressing Setup (PUSH) PLC Output Signal

When the movement command signal is output after this signal is turned ON, the pressing operation is
performed.
When this signal is set to “OFF”, the normal positioning operation is performed.
(Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this
signal).

(22) Pressing Direction Setup (DIR) PLC Output Signal

This signal specifies the pressing direction.
When this signal is turned “OFF”, the pressing operation is performed to the position expressed using
the value reducing the positioning width from the target position.
When this signal is turned ON, the pressing operation is performed to the position expressed using the
value adding the positioning width to the target position.
In the case of the normal pressing operation, this signal is disabled.
(Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this
signal).

Speed

Travel Distance

Positioning Width Positioning Width Positioning Width

When DIR = OFF: Target Position When DIR = ON:

60
 CC-Link

(23) Pressing and a Miss (PSFL) PLC Input Signal

In the case that the pressing operation was performed, and the actuator moved the travel distance set
in the controller position table positioning width or set using the PLC's positioning width register, but it
was not pushed against the work, this signal is turned “ON”.
(Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this
signal).

(24) Incremental Command (INC) PLC Output Signal

3. ACON-C/CG, PCON-C/CG
When the movement command is issued while this signal is turned “ON”, the actuator is moved to the
position expressed as the value input in the PLC's target position register based on the current position
(Incremental Movement).
When this signal is turned “OFF”, the actuator is moved to the position expressed as the value set in
the PLC's target position register.

(25) Under Pressing Operation (PUSHS) PLC Input Signal

This signal is turned “ON” during the pressing operation.

Speed
Target Position

Travel Distance

Positioning Width
PUSHS=ON

This signal is turned “OFF” when the pressing and a miss signal or the next movement command signal
is output, or the servo-motor is turned “OFF”.
(Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this
signal).

61
 CC-Link

(26) Load Output Judgment (LOAD) PLC Input Signal PCON Dedicated Function
This signal is available only in the pressing operation.
When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is
reached during the pressing operation.
The load threshold and inspected width range are set using the PLC's register. When the command
torque (motor current) exceeds the threshold within the inspected width range, this signal is turned
“ON”.
3. ACON-C/CG, PCON-C/CG

This signal judges the load output based on the fact that the command torque excesses the threshold
for the specified time period.
This processing procedure is the same as for the pressing judgment. The judgment time period can be
changed freely using the parameter No. 50 “Load Output Judgment Time Period”.
This signal is continued until the next movement command is received.

Position where the actuator is pushed

Position where this signal is turned ON against the work and the pressing completion is
when the command torque exceeds the threshold judged so the positioning completion signal is turned "ON"
within the torque inspected width range

Speed inspected width

range

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the parameter No. 51 “Torque Inspected Range” to “0” (enabled).
• Set the threshold inspected width using the PLC's Zone Value + Register or Zone Value - Register.
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: • If the actuator pushes against the work before the target position, it is regarded as a
servo-motor error.
Take care of the positional relationship between the target position and the work position.
• The actuator continues to push the work with the pressing current at the stop time
decided with the current limit value. It is not the stop condition, so take the greatest care
to deal with it.

62
 CC-Link

(27) Torque Level (TRQS) PLC Input Signal PCON Dedicated Function
This signal is available only in the pressing operation.
When the motor current reaches the load threshold during the pressing operation (moving up to the
positioning width), this signal is turned “ON”.
Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
The speed available for the pressing varies depends on the motor and leads, it is required to adjust the
parameters.

3. ACON-C/CG, PCON-C/CG
Position where the actuator is pushed against the work and the pressing
completion is judged so the positioning completion signal is turned "ON"

Speed

Range where this signal is output

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the parameter No. 51 “Torque Inspected Range” to “1” (disabled).
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: • If the actuator pushes against the work before the target position, it is regarded as a
servo-motor error.
Take care of the positional relationship between the target position and the work position.
• The actuator continues to push the work with the pressing current at the stop time
decided with the current limit value. It is not the stop condition, so take the greatest care
to deal with it.

63
 CC-Link

(28) Stop Control Mode (SMOD) PLC Output Signal PCON Dedicated Function
One of the pulse motor general characteristics is that that the holding current in the stop mode is larger
than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position,
the measure to reduce the power consumption at the stop mode is taken as one of the energy saving
measures.
SMOD = ON: Full Servo Control System is used in the standby condition.
SMOD = OFF: Standby Condition
3. ACON-C/CG, PCON-C/CG

• Full Servo Control System

By means of servo control of the pulse motor, the holding current can be reduced.
The reduction level varies depending on the actuator type or load conditions. However, generally, the
holding current will be 1/2 to 1/4.
The actual holding current can be confirmed in the current monitor window in the personal computer
application software.

Note: Under the condition where any external force is given or depending on the stop position, slight vibration or
abnormal noise might be caused.

After confirming that there would be no trouble in whole system, use this signal.

64
 CC-Link

(29) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signal

ACON Dedicated Function
This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them
before the actuator movement command.
MOD1 MOD0 Pattern Name Remarks
OFF OFF Trapezoid Pattern Set in delivery
OFF ON S-shaped Motion

3. ACON-C/CG, PCON-C/CG
ON OFF First-Order Lag Filter
ON ON Unavailable

Trapezoid Pattern
Speed

Acceleration Deceleration

Time
* The Acceleration and Deceleration are set in the “Acceleration” and “Deceleration”
data boxes on the position data.
S-shaped Motion
The S-shaped curve is described where at first in the acceleration, the line is gentle, but along
the way, it suddenly becomes steep.
Use it in such application that setting the acceleration/deceleration rate high is desired
because high tact time is required, but in the movement start or immediately before stop, low
acceleration/deceleration rate is favorable.
Speed

Time
* The S-shaped motion degree is set using the parameter No. 56 “S-Shaped Motion Ratio
Setting”. The setting unit is % and setting range is from “0” to “100”.
(The above figure shows the image graph with the Parameter No. 56 set to “100”.
When it is set to “0”, the S-shaped motion is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.
First-Order Lag Filter
This describes much gentle acceleration/deceleration curve than that for the linear
acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight
vibration to the work in acceleration/deceleration operation.
Speed

Time
* The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter
Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to
“100.0”.
When it is set to “0”, the first-order lag filter is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.

65
 CC-Link

(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal

Select the stop mode for the duration before the movement to the next position after a positioning is
completed.
If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power
consumption.
Refer to the instruction manual for the controller for more information.

ASO1 ASO0 Function Reference

3. ACON-C/CG, PCON-C/CG

OFF OFF Disabled Set in delivery

Automatic Servo OFF Method
OFF ON
Parameter No. 36 is valid for T
Automatic Servo OFF Method
ON OFF
Parameter No. 37 is valid for T
Automatic Servo OFF Method
ON ON
Parameter No. 38 is valid for T

Movement
Command
In automatic servo OFF duration
(Green LED blinks)
Servo
Condition
Servo ON
Condition

Actuator
Moving
Target Position
T : Waiting time (sec) before servo is
T
turned OFF after the positioning is completed

66
 CC-Link

3.8 I/O Signal Timing

When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is expressed
using the following formula.

Max. Response Time (msec) = Yt + Xt + 2 + Command Processing Time (Operation Time, etc.)
Yt: Master Station to Remote I/O Station Transmission Delay Time
Filed Network Transmission Delay Time

3. ACON-C/CG, PCON-C/CG
Xt: Remote I/O Station to Master Station Transmission Delay Time

For the Master Station to Remote I/O Station Transmission Delay Time (Yt) and the Remote I/O Station to
Master Station Transmission Delay Time (Xt), refer to the instruction manuals for the CC-Link Master Unit and
mounted PLC.

PLC Sequence Program

Control Signal

Status Signal

Master Station to Remote Station Remote Station to Master Station

Transmission Delay Time (Yt) Transmission Delay Time (Xt)

ACON, PCON
Control Signal

Status Signal

Command Processing Time

67
 CC-Link

3.9 Operation
The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value
Mode and Full Direct Value Mode, are described.
For the Remote I/O Mode and Remote I/O Mode 2, refer to the instruction manual for the controller main body.
(For the current position and current speed in the Remote I/O Mode, read from the PLC's register from time to
time.)

(1) Operation in the Position/Simplified Direct Value Mode

3. ACON-C/CG, PCON-C/CG

It is operated with the position data written in the PLC's register and the speed, acceleration /
deceleration, positioning width and pressing current limit value, etc. set using the position table.
z Operation Example (General Positioning Operation)
(Preparation) Set the position data items (speed, acceleration/deceleration, positioning width, etc)
except for the target position item, in the position table.
Turn ON the Position/Simplified Direct Value Change-Over Signal (PMOD).

1) Set the target position data in the target position register.

2) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in the
setup position No. register.
3) In the condition where the positioning completion (PEND) signal is turned “ON” or, Under
Movement (MOVE) signal is turned “OFF”, turn “ON” the Positioning Start (CSTR) signal.
The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the
CSTR signal.
4) After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tpdf.
5) After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn “OFF”
the CSTR signal. Do not change the value in the target position register until the CSRT signal is
turned “OFF”.
6) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
7) The current position data is continuously updated. When the remaining travel distance becomes
within the range of the positioning width set in the position data, and the CSTR signal is turned
“OFF”, the PEND signal is turned “ON”. Then, the completed position No. is output to the
completed position No. register.
Accordingly, for the read of the completed position No. register when the positioning is completed,
confirm it some time (Remaining Travel Distance Movement Time) after the PEND signal is turned
“ON”.
The current position data might be changed slightly even when the system is stopped.
8) The target position data can be changed during the actuator movement.
In order to change the target position, change the target data and turn ON the CSTR signal after
the time longer than the PLC scanning time has passed.
Change the value for the CSTR signal after the time longer than the PLC scanning time has
passed.

z Operation Example (Pressing Operation)

For the pressing operation, the current limit value is set in the pressing data box on the position data
at the preparation stage.
When the positioning is performed onto the position No. for which the value is set in the pressing
data box, the pressing operation is performed.

68
 CC-Link

Target Position Data

Set Value

3. ACON-C/CG, PCON-C/CG
Command position No.

Positioning Start

Positioning End

Current Position

Moving

Positioning Width

Actuator Movement

*T1: Considering the scanning time of the

host controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

69
 CC-Link

(2) Operation in the Half Direct Value Mode

It is operated with the data set in the PLC's target position register, positioning width register, setup
speed register, acceleration/deceleration register and pressing current limit setup register.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the acceleration/deceleration data in the acceleration/deceleration register.
3. ACON-C/CG, PCON-C/CG

5) Set the pressing current limit data in the pressing current limit value register.
6) Turn “ON” the pressing setup (PUSH) signal.
7) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 3.7.7 (22))
8) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 5) are read in the controller at the startup (ON edge) of the
DSTR signal.
9) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
10) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
11) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
12) The current position data is continuously updated.
13) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 5, the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 5), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
14) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 6) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

70
 CC-Link

Target Position Data

Set Value
(PLC → ACON,PCON)

Positioning Width Data

Set Value
(PLC → ACON,PCON)

3. ACON-C/CG, PCON-C/CG
Speed Data
Set Value
(PLC → ACON,PCON)

Acceleration/Deceleration
Data Set Value
(PLC → ACON,PCON)

Pressing Current Limit

Set Value
(PLC → ACON,PCON)

Pressing Setup
PUSH
(PLC → ACON,PCON)

Pressing Direction Setup

DIR
(PLC → ACON,PCON)

Positioning Command
DSTR
(PLC → ACON,PCON)
Positioning Completion/
Pressing and a Miss
PEND/PSFL
(ACON,PCON → PLC)

Current Position
(ACON,PCON → PLC)

Moving
MOVE
(ACON,PCON → PLC)

Actuator Operation
(Pressing)

Actuator Operation
(General Positioning)

*T1: Considering the scanning time of the

host controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

71
 CC-Link

(3) Operation in the Full Direct Value Mode

It is operated with all the required data items set in the PLC's registers including the target position
register and positioning width register, etc.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the position zone output value data in the zone value + register and zone value - register.
3. ACON-C/CG, PCON-C/CG

5) Set the acceleration data in the acceleration register.

6) Set the deceleration data in the deceleration register.
7) Set the pressing current limit data in the pressing current limit value register.
8) Set the load current threshold data in the load current threshold setup register.
9) Turn “ON” the pressing setup (PUSH) signal.
10) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 3.7.7 (22))
11) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 8) are read in the controller at the startup (ON edge) of the
DSTR signal.
12) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
13) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
14) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
15) The current position data is continuously updated.
16) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 7), the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 7), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
17) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 9) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

72
 CC-Link

Target Position Data

Set Value
(PLC → ACON,PCON)

3. ACON-C/CG, PCON-C/CG
Positioning Width Data
Set Value
(PLC → ACON,PCON)

Speed Data
Set Value
(PLC → ACON,PCON)

Position Zone Value Data

Set Value
(PLC → ACON,PCON)

Acceleration Data
Set Value
(PLC → ACON,PCON)

Deceleration Data
Set Value
(PLC → ACON,PCON)

Pressing Current Limit Data

Set Value
(PLC → ACON,PCON)

Load Current Threshold Data

Set Value
(PLC → ACON,PCON)

73
 CC-Link

Pressing Setup
3. ACON-C/CG, PCON-C/CG

Pressing Direction Setup

* T1

Positioning Command

Positioning Completion/
Pressing and a Miss

Current Position

Moving

Pressing
Actuator Operation
(Pressing)
Positioning Width

Actuator Operation
(General Positioning)

*T1: Considering the scanning time of the

host controller, set it so that “T1≥0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

74
 CC-Link

(4) Data Change during the Movement

In the Half Direct Value Mode and the Full Direct Value Mode, the change of any data set using the
output data register, out of the target position data, speed data, positioning width, and current limit value
during the pressing, during the movement is available. After changing the data, turn “ON” the
positioning command (DSTR) for more than tdpf.
Also, after turning “OFF” the DSTR, set aside some time for “twcsON + twcsOFF” or more, until the
next DSTR is turned “ON”.
The example is shows as follows, where the speed and acceleration/deceleration data items have been

3. ACON-C/CG, PCON-C/CG
changed.

Speed and Acceleration/

Deceleration Data
Set Value

Speed n3

Speed n2

Actuator
Speed

twcsON ≥ Yt + Xt + 2 (msec)
twcsOFF ≥ Yt + Xt + 2 (msec)
*Yt + Xt ≤ tpdf ≤ Yt + Xt + 2 (msec)

Caution : 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm
is not issued.
2. When the speed setting is changed to “0” during the movement, the actuator is decelerated
and stopped, but an alarm is not issued.
3. Even when the acceleration/deceleration data only is changed during the movement, the
setting of the target position data is required.
4. Even when the target position data only is changed during the movement, the setting of the
acceleration/deceleration data is required.

75
 CC-Link

3.10 CC-Link Related Parameters

The parameters related to CC-Link are from No. 84 to No. 90.
Classification: C: External Interface Related
Default Value set in the Factory
No Classification Symbol Name
before Delivery
1
Refer to instruction manual for
⎪ the controller for the parameters
No. 1 through No. 83.
83
3. ACON-C/CG, PCON-C/CG

84 C FMOD Field Bus Operation Mode 0

85 C NADR Field Bus Node Address 1
Filed Bus Communication
86 C FBRS 0
Speed
87 C NTYP Network Type 1
90 C FMIO Filed Bus I/O Format 3

z Filed Bus Operation Mode (No. 84 “FMOD”)

The operation mode is set using the values 0 to 4 for the parameter No. 84.
Parameter No. 84 Station Data and No. of
Mode Name Description
Set Value Occupied Stations
Remote Device Station: The operation is performed using the
0 (Set in delivery) Remote I/O Mode
One Station PIO (24V I/O) through the CC-Link.
The target position can be set directly
using the value or the operation can be
Position/Simplified Remote Device Station:
1 performed using position data value.
Direct Value Mode One Station
The other values required for the
operation are set on the position data.
In addition to the target position, the
speed, acceleration/deceleration and
Half Direct Value Remote Device Station:
2 pressing current value are set directly
Mode Two Stations
using the values to perform the
operation.
All the values related to the position
Full Direct Value Remote Device Station:
3 control are set using the values to
Mode Four Stations
perform the operation.
The current position and current speed
Remote Device Station:
4 Remote I/O Mode 2 reading functions are added to the
One Station
functions in the remote I/O mode.

z Field Bus Node Address (No. 85 “NADR”)

The remote station No. is set for the parameter No. 85.

Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).

z Field Bus Communication Speed (No. 86 “FBRS”)

The communication speed is selected for the parameter No. 86.
Parameter No. 86
Communication Speed
Set Value
0 (Set in delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
Except for the above Baud Rate Setting Error

76
 CC-Link

z Network Type (No. 87 “NTYP”)

The network module type is set for the parameter No. 87. Do not change the default value.

z Filed Bus I/O Format (No. 90 “FMIO”)

The addresses in PLC are allocated based on each operation mode, in units of 16 points to the I/O bit
register and I/O data register corresponding to the station Nos. set in the controller and the number of
occupied stations set using the PLC's parameter.
Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2
words, exchanging such data in units of byte within the communication area of the PLC's bit register and

3. ACON-C/CG, PCON-C/CG
I/O data register.
Parameter No. 90
Description
Set Value
Data exchange is not performed. The data is transmitted to PLC as they are (Refer to
0
the Example i).
The host bytes are exchanged with slave bytes in the host words and slave words
1
(Refer to the Example ii).
In the case of word register, the host words are exchanged with the slave words (Refer
2
to the Example iii).
The host bytes are exchanged with slave bytes in the host words and slave words. In
3 (Set in delivery) the case of word register, further the host words are exchanged with the slave words
(Refer to the Example iv).
Note: Set to 3 for CC-Link manufactured by Mitsubishi Electric Corporation.

(Example i) : In the case of the Value set to “0”:

● shows ON. ○ shows OFF.

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Input
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Output
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

77
 CC-Link

(Example ii): In the case of the Value set to “1”:

● shows ON. ○ shows OFF.

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Input
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
3. ACON-C/CG, PCON-C/CG

Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Output
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

78
 CC-Link

(Example iii): In the case of the Value set to “2”:

● shows ON. ○ shows OFF.

ACON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Input
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal

3. ACON-C/CG, PCON-C/CG
Notation

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

ACON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Output
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal
Notation

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

79
 CC-Link

(Example iv): In the case of the Value set to “3”:

● shows ON. ○ shows OFF.

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Input
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
3. ACON-C/CG, PCON-C/CG

Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

ACON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
PCON
Output
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

80
 CC-Link

3.11 Troubleshooting
3.11.1 Status LED Indication
With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and
network status can be obtained.
When any trouble occurs, confirm the current status with the Status LED illumination patterns. The
communication status indications changed with the Status LED illumination patterns are described as follows.
○ : Illuminating, × : OFF, ☆ : Flashing

3. ACON-C/CG, PCON-C/CG
STATUS 1 STATUS 0 Status Signal
○ ○ Impossible condition
• An error occurs. (CRC error, station No. setting error or communication speed
○ × setting error)
• Time period from power up or software reset to CC-Link initialization completion
× ○ Normal Communication Status
Power Failure: Remote station power unit breakdown or communication cable
× ×
breakage
☆ ○ Impossible condition
Station No. setting or communication speed setting is changed during the
☆ ×
communication.

3.11.2 Alarm Description and Cause/Treatment

When an alarm is issued, the completed position No. (4 bits for PM1 to PM8) shows the simplified alarm code
in the Remote I/O Mode or Remote I/O Mode 2.
In the Position/Simplified Direct Value Mode, the simplified alarm code is output to RWr2.
In the Half Direct Value Mode or Full Direct Value Mode, the alarm code is output to RWr6.
1) Confirm the alarm code using the PLC's monitor function, etc., or using the status monitor, connecting the
RC personal computer application software or teaching pendant.
2) Based on the read alarm code, search the alarm description list in the instruction manual for the controller.
3) Deal with it based on the description for the alarm code in question.
For the following alarm code, deal with it according to the following table.
ID RES
Code Error Name Cause/Treatment
(*1) (*2)
Cause: The field bus module error is detected.
0F2 Field Bus Module Error 05 ×
Treatment: Confirm the parameter.
Cause: The module can not be detected.
0F3 Field Bus Module Detection Error 04 × Treatment: Turn ON the power again. If the error is
not removed, contact our company.
(*1) ID → Simplified Alarm Code
(*2) RES → Alarm Reset Enable/Disable, ○: Alarm Reset Enable/×: Alarm Reset Disable

81
 CC-Link

3.12 CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
3. ACON-C/CG, PCON-C/CG

82
 CC-Link

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB,
DCON-CA/CB/CGB
4.1 Operation Modes and Functions
ACON, PCON, DCON controllers (hereinafter referred to as “IAI controllers”) applicable to CC-Link can be
operated by means of selecting one mode out of the following five operation modes.
* Set the Station Data for the Master Station to “ver 1, Remote Device Station”.

Operation Modes and Main Functions

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Position /
Remote I/O Half Direct Full Direct Remote I/O
Main Function Simplified Direct
Mode Value Mode Value Mode Mode 2
Value Mode
No. of Occupied
1 Station 1 Station 2 Stations 4 Stations 1 Station
Stations
Position Data
Setup Operation
× ○(*1) ○ ○ ×
Speed/Acceleration
Direct Command
× × ○ ○ ×

Pressing Operation ○ ○ ○ ○ ○
Current Position
Read
× ○ ○ ○ ○
Current Speed
Read
× × ○ ○ ×
Position No. Setup
Operation
○ ○ × × ○
Completed
Position No. Read
○ ○ × × ○
No. of Max.
512 768 Unused Unused 512
Position Tables
(*1) For the position data items except for position data, operate the system with the position No. set up.

1) Remote I/O Mode: This is the operation method using CC-Link, instead of PIO (24V I/O).
No. of Occupied Stations: One Station

ACON, PCON, DCON ACON, PCON, DCON

not applicable to CC-Link applicable to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

83
 CC-Link

2) Position/Simplified Direct Value Mode : This is the operation method with the position No. set up.
Whether if setup the target position using a value directly by means
of the change over of the control signal, or using the value
registered on the position data, can be selected.
For “Speed”, “Acceleration/Deceleration” and “Positioning Width”,
use the values already registered on the position data. The settable
No. of position data items is max 768 points.
No. of Occupied Stations: One Station
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target Position : 100.00mm

+ No.
Speed
[mm/s]
Acceleration Deceleration Pressing
[G] [G] [%]

Position No.0 0 300.00 0.30 0.30 0

ACON, PCON, DCON

applicable to CC-Link Actuator

3) Half Direct Value Mode : This is the operation method with the “Speed”, “Acceleration/Deceleration”,
“Pressing Current Value” set up directly using the numerical values, in addition to
the “Target Position”.
No. of Occupied Stations: Two Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration/Deceleration : 0.30G
Pressing Current Value : 50%

ACON, PCON, DCON Actuator

applicable to CC-Link

84
 CC-Link

4) Full Direct Value Mode : This is the operation method with all the values (“Target Position”, “Speed”,
“Acceleration/Deceleration”, etc.) related to the position control set up directly
using the numerical values.
No. of Occupied Stations: Four Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration : 0.30G
Deceleration : 0.30G
Pressing Current Value : 50%

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Load Current Threshold : 0
Zone + : 50.00mm
Zone - : 30.00mm

ACON, PCON, DCON Actuator

applicable to CC-Link

5) Remote I/O Mode 2 : This is the operation method using CC-Link, instead of PIO (24CV I/O).
The current position and command current value reading functions are added to
the functions of 1).
No. of Occupied Stations: One Station

ACON, PCON, DCON ACON, PCON, DCON

not applicable to CC-Link applicable to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

85
 CC-Link

4.2 Model No.

The Model Nos. of IAI controllers applicable to CC-Link are described as follows.

z ACON-CA/CB -□-CC-□
z PCON-CA/CB/CGB -□-CC-□
z PCON-CFA/CFB/CGFB -□-CC-□
z DCON-CA/CB -□-CC-□
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Front Panel Color

z ACON-CA/CB : Dark Blue
z PCON-CA/CB/CGB : Dark Green
Printed Series Name
z ACON, PCON or DCON z PCON-CFA/CFB/CGFB : Light Green
z DCON-CA/CB : Dark Orange

86
 CC-Link

4.3 CC-Link Interface

(1) Names of Each Section

The names of each section related to CC-Link are described as follows.

SV/ALM Status Indicator LED

ERR

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Status LED
FG RUN

SLD

DG
CC-Link Communication Connector
DB
PCB side : MSTBA2.5/5-G-5.08AU
(PHOENIX CONTACT)
DA Cable side : SMSTB2.5/5-ST-5.08AU
(PHOENIX CONTACT)

(2) Status LED Indication

The board operation status and network condition are obtained with the two LEDs located in the front of
the controller.
○ : Illuminating, × : OFF, ☆ : Flashing
LED Color Indication Status Indication Description (Meaning)
ERR OR • An error occurs.
(CRC Error/Station No. (parameters) Setting Error/Baud Rate
○ Setting (parameters) Error)
• Period between power up or software reset and the CC-Link
initialization completion
× • Under Normal Communication
• Station No. setting or communication speed setting is changed
☆(0.4sec)
during the communication.
RUN GN ○ • Communicating normally
× • Not communicating

87
 CC-Link

4.4 Operation Mode Selection (Setting)

The operation mode is set using the parameters.
Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the RC personal computer application software (Note).
(Refer to “4.10 CC-Link Related Parameters”).
Note: Refer to instruction manual of RC PC Software for the applicable version.

Set Value Operation Mode Number of occupied stations

0: (Already set in system delivery) Remote I/O Mode 1 Station
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

1 Position/Simplified Direct Value Mode 1 Station

2 Half Direct Value Mode 2 Stations
3 Full Direct Value Mode 4 Stations
4 Remote I/O Mode 2 1 Station
* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.

Note: Set the Station Data for the Master Station to “ver 1 Remote Device Station”.

4.5 Station No. Setting

The Station No. is set using the parameters.
Set the parameter No. 85 “NADR: Field Bus Node Address” using the RC personal computer application
software.
(Refer to “4.10 CC-Link Related Parameters”).

Settable Range: 1 to 64 (Already set in system delivery)

Note: The PLC's CC-Link head I/O address is decided depending on the master unit installation position and the number
of I/O points occupied by the unit installed before it.
Following this head I/O address, the I/O addresses in PLC are allocated in order of the station No.
Also, for the details of the Station No. setting and I/O address setting in PLC, refer to the instruction manuals for the
master unit and loaded PLC.

88
 CC-Link

4.6 Communication Speed Setting

The communication speed is set using the parameters.
Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer
application software.
(Refer to “4.10 CC-Link Related Parameters”).

Set Value Communication Speed

0: (Already set in system delivery) 156kbps
1 625kbps

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

2 2.5Mbps
3 5Mbps
4 10Mbps
* Entering any value except for the ones described above will
cause an “Excessive Input Value Error”.

Note: After the parameter setting, turn on the power to the controller again and return the mode toggle switch on the front
of the controller to “AUTO” side.
When the switch is set to “MANU”, the operation using PLC is not available.

89
 CC-Link

4.7 Communication with the Master Station

The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register
per station.
Set the station data for the master station to the number of stations setup in the operation mode for each
station No.

4.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses

The addresses allocated for each operation mode are described as follows.
• PLC Output → IAI Controllers Input (* “n” shows the head register address per each axis).
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

ACON, PCON, DCON DI and Input data register

Position/Simplified Half Direct Value Full Direct Value
PLC address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RY n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RY
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area Occupied Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY
(n+6)0 – (n+6)F
RY
System Area
(n+7)0 – (n+7)F
RWw (n+0)
Target Position Target Position Target Position
RWw (n+1)
Occupied Area Occupied Area
Command position
RWw (n+2)
number
Positioning Width Positioning Width
RWw (n+3) Control Signal

RWw (n+4) Speed

Speed
Acceleration/
RWw (n+5)
Deceleration
Pressing Current
RWw (n+6)
Limit Value
Zone Value “+”
RWw (n+7) Control signal

RWw (n+8)
Zone Value “-”
RWw (n+9)

RWw (n+A) Acceleration

RWw (n+B) Deceleration

Pressing Current
RWw (n+C)
Limit Value
Load Current
RWw (n+D)
Threshold
RWw (n+E) Control signal 1

RWw (n+F) Control signal 2

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

90
 CC-Link

• IAI Controllers Output → PLC Input side (* “n” shows the head register address per each axis).
ACON, PCON, DCON side DO and Output data register
Position/Simplified Half Direct Value Full Direct Value
PLC side address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RX n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RX
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RX
(n+2)0 – (n+2)F
RX
System Area Occupied Area
(n+3)0 – (n+3)F

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

RX
(n+4)0 – (n+4)F
RX
(n+5)0 – (n+5)F
RX
(n+6)0 – (n+6)F
RX
System Area
(n+7)0 – (n+7)F
RWr (n+0)
Current Position Current Position Current Position Current Position
RWr (n+1)
Occupied Area Completed Position
RWr (n+2) No.
(Simplified Alarm ID) Command Current Command Current Command Current
RWr (n+3) Status Signal

RWr (n+4)
Current Speed Current Speed
RWr (n+5)

RWr (n+6) Alarm code Alarm code

RWr (n+7) Status Signal

RWr (n+8) Occupied Area

RWr (n+9)

RWr (n+A)
Total moving count
RWr (n+B)

RWr (n+C)
Total moving
distance
RWr (n+D)

RWr (n+E) Status Signal 1

RWr (n+F) Status Signal 2

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

91
 CC-Link

4.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the RC personal computer application software or teaching pendant. The number of operable
positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
Parameter No. 25 Set Value Operation Mode I/O Specifications
0 Positioning mode 64 positioning points and 2 zone output points
1 Teaching mode 64 positioning points and 1 zone output point
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The positioning and jog operations are available.

The current position can be written on the setup position
data.
2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
4 Electromagnetic 7 positioning points and 2 zone output points
valve mode 1 The direct operation command is available for each
position No.
The positioning completion signal is output for each
position No.
5 Electromagnetic 3 positioning points and 2 zone output points
valve mode 2 It is operated with the Forward/Backward/Intermediate
Position Commands.
The positioning completion signal is output individually
for each Forward End/Backward End/Intermediate
Positions.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
PIO Pattern
Robot Cylinder Function 0: 1: 2: 3: 4: 5:
Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic
mode mode mode mode valve mode 1 valve mode 2
Homing ○ ○ ○ ○ ○ ×
Positioning ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ ×
Speed change during the
○ ○ ○ ○ ○ ○
movement
Different Acceleration Speed
○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1)
Zone Signal Output ○ ○ ○ × ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○
(Set using the parameters)

O: Operation Available X: Operation Unavailable

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

92
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter IAI controllers side IAI controllers side
PLC side PLC side
No.84 DI (Port No.) DI (Port No.)
0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
RWw (n+1) RWr (n+1)
Occupied Area Occupied Area
RWw (n+2) RWr (n+2)

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 1 word for each I/O bit register.
z The I/O bit register is controlled using the ON/OFF signal in units of bit.

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11

Input Port
9

0
No.

PLC Input (* “n” shows the head register address per each axis).
Address one word = 16 bits
RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Output
15

14

13

12

10
11

Port
No.

93
 CC-Link

(3) I/O Signal Allocation

The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to instruction
manual for the controller main body for more information)
Parameter No. 25 setting

Positioning mode Teaching mode 256 point mode

0 1 2
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 PC1 PC1

1 PC2 PC2 PC2

2 PC4 Command position PC4 PC4

Command position No.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

No.
3 PC8 PC8 PC8
Command position No.
4 PC16 PC16 PC16

5 PC32 PC32 PC32

Teaching Mode
6 ⎯ MODE PC64
Command
PLC Output→ Unavailable
ACON, 7 ⎯ JISL Jog/Inching selection PC128
PCON,
DCON 8 ⎯ JOG+ + Jog ⎯ Unavailable
Input
9 BKRL Forced brake release JOG- - Jog RKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin HOME Return to origin

12 *STP Pause *STP Pause *STP Pause

Positioning Start/
CSTR/
13 CSTR Positioning Start Position Data Import CSTR Positioning Start
PWRT
Command
14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 Completion position PM4 Completion position PM4

No. No.
3 PM8 PM8 PM8 Completion position
No.
4 PM16 PM16 PM16

5 PM32 PM32 PM32

6 MOVE Moving Signal MOVE Moving Signal PM64

7 ZONE1 Zone 1 MODES Teaching Mode Signal PM128

ACON,
PCON, PZONE/ Position zone/ PZONE/ Position zone/ PZONE/ Position zone/
DCON 8
ZONE2 Zone 2 ZONE1 Zone 1 ZONE1 Zone 1
Output Operation Mode
→PLC Input 9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end
Positioning end Signal/
PEND/
11 PEND Positioning end Signal Position Data PEND Positioning end Signal
WEND
Import Completion
Operation preparation
12 SV SV Operation preparation end SV Operation preparation end
end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

LOAD/ Load output judgment/ LOAD/ Load output judgment/
15
(Note 1) TRQS/ Torque level/ *ALML Light error status TRQS/ Torque level/
*ALML Light error status *ALML Light error status
The symbol with a * mark shows the ON signal in normal condition.
The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).
Note 1 For ACON and DCON, the signals change as explained below;
ACON : *BALM (Battery Alarm) / *ALML (Light error status)
DCON : *ALML(Light error status)

94
 CC-Link

Parameter No. 25 setting

512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2

3 4 5
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 ST0 Start position 0 ST0 Start position 0

1 PC2 ST1 Start position 1 ST1 Start position 1

2 PC4 ST2 Start position 2 ST2 Start position 2

3 PC8 ST3 Start position 3 ⎯

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Command position
4 PC16 No. ST4 Start position 4 ⎯

5 PC32 ST5 Start position 5 ⎯

Unavailable
6 PC64 ST6 Start position 6 ⎯
PLC Output→
ACON, 7 PC128 ⎯ ⎯
PCON, Unavailable
DCON 8 PC256 ⎯ ⎯
Input
9 BKRL Forced brake release BKRL Forced brake release BKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin ⎯

12 *STP Pause *STP Pause ⎯ Unavailable

13 CSTR Positioning Start ⎯ Positioning Start ⎯

14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

Retracting end
0 PM1 PE0 Completed position 0 LS0
movement command 0
Retracting end
1 PM2 PE1 Completed position 1 LS1
movement command 1
Retracting end
2 PM4 PE2 Completed position 2 LS2
movement command 2
3 PM8 PE3 Completed position 3 ⎯
Completion position
4 PM16 No. PE4 Completed position 4 ⎯
Unavailable
5 PM32 PE5 Completed position 5 ⎯

6 PM64 PE6 Completed position 6 ⎯

ACON,
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
PCON,
DCON PZONE/ Position zone/ PZONE/ Position zone/
Output 8 PM256
ZONE2 Zone 2 ZONE2 Zone 2
→PLC Input Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end

11 PEND Positioning end Signal PEND Positioning end Signal ⎯ Unavailable

Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

LOAD/ Load output judgment/ LOAD/ Load output judgment/
15
(Note 1) TRQS/ Torque level/ TRQS/ Torque level/ *ALML Light error status
*ALML Light error status *ALML Light error status
The symbol with a * mark shows the ON signal in normal condition.
The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).
Note 1 For ACON and DCON, the signals change as explained below;
ACON : *BALM (Battery Alarm) / *ALML (Light error status)
DCON : *ALML(Light error status)

95
 CC-Link

4.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied
Stations: One Station)
This is the operation mode with the position No. set up. The change over of the control signals (PMOD
signals), can select whether the target position is set directly using the value or the value registered on the
position data is used.
For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values
in the position table within the controller are used. Setup the position data referring the instruction manual for
the controller main body.
The number of settable position data items is max. 768.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

○:Direct Control
Robot Cylinder Function ∆:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ∆
Pitch Feeding (Inching) ∆
Pressing Operation ∆ Position data setting is required.
Speed change during the movement ∆
Different Acceleration Speed
Operation in Deceleration
∆
Pause ○
Zone Signal Output ∆ Zone is set using the parameters.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter IAI Controllers side IAI Controllers side
PLC side PLC side
No.84 Input register Output register
1 Occupied Area RY n0 to nF Occupied Area RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
Command position Completed Position No.
RWw (n+2) RWr (n+2)
number (Simplified Alarm CORD)
Control signal RWw (n+3) Status Signal RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

96
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 4 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z The specified position No. and completed position No. are expressed using 1-word (16 bits) binary
data. The figures from 0 to 767 can be set in PLC. However, set the position No. for which the
operation conditions have been set in advance using the personal computer software or teaching
pendant.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the
complement of 2.

one word = 16 bits

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Command
PC512

PC256

PC128

PC64

PC32

PC16

PC8

PC4

PC2

PC1

position
⎯

No.

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

PMOD

MODE

HOME
PWRT

CSTR
JOG+
BKRL

Control
JVEL
JOG-

SON

RES
JISL

STP
⎯

signal

97
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Completed
PM512

PM256

PM128

PM64

PM32

PM16

PM8

PM4

PM2

PM1
Position
⎯

No.

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

MODES
PZONE
ZONE2

ZONE1

WEND
EMGS

MOVE
RMDS

HEND

PEND
ALML

PSFL

Status
(Note 1)
PWR

ALM
SV
⎯

Signal

Note 1 For ACON, it can be changed to BALM by the setting in Parameter No.151.

98
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits
⎯ When it is “+25.40mm”, set it as “2540”. 4.9 (1)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
16-bit Integer
For the operation, the position data is required, for which the
operation conditions have been set in advance using the
Command personal computer software or teaching pendant.
16bits PC1 to
position Set up the position No. for which the data has been input using 4.9 (1)
Data PC512
number this register.
The settable range is 0 to 767.
In the case that any value out of the range is set, or position No.
that has not been set is specified, an alarm is output.
b15 BKRL Brake Forcible Release: Brake Release with “ON”. 4.7.7 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
PLC Output

b14 RMOD 4.7.7 (19)

mode
b13
⎯ Unavailable ⎯
b12
Position/Simplified Direct Value Change-Over
b11 PMOD 4.7.7 (20)
“OFF” for Position Mode, “ON” for Simplified Direct Value Mode
Teaching Mode Command
b10 MODE 4.7.7 (16)
“OFF” for Normal Mode, “ON” for Teaching Mode
Position Data Import Command
b9 PWRT 4.7.7 (17)
“ON” for Position Data Import
b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 4.7.7 (13)
Control
b7 JOG- - Jog: “ON” for Movement to the Home Direction 4.7.7 (13)
Signal
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set for the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 4.7.7 (14)
“ON” for using the values set for the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 4.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 4.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 4.7.7 (4)
b2 STP Pause: “ON” for Pause Command 4.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 4.7.7 (6)
b0 CSTR Positioning Start: “ON” for Movement Command 4.7.7 (7)

99
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
Current Position: 32-bit Signed Integer
The unit is 0.01mm.
Current (Example)
32bits ⎯ 4.9 (1)
Position Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
When the value is read in hexadecimal notation, the negative
figure is expressed as a compliment of 2.
16-bit Integer
Completed It is moved to the target position and the positioning completed
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Position position No. within the positioning width is output.

No. PM1 to In the case that the position movement has not been performed
16bits 4.9 (1)
(Simplified PM512 at all, or during the movement, “0” is output.
Alarm When an alarm is issued (in the case that the status signal ALM
CODE) is “ON”), the simplified alarm code (Refer to the instruction
manual for the controller main body) is output.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 4.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 4.7.7 (1)
b13 ZONE2 Zone 2: “ON” with the current position within the zone set range 4.7.7 (12)
b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 4.7.7 (12)
Position Zone:
b11 PZONE 4.7.7 (12)
“ON” with the current position within the position zone set range
Teaching Mode Signal;
b10 MODES 4.7.7 (16)
PLC Input

“ON” during teaching mode selection

Position Data Import Completion:
b9 WEND 4.7.7 (17)
“ON” for import completion
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 4.7.7 (19)
mode
Light error status:
Turns ON when light alarm (threshold exceeded for number of
Status
ALML movement, etc.) that the operation can be continued with is 4.7.7 (31)
Signal
issued.
b7
Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute
BALM battery voltage drop warning turns ON when the voltage is 4.7.7 (32)
dropped.
b6 ⎯ Unavailable ⎯

b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 4.7.7 (27)
b4 SV Operation Ready: “ON” with Servo ON 4.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 4.7.7 (3)
Under Movement Signal:
b2 MOVE 4.7.7 (9)
“ON” during Actuator Movement
Homing Completion
b1 HEND 4.7.7 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 4.7.7 (10)
“ON” with Positioning Completion

100
 CC-Link

4.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two
Stations)
This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and
pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is
used, set it using the parameter Nos. 1, 2, 23 and 24.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
○:Direct Control
Robot Cylinder Function ∆:Indirect Control Remarks
×:Disabled

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○
Different Acceleration Speed
Operation in Deceleration
×
Pause ○
Zone Signal Output ∆ Parameter setting is required.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter IAI Controllers side IAI Controllers side
PLC side PLC side
No.84 Input register Output register
2 RY n0 to nF RX n0 to nF
Occupied Area RY (n+1)0 to (n+1)F Occupied Area RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Current Speed
Acceleration/Deceleration RWw (n+5) RWr (n+5)
Pressing Current Limit
RWw (n+6) Alarm code RWr (n+6)
Value
Control signal RWw (n+7) Status Signal RWr (n+7)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

101
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 8 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.
z The specified speed is expressed using 1-word (16 bits) binary data. The figures from 0 to +65535
(Unit: 1.0mm/sec or 0.1mm/sec) can be set in PLC. Set the value that does not exceed the max.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

speed value for the actuator in question.

The unit can be established in Parameter No. 159 FB Half Direct Mode Speed Unit.
Parameter No.159 Setting Value Indicated Speed Unit
0 1.0mm/sec
1 0.1mm/sec
z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to
300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 255 (100%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255

Pressing Current Limit Value 10% 50% 100%

z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

102
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

Width 64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Speed
8

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Acceleration/
256

128

64

32

16
⎯

Deceleration

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pressing
128

64

32

16

Current
⎯

Limit Value

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

HOME
PUSH

DSTR
JOG+
BKRL

Control
JOG-

JVEL

SON

RES
JISL

STP
DIR

signal

103
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Current
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Current 128

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ZONE2

ZONE1
EMGS

MOVE
RMDS

HEND

PEND
ALML

PSFL

Status
(Note 1)
PWR

ALM
SV
⎯

Signal

Note 1 For ACON, it can be changed to BALM by the setting in Parameter No. 151.

104
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 4.9 (2)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01mm and settable range is between +1 to
+999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 4.9 (2)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
PLC Output

2) In the case of pressing operation, it shows the pressing width

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
16-bit Integer
Set the speed in movement.
Unit is 1.0mm/sec or 0.1mm/sec and settable range is between
0 and 65535.
Deceleration stop if and to specify in motion 0. It under
16bits
Speed ⎯ suspension, it will remain stopped on the spot. 4.9 (2)
Data
The change of unit is to be conducted in Parameter No. 159 FB
Half Direct Mode Speed Unit.
(Example) In the case of “254.0mm/sec”, set it as “254”.
When the movement command is set with the value bigger than
the max. speed, an alarm is issued.
16-bit Integer
Set the acceleration/deceleration in movement (The same value
is applied both to acceleration and deceleration).
Acceleration/ 16bits The unit is 0.01G and settable range is between 1 and 300.
⎯ 4.9 (2)
Deceleration Data (Example) In the case of “0.30G”, set is as “30”.
When the movement command is set with the value of “0” or
bigger than the max. acceleration/deceleration value, an alarm
is issued.

105
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
16-bit Integer
Set the current limit in pressing operation.
Pressing
The settable range is between 0 (0%) and 255 (100%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 4.9 (2)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
b15 BKRL Brake Forcible Release: “ON” for brake release 4.7.7 (18)
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”

b14 RMOD 4.7.7 (19)
Mode
Pressing Direction Setup
”OFF” for the direction reducing the positioning width from the
b13 DIR 4.7.7 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup: “OFF” for Positioning Operation, “ON” for
b12 PUSH 4.7.7 (21)
PLC Output

Pressing Operation
b11
b10 ⎯ Unavailable ⎯

b9
Control b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 4.7.7 (13)
signal b7 JOG- - Jog: “ON” for Movement to the Home Direction 4.7.7 (13)
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set using the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 4.7.7 (14)
“ON” for using the values set using the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 4.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 4.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 4.7.7 (4)
b2 STP Pause: “ON” for Pause Command 4.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 4.7.7 (6)
b0 DSTR Positioning Command: “ON” for Movement Command 4.7.7 (8)

106
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Integer with a Symbol The unit is 0.01mm.
(Example)
Current 32bits
⎯ Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 4.9 (2)
Position Data
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ 4.9 (2)
Current Data The unit is mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Integer with a Symbol It shows the current speed.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Positive Figure: Under movement in the opposite direction of home
Negative Figure: Under movement in the home direction
The unit is 0.01mm/sec.
Current 32bits
⎯ (Example) 4.9 (2)
Speed Data
Read Value: 000003FFH = 1023 (decimal system)
= 10.23mm/sec
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
⎯ When any alarm is not issued, it is “0H”. 4.9 (2)
code Data
Refer to the instruction manual for the controller main body for
the details of the alarms.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 4.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 4.7.7 (1)
PLC Input

b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 4.7.7 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 4.7.7 (12)
b11
b10 ⎯ Unavailable ⎯

b9
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 4.7.7 (19)
mode
Light error status:
Turns ON when light alarm (threshold exceeded for number of
ALML movement, etc.) that the operation can be continued with is 4.7.7 (31)
Status issued.
Signal b7 Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute
BALM battery voltage drop warning turns ON when the voltage is 4.7.7 (32)
dropped.
b6 ⎯ Unavailable ⎯

b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 4.7.7 (23)
b4 SV Operation Ready: “ON” with Servo ON 4.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 4.7.7 (3)
Movement Signal:
b2 MOVE 4.7.7 (9)
“ON” with Actuator Movement
Homing Completion
b1 HEND 4.7.7 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 4.7.7 (10)
“ON” with Positioning Completion

107
 CC-Link

4.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four
stations)
This is the operation mode with all the values (target position, speed, etc.) set up directly using values from
PLC.
Set each value in the I/O data register.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

Robot Cylinder Function

○:Direct Control
×:Disabled
Homing ○
Positioning ○
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Speed, Acceleration and Deceleration Settings ○

Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○
Different Acceleration Speed ○
Operation in Deceleration ○
Pause ○
Zone Signal Output ○
PIO Pattern Selection ×
(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter IAI Controllers side IAI Controllers side
PLC side PLC side
No.84 Input register Output register
3 RY n0 to nF RX n0 to nF
RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
Occupied Area RY (n+3)0 to (n+3)F Occupied Area RX (n+3)0 to (n+3)F
RY (n+4)0 to (n+4)F RX (n+4)0 to (n+4)F
RY (n+5)0 to (n+5)F RX (n+5)0 to (n+5)F
RY (n+6)0 to (n+6)F RX (n+6)0 to (n+6)F
System Area RY (n+7)0 to (n+7)F System Area RX (n+7)0 to (n+7)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
RWw (n+4) RWr (n+4)
Speed Current Speed
RWw (n+5) RWr (n+5)
RWw (n+6) Alarm Code RWr (n+6)
Zone Value “+”
RWw (n+7) RWr (n+7)
RWw (n+8) Occupied Area RWr (n+8)
Zone Value “-”
RWw (n+9) RWr (n+9)
Acceleration RWw (n+A) RWr (n+A)
Total moving count
Deceleration RWw (n+B) RWr (n+B)
Pressing Current
RWw (n+C) RWr (n+C)
Limit Value Total moving
Load Current distance
RWw (n+D) RWr (n+D)
Threshold
Control signal 1 RWw (n+E) Status Signal 1 RWr (n+E)
Control signal 2 RWw (n+F) Status Signal 2 RWr (n+F)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

108
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 16 words for each I/O bit register.
z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data
within the soft stroke range (0 to effective stroke length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.
z The speed is expressed using 2-word (32 bits) binary data. The figures from 0 to +999999 (Unit:
0.01mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value for the

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

actuator in question.
z The Acceleration and Deceleration are expressed using 1-word (16 bits) binary data. The figures
from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 255 (100%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 127 255

Pressing Current Limit Value 10% 50% 100%

z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary
data. The figures from 0 (0%) to 255 (100%) can be set in PLC (Refer to pressing current limit value
(above figure)).
z Zone Value “+” and Zone Value “-” are expressed using 2-word (32 bits) binary data. The figures
from -999999 to +999999 (Unit: 0.01mm) can be set in PLC. However make sure to set the smaller
value for the Zone Value “-” than that for the Zone Value “+”.
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.
z The total moving count is a 2-word (32-bit) binary data (Unit: times).
z The total moving distance is a 2-word (32-bit) binary data (Unit: m).

109
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target Position
(Host Word)

When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Width 128

64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning

524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

Speed
512

256

128

64

32

16

1
(Slave Word)

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

524,288

262,144

131,072

65,536

Speed
⎯

(Host Word)

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Slave Word)

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Host Word)
When the zone is shown using the negative figure, it is expressed using the complement of 2.

110
 CC-Link

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Zone Value
“-”
(Slave Word)

RWw (n+9) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

“-”
(Host Word)
When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+A) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

256

128

64

32

16
⎯

Acceleration

1
RWw (n+B) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
256

128

64

32

16
⎯

Deceleration

1
RWw (n+C) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Pressing
128

64

32

16

Current
⎯

1
Limit Value

RWw (n+D) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Load Current
128

Threshold
64

32

16
⎯

1
(Note 1)

RWw (n+E) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
SMOD

MOD1

MOD0

PUSH
ASO1

ASO0
NTC1

NTC0

GSL1

GSL0
(Note 2)
(Note 2)

(Note 2)

(Note 1)

(Note 2)

INC

DIR

position
⎯

number 1

RWw (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
RMOD

HOME

DSTR
JOG+
BKRL

JVEL
JOG-

SON

RES
JISL

STP

position
⎯

number 2

Note 1 It can be used only in PCON.

Note 2 It can be used only in ACON.

111
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Position
(Host Word)
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

When the current position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128
Current

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

⎯
(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) to
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
RWr (n+9)

Unavailable

112
 CC-Link

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+A) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Total 32,768

16,384
moving

8,192

4,096

2,048

1,024

512

256

128

64

32

16

1
count
(Slave Word)

RWr (n+B) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total

524,288

262,144

131,072

65,536
moving

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

⎯

⎯
count
(Host Word)

RWr (n+C) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total
32,768

16,384

moving
8,192

4,096

2,048

1,024

512

256

128

64

32

16

1
distance
(Slave Word)

RWr (n+D) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total

524,288

262,144

131,072

65,536
moving
⎯

⎯
distance
(Host Word)

RWr (n+E) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ALML
Status

(Note 2)
⎯

⎯
Signal 1

RWr (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PZONE
ZONE2

ZONE1

GHMS
EMGS

MOVE
RMDS

HEND
TRQS

PUSH

PEND
LOAD

PSFL

Status
(Note 1)

(Note 1)
PWR

ALM
SV

Signal 2

Note 1 It can be used only in PCON.

Note 2 For ACON, it can be changed to BALM by the setting in Parameter No. 151.

113
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01mm and settable range is between –999999 to
+999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 4.9 (3)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

* When the input is performed in hexadecimal notation, input

the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01mm and settable range is between +1 to
+999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 4.9 (3)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
2) In the case of pressing operation, it shows the pressing width
PLC Output

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
32-bit Integer
Set the speed in movement.
Unit is 0.1mm/sec and settable range is between 0 and 999999.
32bits Deceleration stop if and to specify in motion 0. It under
Speed ⎯ 4.9 (3)
Data suspension, it will remain stopped on the spot.
(Example) In the case of “254.1mm/sec”, set it as “2541”.
When the movement command is set with the value bigger than
the max. speed, an alarm is issued.
32-bit Integer with a Symbol
Apart from the zone specified using the parameter setting, the
zone signal effective after the homing operation is output.
When the current position is inside of this “+” Value, the status
signal “PZONE” is turned “ON”.
Zone
The unit for setting is 0.01mm and settable range is between
Value “+” 32bits
⎯ –999999 and +999999. 4.9 (3)
Zone Data
Input the value satisfying the relationship of “Zone Value “+” >
Value “-”
Zone Value “-””.
When this function is not to be used, the same value is applied
to both Zone Values.
* When it is input in hexadecimal notation, input the negative
value using a compliment of 2.

114
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
16-bit Integer
16bits Set the acceleration and deceleration in the movement.
Acceleration ⎯
Data The unit is 0.01G and the settable range is from1 to 300.
(Example)
4.9 (3)
When it is 0.30G, set it as “30”.
16bits When the movement command is issued with the value of “0”
Deceleration ⎯
Data or bigger than the max. acceleration/deceleration value, an
alarm is output.
16-bit Integer
Set the current limit in the pressing operation.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Pressing
The settable range is between 0 (0%) and 255 (100%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 4.9 (3)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger
than the max. pressing current value, an alarm is issued.
Load 16-bit Integer
Current Set the current threshold in this register when whether or not
16bits
Threshold ⎯ the load current exceeds the threshold is judged. 4.9 (3)
Data
(PCON The settable range is between 0 (0%) and 255 (100%).
only) When the judgment is not to be performed, set it to “0”.
b15
- Not available.
b14
Vibration
Select the servo gain parameter set to be used.
damping
NTC1
PLC Output

b13 control NTC1 NTC0 Function

(ACON only)
mode OFF OFF Do not use vibration damping
selection 1 4.7.7 (33)
Vibration control.
damping OFF ON Select parameter set 1.
NTC0
b12 control ON OFF Select parameter set 2.
(ACON only)
mode
selection 0 ON ON Select parameter set 3.
b11 - Not available.
SMOD
b10 Stop Control Mode: “ON” for servo control while it is stopped 4.7.7 (28)
(PCON only)
Control Select stop mode while standing by
signal 1
Stop ASO1 ASO0 Functions
b9 ASO1 Disable
Mode 1 OFF OFF
(Servo is ON at all times)
Sever turns OFF in time set
OFF ON 4.7.7 (30)
in Parameter No. 36
Sever turns OFF in time set
Stop ON OFF
b8 ASO0 in Parameter No. 37
Mode 0
Sever turns OFF in time set
ON ON
in Parameter No. 38

Acceleration/Deceleration Mode
b7 MOD1
MOD1 MOD0 Functions
OFF OFF Trapezoid Pattern 4.7.7 (29)
OFF ON S-shaped Motion
b6 MOD0
ON OFF First-Order Lag Filter

115
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
Select the servo gain parameter set to be
Servo gain
GSL1 parameter used.
b5 set
(ACON only) GSL1 GSL0 Function
selection 1
OFF OFF Select parameter set 0. 4.7.7 (34)
Servo gain OFF ON Select parameter set 1.
GSL0 parameter
b4 set ON OFF Select parameter set 2.
(ACON only)
selection 0 ON ON Select parameter set 3.

Incremental Command
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Control b3 INC “OFF” for Absolute Position Command, “ON” for Relative 4.7.7 (24)
signal 1 Position Command
Pressing Direction Setup:
“OFF” for the direction reducing the positioning width from
b2 DIR 4.7.7 (22)
the target position, “ON” for the direction adding the
positioning width from the target position
Pressing Setup:
b1 PUSH “OFF” for Positioning Operation, “ON” for Pressing 4.7.7 (21)
Operation
b0 ⎯ Unavailable ⎯

b15 BKRL Brake Forcible Release: “ON” for brake release 4.7.7 (18)
Operation mode:
PLC Output

b14 RMOD 4.7.7 (19)

“OFF” for Auto mode, “ON” for MANU mode
b13
b12
b11 ⎯ Unavailable ⎯

b10
b9
+ Jog: “ON” for Movement in the Opposite Direction of
b8 JOG+ 4.7.7 (13)
Home
b7 JOG- - Jog: “ON” for Movement to the Home Direction 4.7.7 (13)
Control
signal 2 Jog Speed/Inching Distance Change-Over:
“OFF” for using the values set using the Parameter No. 26
b6 JVEL “Jog Speed” and Parameter No. 48 “Inching Distance” 4.7.7 (14)
“ON” for using the values set using the Parameter No. 47
“Jog Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over:
b5 JISL 4.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 4.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 4.7.7 (4)
b2 STP Pause: “ON” for Pause Command 4.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 4.7.7 (6)
b0 DSTR Positioning Start: “ON” for Movement Command 4.7.7 (8)

116
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal
Signal Type Bit Description Details
name
32-bit Signed Integer
The unit is 0.01mm.
(Example)
Current 32bits
⎯ Read Value: 000003FFH = 1023 (decimal system) = 4.9 (3)
Position Data
10.23mm
* When the value is read in hexadecimal notation, the
negative figure is expressed as a compliment of 2.
32-bit Integer

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Command 32bits It shows the current value in the current command.
⎯ 4.9 (3)
Current Data The unit is mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Signed Integer
It shows the current speed.
Positive Figure: Under movement in the opposite direction of
the home
Negative Figure: Under movement in the home direction
Current 32bits
⎯ The unit is 0.01mm/sec. 4.9 (3)
Speed Data
(Example)
Read Value: 000003FFH = 1023 (decimal system) =
10.23mm/sec
* When it is read in hexadecimal notation, input the
negative value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
PLC Input

Alarm 16bits
⎯ When any alarm is not issued, it is “0”. 4.9 (3)
Code Data
Refer to the instruction manual for the controller main body
for the details of the alarms.
Total 32bits 32-bit integer
moving ⎯ ⎯
count Data (unit: times)
Total 32bits 32-bit integer
moving ⎯ ⎯
distance Data (unit: 1m)
b15
b14
b13
b12
b11
b10
b9
Status
b8 ⎯ Unavailable ⎯
Signal 1
b7
b6
b5
b4
b3
b2
b1

117
 CC-Link

Signal
Signal Type Bit Description Details
name
Light error status:
Turns ON when light alarm (threshold exceeded for number
ALML of movement, etc.) that the operation can be continued with 4.7.7 (31)
is issued.
b0
Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute
BALM battery voltage drop warning turns ON when the voltage is 4.7.7 (32)
dropped.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 4.7.7 (2)
b14 PWR Controller Ready: “ON” for Ready 4.7.7 (1)
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Zone 2: “ON” for the current position within the zone set
b13 ZONE2 4.7.7 (12)
range
Zone 1: “ON” for the current position within the zone set
b12 ZONE1 4.7.7 (12)
range
Position Zone:
b11 PZONE “ON” when the current position is within the position zone 4.7.7 (12)
set range
Load Output Judgment:
PLC Input

Status LOAD “ON” for Reached “OFF” for Not reached

Signal 2 b10 (Note 1) 4.7.7 (26)
[Refer to the instruction manual for the controller main body
for more information.]
Torque Level:
TRQS “ON” for Reached “OFF” for Not Reached
b9 (Note 1) 4.7.7 (27)
[Refer to the instruction manual for the controller main body
for more information.]
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently 4.7.7 (19)
“MANU” mode
b7 GHMS Under Homing Operation: “ON” for Homing Operation 4.7.7 (6)
b6 PUSHS Under Pressing Operation: “ON” for Pressing Operation 4.7.7 (25)
b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 4.7.7 (23)
b4 SV Operation Ready: “ON” with Servo ON 4.7.7 (5)
b3 ALM Alarm: “ON” with alarm issue 4.7.7 (3)
b2 MOVE Movement Signal: “ON” with Actuator Movement 4.7.7 (9)
b1 HEND Homing Completion: “ON” with Homing Completion 4.7.7 (6)
Positioning Completion Signal: “ON” with Positioning
b0 PEND 4.7.7 (10)
Completion
Note 1 It can be used only in PCON.

118
 CC-Link

4.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One
Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the RC personal computer application software or teaching pendant. The number of operable
positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
Parameter No. 25 Set Value Operation Mode I/O Specifications
0 Positioning mode 64 positioning points and 2 zone output points
1 Teaching mode 64 positioning points and 1 zone output point

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The positioning and jog operations are available.
The current position can be written on the setup position
data.
2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
4 Electromagnetic 7 positioning points and 2 zone output points
valve mode 1 The direct operation command is available for each
position No.
The positioning completion signal is output for each
position No.
5 Electromagnetic 3 positioning points and 2 zone output points
valve mode 2 It is operated with the Forward/Backward/Intermediate
Position Commands.
The positioning completion signal is output individually
for each Forward End/Backward End/Intermediate
Positions.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
PIO Pattern
Robot Cylinder Function 0: 1: 2: 3: 4: 5:
Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic
mode mode mode mode valve mode 1 valve mode 2
Homing ○ ○ ○ ○ ○ ×
Positioning ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ ×
Speed change during the
○ ○ ○ ○ ○ ○
movement
Different Acceleration
Speed ○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1)
Zone Signal Output ○ ○ ○ × ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○
(Set using the parameters)

O: Operation Available X: Operation Unavailable

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

119
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter IAI Controllers side IAI Controllers side
PLC side PLC side
No.84 DI and Input register DO and Output register
4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Current Position
RWw (n+1) RWr (n+1)
Occupied Area
RWw (n+2) RWr (n+2)
Command Current
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signal for each axis consists of 1 word for each I/O bit register.
The I/O signal for each axis consists of 4 words for each I/O data register.
z The I/O bit register controls with the ON/OFF signal in units of bit.
z The current position is expressed using 2-word (32 bits) binary data (Unit: 0.01mm).
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Input Port
15

14

13

12

10
11

No. 0

120
 CC-Link

PLC Input (* “n” shows the head register address per each axis).

Address one word = 16 bits

RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11
Output

0
Port No.

Address one word = 16 bits

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Current
8

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

121
 CC-Link

(3) I/O Signal Allocation

Refer to “4.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation.

The signal allocation for the Command Current and Current Position, is shown in the following table.
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01mm.
Current 32bits (Example)
⎯ ⎯
Position Data Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
PLC Input
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

* When the value is read in hexadecimal notation, the negative

figure is expressed as a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ ⎯
Current Data The unit is 1mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA

122
 CC-Link

4.7.7 I/O Signal Control and Functions

* “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “0”.
The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode
and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and
Remote I/O Mode 2, refer to the instruction manual for the controller main body.

(1) Controller Ready (PWR) PLC Input Signal

When the controller can control the system after power up, it is turned “ON”.
„ Function:

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Regardless of the alarm or servo conditions, when the controller initialization is completed normally
after power up and the controller can control the system, it is turned “ON”.
Even in the alarm condition, when the controller can control the system, it is turned “ON”.

(2) Emergency Stop (EMGS) PLC Input Signal

When the controller is stopped in an emergency, it is turned “ON”.
„ Function:
When the controller is stopped in an emergency (motor driving power is cut off), it is turned “ON”. When
the emergency stop status is cleared, it is turned “OFF”.

(3) Alarm (ALM) PLC Input Signal

When any error is detected using the controller protection circuit (function), it is turned “ON”.
„ Function:
When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”.
When the cause of the alarm is eliminated and the reset signal is turned “ON”, the alarm is turned
“OFF” in the case that it is the alarm with the operation cancellation level (In the case of the alarm with
the cold start level, cycling the power is required).
When the alarm is detected, the Status Indicator LED (Refer to “4.3 CC-Link Interface”) on the front
surface of the controller illuminates in red.

(4) Reset (RES) PLC Output Signal

This signal has two functions. It can reset the controller alarm and cancel the reminder for planned
movements during pause conditions.
„ Function:
1. When this signal is turned ON from OFF condition after eliminating the cause of the alarm during
the alarm output, the alarm (ALM) signal can be reset (in the case of the alarm with the cold start
level, cycling the power is required).
2. When this signal is turned ON from OFF condition during the pause condition, the reminder of the
planned movement left can be cancelled.

123
 CC-Link

(5) Servo ON Command (SON) PLC Output Signal

Operation Ready (SV) PLC Input Signal
When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON,
the Status Indicator LED (Refer to “4.3 CC-Link Interface”) on the front surface of the controller
illuminates in green.
The “SV” signal is synchronized with this LED.
„ Function:
Using the “SON” signal, the turning ON/OFF of the controller is available.
While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes
available.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The relationship between the “SON” signal and “SV” signal is as follows.

SON
(PLC → IAI controllers)

SV
(IAI controllers → PLC)

124
 CC-Link

(6) Homing (HOME) PLC Output Signal

Homing Completion (HEND) PLC Input Signal
Under Homing Operation (GHMS) PLC Input Signal
When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the
homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned
“ON”.
When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal. Once the “HEND” signal is
turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input
again.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Even after the completion of the homing operation, when the “HOME” signal is turned “ON”, the homing
operation can be performed.

HOME
(PLC → IAI controllers)
GHMS
(IAI controllers → PLC)
HEND
(IAI controllers → PLC)
PEND
(IAI controllers → PLC)

MOVE
(IAI controllers → PLC)

Caution: In the Remote I/O mode, Remote I/O Mode 2 and Position/Simplified Direct Value
Mode, when the positioning command is issued without performing the homing
operation after power up, the positioning is performed after the automatic homing
operation. However, it is limited to only once after power up.
In the Half Direct Value Mode and Full Direct Value Mode, when the positioning
command is issued without performing the homing operation after power up, the alarm
for the “Error Code 83: ALARM HOME ABS (Absolute Position Movement Command
in the Homing Unfinished Condition)” is issued (Operation Cancellation Level). Take
the greatest care.

125
 CC-Link

(7) Positioning Start (CSTR): Used in Position/Simplified Direct Value Mode,

PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning is performed to the target position
with the specified position No. or set using the PLC's target position register.
Whether if the target position with the specified position No. is used or the setting using the PLC's
target position register is used, depends on the Control Signal b11: “Position/Simplified Direct Value
Change-Over (PMOD) Signal”.
• PMOD = OFF: Target position data for the specified position No. is used.
• PMOD = ON: Value for the target position set using the PLC's target position register is used.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

When this signal is issued in the condition where the homing operation has not performed at all after
the power injection (HEND signal OFF), the positioning to the target position is performed after the
homing operation is performed automatically.
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC → IAI controllers)
CSTR
(PLC → IAI controllers)
PEND
(IAI controllers → PLC)

(8) Positioning Command (DSTR): Used in Half Direct Value Mode or Full Direct Value
Mode, PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning to the target position input in the
PLC's target position register is performed. When this signal is issued in the condition where the
homing operation has not performed at all after the power injection (HEND signal OFF), an alarm is
issued (Operation Cancellation Level).
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC → IAI controllers)
DSTR
(PLC → IAI controllers)
PEND
(IAI controllers → PLC)

(9) Under Movement Signal (MOVE), PLC Input Signal

This signal is turned ON while the actuator's slider or rod is moving (including the pressing or jog
operation after the homing operation).
After the completion of the positioning, homing or pressing operation, or during the pause condition, this
signal is turned “OFF”.

126
 CC-Link

(10) Positioning Completion Signal (PEND) PLC Input Signal

This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning
width and the pressing is completed.

Timing for turning ON the Positioning

Completion Signal
Speed
Target Position

Travel Distance

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Time
Positioning Width

When the servo-motor is turned ON from OFF condition, the positioning is performed with the position
set as the target position. Accordingly, this signal is turned “ON” and after that, when the positioning
operation is started with the homing (HOME) signal, positioning start (CSTR) signal and positioning
command (DSTR) signal, this signal is turned “OFF”.

Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is
stopped at the target position, the PEND signal is turned “OFF” temporarily.
Then, when the servo-motor is turned “ON” and the actuator is within the positioning
width, the PEND signal is turned “ON” again.
When the positioning is completed with the CSTR signal or DSTR signal turned “ON”,
the PEND signal is not turned “ON”.

(11) Pause (STP) PLC Output Signal

When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned
“OFF”, the actuator movement is restarted.
The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the
value for the acceleration/deceleration for the position No. set using the specified position No. register
in the Position/Simplified Direct Value Mode, and as the value set in the acceleration/deceleration
register in the Half Direct Value Mode.
In the Full Direct Value Mode, the value is expressed as the value set in the acceleration register or
deceleration register.

127
 CC-Link

(12) Zone 1 (ZONE 1) PLC Input Signal

Zone 2 (ZONE 2) PLC Input Signal
Position Zone (PZONE) PLC Input Signal
These signals are turned ON when the current position of the actuator is within the set area and turned
OFF when the current position is out of the set area.
1) Zone 1, Zone 2
The zone is set using the user parameters.
The Zone 1 Signal is set using the parameter No. 1 “Zone 1 “+” Side” and No. 2 “Zone 1 “-” Side”.
The Zone 2 Signal is set using the parameter No. 23 “Zone 2 “+” Side” and No. 24 “Zone 2 “-” Side”.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The Zone 1 Signal and Zone 2 Signal become effective when the homing operation is completed.
After that, even during the servo OFF, it is effective.

2) Position Zone
The zone is set using the position table I/O data register.
In the case of the Position/Simplified Direct Value Mode, the PZONE signal is set using the position
table.
In the case of the Full Direct Value Mode, the PZONE signal is set using the Zone Value Register.
(*) In the Half Direct Value Mode, there is no PZONE signal.
The PZONE signal becomes effective with the movement command after the homing operation. After
that, even during the servo OFF, it is effective.

Zone Signal

Actuator Operation "+" Direction

Home
Zone Setting Zone Setting
"-" Side "+" Side

128
 CC-Link

(13) “+” Jog (JOG+) PLC Output Signal

“-” Jog (JOG-) PLC Output Signal
This signal is the command for the jog operation startup or inching operation startup.
In the case of the “+” command, the movement direction is to the opposite of the home and in the case
of the “-” command, the movement direction is to the home.

1) Jog Operation
The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”.
While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

is turned “OFF”, the actuator is decelerated and stopped.
While the “JOG-” is turned “ON”, the movement direction is to the home, and when it is turned OFF,
the actuator is decelerated and stopped.
The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF : The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON : The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).
• When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.
2) Inching Operation
The inching operation is available while the JISL signal is turned “ON”.
Once it is turned “ON”, the actuator is moved as much as the inching distance.
When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is
turned “ON”, the movement is to the home.
The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF : The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON : The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Travel Distance is based on the set values of the following parameters.
JVEL Signal OFF : The travel distance is based on the parameter No. 48 “PIO Inching Distance”
value.
JVEL Signal ON : The travel distance is based on the parameter No. 49 “PIO Inching Distance 2”
value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).

During the normal operation, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the normal
operation is continued (The Jog signal is ignored).
In the pause condition, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the actuator is not
moved.

Note: Because the software stroke limit is disabled before the homing operation, the actuator might run against the
mechanism end. Take the greatest care.

129
 CC-Link

(14) Jog Speed/Inching Distance Change-Over (JVEL) PLC Output Signal

This change-over signal is used for the parameters specifying the jog speed when the jog operation is
selected or the inching distance when the inching operation is selected.
The relationship is as follows:

JVEL Signal Jog Operation : JISL = OFF Inching Operation: JISL = ON

Parameter No. 26 “Jog Speed”
OFF Parameter No. 26 “Jog Speed”
Parameter No. 48 “Inching Distance”
Parameter No. 47 “Jog Speed 2”
ON Parameter No. 47 “Jog Speed 2”
Parameter No. 49 “Inching Distance 2”
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

(15) Jog/Inching Change-Over (JISL) PLC Output Signal

This signal changes over the jog operation and the inching operation.
JISL = OFF: Jog Operation
JISL = ON: Inching Operation
When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is
decelerated and performs the inching operation.
When the JISL signal is turned “OFF” (for jog operation) during the inching operation, the actuator
performs the jog operation after the movement is completed.
The relationship between the JISL Signal and Jog Speed/Inching Distance Change-Over (JVEL) Signal
ON/OFF is described as follows.

Jog Operation Inching Operation

JISL OFF ON
Speed Parameter No. 26 “Jog Speed” Parameter No. 26 “Jog Speed”
Travel Distance ⎯ Parameter No. 48 “Inching Distance”
JVEL = OFF
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
Speed Parameter No. 47 “Jog Speed 2” Parameter No. 47 “Jog Speed 2”
Travel Distance ⎯ Parameter No. 49 “Inching Distance 2”
JVEL = ON
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
When the JOG+/Jog- startup (ON
Operation When JOG+/JOG- is “ON”:
edge) is detected:

130
 CC-Link

(16) Teaching Mode Command (MODE) PLC Output Signal

Teaching Mode Signal (MODES) PLC Input Signal
When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode.
When the mode for the controllers for each actuator is changed to the teaching mode, the MODES
signal is turned ON.
After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.

Note: In order to change the normal operation mode to the teaching mode, the following conditions are required.
• The actuator operation (motor) is stopped.
• The + JOG (JOG+) signal and – JOG (JOG-) signal are turned “OFF”.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

• The Position Data Import Command (PWRT) Signal and Positioning Start (CSTR) Signal are turned
“OFF”.

Note: When the PWRT signal is not turned OFF, the mode is not returned to the normal operation mode.

(17) Position Data Import Command (PWRT) Signal PLC Output Signal
Position Data Import Completion (WEND) Signal PLC Input Signal
The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”.
Turn ON the PWRT signal (*1). Then, the current position data will be written in the position data box for
the position No. set using the PLC's specified Position No. register (*2).
When the data writing is completed, the WEND signal is turned “ON”.
After the WEND signal is turned ON, turn OFF the PWRT signal in the host machine.
When the PWRT signal is turned ON before the WEND signal is turned “ON”, the WEND signal is not
turned “ON”.
When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
(*1) Turn it ON for 20msec or more. If the time is shorter than 20msec, the writing is not completed.
(*2) When the data items except for the position have not been defined, the parameter initial values are
written (Refer to the instruction manual for the controller main body).

MODES
(IAI controllers → PLC)
PWRT
(PLC → IAI controllers)
WEND
(IAI controllers → PLC)

(18) Brake Forcible Release (BKRL) Signal PLC Output Signal

Turning this signal “ON” can release the brake forcibly.

131
 CC-Link

(19) Operation Mode (RMOD) PLC Output Signal

Operation Mode Status (RMDS) PLC Input Signal
The operation mode is selected with the RMOD signal and the MODE switch located on the front
surface of the controller.
Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal.
The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are
described as follows.
Controller MODE Controller MODE
Switch set to “AUTO” Switch set to “MANU”
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

RMOD Signal “OFF” AUTO Mode MANU Mode

(AUTO Mode Command) (RMDS = OFF) (RMDS = ON)
RMOD Signal “ON” MANU Mode MANU Mode
(MANU Mode Command) (RMDS = ON) (RMDS = ON)

Note: In MANU mode, the startup of the operation from PLC is not available.

(20) Position/Simplified Direct Value Change-Over (PMOD) PLC Output Signal

This signal changes over the use of the value registered in the controller position table for the target
position in the movement and the use of the value specified in the PLC's target position register.
PMOD = OFF : Using the value register in the Position Table
PMOD = ON : Using the value specified in the Target Position Register

(21) Pressing Setup (PUSH) PLC Output Signal

When the movement command signal is output after this signal is turned ON, the pressing operation is
performed.
When this signal is set to “OFF”, the normal positioning operation is performed.
(Refer to Item (2) Operation in Half Direct Value Mode in “4.9 Operation” for the setting timing for this
signal).

(22) Pressing Direction Setup (DIR) PLC Output Signal

This signal specifies the pressing direction.
When this signal is turned “OFF”, the pressing operation is performed to the position expressed using
the value reducing the positioning width from the target position.
When this signal is turned ON, the pressing operation is performed to the position expressed using the
value adding the positioning width to the target position.
In the case of the normal pressing operation, this signal is disabled.
(Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this
signal).

Speed

Travel Distance

Positioning Width Positioning Width Positioning Width

When DIR = OFF: Target Position When DIR = ON:

132
 CC-Link

(23) Pressing and a Miss (PSFL) PLC Input Signal

In the case that the pressing operation was performed, and the actuator moved the travel distance set
in the controller position table positioning width or set using the PLC's positioning width register, but it
was not pushed against the work, this signal is turned “ON”.
(Refer to Item (2) Operation in Half Direct Value Mode in “4.9 Operation” for the setting timing for this
signal).

(24) Incremental Command (INC) PLC Output Signal

When the movement command is issued while this signal is turned “ON”, the actuator is moved to the

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

position expressed as the value input in the PLC's target position register based on the current position
(Incremental Movement).
When this signal is turned “OFF”, the actuator is moved to the position expressed as the value set in
the PLC's target position register.

(25) Under Pressing Operation (PUSHS) PLC Input Signal

This signal is turned “ON” during the pressing operation.

Speed
Target Position

Travel Distance

Positioning Width
PUSHS=ON

This signal is turned “OFF” when the pressing and a miss signal or the next movement command signal
is output, or the servo-motor is turned “OFF”.
[Refer to Item (2) Operation in Half Direct Value Mode in “4.9 Operation” for the setting timing for this
signal.]

133
 CC-Link

(26) Load Output Judgment (LOAD) PLC Input Signal PCON only
This signal is available only in the pressing operation.
When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is
reached during the pressing operation.
The load threshold and inspected width range are set using the PLC's register. When the command
torque (motor current) exceeds the threshold within the inspected width range, this signal is turned
“ON”.
This signal judges the load output based on the fact that the command torque excesses the threshold
for the specified time period.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

This processing procedure is the same as for the pressing judgment. The judgment time period can be
changed freely using the parameter No. 50 “Load Output Judgment Time Period”.
This signal is continued until the next movement command is received.

Position where the actuator is pushed

Position where this signal is turned ON against the work and the pressing completion is
when the command torque exceeds the threshold judged so the positioning completion signal is turned "ON"
within the torque inspected width range

Speed inspected width

range

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the parameter No. 51 “Torque Inspected Range” to “0” (enabled).
• Set the threshold inspected width using the PLC's Zone Value + Register or Zone Value - Register.
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: • If the actuator pushes against the work before the target position, it is regarded as a
servo-motor error.
Take care of the positional relationship between the target position and the work position.
• The actuator continues to push the work with the pressing current at the stop time
decided with the current limit value. It is not the stop condition, so take the greatest care
to deal with it.

134
 CC-Link

(27) Torque Level (TRQS) PLC Input Signal PCON only

This signal is available only in the pressing operation.
When the motor current reaches the load threshold during the pressing operation (moving up to the
positioning width), this signal is turned “ON”.
Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
The speed available for the pressing varies depends on the motor and leads, it is required to adjust the
parameters.
Position where the actuator is pushed against the work and the pressing
completion is judged so the positioning completion signal is turned "ON"

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Speed

Range where this signal is output

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the parameter No. 51 “Torque Inspected Range” to “1” (disabled).
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: • If the actuator pushes against the work before the target position, it is regarded as a
servo-motor error.
Take care of the positional relationship between the target position and the work position.
• The actuator continues to push the work with the pressing current at the stop time
decided with the current limit value. It is not the stop condition, so take the greatest care
to deal with it.

135
 CC-Link

(28) Stop Control Mode (SMOD) PLC Output Signal PCON only
One of the pulse motor general characteristics is that that the holding current in the stop mode is larger
than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position,
the measure to reduce the power consumption at the stop mode is taken as one of the energy saving
measures.
SMOD = ON: Full Servo Control System is used in the standby condition.
SMOD = OFF: Standby Condition

• Full Servo Control System

4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

By means of servo control of the pulse motor, the holding current can be reduced.
The reduction level varies depending on the actuator type or load conditions. However, generally, the
holding current will be 1/2 to 1/4.
The actual holding current can be confirmed in the current monitor window in the personal computer
application software.

Note: Under the condition where any external force is given or depending on the stop position, slight vibration or
abnormal noise might be caused.

After confirming that there would be no trouble in whole system, use this signal.

136
 CC-Link

(29) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signal

This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them
before the actuator movement command.
MOD1 MOD0 Pattern Name Remarks
OFF OFF Trapezoid Pattern Set in delivery
OFF ON S-shaped Motion
ON OFF First-Order Lag Filter
ON ON Unavailable

Trapezoid Pattern

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Speed

Acceleration Deceleration

Time
* The Acceleration and Deceleration are set in the “Acceleration” and “Deceleration”
data boxes on the position data.
S-shaped Motion
The S-shaped curve is described where at first in the acceleration, the line is gentle, but along
the way, it suddenly becomes steep.
Use it in such application that setting the acceleration/deceleration rate high is desired
because high tact time is required, but in the movement start or immediately before stop, low
acceleration/deceleration rate is favorable.
Speed

Time
* The S-shaped motion degree is set using the parameter No. 56 “S-Shaped Motion Ratio
Setting”. The setting unit is % and setting range is from “0” to “100”.
(The above figure shows the image graph with the Parameter No. 56 set to “100”.
When it is set to “0”, the S-shaped motion is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.
First-Order Lag Filter
This describes much gentle acceleration/deceleration curve than that for the linear
acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight
vibration to the work in acceleration/deceleration operation.
Speed

Time
* The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter
Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to
“100.0”.
When it is set to “0”, the first-order lag filter is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.

137
 CC-Link

(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal

Select the stop mode for the duration before the movement to the next position after a positioning is
completed.
If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power
consumption.
Refer to the instruction manual for the controller for more information.

ASO1 ASO0 Function Reference

OFF OFF Disabled Set in delvery
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Automatic Servo OFF Method

OFF ON
Parameter No. 36 is valid for T
Automatic Servo OFF Method
ON OFF
Parameter No. 37 is valid for T
Automatic Servo OFF Method
ON ON
Parameter No. 38 is valid for T

Movement
Command
In automatic servo OFF duration
(Green LED blinks)
Servo
Condition
Servo ON
Condition

Actuator
Moving
Target Position
T : Waiting time (sec) before servo is
T
turned OFF after the positioning is completed

(31) Light error status (ALML) PLC Input Signal

This becomes 1 when a message level (light alarm that the operation can be kept on) is generated.
This signal is not linked with ALM_LED on the front panel of the controller.
[Refer to the instruction manual for the controller main body for the details of the alarms.]

(32) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal ACON only
With an serial absolute system, this signal is OFF when the absolute battery voltage is normal. It
remains OFF with an incremental system.
This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is
operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position
information.
(If you are using an absolute system and this signal turns ON, replace the battery at the earliest
opportunity.)

138
 CC-Link

(33) Anti-Vibration Control Mode Selection 0, 1 (NTC0, NTC1) PLC Output Signal
ACON only

Anti-vibration control function controls the vibration generated by the load of IAI actuator.
Measure the vibration value and input it into the parameter sets (3 types max.).
1 type is to be selected from the established parameter sets and to be combined in this signal.
Refer to the instruction manual for the controller for more information.

NTC1 NTC0 Function Reference

OFF OFF Not to use Anti-vibration control Set in delvery

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

OFF ON Parameter set 1 selected
ON OFF Parameter set 2 selected
ON ON Parameter set 3 selected

Input Timing
Diagram below shows the timings to input NTC0 and NTC1 signals:
Target
Position

NTC0

NTC1
T1*1
DSTR

*1 T1 : 0ms or more

Caution: ON and OFF of NTC0 or NTC1 signals during an operation will be ignored since they are read
when the movement command (DSTR) gets identified.

(34) Servo Gain Parameter Set Selection (GSL0, GSL1) PLC Output Signal
ACON only
An operation with preset parameters at each position becomes available if 4 sets of servo gain
parameters (6 sets) are registered in advance
Refer to the instruction manual for the controller for more information.

GSL1 GSL0 Function Reference

OFF OFF Parameter set 0 selected Set in delvery
OFF ON Parameter set 1 selected
ON OFF Parameter set 2 selected
ON ON Parameter set 3 selected

139
 CC-Link

4.8 I/O Signal Timing

When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is expressed
using the following formula.

Max. Response Time (msec) = Yt + Xt + 2 + Command Processing Time (Operation Time, etc.)
Yt: Master Station to Remote I/O Station Transmission Delay Time
Filed Network Transmission Delay Time
Xt: Remote I/O Station to Master Station Transmission Delay Time
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

For the Master Station to Remote I/O Station Transmission Delay Time (Yt) and the Remote I/O Station to
Master Station Transmission Delay Time (Xt), refer to the instruction manuals for the CC-Link Master Unit and
mounted PLC.

ACON, PCON, DCON

140
 CC-Link

4.9 Operation
The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value
Mode and Full Direct Value Mode, are described.
For the Remote I/O Mode and Remote I/O Mode 2, refer to the instruction manual for the controller main body.
(For the current position and current speed in the Remote I/O Mode, read from the PLC's register from time to
time.)

(1) Operation in the Position/Simplified Direct Value Mode

It is operated with the position data written in the PLC's register and the speed, acceleration /
deceleration, positioning width and pressing current limit value, etc. set using the position table.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

z Operation Example (General Positioning Operation)
(Preparation) Set the position data items (speed, acceleration/deceleration, positioning width, etc)
except for the target position item, in the position table.
Turn ON the Position/Simplified Direct Value Change-Over Signal (PMOD).

1) Set the target position data in the target position register.

2) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in the
setup position No. register.
3) In the condition where the positioning completion (PEND) signal is turned “ON” or, Under
Movement (MOVE) signal is turned “OFF”, turn “ON” the Positioning Start (CSTR) signal.
The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the
CSTR signal.
4) After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tpdf.
5) After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn “OFF”
the CSTR signal. Do not change the value in the target position register until the CSRT signal is
turned “OFF”.
6) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
7) The current position data is continuously updated. When the remaining travel distance becomes
within the range of the positioning width set in the position data, and the CSTR signal is turned
“OFF”, the PEND signal is turned “ON”. Then, the completed position No. is output to the
completed position No. register.
Accordingly, for the read of the completed position No. register when the positioning is completed,
confirm it some time (Remaining Travel Distance Movement Time) after the PEND signal is turned
“ON”.
The current position data might be changed slightly even when the system is stopped.
8) The target position data can be changed during the actuator movement.
In order to change the target position, change the target data and turn ON the CSTR signal after
the time longer than the PLC scanning time has passed.
Change the value for the CSTR signal after the time longer than the PLC scanning time has
passed.

z Operation Example (Pressing Operation)

For the pressing operation, the current limit value is set in the pressing data box on the position data
at the preparation stage.
When the positioning is performed onto the position No. for which the value is set in the pressing
data box, the pressing operation is performed.

141
 CC-Link

Target Position Data

Set Value n1 n2 n3
(PLC → ACON, PCON, DCON)

Command Position No. p1 n2 n3

(PLC → ACON, PCON, DCON)
*
T1
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Psitioning Start
CSTR
(PLC → ACON, PCON, DCON) *
tdpf

Positioning End
PEND
(ACON, PCON, DCON→ PLC)

Current Position
n1 n2
(ACON, PCON, DCON → PLC)

Moving
MOVE
(ACON, PCON, DCON→ PLC)
Positioning Width

Actuator Operation
(Normal Positioning)

*T1: Considering the scanning time of the

host controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

142
 CC-Link

(2) Operation in the Half Direct Value Mode

It is operated with the data set in the PLC's target position register, positioning width register, setup
speed register, acceleration/deceleration register and pressing current limit setup register.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the acceleration/deceleration data in the acceleration/deceleration register.
5) Set the pressing current limit data in the pressing current limit value register.
6) Turn “ON” the pressing setup (PUSH) signal.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

7) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 4.7.7 (22))
8) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 5) are read in the controller at the startup (ON edge) of the
DSTR signal.
9) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
10) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
11) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
12) The current position data is continuously updated.
13) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 5, the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 5), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
14) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 6) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

143
 CC-Link

Target Position Data

Set Value
(PLC → ACON, PCON, DCON)

Positioning Width Data

Set Value
(PLC → ACON, PCON, DCON)

Speed Data
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Set Value
(PLC → ACON, PCON, DCON)

Acceleration/Deceleration
Data Set Value
(PLC → ACON, PCON, DCON)

Pressing Current Limit

Set Value
(PLC → ACON, PCON, DCON)

Pressing Setup
PUSH
(PLC → ACON, PCON, DCON)

Pressing Direction Setup

DIR
(PLC → ACON, PCON, DCON)

Positioning Command
DSTR
(PLC → ACON, PCON, DCON)
Positioning Completion/
Pressing and a Miss
PEND/PSFL
(ACON, PCON, DCON → PLC)

Current Position
(ACON, PCON, DCON → PLC)

Moving
MOVE
(ACON, PCON, DCON → PLC)

Actuator Operation
(Pressing)

Actuator Operation
(General Positioning)

*T1: Considering the scanning time of the

host controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

144
 CC-Link

(3) Operation in the Full Direct Value Mode

It is operated with all the required data items set in the PLC's registers including the target position
register and positioning width register, etc.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the position zone output value data in the zone value + register and zone value - register.
5) Set the acceleration data in the acceleration register.
6) Set the deceleration data in the deceleration register.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

7) Set the pressing current limit data in the pressing current limit value register.
8) Set the load current threshold data in the load current threshold setup register.
9) Turn “ON” the pressing setup (PUSH) signal.
10) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 4.7.7 (22))
11) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 8) are read in the controller at the startup (ON edge) of the
DSTR signal.
12) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
13) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
14) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
15) The current position data is continuously updated.
16) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 7), the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 7), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
17) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 9) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

145
 CC-Link

Target Position Data

Set Value
(PLC → ACON, PCON, DCON)

Positioning Width Data

Set Value
(PLC → ACON, PCON, DCON)
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Speed Data
Set Value
(PLC → ACON, PCON, DCON)

Position Zone Value Data

Set Value
(PLC → ACON, PCON, DCON)

Acceleration Data
Set Value
(PLC → ACON, PCON, DCON)

Deceleration Data
Set Value
(PLC → ACON, PCON, DCON)

Pressing Current Limit Data

Set Value
(PLC → ACON, PCON, DCON)

Load Current Threshold Data

Set Value
(PLC → ACON, PCON, DCON)

146
 CC-Link

Pressing Setup
PUSH
(PLC → ACON, PCON, DCON)

Pressing Direction Setup

DIR
(PLC → ACON, PCON, DCON)
* T1

Positioning Command

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

DSTR
(PLC → ACON, PCON, DCON) *

Positioning Completion/
Pressing and a Miss
PEND/PSFL
(ACON, PCON, DCON → PLC)

Current Position
(ACON, PCON, DCON → PLC)

Moving
MOVE
(ACON, PCON, DCON → PLC)

Pressing
Actuator Operation
(Pressing)
Positioning Width

Actuator Operation
(General Positioning)

*T1: Considering the scanning time of the

host controller, set it so that “T1≥0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

147
 CC-Link

(4) Data Change during the Movement

In the Half Direct Value Mode and the Full Direct Value Mode, the change of any data set using the
output data register, out of the target position data, speed data, positioning width, and current limit value
during the pressing, during the movement is available. After changing the data, turn “ON” the
positioning command (DSTR) for more than tdpf.
Also, after turning “OFF” the DSTR, set aside some time for “twcsON + twcsOFF” or more, until the
next DSTR is turned “ON”.
The example is shows as follows, where the speed and acceleration/deceleration data items have been
changed.
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Speed and Acceleration/

Deceleration Data
Set Value
(PLC → ACON, PCON, DCON)
≥0

DSTR
(PLC → ACON, PCON, DCON)

PEND
(ACON, PCON, DCON → PLC)

MOVE
(ACON, PCON, DCON→ PLC)
Speed n3

Speed n2

Actuator
Speed

twcsON ≥ Yt + Xt + 2 (msec)
twcsOFF ≥ Yt + Xt + 2 (msec)
*Yt + Xt ≤ tpdf ≤ Yt + Xt + 2 (msec)

Caution : 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm
is not issued.
2. When the speed setting is changed to “0” during the movement, the actuator is decelerated
and stopped, but an alarm is not issued.
3. Even when the acceleration/deceleration data only is changed during the movement, the
setting of the target position data is required.
4. Even when the target position data only is changed during the movement, the setting of the
acceleration/deceleration data is required.

148
 CC-Link

4.10 CC-Link Related Parameters

The parameters related to CC-Link are from No. 84 to No. 86, No. 90 and No. 159.
Classification: C: External Interface Related
Default Value set in the Factory
No Classification Symbol Name
before Delivery
1
Refer to instruction manual for
⎪ the controller for the parameters
No. 1 through No. 83.
83
84 C FMOD Field Bus Operation Mode 0

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

85 C NADR Field Bus Node Address 1
Filed Bus Communication
86 C FBRS 0
Speed
87 C NTYP Network Type 1
90 C FMIO Filed Bus I/O Format 3
159 C FBVS FB Half Direct Mode Speed Unit 0

z Filed Bus Operation Mode (No. 84 “FMOD”)

The operation mode is set using the values 0 to 4 for the parameter No. 84.
Parameter No. 84 Station Data and No. of
Mode Name Description
Set Value Occupied Stations
Remote Device Station: The operation is performed using the
0 (Set in delivery) Remote I/O Mode
One Station PIO (24V I/O) through the CC-Link.
The target position can be set directly
using the value or the operation can be
Position/Simplified Remote Device Station:
1 performed using position data value.
Direct Value Mode One Station
The other values required for the
operation are set on the position data.
In addition to the target position, the
speed, acceleration/deceleration and
Half Direct Value Remote Device Station:
2 pressing current value are set directly
Mode Two Stations
using the values to perform the
operation.
All the values related to the position
Full Direct Value Remote Device Station:
3 control are set using the values to
Mode Four Stations
perform the operation.
The current position and current speed
Remote Device Station:
4 Remote I/O Mode 2 reading functions are added to the
One Station
functions in the remote I/O mode.

z Field Bus Node Address (No. 85 “NADR”)

The remote station No. is set for the parameter No. 85.

Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).

z Field Bus Communication Speed (No. 86 “FBRS”)

The communication speed is selected for the parameter No. 86.
Parameter No. 86
Communication Speed
Set Value
0 (Set in delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
Except for the above Baud Rate Setting Error

149
 CC-Link

z Network Type (No. 87 “NTYP”)

The network module type is set for the parameter No. 87. Do not change the default value.

z Filed Bus I/O Format (No. 90 “FMIO”)

The addresses in PLC are allocated based on each operation mode, in units of 16 points to the I/O bit
register and I/O data register corresponding to the station Nos. set in the controller and the number of
occupied stations set using the PLC's parameter.
Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2
words, exchanging such data in units of byte within the communication area of the PLC's bit register and
I/O data register.
Parameter No. 90
Description
Set Value
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Data exchange is not performed. The data is transmitted to PLC as they are (Refer to
0
the Example i).
The host bytes are exchanged with slave bytes in the host words and slave words
1
(Refer to the Example ii).
In the case of word register, the host words are exchanged with the slave words (Refer
2
to the Example iii).
The host bytes are exchanged with slave bytes in the host words and slave words. In
3 (Set in delivery) the case of word register, further the host words are exchanged with the slave words
(Refer to the Example iv).
Note: Set to 3 for CC-Link manufactured by Mitsubishi Electric Corporation.

(Example i) : In the case of the Value set to “0”:

● shows ON. ○ shows OFF.

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

150
 CC-Link

(Example ii): In the case of the Value set to “1”:

● shows ON. ○ shows OFF.

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
Notation

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

151
 CC-Link

(Example iii): In the case of the Value set to “2”:

● shows ON. ○ shows OFF.

PCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal
Notation
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal
Notation

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

152
 CC-Link

(Example iv): In the case of the Value set to “3”:

● shows ON. ○ shows OFF.

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
Notation

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

z FB Half Direct Mode Speed Unit (No.159 FBVS)

Determines the unit of measure when operating the unit in Half Direct Mode.
Parameter No. 159 Setting Value Speed Setting Unit
0 (Set in delivery) 1mm/sec
1 0.1mm/sec

153
 CC-Link

4.11 Troubleshooting
4.11.1 Status LED Indication
With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and
network status can be obtained.
When any trouble occurs, confirm the current status with the Status LED illumination patterns. The
communication status indications changed with the Status LED illumination patterns are described as follows.
○ : Illuminating, × : OFF, ☆ : Flashing
STATUS 1 STATUS 0 Status Signal
○ ○ Impossible condition
4.ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

• An error occurs. (CRC error, station No. setting error or communication speed
○ × setting error)
• Time period from power up or software reset to CC-Link initialization completion
× ○ Normal Communication Status
Power Failure: Remote station power unit breakdown or communication cable
× ×
breakage
☆ ○ Impossible condition
Station No. setting or communication speed setting is changed during the
☆ ×
communication.

4.11.2 Alarm Description and Cause/Treatment

When an alarm is issued, the completed position No. (4 bits for PM1 to PM8) shows the simplified alarm code
in the Remote I/O Mode or Remote I/O Mode 2.
In the Position/Simplified Direct Value Mode, the simplified alarm code is output to RWr2.
In the Half Direct Value Mode or Full Direct Value Mode, the alarm code is output to RWr6.
1) Confirm the alarm code using the PLC's monitor function, etc., or using the status monitor, connecting the
RC personal computer application software or teaching pendant.
2) Based on the read alarm code, search the alarm description list in the instruction manual for the controller.
3) Deal with it based on the description for the alarm code in question.
For the following alarm code, deal with it according to the following table.
ID RES
Code Error Name Cause/Treatment
(*1) (*2)
Cause: The field bus module error is detected.
0F2 Field Bus Module Error 05 ×
Treatment: Confirm the parameter.
Cause: The module can not be detected.
0F3 Field Bus Module Detection Error 04 × Treatment: Turn ON the power again. If the error is
not removed, contact our company.
(*1) ID → Simplified Alarm Code
(*2) RES → Alarm Reset Enable/Disable, ○: Alarm Reset Enable/×: Alarm Reset Disable

154
 CC-Link

4.12 CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

4. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

155
 CC-Link

5. SCON-CA/CB/CGB/CAL/CGAL
5.1 Operation Modes and Functions
All of the operation modes described in the table below for SCON-CA/CB Type applicable for CC-Link and
those except for the ones in the shaded area for CAL Type are available to choose from for operation.
* Set the Station Data for the Master Station to “ver.1, Remote Device Station”.

Operation Modes and Main Functions

Position / Half Position / Half Half
Full Direct Remote Remote
Main Remote I/O Simplified Direct Simplified Direct Direct
Value I/O Mode I/O Mode
Function Mode(Note 3) Direct Value Value Direct Value Value Value
Mode 2 3
Mode Mode Mode 2 Mode 2 Mode 3
5. SCON-CA/CB/CGB/CAL/CGAL

No. of
Occupied 1 Station 1 Station 2 Stations 4 Stations 1 Station 1 Station 2 Stations 1 Station 2 Stations
Stations
Position
Data Setup × ○(Note1) ○ ○ × ○(Note1) ○ × ○
Operation
Speed/Accel
eration Direct × × ○ ○ × × ○ × ○
Command
Pressing
○ ○ ○ ○ ○ ○ ○ ○ ○
Operation
Current
× ○ ○ ○ ○ ○ ○ ○ ○
Position Read
Current
× × ○ ○ × × ○ × ○
Speed Read
Position No.
Setup ○ ○ × × ○ ○ × ○ ×
Operation
Completed
Position No. ○ ○ × × ○ ○ × ○ ×
Read
No. of Max.
Not Not
Position 512 768 Unused Unused 512 768 512
Applicable Applicable
Tables

Force Control ∆ (Note2) × × ○ ∆ (Note2) ○ ○ ○ ×

Vibration
○ ○ × ○ ○ ○ × ○ ○
Control
Servo Gain
○ ○ ○ ○ ○ ○ × ○ ○
Changeover
(Note 1) For the position data items except for position data, operate the system with the position No. set up.
(Note 2) It is available when the PIO pattern is set on either 6 or 7.
(Note 3) It cannot be compatible with Remote I/O Mode on SCON-C. (SCON-C: Remote I/O Station,
SCON-CA/CB/CAL: Remote Device Station)

156
 CC-Link

1) Remote I/O Mode: This is the operation method using CC-Link, instead of PIO (24V I/O).
No. of Occupied Stations: One Station

SCON-CA/CB/CAL SCON-CA/CB/CAL
not applicable to CC-Link applicable to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

Caution : There is no compatibility with Remote I/O Mode on SCON-C.

5. SCON-CA/CB/CGB/CAL/CGAL
(SCON-C : Remote I/O Station, SCON-CA/CB/CAL : Remote Device Station)

2) Position/Simplified Direct Value Mode: This is the operation method with the position No. set up.
Whether if setup the target position using a value directly by means
of the change over of the control signal, or using the value registered
on the position data, can be selected.
For “Speed, “Acceleration/Deceleration” and “Positioning Width”, use
the values already registered on the position data. The settable No.
of position data items is max 768 points.
No. of Occupied Stations: One Station

Target Position : 100.00mm

+ No.
Speed
[mm/s]
Acceleration Deceleration Pressing
[G] [G] [%]

Position No.0 0 300.00 0.30 0.30 0

SCON-CA/CB/CAL
applicable to CC-Link Actuator

3) Half Direct Value Mode: This is the operation method with the “Speed”, “Acceleration/Deceleration”,
“Pressing Current Value” set up directly using the numerical values, in addition to
the “Target Position”.
No. of Occupied Stations: Two Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration/Deceleration : 0.30G
Pressing Current Value : 50%

SCON-CA/CB/CAL Actuator
applicable to CC-Link

157
 CC-Link

4) Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”,
“Acceleration/Deceleration”, etc.) related to the position control set up directly using
the numerical values.
No. of Occupied Stations: Four Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration : 0.30G
Deceleration : 0.30G
Pressing Current Value : 50%
Load Current Threshold : 0
Zone + : 50.00mm
Zone - : 30.00mm
5. SCON-CA/CB/CGB/CAL/CGAL

SCON-CA/CB/CAL Actuator
applicable to CC-Link

5) Remote I/O Mode 2: This is the operation method using CC-Link, instead of PIO (24V I/O).
The current position and command current value reading functions are added to the
functions of (1).
No. of Occupied Stations: One Station

SCON-CA/CB/CAL SCON-CA/CB/CAL
not applicable to CC-Link applicable to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

6) Position/Simplified Direct Value Mode 2: This is the operation method with the position No. set up.
(Not applicable for CAL Type) This is a mode that provides the force control function instead of
teaching and zone functions in 2).
No. of Occupied Stations: One Station

Target Position : 100.00mm

+ No.
Speed
[mm/s]
Acceleration Deceleration Pressing
[G] [G] [%]

Position No.0 0 300.00 0.30 0.30 0

SCON-CA/CB
applicable to CC-Link Actuator

158
 CC-Link

7) Half Direct Value Mode 2: This is the operation method with the “Speed”, “Acceleration/Deceleration”,
(Not applicable for CAL Type) “Pressing Current Value” set up directly using the numerical values, in addition
to the “Target Position”.
This mode can read loadcell data instead of reading the command current in
3). Also, this mode complies with the force control function.
No. of Occupied Stations: Two Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration/Deceleration : 0.30G
Pressing Current Value : 50%

5. SCON-CA/CB/CGB/CAL/CGAL
SCON-CA/CB Actuator
applicable to CC-Link

8) Remote I/O Mode 3: This is the operation method using CC-Link, instead of PIO (24V I/O).
(Not applicable for CAL Type) This is a mode that the reading functions of the current position and loadcell
data are added to the functions in 1).
No. of Occupied Stations: One Station

SCON-CA/CB SCON-CA/CB
not applicable to CC-Link applicable to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

9) Half Direct Value Mode 3: This is the operation method with the “Speed”, “Acceleration/Deceleration”,
“Pressing Current Value” set up directly using the numerical values, in addition
to the “Target Position”.
This is a mode that complies with the anti-vibration control function instead of
jog function in 3).
No. of Occupied Stations: Two Stations

Target Position : 100.00mm

Positioning Width : 0.10mm
Speed Setup : 100.0mm/s
Acceleration/Deceleration : 0.30G
Pressing Current Value : 50%

SCON-CA/CB/CAL Actuator
applicable to CC-Link

159
 CC-Link

5.2 Model No.

The model of SCON-CA/CB/CAL which complies with CC-Link is shown as stated below:

● SCON-CA/CB-□-CC-□ ● SCON-CAL-□-CC-□
5. SCON-CA/CB/CGB/CAL/CGAL

160
 CC-Link

5.3 CC-Link Interface

(1) Names of Each Section

The names of each section related to CC-Link are described as follows.

● SCON-CA/CB ● SCON-CAL

1
RUN
STATUS
Status LED Status LED
0 ERR

5. SCON-CA/CB/CGB/CAL/CGAL
FG FG
SLD SLD
DG DG
DB DB
DA DA

CC-Link Communication Connector CC-Link Communication Connector

PCB side : MSTBA2.5/5-G-5.08AU PCB side : MSTBA2.5/5-G-5.08AU
(PHOENIX CONTACT) (PHOENIX CONTACT)
Cable side : SMSTB2.5/5-ST-5.08AU Cable side : SMSTB2.5/5-ST-5.08AU
(PHOENIX CONTACT) (PHOENIX CONTACT)

(2) Status LED Indication

The board operation status and network condition are obtained with the two LEDs located in the front of
the controller.
LED Color Indication Status Indication Description (Meaning)
• STATUS1 OR Illuminating • An error occurs.
• ERR (CRC Error/Station No. (parameters) Setting Error/Baud Rate
Setting (parameters) Error)
• Period between power up or software reset and the CC-Link
initialization completion
OFF • Under Normal Communication
Flashing • Station No. setting or communication speed setting is changed
during the communication.
• STATUS0 GN Illuminating • Communicating normally
• RUN OFF • Not communicating

161
 CC-Link

5.4 Operation Mode Selection (Setting)

The operation mode is set using the parameters.
Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the personal computer application software (V8.00.00.00 or later)
(Refer to “5.10 CC-Link Related Parameters”).

Set Value Operation Mode Number of occupied stations

0: (Already set in system delivery) Remote I/O Mode 1 Station

1 Position/Simplified Direct Value Mode 1 Station
2 Half Direct Value Mode 2 Stations
5. SCON-CA/CB/CGB/CAL/CGAL

3 Full Direct Value Mode 4 Stations

4 Remote I/O Mode 2 1 Station
5 Position/Simplified Direct Value Mode 2 1 Station
6 Half Direct Value Mode 2 2 Stations
7 Remote I/O Mode 3 1 Station
8 Half Direct Value Mode 3 2 Stations

* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.
The modes in the shaded area are not available for SCON-CAL.

Note: Set the Station Data for the Master Station to “ver.1 Remote Device Station”.

5.5 Station No. Setting

The Station No. is set using the parameters.
Set the parameter No. 85 “NADR: Field Bus Node Address” using the RC personal computer application
software.
(Refer to “5.10 CC-Link Related Parameters”).

Settable Range: 1 to 64 (Already set in system delivery)

Note: The PLC's CC-Link head I/O address is decided depending on the master unit installation position and the number
of I/O points occupied by the unit installed before it.
Following this head I/O address, the I/O addresses in PLC are allocated in order of the station No.
Also, for the details of the Station No. setting and I/O address setting in PLC, refer to the instruction manuals for the
master unit and loaded PLC.

162
 CC-Link

5.6 Communication Speed Setting

The communication speed is set using the parameters.
Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer
application software.
(Refer to “5.10 CC-Link Related Parameters”).

Set Value Communication Speed

0: (Already set in system delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps

5. SCON-CA/CB/CGB/CAL/CGAL
4 10Mbps
* Entering any value except for the ones described above will
cause an “Excessive Input Value Error”.

Note: After the parameter setting, turn on the power to the controller again and return the mode toggle switch
on the front of the controller to “AUTO” side.
When the switch is set to “MANU”, the operation using PLC is not available.

163
 CC-Link

5.7 Communication with the Master Station

The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register
per station.
Set the station data for the master station to the number of stations setup in the operation mode for each
station No.

5.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses

The addresses allocated for each operation mode are described as follows.
• PLC Output → SCON-CA/CB/CAL Input (* “n” shows the head register address per each axis).
SCON-CA/CB/CAL DI and Input data register
Position/Simplified Half Direct Value Full Direct Value
PLC address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
5. SCON-CA/CB/CGB/CAL/CGAL

Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RY n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RY
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area Occupied Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY
(n+6)0 – (n+6)F
RY
System Area
(n+7)0 – (n+7)F
RWw (n+0)
Target Position Target Position Target Position
RWw (n+1)
Occupied Area Occupied Area
Command position
RWw (n+2)
number
Positioning Width Positioning Width
RWw (n+3) Control Signal

RWw (n+4) Speed

Speed
Acceleration/
RWw (n+5)
Deceleration
Pressing Current
RWw (n+6)
Limit Value
Zone Value “+”
RWw (n+7) Control signal

RWw (n+8)
Zone Value “-”
RWw (n+9)

RWw (n+A) Acceleration

RWw (n+B) Deceleration

Pressing Current
RWw (n+C)
Limit Value
Load Current
RWw (n+D)
Threshold
RWw (n+E) Control signal 1

RWw (n+F) Control signal 2

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

164
 CC-Link

• PLC Output → SCON-CA/CB/CAL Input (* “n” shows the head register address per each axis).
SCON-CA/CB/CAL DI and Input data register
Position/Simplified Half Direct Value Half Direct Value
PLC address Remote I/O mode 3
Direct Value Mode 2 Mode 2 Mode 3
Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 2 Stations stations: 1 Station stations: 2 Stations
RY n0 – nF Occupied Area Port No.0 – 15
RY
System Area Occupied Area System Area Occupied Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area System Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY

5. SCON-CA/CB/CGB/CAL/CGAL
(n+6)0 – (n+6)F
RY
(n+7)0 – (n+7)F
RWw (n+0)
Target Position Target Position Target Position
RWw (n+1)
Occupied Area
Command position
RWw (n+2)
number
Positioning Width Positioning Width
RWw (n+3) Control Signal

RWw (n+4) Speed Speed

Acceleration/ Acceleration/
RWw (n+5)
Deceleration Deceleration
Pressing Current Pressing Current
RWw (n+6)
Limit Value Limit Value
RWw (n+7) Control signal Control signal

RWw (n+8)

RWw (n+9)

RWw (n+A)

RWw (n+B)

RWw (n+C)

RWw (n+D)

RWw (n+E)

RWw (n+F)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

Note: Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not available for
SCON-CAL.

165
 CC-Link

• SCON-CA/CB/CAL Output → PLC Input side (* “n” shows the head register address per each axis).
SCON-CA/CB/CAL side DO and Input data register
Position/Simplified Half Direct Value Full Direct Value
PLC address Remote I/O mode Remote I/O mode 2
Direct Value Mode Mode Mode
Number of occupied Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RY n0 – nF Port No.0 – 15 Occupied Area Port No.0 – 15
RY
System Area System Area Occupied Area System Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area Occupied Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY
5. SCON-CA/CB/CGB/CAL/CGAL

(n+6)0 – (n+6)F
RY
System Area
(n+7)0 – (n+7)F
RWr (n+0)
Current Position Current Position Current Position Current Position
RWr (n+1)
Occupied Area Completed Position
RWr (n+2) No.
(Simplified Alarm ID) Command Current Command Current Command Current
RWr (n+3) Status Signal

RWr (n+4)
Current Speed Current Speed
RWr (n+5)

RWr (n+6) Alarm code Alarm code

RWr (n+7) Status Signal Occupied Area

RWr (n+8)
Current load
RWr (n+9)

RWr (n+A)
Total moving count
RWr (n+B)

RWr (n+C)
Total moving
distance
RWr (n+D)

RWr (n+E) Status Signal 1

RWr (n+F) Status Signal 2

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

166
 CC-Link

• SCON-CA/CB/CAL Output → PLC Input side (* “n” shows the head register address per each axis).
SCON-CA/CB/CAL side DO and Output data register
Position/Simplified Half Direct Value Half Direct Value
PLC address Remote I/O mode 3
Direct Value Mode 2 Mode 2 Mode 3
Number of occupied Number of occupied Number of occupied Number of occupied
stations: 1 Station stations: 2 Stations stations: 4 Stations stations: 1 Station
RY n0 – nF Occupied Area Port No.0 – 15
RY
System Area Occupied Area System Area Occupied Area
(n+1)0 – (n+1)F
RY
(n+2)0 – (n+2)F
RY
System Area System Area
(n+3)0 – (n+3)F
RY
(n+4)0 – (n+4)F
RY
(n+5)0 – (n+5)F
RY

5. SCON-CA/CB/CGB/CAL/CGAL
(n+6)0 – (n+6)F
RY
(n+7)0 – (n+7)F
RWr (n+0)
Current Position Current Position Current Position Current Position
RWr (n+1)
Completed Position
RWr (n+2) No.
(Simplified Alarm ID) Current load Current load Command Current
RWr (n+3) Status Signal

RWr (n+4)
Current Speed Current Speed
RWr (n+5)

RWr (n+6) Alarm code Alarm code

RWr (n+7) Status Signal Status Signal

RWr (n+8)

RWr (n+9)

RWr (n+A)

RWr (n+B)

RWr (n+C)

RWr (n+D)

RWr (n+E)

RWr (n+F)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

Note: Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not available for
SCON-CAL.

167
 CC-Link

5.7.2Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the teaching tool such as the personal computer application software for RC. The number of
operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
(Note) Force control mode 1 and 2 are not available for SCON-CAL.
Parameter No.25 Set Value Operation Mode I/O Specifications
0 Positioning mode 64 positioning points and 2 zone output points
64 positioning points and 1 zone output point
1 Teaching mode The positioning and jog operations are available.
The current position can be written on the setup position data.
2 256 point mode 256 positioning points and 1 zone output point
5. SCON-CA/CB/CGB/CAL/CGAL

3 512 point mode 512 positioning points and no zone output point
7 positioning points and 2 zone output points
Electromagnetic
4 The direct operation command is available for each position No.
valve mode 1
The positioning completion signal is output for each position No.
3 positioning points and 2 zone output points
It is operated with the Forward/Backward/Intermediate
Electromagnetic
5 Position Commands.
valve mode 2
The positioning completion signal is output individually for
each Forward End/Backward End/Intermediate Positions.
Force control mode 1
6 32 positioning points and 1 zone output points
(requires dedicated loadcell)
5 positioning points and 1 zone output points
Force control mode 2
7 The direct operation command is available for each position No.
(requires dedicated loadcell)
The positioning completion signal is output for each position No.

The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
PIO Pattern
0: 1: 2: 3: 4: 5: 6: 7:
Actuator Function Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic Force Force
mode mode mode mode valve mode 1 valve mode 2 control control
mode 1 mode 2
Homing ○ ○ ○ ○ ○ × ○ ○
Positioning ○ ○ ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ × ○ ○
Speed change during
○ ○ ○ ○ × ○ ○ ×
the movement
Different Acceleration
Speed, ○ ○ ○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1) ○ ○
Zone Signal Output ○ ○ ○ × ○ ○ ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○ ○ ○
(Set using the parameters)
○: Operation Available ×: Operation Unavailable
(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

168
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC side PLC side
No.84 side DI (Port No.) side DO (Port No.)
0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
RWw (n+1) RWr (n+1)
Occupied Area Occupied Area
RWw (n+2) RWr (n+2)
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device

5. SCON-CA/CB/CGB/CAL/CGAL
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 1 word for each I/O bit register.
z The I/O bit register is controlled using the ON/OFF signal in units of bit.

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11

Input Port
9

0
No.

PLC Input (* “n” shows the head register address per each axis).
Address one word = 16 bits
RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Output
15

14

13

12

10
11

Port
No.

169
 CC-Link

(3) I/O Signal Allocation

The controller's I/O port signal varies depending on the parameter No. 25 setting.
(Refer to instruction manual for the controller main body for more information).

Parameter No. 25 setting

Positioning mode Teaching mode 256point mode

0 1 2
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 PC1 PC1

1 PC2 PC2 PC2

2 PC4 Command position PC4 PC4

Command position No.
5. SCON-CA/CB/CGB/CAL/CGAL

No.
3 PC8 PC8 PC8
Command position No.
4 PC16 PC16 PC16

5 PC32 PC32 PC32

Teaching Mode
6 ⎯ MODE PC64
Command
7 ⎯ Unavailable USL Jog/Inching selection PC128
PLC Output→
SCON-CA/CB/
CAL Input 8 ⎯ JOG+ + Jog ⎯ Unavailable

9 BKRL Forced brake release JOG- - Jog RKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin HOME Return to origin

12 *STP Pause *STP Pause *STP Pause

Positioning Start/
CSTR/
13 CSTR Positioning Start Position Data Import CSTR Positioning Start
PWRT
Command
14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 Completion position PM4 Completion position PM4

No. No.
3 PM8 PM8 PM8 Completion position
No.
4 PM16 PM16 PM16

5 PM32 PM32 PM32

6 MOVE Moving Signal MOVE Moving Signal PM64

7 ZONE1 Zone 1 MODES Teaching Mode Signal PM128

SCON-CA/CB/
CAL Output PZONE/ Position zone status/ PZONE/ Position zone status/ PZONE/ Position zone status/
8
→PLC Input ZONE2 Zone 2 ZONE1 Zone 1 ZONE1 Zone 1
Operation Mode
9 RMDS RMDS Operation Mode Status RMDS Operation Mode Status
Status
10 HEND Return to origin end HEND Return to origin end HEND Return to origin end
Positioning end Signal/
PEND/
11 PEND Positioning end Signal Position Data PEND Positioning end Signal
WEND
Import Completion
Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

15 *BALM Battery Alarm *BALM Battery Alarm *BALM Battery Alarm

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

170
 CC-Link

Parameter No. 25 setting

512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2

3 4 5
Port
Classification Symbol Signal Names Symbol Signal Names Symbol Signal Names
No.
0 PC1 ST0 Start position 0 ST0 Start position 0

1 PC2 ST1 Start position 1 ST1 Start position 1

2 PC4 ST2 Start position 2 ST2 Start position 2

3 PC8 ST3 Start position 3 ⎯

4 PC16 Command position No. ST4 Start position 4 ⎯

5. SCON-CA/CB/CGB/CAL/CGAL
5 PC32 ST5 Start position 5 ⎯
Unavailable
6 PC64 ST6 Start position 6 ⎯

PLC Output→ 7 PC128 ⎯ ⎯

SCON-CA/CB/ Unavailable
CAL Input 8 PC256 ⎯ ⎯

9 BKRL Forced brake release BKRL Forced brake release BKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin ⎯

12 *STP Pause *STP Pause ⎯ Unavailable

13 CSTR Positioning Start ⎯ Positioning Start ⎯

14 RES Reset RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command SON Servo ON Command

Retracting end
0 PM1 PE0 Completed position 0 LS0
movement command 0
Retracting end
1 PM2 PE1 Completed position 1 LS1
movement command 1
Retracting end
2 PM4 PE2 Completed position 2 LS2
movement command 2
3 PM8 PE3 Completed position 3 ⎯
Completion position
4 PM16 No. PE4 Completed position 4 ⎯
Unavailable
5 PM32 PE5 Completed position 5 ⎯

6 PM64 PE6 Completed position 6 ⎯

SCON-CA/CB/ 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1

CAL Output
→PLC Input PZONE/ Position zone status/ PZONE/ Position zone status/
8 PM256
ZONE2 Zone 2 ZONE2 Zone 2
9 RMDS Operation Mode Status RMDS Operation Mode Status RMDS Operation Mode Status

10 HEND Return to origin end HEND Return to origin end HEND Return to origin end

11 PEND Positioning end Signal PEND Positioning end Signal ⎯ Unavailable

Operation preparation Operation preparation Operation preparation
12 SV SV SV
end end end
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

15 *BALM Battery Alarm *BALM Battery Alarm *BALM Battery Alarm

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

171
 CC-Link

Parameter No. 25 setting

Force Control Mode 1 Force Control Mode 2

6 7
Port
Classification Symbol Signal Names Symbol Signal Names
No.
0 PC1 ST0 Start position 0

1 PC2 ST1 Start position 1

2 PC4 Command position No. ST2 Start position 2

3 PC8 ST3 Start position 3

4 PC16 ST4 Start position 4

5. SCON-CA/CB/CGB/CAL/CGAL

5 ⎯ ⎯

6 ⎯ Unavailable ⎯ Unavailable

PLC Output→ 7 ⎯ ⎯
SCON-CA/CB
Input Loadcell Calibrarion Loadcell Calibrarion
8 CLBR CLBR
Command Command
9 BKRL Forced brake release BKRL Forced brake release

10 RMOD Operation mode RMOD Operation mode

11 HOME Return to origin HOME Return to origin

12 *STP Pause *STP Pause

13 CSTR Positioning Start ⎯ Unavailable

14 RES Reset RES Reset

15 SON Servo ON Command SON Servo ON Command

0 PM1 PE0 Completed position 0

1 PM2 PE1 Completed position 1

Completion position
2 PM4 No. PE2 Completed position 2

3 PM8 PE3 Completed position 3

4 PM16 PE4 Completed position 4

5 TRQS Torque Level Status TRQS Torque Level Status

Load Output Judgment
6 LOAD Load Output Judgment LOAD
Status
Loadcell Calibration Loadcell Calibration
SCON-CA/CB 7 CEND CEND
Complete Complete
Output
→PLC Input PZONE/ Position zone status/ PZONE/ Position zone status/
8
ZONE1 Zone 1 ZONE1 Zone 1
9 RMDS Operation Mode Status RMDS Operation Mode Status

10 HEND Return to origin end HEND Return to origin end

11 PEND Positioning end Signal PEND Positioning end Signal

Operation preparation Operation preparation
12 SV SV
end end
13 *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm

15 *BALM Battery Alarm *BALM Battery Alarm

The symbol with a * mark shows the ON signal in normal condition.

The signals describing as “Unavailable” are not controlled. (ON/OFF is undefined).

(Note) Force control mode 1 and 2 are not available for SCON-CAL.

172
 CC-Link

5.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied
Stations: One Station)
This is the operation mode with the position No. set up. The change over of the control signals (PMOD
signals), can select whether if the target position is set directly using the value or the value registered on the
position data is used.
For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values
in the position table within the controller are used. Setup the position data referring the instruction manual for
the controller main body.
The number of settable position data items is max. 768.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.

5. SCON-CA/CB/CGB/CAL/CGAL
○:Direct Control
Actuator Function △:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings △
Pitch Feeding (Inching) △
Pressing Operation △ Position data setting is required.
Speed change during the movement △
Different Acceleration Speed
△
Operation in Deceleration
Pause ○
Zone is set using the position data
Zone Signal Output △
or parameters.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC side PLC side
No.84 side Input register Side Output register
1 Occupied Area RY n0 to nF Occupied Area RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
Command position Completed Position No.
RWw (n+2) RWr (n+2)
number (Simplified Alarm CORD)
Control signal RWw (n+3) Status Signal RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

173
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 4 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can
be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke
length) for the actuator in question.
z The specified position No. and completed position No. are expressed using 1-word (16 bits) binary
data. The figures from 0 to 767 can be set in PLC. However, set the position No. for which the
operation conditions have been set in advance using the teaching tool such as the PC software.

PLC Output
5. SCON-CA/CB/CGB/CAL/CGAL

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the
complement of 2.

one word = 16 bits

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Command
PC512

PC256

PC128

PC64

PC32

PC16

PC8

PC4

PC2

PC1

position
⎯

No.

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

PMOD

MODE

HOME
PWRT

CSTR
JOG+
BKRL

Control
JVEL
JOG-

SON

RES
JISL

STP
⎯

signal

174
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Completed
PM512

PM256

PM128

PM64

PM32

PM16

PM8

PM4

PM2

PM1
Position
⎯

No.

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

MODES
PZONE
ZONE2

ZONE1

WEND
EMGS

MOVE
RMDS

HEND

PEND
BALM

PSFL

Status
PWR

ALM
SV
⎯

Signal

175
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.40mm”, set it as “2540”. 5.9 (1)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
5. SCON-CA/CB/CGB/CAL/CGAL

the negative value using a compliment of 2.

16-bit Integer
For the operation, the position data is required, for which the
operation conditions have been set in advance using the
Command teaching tool such as the PC software.
16bits PC1 to
position Set up the position No. for which the data has been input using 5.9 (1)
Data PC512
number this register.
The settable range is 0 to 767.
In the case that any value out of the range is set, or position No.
that has not been set is specified, an alarm is output.
b15 BKRL Brake Forcible Release: Brake Release with “ON”. 5.7.7 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
PLC Output

b14 RMOD 5.7.7 (19)

mode
b13
⎯ Unavailable ⎯
b12
Position/Simplified Direct Value Change-Over
b11 PMOD 5.7.7 (20)
“OFF” for Position Mode, “ON” for Simplified Direct Value Mode
Teaching Mode Command
b10 MODE 5.7.7 (16)
“OFF” for Normal Mode, “ON” for Teaching Mode
Position Data Import Command
b9 PWRT 5.7.7 (17)
“ON” for Position Data Import
b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 5.7.7 (13)
Control
b7 JOG- - Jog: “ON” for Movement to the Home Direction 5.7.7 (13)
Signal
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set for the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 5.7.7 (14)
“ON” for using the values set for the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 5.7.7 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 5.7.7 (5)
b3 RES Reset: “ON” for Reset Execution 5.7.7 (4)
b2 STP Pause: “ON” for Pause Command 5.7.7 (11)
b1 HOME Homing: “ON” for Homing Command 5.7.7 (6)
b0 CSTR Positioning Start: “ON” for Movement Command 5.7.7 (7)

176
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
Current Position: 32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current
32bits ⎯ (Example) 5.9 (1)
Position
Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
When the value is read in hexadecimal notation, the negative
figure is expressed as a compliment of 2.
16-bit Integer
Completed It is moved to the target position and the positioning completed

5. SCON-CA/CB/CGB/CAL/CGAL
Position position No. within the positioning width is output.
No. PM1 to In the case that the position movement has not been performed
16bits 5.9 (1)
(Simplified PM512 at all, or during the movement, “0” is output.
Alarm When an alarm is issued (in the case that the status signal ALM
CODE) is “ON”), the simplified alarm code (Refer to the instruction
manual for the controller main body) is output.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 ZONE2 Zone 2: “ON” with the current position within the zone set range 5.7.11 (12)
b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 5.7.11 (12)
PLC Input

Position Zone:
b11 PZONE 5.7.11 (12)
“ON” with the current position within the position zone set range
Teaching Mode Signal;
b10 MODES 5.7.11 (16)
“ON” during teaching mode selection
Position Data Import Completion:
b9 WEND 5.7.11 (17)
“ON” for import completion
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 5.7.11 (19)
Status
mode
Signal
Warning for Absolute Battery Voltage Drop :
b7 BALM 5.7.11 (28)
Turns ON at voltage drop
b6 ⎯ Unavailable ⎯
b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Under Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” during Actuator Movement
Homing Completion
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

177
 CC-Link

5.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two
Stations)
This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and
pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is
used, set it using the parameter No. 1, 2, 23 and 24.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.
○:Direct Control
Actuator Function △:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
5. SCON-CA/CB/CGB/CAL/CGAL

Speed, Acceleration and Deceleration Settings ○

Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○

Different Acceleration Speed

×
Operation in Deceleration

Pause ○
Zone Signal Output △ Parameter setting is required.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC side PLC side
No.84 Side Input register side Output register
2 RY n0 to nF RX n0 to nF
Occupied Area RY (n+1)0 to (n+1)F Occupied Area RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Current Speed
Acceleration/Deceleration RWw (n+5) RWr (n+5)
Pressing Current Limit
RWw (n+6) Alarm code RWr (n+6)
Value
Control signal RWw (n+7) Status Signal RWr (n+7)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

178
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 8 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can
be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke
length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC.
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or
0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the

5. SCON-CA/CB/CGB/CAL/CGAL
applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to
999 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 510 (200%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255 510

Pressing Current Limit Value 10% 50% 100% 200%

z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

179
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
5. SCON-CA/CB/CGB/CAL/CGAL

(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

Width 64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Speed
8

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

1,024

Acceleration/
512

256

128

64

32

16
⎯

Deceleration

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pressing
256

128

64

32

16

Current
⎯

Limit Value

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

HOME
PUSH

DSTR
JOG+
BKRL

GSL1

GSL0

Control
JOG-

JVEL

SON

RES
JISL

STP
DIR

signal

180
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Current 128

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ZONE2

ZONE1
EMGS

MOVE
RMDS

HEND

PEND
BALM

PSFL

Status
PWR

ALM
SV
⎯

Signal

181
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 5.9 (2)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
5. SCON-CA/CB/CGB/CAL/CGAL

* When the input is performed in hexadecimal notation, input

the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 5.9 (2)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
PLC Output

2) In the case of pressing operation, it shows the pressing width

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
16bits suspension, it will remain stopped on the spot.
Speed ⎯ 5.9 (2)
Data Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit Integer
Set the acceleration/deceleration in movement (The same value
is applied both to acceleration and deceleration).
Acceleration/ 16bits The unit is 0.01G and settable range is between 1 and 999.
⎯ 5.9 (2)
Deceleration Data (Example) In the case of “0.30G”, set is as “30”.
When the movement command is set with the value of “0” or
bigger than the max. acceleration/deceleration value, an alarm
is issued.

182
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
16-bit Integer
Set the current limit in pressing operation.
Pressing
The settable range is between 0 (0%) and 510 (200%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 5.9 (2)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
b15 BKRL Brake Forcible Release: “ON” for brake release 5.7.11 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
b14 RMOD 5.7.11 (19)

5. SCON-CA/CB/CGB/CAL/CGAL
Mode
Pressing Direction Setup
”OFF” for the direction reducing the positioning width from the
b13 DIR 5.7.11 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup: “OFF” for Positioning Operation, “ON” for
b12 PUSH 5.7.11 (21)
Pressing Operation

Servo Gain Select the servo gain parameter set to be used

b11 GSL1 Parameter Set GSL1 GSL0 Functions
PLC Output

Selection 1 OFF OFF Parameter set 0 selected

OFF ON Parameter set 1 selected 5.7.11 (33)
Servo Gain
ON OFF Parameter set 2 selected
b10 GSL0 Parameter Set
Control Selection 0 ON ON Parameter set 3 selected
signal
b9 ⎯ Unavailable ⎯

b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 5.7.11 (13)
b7 JOG- - Jog: “ON” for Movement to the Home Direction 5.7.11 (13)
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set using the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 5.7.11 (14)
“ON” for using the values set using the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 5.7.11 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 5.7.11 (5)
b3 RES Reset: “ON” for Reset Execution 5.7.11 (4)
b2 STP Pause: “ON” for Pause Command 5.7.11 (11)
b1 HOME Homing: “ON” for Homing Command 5.7.11 (6)
b0 DSTR Positioning Command: “ON” for Movement Command 5.7.11 (8)

183
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits
⎯ (Example) 5.9 (2)
Position Data
Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ 5.9 (2)
Current Data The unit is mA.
5. SCON-CA/CB/CGB/CAL/CGAL

Read Value: 000003FFH = 1023 (decimal system) = 1023mA

32-bit Signed Integer
It shows the current speed.
Positive Figure: Under movement in the opposite direction of home
Negative Figure: Under movement in the home direction
Current 32bits The unit is 0.01mm/sec.
⎯ 5.9 (2)
Speed Data (Example)
Read Value: 000003 FFH = 1023 (decimal system)
= 10.23mm/sec
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
When any alarm is not issued, it is “0H”. 5.9 (2)
PLC Input

⎯
code Data
Refer to the instruction manual for the controller main body for
the details of the alarms.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 5.7.11 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 5.7.11 (12)
b11
b10 ⎯ Unavailable ⎯

b9
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 5.7.11 (19)
mode
Status Warning for Absolute Battery Voltage Drop :
Signal b7 BALM 5.7.11 (28)
Turns ON at voltage drop
b6 ⎯ Unavailable ⎯

b5 PSEL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” with Actuator Movement
Homing Completion:
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

184
 CC-Link

5.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four
stations)
This is the operation mode with all the values (target position, speed, etc.) set up directly using values from
PLC.
Set each value in the I/O data register.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.

Actuator Function
○:Direct Control
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
○

5. SCON-CA/CB/CGB/CAL/CGAL
Pressing Operation
Speed change during the movement ○
Different Acceleration and Deceleration Speed ○
Operation in Deceleration ○
Pause ○
Zone Signal Output ○
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC side PLC side
No.84 side Input register side Output register
3 RY n0 to nF RX n0 to nF
RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
Occupied Area RY (n+3)0 to (n+3)F Occupied Area RX (n+3)0 to (n+3)F
RY (n+4)0 to (n+4)F RX (n+4)0 to (n+4)F
RY (n+5)0 to (n+5)F RX (n+5)0 to (n+5)F
RY (n+6)0 to (n+6)F RX (n+6)0 to (n+6)F
System Area RY (n+7)0 to (n+7)F System Area RX (n+7)0 to (n+7)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
RWw (n+4) RWr (n+4)
Speed Current Speed
RWw (n+5) RWr (n+5)
RWw (n+6) Alarm Code RWr (n+6)
Zone Value “+”
RWw (n+7) Occupied Area RWr (n+7)
RWw (n+8) RWr (n+8)
Zone Value “-” Current load
RWw (n+9) RWr (n+9)
Acceleration RWw (n+A) RWr (n+A)
Total moving count
Deceleration RWw (n+B) RWr (n+B)
Pressing Current Limit
RWw (n+C) RWr (n+C)
Value
Total moving distance
Load Current
RWw (n+D) RWr (n+D)
Threshold
Control Signal 1 RWw (n+E) Status Signal 1 RWr (n+E)
Control Signal 2 RWw (n+F) Status Signal 2 RWr (n+F)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

185
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 16 words for each I/O bit register.
z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can
be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke
length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC.
z The speed is expressed using 2-word (32 bits) binary data. The figures from 0 to +999999 (Unit:
0.01mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value for the
5. SCON-CA/CB/CGB/CAL/CGAL

actuator in question.
z The Acceleration and Deceleration are expressed using 1-word (16 bits) binary data. The figures
from 1 to 999 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 510 (200%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255 510

Pressing Current Limit Value 10% 50% 100% 200%

z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary
data. The figures from 0 (0%) to 510 (200%) can be set in PLC (Refer to pressing current limit value
(above figure)).
z Zone Value “+” and Zone Value “-” are expressed using 2-word (32 bits) binary data. The figures
from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC. However make sure to set the smaller value for the Zone Value “-” than that for the Zone
Value “+”.
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.
z The current load is expressed using 2-word (32 bits) binary data (Unit : 0.01N).
z The total moving count is a 2-word (32-bit) binary data (Unit: times).
z The total moving distance is a 2-word (32-bit) binary data (Unit: m).

186
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target Position
(Host Word)

5. SCON-CA/CB/CGB/CAL/CGAL
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Width 128

64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning

524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

Speed
8,192

4,096

2,048

1,024

512

256

128

64

32

16

1
(Slave Word)

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

524,288

262,144

131,072

65,536

Speed
⎯

(Host Word)

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Slave Word)

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“+”
(Host Word)
When the zone is shown using the negative figure, it is expressed using the complement of 2.

187
 CC-Link

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Zone Value
“-”
(Slave Word)

RWw (n+9) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Zone Value
“-”
(Host Word)
5. SCON-CA/CB/CGB/CAL/CGAL

When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+A) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

1,024

512

256

128

64

32

16
⎯

Acceleration

1
RWw (n+B) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
1,024

512

256

128

64

32

16
⎯

Deceleration

1
RWw (n+C) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Pressing
256

128

64

32

16

Current
⎯

1
Limit Value

RWw (n+D) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Load Current
256

128

64

32

16
⎯

Threshold

RWw (n+E) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
MOD1

MOD0

PUSH
ASO1

ASO0
NTC1

NTC0

GSL1

GSL0

INC

DIR

position
⎯

number 1

RWw (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
RMOD

CLBR*

HOME

DSTR
JOG+
BKRL

JVEL
JOG-

SON

RES
JISL

STP

position
⎯

number 2

* Applicable only for SCON-CA/CB

188
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Position
(Host Word)
When the current position is shown using the negative figure, it is expressed using the complement of 2.

5. SCON-CA/CB/CGB/CAL/CGAL
RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128
Current

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

⎯
(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

189
 CC-Link

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Unavailable

RWr (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current load
(Slave Word)
(Dedicated for
SCON-CA/CB)

RWr (n+9) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current load
5. SCON-CA/CB/CGB/CAL/CGAL

(Host Word)
(Dedicated for
SCON-CA/CB)
When the current load is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+A) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128
count
64

32

16

1
(Slave Word)

RWr (n+B) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving

524,288

262,144

131,072

65,536
count
⎯

⎯
(Host Word)

RWr (n+C) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

distance
64

32

16

1
(Slave Word)

RWr (n+D) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
524,288

262,144

131,072

65,536

distance
⎯

(Host Word)

RWr (n+E) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

CEND*

BALM

Status
⎯

Signal 1

RWr (n+F) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PUSHS
PZONE
ZONE2

ZONE1

GHMS
EMGS

MOVE
RMDS

HEND
TRQS

PEND
LOAD

PSFL

Status
PWR

ALM
SV

Signal 2

* Applicable only for SCON-CA/CB

190
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 5.9 (3)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input

5. SCON-CA/CB/CGB/CAL/CGAL
the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 5.9 (3)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
2) In the case of pressing operation, it shows the pressing width
value.
PLC Output

Specify the normal operation or pressing operation using the

“PUSH” control signal setting.
32-bit Integer
Set the speed in movement.
Unit is 0.01mm/sec and settable range is between 0 and
999999.
32bits
Speed ⎯ Deceleration stop if and to specify in motion 0. It under 5.9 (3)
Data
suspension, it will remain stopped on the spot.
(Example) In the case of “254.1mm/sec”, set it as “2541”.
When the movement command is set with the value bigger than
the max. speed, an alarm is issued.
32-bit Signed Integer
Apart from the zone specified using the parameter setting, the
zone signal effective after the homing operation is output.
When the current position is inside of this “+” Value, the status
signal “PZONE” is turned “ON”.
(Example)
Zone
When it is “+25.41mm”, set it as “2541”.
Value “+” 32bits
⎯ The specified unit is 0.01 mm (other than DD motor) and 0.001° 5.9 (3)
Zone Data
(DD motor), while the specifiable range is -999999 to 999999.
Value “-”
Input the value satisfying the relationship of “Zone Value “+” >
Zone Value “-””.
When this function is not to be used, the same value is applied
to both Zone Values.
* When it is input in hexadecimal notation, input the negative
value using a compliment of 2.

191
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Functions Details
16-bit Integer
16bits Set the acceleration and deceleration in the movement.
Acceleration ⎯
Data The unit is 0.01G and the settable range is from1 to 999.
(Example)
5.9 (3)
When it is 0.30G, set it as “30”.
16bits When the movement command is issued with the value of “0” or
Deceleration ⎯
Data bigger than the max. acceleration/deceleration value, an alarm
is output.
16-bit Integer
Set the current limit in the pressing operation.
Pressing
The settable range is between 0 (0%) and 510 (200%).
5. SCON-CA/CB/CGB/CAL/CGAL

Current 16bits
⎯ The actual settable range varies depending on each actuator. 5.9 (3)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
16-bit Integer
Load Set the current threshold in this register when whether or not
16bits
Current ⎯ the load current exceeds the threshold is judged. 5.9 (3)
Data
Threshold The settable range is between 0 (0%) and 510 (200%).
When the judgment is not to be performed, set it to “0”.
b15
⎯ Unavailable ⎯
b14
Select the anti-vibration control parameter set to
PLC Output

Anti-Vibration
be used
b13 NTC1 Control Mode
Selection 1 NTC1 NTC0 Functions
OFF OFF Anti-vibration control not used 5.7.11 (33)
Anti-Vibration OFF ON Parameter set 1 selected
b12 NTC0 Control Mode
ON OFF Parameter set 2 selected
Selection 0
ON ON Parameter set 3 selected
b11
⎯ Unavailable ⎯
b10
Control
Select the stop mode for standby
signal 1
ASO1 ASO0 Functions
b9 ASO1 Stop Mode 1 OFF OFF Invalid (Servo is always ON)
Servo is turned OFF after the time
OFF ON
set in Parameter No.36 is passed. 5.7.11 (31)
Servo is turned OFF after the time
ON OFF
set in Parameter No.37 is passed.
b8 ASO0 Stop Mode 0
Servo is turned OFF after the time
ON ON
set in Parameter No.38 is passed.
Acceleration/Deceleration Mode:
b7 MOD1
OFF/OFF for Trapezoid Pattern
5.7.11 (30)
OFF/ON for S-shaped Motion
b6 MOD0
ON/OFF for First-Order Lag Filter

192
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Address Bit Symbol Functions Details

Servo Gain Set the parameter for servo gain switchover

b5 GSL1 Parameter Set GSL1 GSL0 Function
Selection 1 OFF OFF Parameter set 0 selected
5.7.11 (33)
OFF ON Parameter set 1 selected
Servo Gain
b4 GSL0 Parameter Set ON OFF Parameter set 2 selected

Selection 0 ON ON Parameter set 3 selected

Incremental Command
Control
b3 INC “OFF” for Absolute Position Command, “ON” for Relative 5.7.11 (24)
signal 1

5. SCON-CA/CB/CGB/CAL/CGAL
Position Command
Pressing Direction Setup:
“OFF” for the direction reducing the positioning width from the
b2 DIR 5.7.11 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup:
b1 PUSH 5.7.11 (21)
“OFF” for Positioning Operation, “ON” for Pressing Operation
b0 ⎯ Unavailable ⎯

b15 BKRL Brake Forcible Release: “ON” for brake release 5.7.11 (18)
Operation mode:
PLC Output

b14 RMOD 5.7.11 (19)

“OFF” for Auto mode, “ON” for MANU mode
b13
b12
⎯ Unavailable ⎯
b11
b10
b9 CLBR* Loadcell Calibration Command : “ON” to execute calibration 5.7.11 (32)
b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 5.7.11 (13)
b7 JOG- - Jog: “ON” for Movement to the Home Direction 5.7.11 (13)
Control Jog Speed/Inching Distance Change-Over:
signal 2 “OFF” for using the values set using the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 5.7.11 (14)
“ON” for using the values set using the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over:
b5 JISL 5.7.11 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 5.7.11 (5)
b3 RES Reset: “ON” for Reset Execution 5.7.11 (4)
b2 STP Pause: “ON” for Pause Command 5.7.11 (7)
b1 HOME Homing: “ON” for Homing Command 5.7.11 (6)
b0 DSTR Positioning Start: “ON” for Movement Command 5.7.11 (8)
* Applicable only for SCON-CA/CB

193
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Signal Name Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits (Example)
⎯ Read Value: 000003FFH = 1023 (decimal system) = 5.9 (3)
Position Data
10.23mm
* When the value is read in hexadecimal notation, the
negative figure is expressed as a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ The unit is mA. 5.9 (3)
Current Data
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Signed Integer
5. SCON-CA/CB/CGB/CAL/CGAL

It shows the current speed.

Positive Figure: Under movement in the opposite direction of
the home
Negative Figure: Under movement in the home direction
Current 32bits
⎯ The unit is 0.01mm/sec. 5.9 (3)
Speed Data (Example)
Read Value: 000003FFH = 1023 (decimal system) =
10.23mm/sec
* When it is read in hexadecimal notation, input the
negative value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
⎯ When any alarm is not issued, it is “0”. 5.9 (3)
code Data Refer to the instruction manual for the controller main body
for the details of the alarms.
Current
32-bit Integer with a Symbol
PLC Input

load
It displays the measured value for the current loadcell.
(Specified 32bits
⎯ The unit is 0.01N. 5.9 (3)
only for Data * When the value is read in hexadecimal notation, the
SCON-
negative figure is expressed as a compliment of 2.
CA/CB)
Total
32bits 32-bit integer.
moving ⎯ ⎯
Data The unit is times.
count
Total
32bits 32-bit integer.
moving ⎯ ⎯
Data The unit is m.
distance
b15 ⎯
b14 ⎯
b13 ⎯
b12 ⎯
b11 ⎯
b10 ⎯
b9 ⎯
Unavailable ⎯
b8 ⎯
Status
Signal 1 b7 ⎯
b6 ⎯
b5 ⎯
b4 ⎯
b3 ⎯
b2 ⎯
b1 CEND* Loadcell Calibration Complete : Turns ON when completed 5.7.11 (32)
Warning for Absolute Battery Voltage Drop :
b0 PEND Turns ON at voltage drop 5.7.11 (28)

* Applicable only for SCON-CA/CB

194
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Signal Name Description Details
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 ZONE2 Zone 2: “ON” with the current position within the zone set range 5.7.11 (12)
b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 5.7.11 (12)
Position Zone:
b11 PZONE 5.7.11 (12)
“ON” with the current position within the position zone set range
Load Output :
“ON” when reached and “OFF” when incomplete
b10 LOAD 5.7.11 (26)
(Refer to instruction manual for the controller main body for

5. SCON-CA/CB/CGB/CAL/CGAL
more information)
Torque Level :
“ON” when reached and “OFF” when incomplete
b9 TRQS 5.7.11 (27)
(Refer to instruction manual for the controller main body for
more information)
PLC Input

Status Operation Mode Status:

Signal 2 b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently 5.7.11 (19)
“MANU” mode
Under Homing Operation :
b7 GHMS 5.7.11 (6)
This signal remains ON while home return is in progress.
Push Motion in Progress :
b6 PUSHS 5.7.11 (25)
This signal remains ON while push motion is in progress.
b5 PSFL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Under Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” during Actuator Movement
Homing Completion
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

195
 CC-Link

5.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position
data using the teaching tool such as the personal computer application software for RC. The number of
operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
(Note) Force control mode 1 and 2 are not available for SCON-CAL.
Parameter No. 25 Set Value Operation Mode I/O Specifications
0 Positioning mode 64 positioning points and 2 zone output points
64 positioning points and 1 zone output point
1 Teaching mode The positioning and jog operations are available.
The current position can be written on the setup position data.
5. SCON-CA/CB/CGB/CAL/CGAL

2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
7 positioning points and 2 zone output points
Electromagnetic
4 The direct operation command is available for each position No.
valve mode 1
The positioning completion signal is output for each position No.
3 positioning points and 2 zone output points
It is operated with the Forward/Backward/Intermediate
Electromagnetic
5 Position Commands.
valve mode 2
The positioning completion signal is output individually for
each Forward End/Backward End/Intermediate Positions.
Force Control Mode 1
6 32 positioning points and 1 zone output points
(requires dedicated loadcell)
5 positioning points and 1 zone output points
Force Control Mode 2
7 The direct operation command is available for each position No.
(requires dedicated loadcell)
The positioning completion signal is output for each position No.

The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
PIO Pattern
0: 1: 2: 3: 4: 5: 6: 7:
Actuator Function Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic Force Force
mode mode mode mode valve mode 1 valve mode 2 Control Control
Mode 1 Mode 2
Homing ○ ○ ○ ○ ○ × ○ ○
Positioning ○ ○ ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ × ○ ○
Speed change during
○ ○ ○ ○ × ○ ○ ×
the movement
Different Acceleration Speed,
○ ○ ○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1) ○ ○
Zone Signal Output ○ ○ ○ × ○ ○ ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○ ○ ○
(Set using the parameters)
○: Operation Available ×: Operation Unavailable
(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

196
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL side SCON-CA/CB/CAL side
PLC side PLC side
No.84 DI and Input register DO and Output register
4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Current Position
RWw (n+1) RWr (n+1)
Occupied Area
RWw (n+2) RWr (n+2)
Command Current
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device

5. SCON-CA/CB/CGB/CAL/CGAL
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signal for each axis consists of 1 word for each I/O bit register.
The I/O signal for each axis consists of 4 words for each I/O data register.
z The I/O bit register controls with the ON/OFF signal in units of bit.
z The current position is expressed using 2-word (32 bits) binary data (unit: 0.01 mm (other than DD
motor) and 0.001° (DD motor)).
z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Input Port
15

14

13

12

10
11

0
No.

197
 CC-Link

PLC Input (* “n” shows the head register address per each axis).

Address one word = 16 bits

RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11
Output

0
Port No.

Address one word = 16 bits

RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
5. SCON-CA/CB/CGB/CAL/CGAL

Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position
(Host Word)
When the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Current 8

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

(3) I/O Signal Allocation

Refer to “5.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation.

The signal allocation for the Command Current and Current Position, is shown in the following table.
Signal Type Bit Signal Name Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits
⎯ (Example): Read Value: 000003FFH = 1023 (decimal system) ⎯
Position Data
= 10.23mm
PLC Input

* When the value is read in hexadecimal notation, the

negative figure is expressed as a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ ⎯
Current Data The unit is 1mA.
Read Value: 000003FFH = 1023 (decimal system) = 1023mA

198
 CC-Link

5.7.7 Position/Simplified Direct Value Mode 2 (Remote Device Station: No. of Occupied
Stations: One Station)
(Note) This mode is applicable only for SCON-CA/CB.
This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate
the position number. The change over of the control signals (PMOD signals), can select whether if the target
position is set directly using the value or the value registered on the position data is used.
For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values
in the position table within the controller are used. Setup the position data referring the instruction manual for
the controller main body.
The number of settable position data items is max. 768.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following

5. SCON-CA/CB/CGB/CAL/CGAL
table.

○:Direct Control
Actuator Function △:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings △
Pitch Feeding (Inching) △
Pressing Operation △ Position data setting is required.
Speed change during the movement △
Different Acceleration Speed
△
Operation in Deceleration
Pause ○
Zone is set using the position data
Zone Signal Output △
or parameters.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB side SCON-CA/CB side
PLC side PLC side
No.84 Input register Output register
1 Occupied Area RY n0 to nF Occupied Area RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
Command position Completed Position No.
RWw (n+2) RWr (n+2)
number (Simplified Alarm Code)
Control signal RWw (n+3) Status Signal RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

199
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 4 words for each I/O bit register.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The figures
from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for
the actuator in question.
z The specified position No. and completed position No. are expressed using 1-word (16 bits) binary
data. The figures from 0 to 767 can be set in PLC. However, set the position No. for which the
operation conditions have been set in advance using the teaching tool such as the PC software.

PLC Output
5. SCON-CA/CB/CGB/CAL/CGAL

Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
(Host Word)
When the target position is shown using the negative figure, it is expressed using the
complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
PC512

PC256

PC128

PC64

PC32

PC16

PC8

PC4

PC2

PC1
position
⎯

No.

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

PMOD

HOME

CSTR
CLBR

JOG+
BKRL

Control
JVEL
JOG-

SON

RES
JISL

STP
⎯

signal

200
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Completed
PM512

PM256

PM128

PM64

PM32

PM16

PM8

PM4

PM2

PM1
Position
⎯

No.

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PZONE/

PUSHS
ZONE1

ZONE2
EMGS

MOVE
RMDS
CEND

HEND
TRQS

PEND
LOAD

BALM

PSFL

Status
PWR

ALM
SV

Signal

201
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.40mm”, set it as “2540”. 5.9 (1)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
5. SCON-CA/CB/CGB/CAL/CGAL

the negative value using a compliment of 2.

16-bit Integer
For the operation, the position data is required, for which the
operation conditions have been set in advance using the
Command teaching tool such as the PC software.
16bits PC1 –
position Set up the position No. for which the data has been input using 5.9 (1)
Data PC512
number this register.
The settable range is 0 to 767.
In the case that any value out of the range is set, or position No.
that has not been set is specified, an alarm is output.
b15 BKRL Brake Forcible Release: Brake Release with “ON”. 5.7.11 (18)
PLC Output

Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”

b14 RMOD 5.7.11 (19)
mode
b13
⎯ Unavailable ⎯
b12
Position/Simplified Direct Value Change-Over
b11 PMOD 5.7.11 (20)
“OFF” for Position Mode, “ON” for Simplified Direct Value Mode
b10 ⎯ Unavailable ⎯

b9 CLBR Loadcell Calibration Command : “ON” to execute calibration 5.7.11 (32)

b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 5.7.11 (13)
b7 JOG- - Jog: “ON” for Movement to the Home Direction 5.7.11 (13)
Control
Signal Jog Speed/Inching Distance Change-Over
“OFF” for using the values set for the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 5.7.11 (14)
“ON” for using the values set for the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 5.7.11 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 5.7.11 (5)
b3 RES Reset: “ON” for Reset Execution 5.7.11 (4)
b2 STP Pause: “ON” for Pause Command 5.7.11 (7)
b1 HOME Homing: “ON” for Homing Command 5.7.11 (6)
b0 CSTR Positioning Start: “ON” for Movement Command 5.7.11 (7)

202
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Address Bit Symbol Description Details
Current Position: 32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current
32bits ⎯ (Example) 5.9 (1)
Position
Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
When the value is read in hexadecimal notation, the negative
figure is expressed as a compliment of 2.
16-bit Integer
Completed It is moved to the target position and the positioning completed

5. SCON-CA/CB/CGB/CAL/CGAL
Position position No. within the positioning width is output.
No. PM1 – In the case that the position movement has not been performed
16bits 5.9 (1)
(Simplified PM512 at all, or during the movement, “0” is output.
Alarm When an alarm is issued (in the case that the status signal ALM
CODE) is “ON”), the simplified alarm code (Refer to the instruction
manual for the controller main body) is output.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 CEND Loadcell Calibration Complete : Turns ON when completed 5.7.11 (32)
b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 5.7.11 (12)
PZONE and ZONE2 can be switched in Parameter No.149.
No.149 = 0 Position zone : This signal turns ON when the
PLC Input

current position is inside the

PZONE/
b11 specified position zone. 5.7.11 (12)
ZONE2 No.149 = 1 Zone2 : This signal turns ON when the
current position is inside the
specified zone.
Teaching Mode Signal;
b10 LOAD 5.7.11 (26)
“ON” during teaching mode selection
Position Data Import Completion:
b9 TRQS 5.7.11 (27)
“ON” for import completion
Status
Operation Mode Status:
Signal
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 5.7.11 (19)
mode
Warning for Absolute Battery Voltage Drop :
b7 BALM 5.7.11 (28)
Turns ON at voltage drop
b6 PUSHS Push motion in progress : “ON” for push motion in progress 5.7.11 (23)
b5 PSFL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Under Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” during Actuator Movement
Homing Completion
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

203
 CC-Link

5.7.8 Half Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Two
Stations)
(Note) This mode is applicable only for SCON-CA/CB.
This mode provides an operation method to utilize the force control (loadcell value feedback pressing) and
also indicate the target position from PLC, positioning band width, speed, acceleration/deceleration speed and
pressing current directly with inputting values.
Set the each value in I/O area. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.
○:Direct Control
Actuator Function ∆:Indirect Control Remarks
×:Disabled
5. SCON-CA/CB/CGB/CAL/CGAL

Homing ○
Positioning ○
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○
Different Acceleration Speed
Operation in Deceleration
×
Pause ○
Zone Signal Output ∆ Parameter setting is required.
PIO Pattern Selection ×

(1) PLC Channel Composition (* “n” shows the head node address for each axis).
Parameter SCON-CA/CB side SCON-CA/CB side
PLC side PLC side
No.84 Input register Output register
2 RY n0 to nF RX n0 to nF
Occupied Area RY (n+1)0 to (n+1)F Occupied Area RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Current load
RWw (n+3) RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Current Speed
Acceleration/Deceleration RWw (n+5) RWr (n+5)
Pressing Current Limit
RWw (n+6) Alarm code RWr (n+6)
Value
Control signal RWw (n+7) Status Signal RWr (n+7)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

204
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 8 words for each I/O area.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can
be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke
length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC.
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or
0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the

5. SCON-CA/CB/CGB/CAL/CGAL
applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to
999 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 510 (200%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255 510

Pressing Current Limit Value 10% 50% 100% 200%

z The current load is expressed using 2-word (32 bits) binary data (Unit: 0.01N).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

205
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position
5. SCON-CA/CB/CGB/CAL/CGAL

(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

Width 64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Speed
8

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

1,024

Acceleration/
512

256

128

64

32

16
⎯

Deceleration

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pressing
256

128

64

32

16

Current
⎯

Limit Value

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

HOME
PUSH

DSTR
CLBR

JOG+
BKRL

Control
JOG-

JVEL

SON

RES
JISL

STP
DIR

signal

206
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current load
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current load
(Host Word)
When the current load is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PUSHS
ZONE2

ZONE1
EMGS

MOVE
RMDS
CEND

HEND

PEND
BALM

PSFL

Status
PWR

ALM
SV
⎯

Signal

207
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 5.9 (2)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).
5. SCON-CA/CB/CGB/CAL/CGAL

* When the input is performed in hexadecimal notation, input

the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 5.9 (2)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
PLC Output

2) In the case of pressing operation, it shows the pressing width

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
16bits suspension, it will remain stopped on the spot.
Speed ⎯ 5.9 (2)
Data Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit Integer
Set the acceleration/deceleration in movement (The same value
is applied both to acceleration and deceleration).
Acceleration/ 16bits The unit is 0.01G and settable range is between 1 and 999.
⎯ 5.9 (2)
Deceleration Data (Example) In the case of “0.30G”, set is as “30”.
When the movement command is set with the value of “0” or
bigger than the max. acceleration/deceleration value, an alarm
is issued.

208
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
16-bit Integer
Set the current limit in pressing operation.
Pressing
The settable range is between 0 (0%) and 255 (100%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 5.9 (2)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
b15 BKRL Brake Forcible Release: “ON” for brake release 5.7.11 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
b14 RMOD 5.7.11 (19)

5. SCON-CA/CB/CGB/CAL/CGAL
Mode
Pressing Direction Setup
”OFF” for the direction reducing the positioning width from the
b13 DIR 5.7.11 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup: “OFF” for Positioning Operation, “ON” for
b12 PUSH 5.7.11 (21)
PLC Output

Pressing Operation
b11
⎯ Unavailable ⎯
b10
b9 CLBR Loadcell Calibration Command : “ON” to execute calibration 5.7.11.(32)
Control b8 JOG+ + Jog: “ON” for Movement in the Opposite Direction of Home 5.7.11 (13)
signal b7 JOG- - Jog: “ON” for Movement to the Home Direction 5.7.11 (13)
Jog Speed/Inching Distance Change-Over
“OFF” for using the values set using the Parameter No. 26 “Jog
b6 JVEL Speed” and Parameter No. 48 “Inching Distance” 5.7.11 (14)
“ON” for using the values set using the Parameter No. 47 “Jog
Speed 2” and Parameter No. 49 “Inching Distance 2”
Jog/Inching Change-Over
b5 JISL 5.7.11 (15)
“OFF” for Jog Operation, “ON” for Inching Operation
b4 SON Servo ON Command: “ON” for Servo ON 5.7.11 (5)
b3 RES Reset: “ON” for Reset Execution 5.7.11 (4)
b2 STP Pause: “ON” for Pause Command 5.7.11 (7)
b1 HOME Homing: “ON” for Homing Command 5.7.11 (6)
b0 DSTR Positioning Command: “ON” for Movement Command 5.7.11 (8)

209
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits
⎯ (Example) :Read Value: 000003FFH = 1023 (decimal system) 5.9 (2)
Position Data
= 10.23mm
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
32-bit Integer
It displays the measured value for the current loadcell.
Current 32bits
⎯ The unit is 0.01N. 5.9 (3)
load Data
5. SCON-CA/CB/CGB/CAL/CGAL

*When it is read in hexadecimal notation, input the negative

value using a compliment of 2.
32-bit Signed Integer
It shows the current speed.
Positive Figure: Under movement in the opposite direction of home
Negative Figure: Under movement in the home direction
Current 32bits The unit is 0.01mm/sec.
⎯ 5.9 (2)
Speed Data (Example)
Read Value: 000003FFH = 1023 (decimal system)
= 10.23mm/sec
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
PLC Input

Alarm 16bits
⎯ When any alarm is not issued, it is “0H”. 5.9 (2)
code Data
Refer to the instruction manual for the controller main body for
the details of the alarms.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 5.7.11 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 5.7.11 (12)
b11
⎯ Unavailable ⎯
b10
b9 CEND Loadcell Calibration Complete : Turns ON when completed 5.7.11 (32)
Operation Mode Status:
b8 RMDS 5.7.11 (19)
“OFF” for currently “AUTO” mode, “ON” for currently “MANU” mode

Status Warning for Absolute Battery Voltage Drop :

b7 BALM 5.7.11 (28)
Signal Turns ON at voltage drop
b6 PUSHS Push motion in progress : “ON” for push motion in progress 5.7.11 (25)
b5 PSFL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” with Actuator Movement
Homing Completion
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

210
 CC-Link

5.7.9 Remote I/O Mode 3 (Remote Device Station: No. of Occupied Stations: One Station)
(Note) This mode is applicable only for SCON-CA/CB.
This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate
the position number as performed when PIO (24V input and output) is used.
Set the position data using the teaching tool such as the personal computer application software for RC. The
number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
This mode is that the functions to read the current position and the current load are added to I/O Mode contents.
The I/O specifications for the PIO pattern are described as follows (Refer to instruction manual for the
controller main body for more information).
Parameter No. 25 Set Value Operation Mode I/O Specifications
0 Positioning mode 64 positioning points and 2 zone output points
64 positioning points and 1 zone output point
1 Teaching mode The positioning and jog operations are available.

5. SCON-CA/CB/CGB/CAL/CGAL
The current position can be written on the setup position data.
2 256 point mode 256 positioning points and 1 zone output point
3 512 point mode 512 positioning points and no zone output point
7 positioning points and 2 zone output points
Electromagnetic
4 The direct operation command is available for each position No.
valve mode 1
The positioning completion signal is output for each position No.
3 positioning points and 2 zone output points
It is operated with the Forward/Backward/Intermediate
Electromagnetic
5 Position Commands.
valve mode 2
The positioning completion signal is output individually for
each Forward End/Backward End/Intermediate Positions.
Force Control Mode 1
6 32 positioning points and 1 zone output points
(requires dedicated loadcell)
5 positioning points and 1 zone output points
Force Control Mode 2
7 The direct operation command is available for each position No.
(requires dedicated loadcell)
The positioning completion signal is output for each position No.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
PIO Pattern
Actuator Function 0: 1: 2: 3: 4: 5: 6： 7:
Positioning Teaching 256 point 512 point Electromagnetic Electromagnetic Force Control Force Control
mode mode mode mode valve mode 1 valve mode 2 Mode 1 Mode 2
Homing ○ ○ ○ ○ ○ × ○ ○
Positioning ○ ○ ○ ○ ○ ○ ○ ○
Speed, Acceleration and
○ ○ ○ ○ ○ ○ ○ ○
Deceleration Settings
Pitch Feeding (Inching) ○ ○ ○ ○ ○ ○ ○ ○
Pressing Operation ○ ○ ○ ○ ○ × ○ ○
Speed change during
○ ○ ○ ○ × ○ ○ ×
the movement
Different Acceleration Speed,
○ ○ ○ ○ ○ ○ ○ ○
Operation in Deceleration
Pause ○ ○ ○ ○ ○ ○(*1) ○ ○
Zone Signal Output ○ ○ ○ × ○ ○ ○ ○
PIO Pattern Selection
○ ○ ○ ○ ○ ○ ○ ○
(Set using the parameters)
○: Operation Available ×: Operation Unavailable
(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”. Turning “OFF” the
“Movement Command” can stop the system temporarily.

211
 CC-Link

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB side SCON-CA/CB side
PLC side PLC side
No.84 DI and Input register DO and Output register
4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Current Position
RWw (n+1) RWr (n+1)
Occupied Area
RWw (n+2) RWr (n+2)
Current load
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
5. SCON-CA/CB/CGB/CAL/CGAL

stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

(2) I/O Signal Allocation for each Axis

The I/O signal for each axis consists of 1 word for each I/O bit register.
The I/O signal for each axis consists of 4 words for each I/O data register.
z The channel to be controlled with the port number is to be controlled by the ON/OFF signals in bit unit.
z The current position is expressed using 2-word (32 bits) binary data (unit: 0.01 mm (other than DD
motor) and 0.001° (DD motor)).
z The current load is expressed using 2-word (32 bits) binary data (Unit: 0.01N).

PLC Output (* “n” shows the head register address per each axis).
Address one word = 16 bits
RY (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
Input Port
15

14

13

12

10
11

0
No.

212
 CC-Link

PLC Input (* “n” shows the head register address per each axis).

Address one word = 16 bits

RX (n+0) F E D C B A 9 8 7 6 5 4 3 2 1 0
Controller
15

14

13

12

10
11
Output

0
Port No.

RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position
(Host Word)
When the current position is shown using thenegative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
load
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
load
(Host Word)
When the current load is shown using thenegative figure, it is expressed using the complement of 2.

213
 CC-Link

(3) I/O Signal Allocation

Refer to “5.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation.

The signal allocation for the Command Current and Current Position, is shown in the following table.
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits
⎯ (Example) ⎯
Position Data
Read Value: 000003FFH = 1023 (decimal system) = 10.23 mm
PLC Input

* When the value is read in hexadecimal notation, the negative

5. SCON-CA/CB/CGB/CAL/CGAL

figure is expressed as a compliment of 2.

32-bit Signed Integer
It show the current value measured by loadcell.
Current 32bits
⎯ The unit is 0.01N. ⎯
load Data
* When the value is read in hexadecimal notation, the negative
figure is expressed as a compliment of 2.

214
 CC-Link

5.7.10 Half Direct Value Mode 3 (Remote Device Station: No. of Occupied Stations: Two
Stations)
This mode provides an operation method that the changes of the servo gain parameter during an operation
and anti-vibration control parameter set are enabled in addition to the half-direct mode functions.
Set the each value in I/O area. When the zone function is used, set it using the parameter No. 1, 2, 23 and 24.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.
○:Direct Control
Actuator Function ∆:Indirect Control Remarks
×:Disabled
Homing ○
Positioning ○

5. SCON-CA/CB/CGB/CAL/CGAL
Speed, Acceleration and Deceleration Settings ○
Pitch Feeding (Inching) ○
Pressing Operation ○
Speed change during the movement ○
Different Acceleration Speed
Operation in Deceleration
×
Pause ○
Zone Signal Output ∆ Parameter setting is required.
PIO Pattern Selection ×

(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC side PLC side
No.84 side Input register side Output register
2 RY n0 to nF RX n0 to nF
Occupied Area RY (n+1)0 to (n+1)F Occupied Area RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position Current Position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width Command Current
RWw (n+3) RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Current Speed
Acceleration/Deceleration RWw (n+5) RWr (n+5)
Pressing Current Limit
RWw (n+6) Alarm code RWr (n+6)
Value
Control signal RWw (n+7) Status Signal RWr (n+7)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

215
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals for each axis consists of 8 words for each I/O area.
z The control signals and status signals are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The
figures from –999999 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can
be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke
length) for the actuator in question.
z Set the positioning width. The positioning width is expressed using 2-word (32 bits) binary data. The
figures from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be set
in PLC.
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or
0.1 mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the
5. SCON-CA/CB/CGB/CAL/CGAL

applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to
999 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max.
acceleration/deceleration value for the actuator in question.
z The pressing current limit value is expressed using 1-word (16 bits) binary data. The figures from 0
(0%) to 510 (200%) can be set in PLC. However, set the value within the settable range for the
pressing current limit value (Refer to the catalog or instruction manual for the actuator) for the
actuator in question.

Set Value 0 128 255 510

Pressing Current Limit Value 10% 50% 100% 200%

z The current load is expressed using 2-word (32 bits) binary data (Unit: 1mA).
z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code is expressed using 1-word (16 bits) binary data.

216
 CC-Link

PLC Output
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target
Position
(Slave Word)

RWw (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Target
Position

5. SCON-CA/CB/CGB/CAL/CGAL
(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWw (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

Width 64

32

16

1
(Slave Word)

RWw (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Positioning
524,288

262,144

131,072

65,536
Width
⎯

(Host Word)

RWw (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

64

32

16

Speed
8

RWw (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

1,024

Acceleration/
512

256

128

64

32

16
⎯

Deceleration

RWw (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pressing
256

128

64

32

16

Current
⎯

Limit Value

RWw (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

RMOD

HOME
MOD1

MOD0
PUSH

DSTR
BKRL

NTC1

NTC0
GSL1

GSL0

Control
SON

RES

STP
DIR

signal

217
 CC-Link

PLC Input
Address (* “n” shows the head register address per each axis).
one word = 16 bits
RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current
Position
(Slave Word)

RWr (n+1) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Position
5. SCON-CA/CB/CGB/CAL/CGAL

(Host Word)
When the target position is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+2) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command
32,768

16,384

8,192

4,096

2,048

1,024

512

256

Current 128

64

32

16

1
(Slave Word)

RWr (n+3) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Command

524,288

262,144

131,072

65,536
Current
⎯

(Host Word)

RWr (n+4) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Slave Word)

RWr (n+5) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current
Speed
(Host Word)
When the Current Speed is shown using the negative figure, it is expressed using the complement of 2.

RWr (n+6) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Alarm
code

RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ZONE2

ZONE1
EMGS

MOVE
RMDS

HEND

PEND
BALM

PSFL

Status
PWR

ALM
SV
⎯

Signal

218
 CC-Link

(3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
Set the target position on the absolute coordinates.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
(Example)
Target 32bits
⎯ When it is “+25.41mm”, set it as “2541”. 5.9 (2)
Position Data
If the value larger than the value (0.2mm) inside the soft limit for
the parameter, the movement would be limited to the inside the
soft limit (0.2mm).

5. SCON-CA/CB/CGB/CAL/CGAL
* When the input is performed in hexadecimal notation, input
the negative value using a compliment of 2.
32-bit Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example)
In the case of “25.40mm”, set it as “2540”.
This register value has two meanings depending on the
Positioning 32bits operation type.
⎯ 5.9 (2)
Width Data 1) In the case of positioning operation, it shows the allowable
range from the target position, that is regarded as the
positioning completion.
PLC Output

2) In the case of pressing operation, it shows the pressing width

value.
Specify the normal operation or pressing operation using the
“PUSH” control signal setting.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
16bits suspension, it will remain stopped on the spot.
Speed ⎯ 5.9 (2)
Data Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit Integer
Set the acceleration/deceleration in movement (The same value
is applied both to acceleration and deceleration).
Acceleration/ 16bits The unit is 0.01G and settable range is between 1 and 999.
⎯ 5.9 (2)
Deceleration Data (Example) In the case of “0.30G”, set is as “30”.
When the movement command is set with the value of “0” or
bigger than the max. acceleration/deceleration value, an alarm
is issued.

219
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
16-bit Integer
Set the current limit in pressing operation.
Pressing
The settable range is between 0 (0%) and 510 (200%).
Current 16bits
⎯ The actual settable range varies depending on each actuator. 5.9 (2)
Limit Data
(Refer to the catalog or instruction manual for the actuator).
Value
When the movement command is set with the value bigger than
the max. pressing current value, an alarm is issued.
b15 BKRL Brake Forcible Release: “ON” for brake release 5.7.11 (18)
Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU”
b14 RMOD 5.7.11 (19)
5. SCON-CA/CB/CGB/CAL/CGAL

Mode
Pressing Direction Setup
”OFF” for the direction reducing the positioning width from the
b13 DIR 5.7.11 (22)
target position, “ON” for the direction adding the positioning
width from the target position
Pressing Setup: “OFF” for Positioning Operation, “ON” for
b12 PUSH 5.7.11 (21)
Pressing Operation

Servo Gain Select the servo gain parameter set to be used

b11 GSL1 Parameter Set GSL1 GSL0 Functions
PLC Output

Selection 1 OFF OFF Parameter set 0 selected

5.7.11 (33)
OFF ON Parameter set 1 selected
Servo Gain
b10 GSL0 Parameter Set ON OFF Parameter set 2 selected
Selection 0 ON ON Parameter set 3 selected
Control Select the anti-vibration control parameter set
Anti-Vibration
signal to be used
b9 NTC1 Control Mode
NTC1 NTC0 Functions
Selection 1
OFF OFF Anti-vibration control not used 5.7.11 (29)
Anti-Vibration OFF ON Parameter set 1 selected
b8 NTC0 Control Mode ON OFF Parameter set 2 selected
Selection 0 ON ON Parameter set 3 selected
Acceleration/Deceleration Mode:
b7 MOD1
OFF/OFF for Trapezoid Pattern
5.7.11 (30)
OFF/ON for S-shaped Motion
b6 MOD0 ON/OFF for First-Order Lag Filter
b5 ⎯ Unavailable ⎯

b4 SON Servo ON Command: “ON” for Servo ON 5.7.11 (5)

b3 RES Reset: “ON” for Reset Execution 5.7.11 (4)
b2 STP Pause: “ON” for Pause Command 5.7.11 (7)
b1 HOME Homing: “ON” for Homing Command 5.7.11 (6)
b0 DSTR Positioning Command: “ON” for Movement Command 5.7.11 (8)

220
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Description Details
32-bit Signed Integer
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current 32bits
⎯ (Example) 5.9 (2)
Position Data
Read Value: 000003FFH = 1023 (decimal system) = 10.23mm
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
32-bit Integer
Command 32bits It shows the current value in the current command.
⎯ 5.9 (2)
Current Data The unit is mA.

5. SCON-CA/CB/CGB/CAL/CGAL
Read Value: 000003FFH = 1023 (decimal system) = 1023mA
32-bit Signed Integer
It shows the current speed.
Positive Figure: Under movement in the opposite direction of home
Negative Figure: Under movement in the home direction
Current 32bits The unit is 0.01mm/sec.
⎯ 5.9 (2)
Speed Data (Example)
Read Value: 000003 FFH = 1023 (decimal system)
= 10.23mm/sec
* When it is read in hexadecimal notation, input the negative
value using a compliment of 2.
16-bit Integer
When an alarm is issued, the alarm code is output.
Alarm 16bits
When any alarm is not issued, it is “0H”. 5.9 (2)
PLC Input

⎯
code Data
Refer to the instruction manual for the controller main body for
the details of the alarms.
b15 EMGS Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2)
b14 PWR Controller Ready: “ON” for Ready 5.7.11 (1)
b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 5.7.11 (12)
b12 ZONE1 Zone 1: “ON” for the current position within the zone set range 5.7.11 (12)
b11
b10 ⎯ Unavailable ⎯

b9
Operation Mode Status:
b8 RMDS “OFF” for currently “AUTO” mode, “ON” for currently “MANU” 5.7.11 (19)
mode
Status Warning for Absolute Battery Voltage Drop :
Signal b7 BALM 5.7.11 (28)
Turns ON at voltage drop
b6 ⎯ Unavailable ⎯

b5 PSFL Pressing and a Miss: “ON” for pressing and a miss 5.7.11 (23)
b4 SV Operation Ready: “ON” with Servo ON 5.7.11 (5)
b3 ALM Alarm: “ON” with alarm issue 5.7.11 (3)
Movement Signal:
b2 MOVE 5.7.11 (9)
“ON” with Actuator Movement
Homing Completion
b1 HEND 5.7.11 (6)
“ON” with Homing Completion
Positioning Completion Signal:
b0 PEND 5.7.11 (10)
“ON” with Positioning Completion

221
 CC-Link

5.7.11 I/O Signal Control and Functions

* “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “0”.
The I/O control and functions used in the Position/Simplified Direct Value Mode 1 and 2, Half Direct Value
Mode 1 to 3 and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O
Mode 1 to 3, refer to the instruction manual for the controller main body.

(1) Controller Ready (PWR) PLC Input Signal

When the controller can control the system after power up, it is turned “ON”.
„ Function:
Regardless of the alarm or servo conditions, when the controller initialization is completed normally
after power up and the controller can control the system, it is turned “ON”.
5. SCON-CA/CB/CGB/CAL/CGAL

Even in the alarm condition, when the controller can control the system, it is turned “ON”.

(2) Emergency Stop (EMGS) PLC Input Signal

When the controller is stopped in an emergency, it is turned “ON”.
„ Function:
When the controller is stopped in an emergency (motor driving power is cut off), it is turned “ON”. When
the emergency stop status is cleared, it is turned “OFF”.

(3) Alarm (ALM) PLC Input Signal

When any error is detected using the controller protection circuit (function), it is turned “ON”.
„ Function:
When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”.
When the cause of the alarm is eliminated and the reset signal is turned “ON”, the alarm is turned
“OFF” in the case that it is the alarm with the operation cancellation level (In the case of the alarm with
the cold start level, cycling the power is required).
When the alarm is detected, the Status Indicator LED (Refer to “5.3 CC-Link Interface”) on the front
surface of the controller illuminates in red.

(4) Reset (RES) PLC Output Signal

This signal has two functions. It can reset the controller alarm and cancel the reminder for planned
movements during pause conditions.
„ Function:
1. When this signal is turned ON from OFF condition after eliminating the cause of the alarm during
the alarm output, the alarm (ALM) signal can be reset (in the case of the alarm with the cold start
level, cycling the power is required).
2. When this signal is turned ON from OFF condition during the pause condition, the reminder of the
planned movement left can be cancelled.

222
 CC-Link

(5) Servo ON Command (SON) PLC Output Signal

Operation Ready (SV) PLC Input Signal
When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON,
the Status Indicator LED (Refer to “5.3 CC-Link Interface”) on the front surface of the controller
illuminates in green.
The “SV” signal is synchronized with this LED.
„ Function:
Using the “SON” signal, the turning ON/OFF of the controller is available.
While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes
available.
The relationship between the “SON” signal and “SV” signal is as follows.

5. SCON-CA/CB/CGB/CAL/CGAL
SON
(PLC → SCON)

SV
(SCON → PLC)

223
 CC-Link

(6) Homing (HOME) PLC Output Signal

Homing Completion (HEND) PLC Input Signal
Under Homing Operation (GHMS) PLC Input Signal
When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the
homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned
“ON”.
When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal. Once the “HEND” signal is
turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input
again.
Even after the completion of the homing operation, when the “HOME” signal is turned “ON”, the homing
operation can be performed.
5. SCON-CA/CB/CGB/CAL/CGAL

HOME
(PLC → SCON)
GHMS
(SCON → PLC)
HEND
(SCON → PLC)
PEND
(SCON → PLC)

MOVE
(SCON → PLC)

Caution: In the Remote I/O mode1 to 3 and Position/Simplified Direct Value Mode 1 and 2,
when the positioning command is issued without performing the homing operation
after power up, the positioning is performed after the automatic homing operation.
However, it is limited to only once after power up.
In the Half Direct Value Mode 1 to 3 and Full Direct Value Mode, when the positioning
command is issued without performing the homing operation after power up, the alarm
for the “Error Code 83: ALARM HOME ABS (Absolute Position Movement Command
in the Homing Unfinished Condition) is issued (Operation Cancellation Level). Take the
greatest care.

224
 CC-Link

(7) Positioning Start (CSTR): Used in Position/Simplified Direct Value Mode 1 and 2
PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning is performed to the target position
with the specified position No. or set using the PLC's target position register.
Whether the target position with the specified position No. is used or the setting using the PLC's target
position register is used, depends on the Control Signal b11: “Position/Simplified Direct Value
Change-Over (PMOD) Signal”.
• PMOD = OFF: Target position data for the specified position No. is used.
• PMOD = ON: Value for the target position set using the PLC's target position register is used.

When this signal is issued in the condition where the homing operation has not performed at all after

5. SCON-CA/CB/CGB/CAL/CGAL
power up (HEND signal OFF), the positioning to the target position is performed after the homing
operation is performed automatically.
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC → SCON)
CSTR
(PLC → SCON)
PEND
(SCON → PLC)

(8) Positioning Command (DSTR): Used in Half Direct Value Mode 1 to 3 or Full Direct
Value Mode PLC Output Signal
This signal is processed at the startup (ON edge) and the positioning to the target position input in the
PLC's target position register is performed. When this signal is issued in the condition where the
homing operation has not performed at all after power up (HEND signal OFF), an alarm is issued
(Operation Cancellation Level).
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target Position
(PLC → SCON)
DSTR
(PLC → SCON)
PEND
(SCON→ PLC)

(9) Under Movement Signal (MOVE) PLC Input Signal

This signal is turned ON while the actuator's slider or rod is moving (including the pressing or jog
operation after the homing operation).
After the completion of the positioning, homing or pressing operation, or during the pause condition, this
signal is turned “ON”.

225
 CC-Link

(10) Positioning Completion Signal (PEND) PLC Input Signal

This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning
width and the pressing is completed.

Timing for turning ON the Positioning

Completion Signal
Speed
Target Position

Travel Distance
Time
Positioning Width
5. SCON-CA/CB/CGB/CAL/CGAL

When the servo-motor is turned ON from OFF condition, the positioning is performed with the position
set as the target position. Accordingly, this signal is turned “ON” and after that, when the positioning
operation is started with the homing (HOME) signal, positioning start (CSTR) signal and positioning
command (DSTR) signal, this signal is turned “OFF”.

Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is
stopped at the target position, the PEND signal is turned “OFF” temporarily.
Then, when the servo-motor is turned “ON” and the actuator is within the positioning
width, the PEND signal is turned “ON” again.
When the positioning is completed with the CSTR signal or DSTR signal turned “ON”,
the PEND signal is not turned “ON”.

(11) Pause (STP) PLC Output Signal

When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned
“OFF”, the actuator movement is restarted.
The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the
value for the acceleration/deceleration for the position No. set using the specified position No. register
in the Position/Simplified Direct Value Mode 1 and 2, and as the value set in the
acceleration/deceleration register in the Half Direct Value Mode 1 to 3.
In the Full Direct Value Mode, the value is expressed as the value set in the acceleration register or
deceleration register.

226
 CC-Link

(12) Zone 1 (ZONE 1) PLC Input Signal

Zone 2 (ZONE 2) PLC Input Signal
Position Zone (PZONE) PLC Input Signal
These signals are turned ON when the current position of the actuator is within the set range and
turned OFF when the current position is out of the set range.
1. Zone 1, Zone 2
The zone is set using the user parameters.
The Zone 1 Signal is set using the parameter No. 1 “Zone 1 “+” Side” and No. 2 “Zone 1 “-” Side”.
The Zone 2 Signal is set using the parameter No. 23 “Zone 2 “+” Side” and No. 24 “Zone 2 “-” Side”.
The Zone 1 Signal and Zone 2 Signal become effective when the homing operation is completed.
After that, even during the servo OFF, it is effective.

5. SCON-CA/CB/CGB/CAL/CGAL
2. Position Zone
The zone is set using the position table I/O data register.
In the case of the Position/Simplified Direct Value Mode 1 and 2, the PZONE signal is set using the
position table.
In the case of the Full Direct Value Mode, the PZONE signal is set using the Zone Value Register.
(*) In the Half Direct Value Mode 1 to 3, there is no PZONE signal.
The PZONE signal becomes effective with the movement command after the homing operation. After
that, even during the servo OFF, it is effective.

Zone Signal

Actuator Operation "+" Direction

Home
Zone Setting Zone Setting
"-" Side "+" Side

227
 CC-Link

(13) “+” Jog (JOG+) PLC Output Signal

“-” Jog (JOG-) PLC Output Signal
This signal is the command for the jog operation startup or inching operation startup.
In the case of the “+” command, the movement direction is to the opposite of the home and in the case
of the “-” command, the movement direction is to the home.

1. Jog Operation
The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”.
While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it
is turned “OFF”, the actuator is decelerated and stopped.
While the “JOG-” is turned “ON”, the movement direction is to the home, and when it is turned OFF,
5. SCON-CA/CB/CGB/CAL/CGAL

the actuator is decelerated and stopped.

The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF: The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON: The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).
• When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.
2. Inching Operation
The inching operation is available while the JISL signal is turned “ON”.
Once it is turned “ON”, the actuator is moved as much as the inching distance.
When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is
turned “ON”, the movement is to the home.
• The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog Speed/Inching Distance
Change-Over (JVEL) signal.
JVEL Signal OFF : The speed is based on the parameter No. 26 “PIO Jog Speed” value.
JVEL Signal ON : The speed is based on the parameter No. 47 “PIO Jog Speed 2” value.
• The Travel Distance is based on the set values of the following parameters.
JVEL Signal OFF : The travel distance is based on the parameter No. 48 “PIO Inching Distance”
value.
JVEL Signal ON : The travel distance is based on the parameter No. 49 “PIO Inching Distance 2”
value.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).

During the normal operation, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the normal
operation is continued (The Jog signal is ignored).
In the pause condition, even when the “+” Jog Signal or “-” Jog Signal is turned “ON”, the actuator is not
moved.

Note: Because the software stroke limit is disabled before the homing operation, the actuator might run against the
mechanism end. Take the greatest care.

228
 CC-Link

(14) Jog Speed/Inching Distance Change-Over (JVEL) PLC Output Signal

This change-over signal is used for the parameters specifying the jog speed when the jog operation is
selected or the inching distance when the inching operation is selected.
The relationship is as follows:

JVEL Signal Jog Operation : JISL = OFF Inching Operation: JISL = ON

Parameter No. 26 “Jog Speed”
OFF Parameter No. 26 “Jog Speed”
Parameter No. 48 “Inching Distance”
Parameter No. 47 “Jog Speed 2”
ON Parameter No. 47 “Jog Speed 2”
Parameter No. 49 “Inching Distance 2”

(15) Jog/Inching Change-Over (JISL) PLC Output Signal

5. SCON-CA/CB/CGB/CAL/CGAL
This signal changes over the jog operation and the inching operation.
JISL = OFF: Jog Operation
JISL = ON: Inching Operation
When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is
decelerated and performs the inching operation.
When the JISL signal is turned “OFF” (for jog operation) during the inching operation, the actuator
performs the jog operation after the movement is completed.
The relationship between the JISL Signal and Jog Speed/Inching Distance Change-Over (JVEL) Signal
ON/OFF is described as follows.

Jog Operation Inching Operation

JISL OFF ON
Speed Parameter No. 26 “Jog Speed” Parameter No. 26 “Jog Speed”
Travel Distance ⎯ Parameter No. 48 “Inching Distance”
JVEL = OFF
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
Speed Parameter No. 47 “Jog Speed 2” Parameter No. 47 “Jog Speed 2”
Travel Distance ⎯ Parameter No. 49 “Inching Distance 2”
JVEL = ON
Acceleration/ Rated Value (depending on the Rated Value (depending on the
Deceleration actuator) actuator)
When the JOG+/JOG- startup (ON
Operation When JOG+/JOG- is “ON”:
edge) is detected:

229
 CC-Link

(16) Teaching Mode Command (MODE) PLC Output Signal

Teaching Mode Signal (MODES) PLC Input Signal
When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode.
When the mode for the controllers for each actuator is changed to the teaching mode, the MODES
signal is turned ON.
After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.

Note: In order to change the normal operation mode to the teaching mode, the following conditions are required.
• The actuator operation (motor) is stopped.
• The + JOG (JOG+) signal and – JOG (JOG-) signal are turned “OFF”.
• The Position Data Import Command (PWRT) Signal and Positioning Start (CSTR) Signal are turned
“OFF”.
5. SCON-CA/CB/CGB/CAL/CGAL

Note: When the PWRT signal is not turned OFF, the mode is not returned to the normal operation mode.

(17) Position Data Import Command (PWRT) Signal PLC Output Signal
Position Data Import Completion (WEND) Signal PLC Input Signal
The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”.
Turn ON the PWRT signal (*1). Then, the current position data will be written in the position data box for
the position No. set using the PLC's specified Position No. register (*2).
When the data writing is completed, the WEND signal is turned “ON”.
After the WEND signal is turned ON, turn OFF the PWRT signal in the host machine.
When the PWRT signal is turned ON before the WEND signal is turned “ON”, the WEND signal is not
turned “ON”.
When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
(*1) Turn it ON for 20msec or more. If the time is shorter than 20msec, the writing is not completed.
(*2) When the data items except for the position have not been defined, the parameter initial values are
written (Refer to the instruction manual for the controller main body).

MODES
(SCON → PLC)
PWRT
(PLC → SCON)
WEND
(SCON → PLC)

(18) Brake Forcible Release (BKRL) Signal PLC Output Signal

Turning this signal “ON” can release the brake forcibly.

230
 CC-Link

(19) Operation Mode (RMOD) PLC Output Signal

Operation Mode Status (RMDS) PLC Input Signal
The operation mode is selected with the RMOD signal and the MODE switch located on the front
surface of the controller.
Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal.
The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are
described as follows.
Controller MODE Controller MODE
Switch set to “AUTO” Switch set to “MANU”
RMOD Signal “OFF” AUTO Mode MANU Mode
(AUTO Mode Command) (RMDS = OFF) (RMDS = OFF)

5. SCON-CA/CB/CGB/CAL/CGAL
RMOD Signal “ON” MANU Mode MANU Mode
(MANU Mode Command) (RMDS = ON) (RMDS = ON)

Note: In MANU mode, the startup of the operation from PLC is not available.

(20) Position/Simplified Direct Value Change-Over (PMOD) PLC Output Signal

This signal changes over the use of the value registered in the controller position table for the target
position in the movement and the use of the value specified in the PLC's target position register.
PMOD = OFF : Using the value register in the Position Table
PMOD = ON : Using the value specified in the Target Position Register

(21) Pressing Setup (PUSH) PLC Output Signal

When the movement command signal is output after this signal is turned ON, the pressing operation is
performed.
When this signal is set to “OFF”, the normal positioning operation is performed.
(Refer to Item (2) Operation in Half Direct Value Mode 1 to 3 in “5.9 Operation” for the setting timing for
this signal).

(22) Pressing Direction Setup (DIR) PLC Output Signal

This signal specifies the pressing direction.
When this signal is turned “OFF”, the pressing operation is performed to the position expressed using
the value reducing the positioning width from the target position.
When this signal is turned ON, the pressing operation is performed to the position expressed using the
value adding the positioning width to the target position.
In the case of the normal pressing operation, this signal is disabled.
(Refer to Item (2) Operation in Half Direct Value Mode 1 to 3 in “5.9 Operation” for the setting timing for
this signal).

Speed

Travel Distance

Positioning Width Positioning Width Positioning Width

When DIR = OFF: Target Position When DIR = ON:

231
 CC-Link

(23) Pressing and a Miss (PSFL) PLC Input Signal

In the case that the pressing operation was performed, and the actuator moved the travel distance set
in the controller position table positioning width or set using the PLC's positioning width register, but it
was not pushed against the work, this signal is turned “ON”.
(Refer to Item (2) Operation in Half Direct Value Mode 1 to 3 in “5.9 Operation” for the setting timing for
this signal).

(24) Incremental Command (INC) PLC Output Signal

When the movement command is issued while this signal is turned “ON”, the actuator is moved to the
position expressed as the value input in the PLC's target position register based on the current position
(Incremental Movement).
5. SCON-CA/CB/CGB/CAL/CGAL

When this signal is turned “OFF”, the actuator is moved to the position expressed as the value set in
the PLC's target position register.

(25) Under Pressing Operation (PUSHS) PLC Input Signal

This signal is turned “ON” during the pressing operation.

Speed
Target Position

Travel Distance

Positioning Width
PUSHS=ON

This signal is turned “OFF” when the pressing and a miss signal or the next movement command signal
is output, or the servo-motor is turned “OFF”.
(Refer to Item (2) Operation in Half Direct Value Mode 1 to 3 in “5.9 Operation” for the setting timing for
this signal).

232
 CC-Link

(26) Load Output Judgment (LOAD) PLC Input Signal

This signal is available only in the pressing operation.
When this signal is used for pressing-in purpose, it should be known whether the set load threshold is
reached during the pressing operation.
The load threshold and inspected width range are set using the PLC's register. When the command
torque (motor current) exceeds the threshold within the inspected width range, this signal is turned
“ON”.
This signal judges the load output based on the fact that the command torque excesses the threshold
for the specified time period.
This processing procedure is the same as for the pressing judgment. The judgment time period can be
changed freely using the parameter No. 50 “Load Output Judgment Time Period”.

5. SCON-CA/CB/CGB/CAL/CGAL
This signal is continued until the next movement command is received.

Position where the actuator is pushed

Position where this signal is turned ON against the work and the pressing completion is
when the command torque exceeds the threshold judged so the positioning completion signal is turned "ON"
within the torque inspected width range

Speed inspected width

range

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the threshold inspected width using the PLC's Zone Value + Register and Zone Value - Register.
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: The actuator continues to push the work with the pressing current at the stop time decided
with the current limit value. It is not the stop condition, so take the greatest care to deal with it.

233
 CC-Link

(27) Torque Level (TRQS) PLC Input Signal

This signal is available only in the pressing operation.
When the motor current reaches the load threshold during the pressing operation (moving up to the
positioning width), this signal is turned “ON”.
Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
The speed available for the pressing varies depends on the motor and leads, it is required to adjust the
parameters.
Position where the actuator is pushed against the work and the pressing
completion is judged so the positioning completion signal is turned "ON"

Speed
5. SCON-CA/CB/CGB/CAL/CGAL

Range where this signal is output

Travel Distance

Positioning Width (Max. Pressing Level)

Target Position

• Set the pressing speed using the parameter No. 34 “Pressing Speed”.
When the machine is delivered, it has been individually set depending on the actuator characteristics.
Set an appropriate speed considering the work material and shape.
• Set the parameter No. 50 “Load Output Judgment Time Period”.
• Set the threshold using the PLC's Load Current Threshold Register.
• Set the positioning width using the PLC's Positioning Width Register.
Set it a bit longer from the backmost position considering the mechanical dispersion of the work.
Refer to the instruction manual for the controller for more information.

Warning: The actuator continues to push the work with the pressing current at the stop time decided
with the current limit value. It is not the stop condition, so take the greatest care to deal with it.

234
 CC-Link

(28) Warning for Absolute Battery Voltage Drop (BALM) PLC Input Signal
The signal is OFF when the absolute battery voltage is in normal condition for the absolute type, or
when the model is the incremental type.
This signal is switched on when the absolute battery voltage drops down to 3.1V. If an operation is
continued till it drops down to 2.5V, the controller becomes disabled to retain the position information.
(It is recommended to replace the battery immediately when this signal is switched on for the absolute
type.)

(29) Anti-Vibration Control Mode Selection 0, 1 (NTC0, NTC1) PLC Output Signal
Anti-vibration control function controls the vibration generated by the load of IAI actuator.
Measure the vibration value and input it into the parameter sets (3 types max.).

5. SCON-CA/CB/CGB/CAL/CGAL
1 type is to be selected from the established parameter sets and to be combined in this signal.
Refer to the instruction manual for the controller for more information.

NTC1 NTC0 Function Reference

OFF OFF Not to use Anti-vibration control Set in delvery
OFF ON Parameter set 1 selected
ON OFF Parameter set 2 selected
ON ON Parameter set 3 selected

Input Timing
Diagram below shows the timings to input NTC0 and NTC1 signals:
Target
Position

NTC0

NTC1
T1*1
DSTR

*1 T1 : 0ms or more

Caution: ON and OFF of NTC0 or NTC1 signals during an operation will be ignored since they are read
when the movement command (DSTR) gets identified.

235
 CC-Link

(30) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Input Signal

This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them
before the actuator movement command.
MOD1 MOD0 Pattern Name Remarks
OFF OFF Trapezoid Pattern Set in delivery
OFF ON S-shaped Motion
ON OFF First-Order Lag Filter
ON ON Unavailable

Trapezoid Pattern
Speed
5. SCON-CA/CB/CGB/CAL/CGAL

Acceleration Deceleration

Time
* The Acceleration and Deceleration are set in the “Acceleration” and “Deceleration”
data boxes on the position data.
S-shaped Motion
The S-shaped curve is described where at first in the acceleration, the line is gentle, but along
the way, it suddenly becomes steep.
Use it in such application that setting the acceleration/deceleration rate high is desired
because high tact time is required, but in the movement start or immediately before stop, low
acceleration/deceleration rate is favorable.
Speed

Time
* The S-shaped motion degree is set using the parameter No. 56 “S-Shaped Motion Ratio
Setting”. The setting unit is % and setting range is from “0” to “100”.
(The above figure shows the image graph with the Parameter No. 56 set to “100”.
When it is set to “0”, the S-shaped motion is disabled.
However, the setting is not reflected on the jog operation or inching operation performed
using the teaching tool such as the PC software.
First-Order Lag Filter
This describes much gentle acceleration/deceleration curve than that for the linear
acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight
vibration to the work in acceleration/deceleration operation.
Speed

Time
* The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter
Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to
“100.0”.
When it is set to “0”, the first-order lag filter is disabled.
However, the setting is not reflected on the jog operation or inching operation performed
using the teaching tool such as the PC software.

236
 CC-Link

(31) Stop Mode Selection (ASO1, ASO0) PLC Output Signal

Select the stop mode for the duration before the movement to the next position after a positioning is
completed.
If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power
consumption.
Refer to the instruction manual for the controller for more information.

ASO1 ASO0 Stop Mode Reference

OFF OFF Disabled Set in delvery
Automatic Servo OFF Method
OFF ON
Parameter No. 36 is valid for T

5. SCON-CA/CB/CGB/CAL/CGAL
Automatic Servo OFF Method
ON OFF
Parameter No. 37 is valid for T
Automatic Servo OFF Method
ON ON
Parameter No. 38 is valid for T

Movement
Command In automatic servo OFF duration
(Green LED blinks)
Servo
Condition
Servo ON
Condition
Actuator
Moving Target Position
T : Waiting time (sec) before servo is
T
turned off after the positioning is completed

(32) Loadcell Calibration Command (CLBR) PLC Input Signal

Loadcell Calibration Complete (CEND) LC Input Signal
Before the delivery, the loadcell is set to be turned 0N when there is no load. Execute a calibration if it
is desired to set the condition with a load as the standard (0N).
Also, execute a calibration in any case that it is necessary (adjustment, inspection, etc.).
1) Stop the operation. (An error 0E1: Loadcell calibration error alarm will be generated if during axes
operation, pressing or pause because a calibration cannot be executed.)
2) Turn the loadcell calibration signal (CLBR) on continuously for 20ms or more.
3) Calibration complete signal (CEND) turns ON after the calibration is complete. After confirming it,
turn OFF CLBR signal.
An error 0E1: Loadcell calibration error alarm will be generated if calibration is not completed
properly.

Caution: If CLBR signal is on, the normal movement command cannot be received.

237
 CC-Link

Input Identification
Continuously for 20ms *1 Calibration Time *2

Turn CLBR OFF after confirming CEND is ON.

CLBR

CEND

CEND turns ON after calibration process is completed properly.

If CLBR is OFF, CEND becomes always OFF.
5. SCON-CA/CB/CGB/CAL/CGAL

*1 If CLBR is turn OFF in this period, the calibration process cannot be performed since it is before
input identification.
*2 An alarm will be generated if CLBR is turned OFF in this period

(33) Servo Gain Parameter Set Selection (GSL0, GSL1) PLC Output Signal
An operation with preset parameters at each position becomes available if 4 sets of servo gain
parameters (6 sets) are registered in advance
Refer to the instruction manual for the controller for more information.

GSL1 GSL0 Function Reference

OFF OFF Parameter set 0 selected Set in delvery
OFF ON Parameter set 1 selected
ON OFF Parameter set 2 selected
ON ON Parameter set 3 selected

238
 CC-Link

5.8 I/O Signal Timing

When any of the control signal is turned ON to perform the operation of the actuator using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is expressed
using the following formula.

Max. Response Time (msec) = Yt + Xt + 2 + Command Processing Time (Operation Time, etc.)
Yt: Master Station to Remote I/O Station Transmission Delay Time
Filed Network Transmission Delay Time
Xt: Remote I/O Station to Master Station Transmission Delay Time

For the Master Station to Remote I/O Station Transmission Delay Time (Yt) and the Remote I/O Station to
Master Station Transmission Delay Time (Xt), refer to the instruction manuals for the CC-Link Master Unit and

5. SCON-CA/CB/CGB/CAL/CGAL
mounted PLC.

SCON

239
 CC-Link

5.9 Operation
The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2, Half Direct
Value Mode 1 to 3 and Full Direct Value Mode, are described.
For the Remote I/O Mode 1 to 3, refer to the instruction manual for the controller main body.
(Read from the PLC register the current position, command current or current load in remote I/O modes 2 and
3 on your demands.)

(1) Operation in the Position/Simplified Direct Value Mode 1 and 2

It is operated with the position data written in the PLC's register and the speed, acceleration /
deceleration, positioning width and pressing current limit value, etc. set using the position table.
z Operation Example (General Positioning Operation)
(Preparation) Set the position data items (speed, acceleration/deceleration, positioning width, etc)
5. SCON-CA/CB/CGB/CAL/CGAL

except for the target position item, in the position table.

Turn ON the Position/Simplified Direct Value Change-Over Signal (PMOD).

1) Set the target position data in the target position register.

2) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in the
setup position No. register.
3) In the condition where the positioning completion (PEND) signal is turned “ON” or, Under
Movement (MOVE) signal is turned “OFF”, turn “ON” the Positioning Start (CSTR) signal.
The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the
CSTR signal.
4) After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tpdf.
5) After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn “OFF”
the CSTR signal. Do not change the value in the target position register until the CSRT signal is
turned “OFF”.
6) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
7) The current position data is continuously updated. When the remaining travel distance becomes
within the range of the positioning width set in the position data, and the CSTR signal is turned
“OFF”, the PEND signal is turned “ON”. Then, the completed position No. is output to the
completed position No. register.
Accordingly, for the read of the completed position No. register when the positioning is completed,
confirm it some time (Remaining Travel Distance Movement Time) after the PEND signal is turned
“ON”.
The current position data might be changed slightly even when the system is stopped.
8) The target position data can be changed during the actuator movement.
In order to change the target position, change the target data and turn ON the CSTR signal after
the time longer than the PLC scanning time has passed.
Change the value for the CSTR signal after the time longer than the PLC scanning time has
passed.

z Operation Example (Pressing Operation)

For the pressing operation, the current limit value is set in the pressing data box on the position data
at the preparation stage.
When the positioning is performed onto the position No. for which the value is set in the pressing
data box, the pressing operation is performed.

240
 CC-Link

Target Position Data

Set Value n1 n2 n3
(PLC → SCON)

Command Position No. p1 n2 n3

(PLC → SCON)
*
T1

5. SCON-CA/CB/CGB/CAL/CGAL
Psitioning Start
CSTR
(PLC → SCON) *
tdpf

Positioning End
PEND
(SCON → PLC)

Current Position
n1 n2
(SCON → PLC)

Moving
MOVE
(SCON → PLC)
Positioning Width

Actuator Operation
(Normal Positioning)

Pressing and a Miss

(PSFL)

Press Motion in Progress

(PUSHS)

Pressing

Actuator Operation
(Pressing) Miss

*T1 : Considering the scaning time of the host

controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

241
 CC-Link

(2) Operation in the Half Direct Value Mode 1 to 3

It is operated with the data set in the PLC's target position register, positioning width register, setup
speed register, acceleration/deceleration register and pressing current limit setup register.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the acceleration/deceleration data in the acceleration/deceleration register.
5) Set the pressing current limit data in the pressing current limit value register.
6) Turn “ON” the pressing setup (PUSH) signal.
7) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 5.7.7 (22))
8) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
5. SCON-CA/CB/CGB/CAL/CGAL

signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 5) are read in the controller at the startup (ON edge) of the
DSTR signal.
9) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
10) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
11) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
12) The current position data is continuously updated.
13) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 5), the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 5), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
14) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 6) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

242
 CC-Link

Target Position Data

Set Value
(PLC → SCON)

Positioning Width Data

Set Value
(PLC → SCON)

Speed Data
Set Value
(PLC → SCON)

5. SCON-CA/CB/CGB/CAL/CGAL
Acceleration/Deceleration
Data Set Value
(PLC → SCON)

Pressing Current Limit

Set Value
(PLC → SCON)

Pressing Setup
PUSH
(PLC → SCON)

Pressing Direction Setup

DIR
(PLC → SCON)

Positioning Command
DSTR
(PLC → SCON)
Positioning Completion/
Pressing and a Miss
PEND/PSFL
(SCON → PLC)

Current Position
(SCON → PLC)

Moving
MOVE
(SCON → PLC)

Actuator Operation
(Pressing)

Actuator Operation
(General Positioning)

*T1 : Considering the scaning time of the host

controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

243
 CC-Link

(3) Operation in the Full Direct Value Mode

It is operated with all the required data items set in the PLC's registers including the target position
register and positioning width register, etc.
z Operation Example (Pressing Operation)
1) Set the target position data in the target position register.
2) Set the positioning width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the position zone output value data in the zone value + register or zone value - register.
5) Set the acceleration data in the acceleration register.
6) Set the deceleration data in the deceleration register.
7) Set the pressing current limit data in the pressing current limit value register.
8) Set the load current threshold data in the load current threshold setup register.
5. SCON-CA/CB/CGB/CAL/CGAL

9) Turn “ON” the pressing setup (PUSH) signal.

10) Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 5.7.7 (22))
11) In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 8) are read in the controller at the startup (ON edge) of the
DSTR signal.
12) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
13) After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn
“OFF” the DSTR signal. Do not change any value in each register until the DSTR signal has been
turned “OFF”.
14) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
15) The current position data is continuously updated.
16) When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in
Step 7), the PEND signal is turned “ON” (pressing completion).
Even when the positioning width set in Step 2) is reached, in the case that the current does not
reach the motor current limit value set in Step 7), the pressing and a miss (PSFL) signal is turned
“ON”. In this case, the PEND signal is not turned “ON” (pressing and a miss).
17) After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

z Operation Example (General Positioning Operation)

For the general positioning operation, set the signal in Step 9) to “OFF”.
When the remaining travel distance becomes within the range of the positioning width set in the
position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

244
 CC-Link

Target Position Data

Set Value
(PLC → SCON)

Positioning Width Data

Set Value
(PLC → SCON)

Speed Data
Set Value
(PLC → SCON)

5. SCON-CA/CB/CGB/CAL/CGAL
Position Zone Value Data
Set Value
(PLC → SCON)

Acceleration Data
Set Value
(PLC → SCON)

Deceleration Data
Set Value
(PLC → SCON)

Pressing Current Limit Data

Set Value
(PLC → SCON)

Load Current Threshold Data

Set Value
(PLC → SCON)

245
 CC-Link

Pressing Setup
PUSH
(PLC → SCON)

Pressing Direction Setup

DIR
(PLC → SCON)
* T1

Positioning Command
DSTR
(PLC → SCON) *
5. SCON-CA/CB/CGB/CAL/CGAL

Positioning Completion/
Pressing and a Miss
PEND/PSFL
(SCON → PLC)

Current Position
(SCON→ PLC)

Moving
MOVE
(SCON → PLC)

Pressing
Actuator Operation
(Pressing)
Positioning Width

Actuator Operation
(General Positioning)

*T1: Considering the scanning time of the host

controller, set it so that “T1 ≥ 0ms”.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

246
 CC-Link

(4) Data Change during the Movement

In the Half Direct Value Mode 1 to 3 and the Full Direct Value Mode, the change of any data set using
the output data register, out of the target position data, speed data, positioning width, and current limit
value during the pressing, during the movement is available. After changing the data, turn “ON” the
positioning command (DSTR) for more than tdpf.
Also, after turning “OFF” the DSTR, set aside some time for “twcsON + twcsOFF” or more, until the
next DSTR is turned “ON”.
The example is shows as follows, where the speed and acceleration/deceleration data items have been
changed.

Speed and Acceleration/

5. SCON-CA/CB/CGB/CAL/CGAL
Deceleration Data
Set Value
(PLC → SCON)
≥0

DSTR
(PLC → SCON)

PEND
(SCON → PLC)

MOVE
(SCON → PLC)
Speed n3

Speed n2

Actuator
Speed

twcsON ≥ Yt + Xt + 2 (msec)
twcsOFF ≥ Yt + Xt + 2 (msec)
*Yt + Xt ≤ tpdf ≤ Yt + Xt + 2 (msec)

Caution : 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an
alarm is not issued.
2. When the speed setting is changed to “0” during the movement, the actuator is
decelerated and stopped, but an alarm is not issued.
3. Even when the acceleration/deceleration data only is changed during the movement, the
setting of the target position data is required.
4. Even when the target position data only is changed during the movement, the setting of
the acceleration/deceleration data is required.

247
 CC-Link

5.10 CC-Link Related Parameters

The parameters related to CC-Link are from No. 84 to No. 87, 90 and 159.
Classification: C: External Interface Related
Default Value set in the Factory
No Classification Symbol Name
before Delivery
1
Refer to instruction manual for
⎪ the controller for the parameters
No. 1 through No. 83.
83
84 C FMOD Field Bus Operation Mode 0
85 C NADR Field Bus Node Address 1
Filed Bus Communication
86 C FBRS 0
Speed
5. SCON-CA/CB/CGB/CAL/CGAL

87 C NTYP Network Type 1

90 C CFMIO Filed Bus I/O Format 3
159 C FBVS FB Half Direct Mode Speed Unit 0

z Filed Bus Operation Mode (No. 84 “FMOD”)

The operation mode is set using the values 0 to 8 for the parameter No. 84.
Parameter No. 84 Station Data and No. of
Mode Name Description
Set Value Occupied Stations
Remote Device Station: The operation is performed using the PIO
0 (Set in delivery) Remote I/O Mode
One Station (24V I/O) through the CC-Link.
The target position can be set directly using
the value or the operation can be
Position/Simplified Remote Device Station:
1 performed using position data value.
Direct Value Mode One Station
The other values required for the operation
are set on the position data.
In addition to the target position, the speed,
Half Direct Value Remote Device Station: acceleration/deceleration and pressing
2
Mode Two Stations current value are set directly using the
values to perform the operation.
All the values related to the position control
Full Direct Value Remote Device Station:
3 are set using the values to perform the
Mode Four Stations
operation.
The current position and current speed
Remote Device Station:
4 Remote I/O Mode 2 reading functions are added to the
One Station
functions in the remote I/O mode.
Set this parameter in a case a force control
Position/Simplified Remote Device Station:
5 is necessary in the position/simple direct
Direct Value Mode 2 One Station
mode.
Half Direct Value Remote Device Station: Set this parameter in a case a force control
6
Mode 2 Two Stations is necessary in the half direct value mode.
Remote Device Station: Set this parameter in a case a force control
7 Remote I/O Mode 3
One Station is necessary in the remote I/O mode.
Set this parameter in a case a switchover
Half Direct Value Remote Device Station: of servo gain or anti-vibration control
8
Mode 3 Two Stations parameter is necessary in the half-direct
mode.

(Note) SCON-CAL is not applicable for the operation modes 5 to 7.

248
 CC-Link

z Field Bus Node Address (No. 85 “NADR”)

The remote station No. is set for the parameter No. 85.

Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).

z Field Bus Communication Speed (No. 86 “FBRS”)

The communication speed is selected for the parameter No. 86.
Parameter No. 86
Communication Speed
Set Value
0 (Set in delivery) 156kbps
1 625kbps
2 2.5Mbps

5. SCON-CA/CB/CGB/CAL/CGAL
3 5Mbps
4 10Mbps
Except for the above Baud Rate Setting Error

z Network Type (No. 87 “NTYP”)

The network module type is set for the parameter No. 87. Do not change the default value.

z Filed Bus I/O Format (No. 90 “FMIO”)

The addresses in PLC are allocated based on each operation mode, in units of 16 points to the I/O bit
register and I/O data register corresponding to the station Nos. set in the controller and the number of
occupied stations set using the PLC's parameter.
Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2
words, exchanging such data in units of byte within the communication area of the PLC's bit register and
I/O data register.
Parameter No. 90
Description
Set Value
Data exchange is not performed. The data is transmitted to PLC as they are (Refer to
0
the Example i).
The host bytes are exchanged with slave bytes in the host words and slave words
1
(Refer to the Example ii).
In the case of word register, the host words are exchanged with the slave words (Refer
2
to the Example iii).
The host bytes are exchanged with slave bytes in the host words and slave words. In
3 (Set in delivery) the case of word register, further the host words are exchanged with the slave words
(Refer to the Example iv).
Note: Set to 3 for CC-Link manufactured by Mitsubishi Electric Corporation.

249
 CC-Link

(Example i) : In the case of the Value set to “0”:

● shows ON. ○ shows OFF.

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●
5. SCON-CA/CB/CGB/CAL/CGAL

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

250
 CC-Link

(Example ii): In the case of the Value set to “1”:

● shows ON. ○ shows OFF.

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

5. SCON-CA/CB/CGB/CAL/CGAL
ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○ ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ●

Data in 3 4 1 2 C D A B
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

251
 CC-Link

(Example iii): In the case of the Value set to “2”:

● shows ON. ○ shows OFF.

SCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal
Notation

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn
5. SCON-CA/CB/CGB/CAL/CGAL

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

SCON 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ● ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○

Data in A B C D 1 2 3 4
Hexadecimal
Notation

PLC： 1F 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

252
 CC-Link

(Example iv): In the case of the Value set to “3”:

● shows ON. ○ shows OFF.

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Input
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWwnn

5. SCON-CA/CB/CGB/CAL/CGAL
ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

SCON 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
Output
register

ON/OFF ● ● ○ ○ ● ● ○ ● ● ○ ● ○ ● ○ ● ● ○ ○ ● ● ○ ● ○ ○ ○ ○ ○ ● ○ ○ ● ○

Data in C D A B 3 4 1 2
Hexadecimal
Notation

PLC： 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E D C B A 9 8 7 6 5 4 3 2 1 0
RWrnn

ON/OFF ○ ○ ○ ● ○ ○ ● ○ ○ ○ ● ● ○ ● ○ ○ ● ○ ● ○ ● ○ ● ● ● ● ○ ○ ● ● ○ ●

Data in 1 2 3 4 A B C D
Hexadecimal
Notation

z FB Half Direct Mode Speed Unit (No.159 FBVS)

Determines the unit of measure when operating the unit in Half Direct Mode.

Parameter No.159 setting value Speed setting unit

0 (Set in delivery) 1.0 mm/sec
1 0.1 mm/sec

253
 CC-Link

5.11 Troubleshooting
5.11.1 Status LED Indication
With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and
network status can be obtained.
When any trouble occurs, confirm the current status with the Status LED illumination patterns. The
communication status indications changed with the Status LED illumination patterns are described as follows.
○ : Illuminating, × : OFF, ☆ : Flashing
STATUS 1 STATUS 0 Status Signal
○ ○ Impossible condition
• An error occurs. (CRC error, station No. setting error or communication speed
setting error)
○ ×
5. SCON-CA/CB/CGB/CAL/CGAL

• Time period from power injection or software reset to CC-Link initialization

completion
× ○ Normal Communication Status
Power Failure: Remote station power unit breakdown or communication cable
× × breakage
☆ ○ Impossible condition
Station No. setting or communication speed setting is changed during the
☆ ×
communication.

5.11.2 Alarm Description and Cause/Treatment

When an alarm is issued, the completed position No. (4 bits for PM1 to PM8) shows the simplified alarm code
in the Remote I/O Mode or Remote I/O Mode 2.
In the Position/Simplified Direct Value Mode, the simplified alarm code is output to RWr2.
In the Half Direct Value Mode or Full Direct Value Mode, the alarm code is output to RWr6.
1) Confirm the alarm code using the PLC's monitor function, etc., or using the status monitor, connecting the
teaching tool such as the personal computer applicable software for RC.
2) Based on the read alarm code, search the alarm description list in the instruction manual for the controller.
3) Deal with it based on the description for the alarm code in question.

For the following alarm code, deal with it according to the following table.
ID RES
Code Error Name Cause/Treatment
(*1) (*2)
Cause: The field bus module error is detected.
0F2 Field Bus Module Error 05 ×
Treatment: Confirm the parameter.
Cause: The module can not be detected.
0F3 Field Bus Module Detection Error 04 × Treatment: Turn ON the power again. If the error is
not removed, contact our company.
(*1) ID → Simplified Alarm Code
(*2) RES → Alarm Reset Enable/Disable, ○: Alarm Reset Enable/×: Alarm Reset Disable

254
 CC-Link

6. Servo Press Type SCON-CB/CGB

(Note) As CB and CGB Types possess the same functions, this manual describes them together as CB Type.

6.1 Operation Modes and Functions

The operation modes described in the table below for SCON-CB Type applicable for CC-Link are available to
choose from for operation.

Operation modes and key functions

Key function Remote I/O mode Full function mode
Number of occupied bytes 2 32
Operation by position data specification × ○
Direct speed/acceleration specification × ○
Current position reading × ○
Current speed reading × ○

6. Servo Press Type SCON-CB/CGB

Program number command operation ○ ○
Judgement result reading ○ ○
Current load data reading × ○
Overload level monitor × ○
Servo gain switching ○ (*1) ○ (*1)
(*1) One servo gain can be registered to one press program.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via PROFIBUS-DP
communication.
No. of Occupied Stations: One Station

SCON-CB not SCON-CB applicable

applicable to CC-Link to CC-Link

Communications
Flat cable cable

In the case of the connection using PIO In the case of the connection using CC-Link

[2] Full function mode: It is the system to support all the features such as movement by direct indication or
current load reading in addition to those for servo press such as startup of press
program or judgment result reading.
No. of Occupied Stations: Four Station

SCON-CB not supporting

CC-Link
PLC
Command Program No.: 1

Current Load Data: 10.0N Actuator

Current Speed: 10mm/s
Judgement Result: OK

255
 CC-Link

6.2 Model Numbers

The model numbers of SCON-CB controller supporting CC-Link are indicated as follows, respectively:

● SCON-CB-□F-CC-□
For ~ 750W motor For 3000 ~ 3300W motor
(The figure below 400W or less type)
6. Servo Press Type SCON-CB/CGB

256
 CC-Link

6.3 CC-Link Interface

6.3.1 Names of Each Section

The names of each section related to CC-Link are described as follows.

z SCON-CB

Status LED

6. Servo Press Type SCON-CB/CGB

CC-Link Communication connector
PCB side: MSTBA2.5/5-G-5.08AU
(PHOENIX CONTACT)
Cable side: SMSTB2.5/5-ST-5.08AU
(PHOENIX CONTACT)

6.3.2 Status LED Indication

The board operation status and network condition are obtained with the two LEDs located in the front of the
controller.
○: Illuminating, ×: OFF, ☆: Flashing
LED Color Indication Status Indication Description (Meaning)
• An error occurs.
(CRC Error/Station No. Setting Error/Baud Rate Setting Error)
○ • Period between power up or software reset and the CC-Link
STATUS1 initialization completion
OR
(ERR)
× Under Normal Communication
Station No. setting or communication speed setting is changed
☆
during the communication.
STATUS2 GN ○ Communicating normally
(RUN) × Not communicating

257
 CC-Link

6.4 Setting
Using the teaching tool, set controller parameters.
Set the mode toggle switch on the front panel of the controller to “MANU” side.
Refer to the instruction manual for each teaching tool for the applicable version of the teaching tool that can be
applied to CC-Link.

6.4.1 Operation mode selection (setting)

Set parameter No. 84 “FMOD: Field bus operation mode.”

[Refer to 6.8 CC-Link Related Parameters.]

Number of
Set value Operation mode
occupied bytes
0 (Factory setting) Remote I/O mode 1
6. Servo Press Type SCON-CB/CGB

1 Full function mode 4

* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.
(Note) Set the Station Data for the Master Station to “ver 1 Remote Device Station”.

6.4.2 Station No. setting

Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software.
[Refer to 6.8 CC-Link Related Parameters.]

Settable range: 1 to 64 (The parameter has been set to 1 at the factory.)

(Note) The PLC’s CC-Link head I/O address is decided depending on the master unit installation position and
the number of I/O points occupied by the unit installed before it.
Following this head I/O address, the I/O addresses in PLC are allocated in order of the station No.
For the details refer to the instruction manuals for the master unit and loaded PLC.

6.4.3 Communication Speed Setting

Set the parameter No. 86 “FBRS: Filed Bus Communication Speed”.

Set Value Communication Speed

0: (Already set in system delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
Other than above Baud rate setting error

(Note) After the parameter setting, turn on the power to the controller again and return the mode toggle
switch on the front of the controller to “AUTO” side.
When the switch is set to “MANU”, the operation using PLC is not available.

258
 CC-Link

6.5 Communicating with the Master Station

6.5.1 Operation Modes and Corresponding PLC I/O Areas

The channels allocated for each operation mode are described as follows.

• PLC output → SCON-CB input (* “n” indicates the head resister address of each axis.)
DI on the SCON-CB side and input data register
PLC address Remote I/O mode Full Direct Value Mode

Number of occupied stations: 1 Number of occupied stations: 4

RY n0 – nF Port No.0 to 15
RY
(n+1) 0 – (n+1) F System Area
RY
(n+2) 0 – (n+2) F
RY

6. Servo Press Type SCON-CB/CGB

Occupied Area
(n+3) 0 – (n+3) F
RY
(n+4) 0 – (n+4) F
RY
(n+5) 0 – (n+5) F
RY
(n+6) 0 – (n+6) F
RY
(n+7) 0 – (n+7)F System Area

RWw (n+0)
Target Position
RWw (n+1)
Occupied Area
RWw (n+2)
Positioning Width
RWw (n+3)

RWw (n+4)
Speed
RWw (n+5)

RWw (n+6)

RWw (n+7)
Occupied Area
RWw (n+8)

RWw (n+9)

RWw (n+A) Acceleration

RWw (n+B) Deceleration

RWw (n+C) Occupied Area

RWw (n+D) Command program No.
RWw (n+E) Control signal 1

RWw (n+F) Control signal 2

(Note) The Occupied Area stands for the area occupied by means of the setting of the number of remote
device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data
register.

259
 CC-Link

• SCON-CB input → PLC output (* “n” indicates the head resister address of each axis.)
DO on the SCON-CB side and input data register
PLC address Remote I/O mode Full Direct Value Mode

Number of occupied stations: 1 Number of occupied stations: 4

RY n0 – nF Port No.0 to 15
RY
(n+1) 0 – (n+1) F System Area
RY
(n+2) 0 – (n+2) F
RY Occupied Area
(n+3) 0 – (n+3) F
RY
(n+4) 0 – (n+4) F
RY
(n+5) 0 – (n+5) F
RY
(n+6) 0 – (n+6) F
RY
(n+7) 0 – (n+7)F System Area
6. Servo Press Type SCON-CB/CGB

RWw (n+0)
Current position
RWw (n+1)
Occupied Area
RWw (n+2)
Feedback current
RWw (n+3)

RWw (n+4)
Current speed
RWw (n+5)

RWw (n+6)
Current load data
RWw (n+7)

RWw (n+8)
Occupied area
RWw (n+9)

RWw (n+A) Program alarm code

RWw (n+B) Alarm code
RWw (n+C) Overload level monitor
RWw (n+D) Execution program
RWw (n+E) Status signal 1
RWw (n+F) Status signal 2

(Note) The Occupied Area stands for the area occupied by means of the setting of the number of remote
device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data
register.

260
 CC-Link

6.5.2 Remote I/O Mode (No. of Occupied Stations: One Stations)

This is the operation mode with the position No. set up as the same as using PIO (24V I/O).
Create a press program on a PC software for RC.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

Operation modes and key functions

Key function
○: Directly controls
×: Invalid
Operation by position data specification ×
Direct speed/acceleration specification ×
Current position reading ×
Current speed reading ×
Program number command operation ○

6. Servo Press Type SCON-CB/CGB

Judgement result reading ○
Current load data reading ×
Overload level monitor ×
Servo gain switching ○ (*1)
(*1) One servo gain can be registered to one press program.

(1) PLC address configuration (* “n” indicates the first address of each axis.)
Parameter IAI controllers side PLC side IAI controllers side PLC side
No.84 DI (Port No.) output address (bytes) DO (Port No.) input address (bytes)
0 - 15 RY n0 - nF 0 - 15 RX n0 - nF
System Area RY (n+1) 0 - (n+1) F System Area RX (n+1) 0 - (n+1) F
RWw (n+0) RWr (n+0)
0
RWw (n+1) RWr (n+1)
Occupied Area Occupied Area
RWw (n+2) RWr (n+2)
RWw (n+3) RWr (n+3)

Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote
device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data
register.

261
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals of each axis consist of one input 1 word and one output word in the I/O areas.
• Each address is controlled by ON/OFF bit signals.
PLC output
Address (* “n” indicates the head resister address of each axis.)
1 word = 16 bit

n+0、n+1
RY (n+0)

Controller input
port number

PLC input
Address (* “n” indicates the head resister address of each axis.)
1 word = 16 bit
n+0、n+1
6. Servo Press Type SCON-CB/CGB

RY (n+0)
Controller output
port number

(3) I/O signal assignment [Refer to Instruction manual for the controller main body for more
information.]
Port Port
Category Symbol Signal name Category Symbol Signal name
No. No.
Program finished
0 PC1 0 PCMP
in normal condition
1 PC2 1 PRUN Program execution
2 PC4 2 PORG Program home position
Command program No. While in aproaching
3 PC8 3 APRC
operation
While in probing
4 PC16 4 SERC
operation
While in pressurizing
5 PC32 5 PRSS
operation
PLC output While in pressurizing
6 PSTR Program start 6 PSTP
SCON-CB stop
→
Program home output While in program home
7 PHOM 7 MPHM
SCON-CB movement →PLC input movement
input Axis movement
8 ENMV 8 JDOK Judgement OK
permission
9 FPST Program compulsory stop 9 JDNG Judgement NG
Loadcell calibration Loadcell calibration
10 CLBR 10 CEND
command completion
11 BKRL Forced brake release 11 RMDS Operation mode status
Operation mode
12 RMOD 12 HEND Home-return completion
switching
13 HOME Home-return 13 SV Servo ON status
14 RES Reset 14 * ALM Alarm
15 SON Servo ON command 15 * ALML Light failure alarm
The symbol with a * mark shows the ON signal in normal condition.

262
 CC-Link

6.5.3 Full Function Mode (Number of Occupied Stations: Four Stations)

It is the mode operation system to conduct all the servo press features in fieldbus communication.
Set each value in the input and output areas.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

Operation modes and key functions

Key function
○: Directly controls
×: Invalid
Operation by position data specification ○
Direct speed/acceleration specification ○
Current position reading ○
Current speed reading ○
Program number command operation ○

6. Servo Press Type SCON-CB/CGB

Judgement result reading ○
Current load reading ○
Overload level monitor ○
Servo gain switching ○(*1)
(*1) One servo gain can be registered to one press program.

(1) PLC address configuration (* “n” indicates the head resister address of each axis.)
Parameter SCON-CB side SCON-CB side
PLC side PLC side
No. 84 input side resister output side resister
RY n0 - nF RX n0 - nF
RY (n+1) 0 - (n+1) F RX (n+1) 0 - (n+1) F
RY (n+2) 0 - (n+2) F RX (n+2) 0 - (n+2) F
Occupied area RY (n+3) 0 - (n+3) F Occupied area RX (n+3) 0 - (n+3) F
RY (n+4) 0 - (n+4) F RX (n+4) 0 - (n+4) F
RY (n+5) 0 - (n+5) F RX (n+5) 0 - (n+5) F
RY (n+6) 0 - (n+6) F RX (n+6) 0 - (n+6) F
System Area RY (n+7) 0 - (n+7) F System Area RX (n+7) 0 - (n+7) F
RWw (n+0) RWr (n+0)
Target position Current position
RWw (n+1) RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning band Feedback current
RWw (n+3) RWr (n+3)
1
RWw (n+4) RWr (n+4)
Speed Current speed
RWw (n+5) RWr (n+5)
RWw (n+6) RWr (n+6)
Occupied area Current load data
RWw (n+7) RWr (n+7)
RWw (n+8) RWr (n+8)
Occupied area Occupied area
RWw (n+9) RWr (n+9)
Acceleration RWw (n+A) Program alarm code RWr (n+A)
Deceleration RWw (n+B) Alarm code RWr (n+B)
Occupied area RWw (n+C) Overload level monitor RWr (n+C)
Command program No. RWw (n+D) Execution program No. RWr (n+D)
Status signal 1 RWw (n+E) Status signal 1 RWr (n+E)
Status signal 2 RWw (n+F) Status signal 2 RWr (n+F)

(Note) The Occupied Area stands for the area occupied by means of the setting of the number of remote device stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

263
 CC-Link

(2) I/O Signal Allocation for each Axis

The I/O signals of each axis consist of sixteen input words (16-words = 32 bytes) and four output words in
the I/O areas.
z The control signals 1, 2 and status signals 1, 2 are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The figures
from –999999 to +999999 (Unit: 0.001 mm) can be set in PLC. However, set the position data within
the soft stroke range (0 to effective stroke length) for the actuator concerned.
z The positioning band are expressed using 2-word (32 bits) binary data. The figures from 1 to +999999
(Unit: 0.001 mm/sec) can be set in PLC.
z The speed are expressed using 2-word (32 bits) binary data. The figures from 0 to +999999 (Unit:
0.01 mm/sec) can be set in PLC. However, Set a value that does not exceed the max. speed of the
applicable actuator.
z The acceleration/deceleration using 1-word (16 bits) binary data. The figures from 1 to 999 (Unit: 0.01 G)
can be set in PLC. However, Set a value that does not exceed the max. acceleration/deceleration of the
applicable actuator.
z The command program No. using 1-word (16 bits) binary data. The figures from 0 to 63 can be set in PLC.
z The feedback current using 2-word (32 bits) binary data (Unit: 0.1%).
z The current speed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
6. Servo Press Type SCON-CB/CGB

z The alarm code, program alarm code using 1-word (16 bits) binary data.
z The current load data using 2-word (32 bits) binary data (Unit: 0.01N).
z The overload level monitor using 1-word (16 bits) binary data (Unit: %).
z The execution program No. using 1-word (16 bits) binary data.

264
 CC-Link

PLC output
Address (* “n” indicates the output first address of each axis.)

6. Servo Press Type SCON-CB/CGB

265
 CC-Link

Address (* “n” indicates the output first address of each axis.)

6. Servo Press Type SCON-CB/CGB

266
 CC-Link

PLC input
Address (* “n” indicates the input first address of each axis.)

6. Servo Press Type SCON-CB/CGB

267
 Address (* “n” indicates the input first address of each axis.)
6. Servo Press Type SCON-CB/CGB

268
 CC-Link

(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Adress Bit Symbol Function Details
32-bit signed integer.
Set the target position on the absolute coordinates.
The unit is 0.001 mm, while the specifiable range is
-999999 to 999999.
(Example) When it is “+25.410mm”, set it as “25410”.
Target 32-bit If the value larger than the value (0.2mm)
- 6.7 (2)
position data
inside the soft limit for the parameter, the
movement would be limited to the inside
the soft limit (0.2mm).
* When the input is performed in hexadecimal
notation, input the negative value using a
complement of 2.

6. Servo Press Type SCON-CB/CGB

32-bit integer.
The unit is 0.001 mm, while the specifiable range is 1

Positioning 32-bit to 999999.

- (Example) When it is “2.5400mm”, set it as “25400”. 6.7 (2)
band data
It shows the allowable range from the
target position, that is regarded as the
positioning completion.
32-bit integer.
Specify the speed at which to move the actuator.
The unit is 0.01 mm/sec, while the specifiable range
PLC output

is 0 to 999999.
32-bit Deceleration stop if and to specify in motion 0. It
Speed - 6.7 (2)
data under suspension, it will remain stopped on the spot.
(Example) When it is “25.41mm”, set it as “2540”.
When the movement command is set with
the value bigger than the max. speed, an
alarm is issued.
16-bit integer.
16-bit Specify the acceleration and deceleration at which to
Acceleration - move the actuator.
data
The unit is 0.01G, while the specifiable range is 1 to
999.
6.7 (2)
(Example) To set 0.30G, specify “30.”
If a move command is issued by
16-bit
Deceleration - specifying “0” or a value exceeding the
data
maximum acceleration or maximum
deceleration, an alarm will occur.
16-bit integer.
Excection, or specify the movement to press program
number for press program home.
Command 16-bit Available range is from 0 to 63.
- After specified, excective program when turns ON 6.7 (2)
program No. data
press program start signal (PSTR).
Also, movement press program home movement
signal when turns ON press program home
movement signal (PHOM).

269
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Adress Bit Symbol Function Details
b15
b14
b13
b12
b11
b10
b9
Control b8 - Can not be used. -
signal 1 b7
b6
b5
b4
b3
6. Servo Press Type SCON-CB/CGB

b2
b1
b0
Positioning start: when the movement command is
b15 DSTR 6.5.4 (15)
ON
-Jog: The actuator moves in the direction of home
b14 JOG- 6.5.4 (14)
when the signal is ON.
+Jog: The actuator moves in the direction opposite
b13 JOG+ 6.5.4 (14)
home when the signal is ON.
Jog speed/inching distance switching:
Parameter No. 26, “Jog speed” and parameter No.
PLC output

48, “Inching distance” are used when the signal is

b12 JVEL 6.5.4 (13)
OFF, or parameter No. 47, “Jog speed 2” and
parameter No. 49, “Inching distance 2” are used
when the signal is ON.
Jog/inching switching:
b11 JISL Jog operation when the signal is OFF, or inching 6.5.4 (12)
operation when the signal is ON.
Probing stage:
b10 SSTP When this bit is ON at the time when probing stage 6.5.4 (11)
completes, stops at probing stage complete position
Control Program compulsory stop:
signal 2 b9 FPST 6.5.4 (10)
Executed press program stopped when it turns ON.
Axis operation permission:
b8 ENMV 6.5.4 (9)
Axis operation permitted when it turns ON.
b7 PHOM Program home return movement 6.5.4 (8)
b6 PSTR Program start 6.5.4 (7)
Forced brake release:
b5 BKRL 6.5.4 (6)
The brake is released when the signal turns ON.
Operation mode:
b4 RMOD AUTO mode when the signal is OFF, or MANU 6.5.4 (5)
mode when the signal is ON.
Load cell calibration command:
b3 CLBR 6.5.4 (4)
Calibration is performed when this signal turns ON.
Reset: A reset is performed when the signal turns
b2 RES 6.5.4 (3)
ON.
Home return: A home return command is issued
b1 HOME 6.5.4 (2)
when the signal turns ON.
Servo ON command: The servo is ON when the
b0 SON 6.5.4 (1)
signal is ON.

270
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Signal Type Bit Symbol Contents Details

32-bit signed integer indicating the current position.
The unit is 0.01 mm.
Current 32-bit (Example) Reading: 000003FFH = 1023 (decimal)
- = 1.023 mm 6.7 (2)
position data
* If this data is read as a hexadecimal, a negative
value is indicated by a complement of 2.
32-bit integer.
It shows the feedback current value.
Feedback 32-bit
- The unit is 0.1 %. 6.7 (2)
current data (Example) Reading: 00000FFH = 255 (decimal)
= 25.5 %
32-bit signed integer.
The current speed is indicated.
Positive value: The actuator is moving in the
direction opposite home.

6. Servo Press Type SCON-CB/CGB

Negative value: The actuator is moving in the
Current 32-bit
- direction of home. 6.7 (2)
speed data The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal value, a
negative value is indicated by a compliment of 2.
32-bit signed integer.
Current 32-bit The unit is 0.01N.
- 6.7 (2)
load data data * If this data is read as a hexadecimal value, a
PLC input

negative value is indicated by a compliment of 2.

16-bit integer.
Program 16-bit The alarm code currently generated output.
- 0 is output when no alarm is present. 6.7 (2)
alarm code data
For details on alarms, refer to the instruction
manual for the controller.
16-bit integer.
Alarm 16-bit The signal turns ON when an alarm occurs.
- 0 is output when no alarm is present. 6.7 (2)
code data
For details on alarms, refer to the instruction
manual for the controller.
16-bit integer.
Motor temperature estimated from feedback current
Overload value, and output in ratio with allowable upper limit
16-bit
level - as 100%. 6.7 (2)
data
monitor The unit is %.
Overload alarm (E0) will be generated when this
value gets to 100%.
16-bit integer.
The press program number currently executed is
Execution output. This value is retained unless the next
16-bit
program - program number gets indicated or the servo gets 6.7 (2)
data
No. turned OFF.
This value is retained until alarm reset when an
alarm is generated while a program is executed.

271
 CC-Link

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Contents Details
Overall Judgment NG:
b15 JDNG Turns ON when overall judgment was made for load 6.5.4 (31)
and position (distance) as a NG.
Overall Judgment OK:
b14 JDOK Turns ON when Overall judgment was made for 6.5.4 (31)
load and position (distance) as a OK.
Load judgement NG:
b13 LJNG Turns ON when load for pressing operation judged 6.5.4 (30)
NG.
Load judgement OK:
b12 LJOK Turns ON when load for pressing operation judged 6.5.4 (30)
OK.
Position (distance) judgement OK:
b11 PJNG Turns ON when load for pressing operation position 6.5.4 (30)
(distance) judged NG.
6. Servo Press Type SCON-CB/CGB

Position (distance) judgement NG:

b10 PJOK Turns ON when load for pressing operation position 6.5.4 (30)
(distance) judged OK.
Status b9 -
signal 1
b8 - Can not be used. -
b7 -
Press program standby:
b6 WAIT Turns ON in standby status after press program 6.5.4 (29)
finished in normal condition.
Returned during the operation:
b5 RTRN 6.5.4 (28)
Turns ON during returning stage.
PLC input

While in decompressing operation:

b4 DCMP 6.5.4 (27)
Turns ON during decompressing stage.
Pressurize during the stop:
b3 PSTP 6.5.4 (26)
Turns on during stop in pressurizing stage.
While in pressurizing operation:
b2 PRSS Turns ON while pressurizing operation executed in 6.5.4 (25)
pressurizing stage.
While in probing operation:
b1 SERC 6.5.4 (24)
Turns ON when probing stage executed.
While in approaching the operation:
b0 APRC 6.5.4 (23)
Turns ON when approaching stage executed.
Emergency stop: An emergency stop is being
b15 EMGS 6.5.4 (22)
executed when the signal is ON.
b14 ALM Alarm: The signal turns ON when an alarm occurs. 6.5.4 (21)
Light failure alarm:
b13 ALML The signal turns ON when an light failure alarm 6.5.4 (20)
occurs.
Program alarm:
Status b12 PALM The signal turns ON when an program alarm 6.5.4 (19)
signal 2 occurs.
Program home return during the movement:
b11 MPHM Turns ON while in movement to home position set 6.5.4 (8)
to each press program.
Program home position:
b10 PORG Turns ON while in achieve to reach to home 6.5.4 (8)
position set to each press program.
Press program excecuted:
b9 PRUN 6.5.4 (7)
Turns ON when press program executed.

272
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Contents Details
Press program finished in normal condition:
Turns ON when press program finished with no
b8 PCMP 6.5.4 (7)
alarm generated.
(Note) There is no relation to press judgment.
Zone 2: The signal is ON when the current position
b7 ZONE2 6.5.4 (18)
is inside the specified zone.
Zone 1: The signal is ON when the current position
b6 ZONE1 6.5.4 (18)
is inside the specified zone.
b5 - Can not be used. -
PLC input

Status
Positioning complete signal:
signal 1 b4 PEND The signal turns ON when the positioning is 6.5.4 (16)
completed.
Operation mode:

6. Servo Press Type SCON-CB/CGB

b3 RMDS The signal is OFF when the current mode AUTO, or 6.5.4 (5)
ON when the current mode is MANU.
Loadcell calibration completion:
b2 CEND 6.5.4 (4)
ON when the calibration completion.
Home return completion:
b1 HEND 6.5.4 (2)
ON when the home return completion
b0 SV Operation ready: ON when the Servo ON 6.5.4 (1)

273
 6.5.4 I/O Signal Controls and Function

* ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”.
The I/O control and functions used in the full function mode are described as follows. For the I/O signals for
the Remote I/O Modes, refer to the instruction manual for the controller main body for servo press.

(1) Servo ON command (SON) PLC output signal

Operation preparation end (SV) PLC input signal
When the SON signal is turned ON, the servo will turn ON.
When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON,
the Status Indicator LED (Refer to 5.3, " PROFINET IO Interface”) on the front surface of the controller
illuminates in green.
The “SV” signal is synchronized with this LED.
■ Function
Using the “SON” signal, the turning ON/OFF of the controller is available.
While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes
available.
6. Servo Press Type SCON-CB/CGB

The relationship between the “SON” signal and “SV” signal is as follows.

SON
(PLCSCON)

SV
(SCONPLC)
(2) Home return (HOME) PLC output signal
Home return completion (HEND) PLC input signal
When the “HOME” signal is turned “ON”, this command is processed at the startup (ON-edge), and the
home return operation is performed automatically. During the home return operation, the “HEND” signal is
turned “ON”.
When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
Once the “HEND” signal is turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the
“HOME” signal is input again. Once the HEND signal is turned ON, it can not be turned OFF until the
power is turned OFF or the HOME signal is input again.
Even after the completion of the home return operation, when the “HOME” signal is turned “ON”, the
home return operation can be performed.

Caution: In the Remote I/O Modes when the movement command is issued without performing the home
return operation, the movement is performed after the automatic home return operation.
In the full function mode, issuing a movement command following the power on, without performing
a home return first, will generate an alarm “Error Code 83: ALARM HOME ABS (absolute position
move command when home return is not yet completed)” (operation-reset alarm).

274
 CC-Link

(3) Reset (RES) PLC output signal

This signal has two functions. It can reset the controller alarm and cancel the reminder for planned
movements during pause conditions.
■ Function
[1] When this signal is turned ON from OFF condition after eliminating the cause of the alarm during
the alarm output, the alarm (ALM) signal can be reset. (In the case of the alarm with the cold start
level, re-injection of the power is required)
[2] When this signal is turned ON from OFF condition during the pause condition, the reminder of the
planned movement left can be cancelled.

(4) Load cell calibration command (CLBR) PLC output signal

Load cell calibration complete (CEND) PLC input signal
The factory setting for the load cell is 0N when no load is applied. If you want to use the loaded condition
as the reference (0 N), perform the following calibration. Also perform this calibration in other conditions
as necessary (such as during readjustment, inspection, etc.).
[1] Stop the operation. (Calibration cannot be performed while any axis is operating, pushing a work part

6. Servo Press Type SCON-CB/CGB

or paused, in which case an attempt to perform calibration will generate a 0E1 (load cell calibration
error) alarm.
[2] Turn ON the load cell calibration signal (CLBR) and keep it ON for at least 20 ms.
[3] Once the calibration is complete, the calibration complete signal (CEND) turns ON. Thereafter, turn
OFF the CLBR signal.
If the calibration was not successful, a 0E1: (load cell calibration error) alarm generates.

Caution: Normal operation commands are not accepted while the CLBR signal is ON.

Signal input is recognized

*2
continuously for 20 ms
*1 Calibration time

Turn the CLBR OFF after confirming that the

CEND has turned ON.

The CEND turns ON when the calibration has completed

successfully. If the CLBR is OFF, the CEND remains OFF.

*1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not
performed.
*2 If the CLBR is turned OFF during this period, an alarm generates.

275
 CC-Link

(5) Operating mode selector (RMOD) PLC output signal

Operation mode status (RMDS) PLC input signal
The operation mode is selected with the RMOD signal and the MODE switch located on the front surface
of the controller.
Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal.
The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are
described as follows.

Controller MODE Controller MODE

Switch = AUTO Switch = MANU
RMOD signal = OFF AUTO mode MANU mode
(AUTO mode is specified) (RMDS=OFF) (RMDS=ON)
RMOD signal = ON MANU mode MANU mode
(MANU mode is specified) (RMDS=ON) (RMDS=ON)
(Note) In MANU mode, the startup of the operation from PLC is not available.
6. Servo Press Type SCON-CB/CGB

(6) Brake release (BKRL) PLC output signal

Turning this signal “ON” can release the brake forcibly.

(7) Press program start (PSTR) PLC output signal

Press program executed (PRUN) PLC input signal
Press program finished in normal condition (PCMP) PLC input signal
PSTR signal gets processed at the startup (ON-edge), and executes the press program in the
program number input in the PLC command program number register.
PCMP signal turns ON when a program is finished in normal condition with no alarm being generated,
and it is transited to the standby stage. PCMP Signal will be retained until the start of the next program,
movement command or servo gets turned OFF. Also, PCMP signal will not turn on when the press
program.home-return is finished. Turn PSTR signal off after confirming the program executing (PRUN)
signal has been turned ON.

Command program No.

(PLC→SCON)

PSTR
(PLC→SCON)

PRUN
(SCON→PLC)

PCMP
(SCON→PLC)
Program finished
in normal condition

Standby time

276
 CC-Link

(8) Press program home return (PHOM) PLC output signal

Press program home movement (MPHM) PLC input signal
Press program home position (PORG) PLC input signal
This command gets processed at the startup (ON-edge) when PHOM signal is ON, and executes to move to
the home position in the program number input in the PLC command program number register. MPHM signal
turns ON during movement. PORG signal turns ON once completes to move to the home position.
Turn PHOM Signal OFF once PORG Signal turns ON.
For the speed to move to home position, the setting in parameter No. 8 velocity initial value, and for the
acceleration/deceleration, the setting in Parameter No. 9 acceleration/deceleration initial value is used.

Command program No.

(PLC→SCON)

6. Servo Press Type SCON-CB/CGB

PHOM
(PLC→SCON)

MPHM
(SCON→PLC)

PORG
(PLC→SCON)

Actuator operation

Press program home position

Caution: The program alarm occurs if press program home position movement signal get input while the press
program is executed.

(9) Axis operation permission (ENMV) PLC output signal

Operation of axis and execution of program are permitted while this signal is turned ON.
Servo will not turn OFF even when this signal turns from ON → OFF.
If the axis movement and program are stopped by turning this signal from ON → OFF, the stopped axis
movement and program will not resume even if this signal is turned from OFF → ON.

(10) Program compulsory stop (FPST) PLC output signal

Turn FPST Signal ON, and the executed press program stops.
The operation after stop can be selected from returning to press program home position and parameter
No. 179 stopping at the point by establishing the setting in the return operation setting at press program
compulsory stop.
For the speed to move to home position, the setting in parameter No. 8 velocity initial value, and for the
acceleration/deceleration, the setting in parameter No. 9 acceleration/deceleration initial value is used.
This signal is invalid if input while moving to the press program home position.

277
 CC-Link

(11) Probing stop (SSTP) PLC output signal

When SSTP signal is ON at the time when probing stage completes, stops at probing stage complete
position, and press program stop. Servo ON is continued.
After program is turn off, even if SSTP signal return OFF will not resume press program.

(12) Jog/inching switching (JISL) PLC output signal

This signal changes over the jog operation and the inching operation.
JISL=OFF : Jog operation
JISL=ON : Inching operation
When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is
decelerated and performs the inching operation.
When the JISL signal is turned OFF (jog) while the actuator is moving by inching, the actuator will
complete the movement and then switch to the jog function.
The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog
speed/inch-distance switching (JVEL) signal.
6. Servo Press Type SCON-CB/CGB

Jog operation Inching operation

JISL OFF ON
Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”
JVEL Travel - Parameter No. 48, “Inching distance”
=OFF Acceleration/ Rated value (The specific value Rated value (The specific value varies
Deceleration varies depending on the actuator.) depending on the actuator.)
Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”
JVEL Travel - Parameter No. 49 “Inching distance 2”
=ON Acceleration/ Rated value (The specific value Rated value (The specific value varies
Deceleration varies depending on the actuator.) depending on the actuator.)
Upon detection of the leading (ON) edge
Operation When the JOG +/JOG – signal is ON.
of the JOG +/JOG – signal.

(13) Jog-speed/inching-distance switching (JVEL) PLC output signal

This change-over signal is used for the parameters specifying the jog speed when the jog operation is
selected or the inching distance when the inching operation is selected.
The relationship is as follows.

JVEL signal Jog operation: JISL=OFF Inching operation: JISL=ON

Parameter No. 26, “Jog speed”
OFF Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Parameter No. 47, “Jog speed 2”
ON Parameter No. 47, “Jog speed 2”
Parameter No. 49, “Inching distance 2”

278
 CC-Link

(14) +Jog (JOG+) PLC output signal

-Jog (JOG-) PLC output signal
This signal is the command for the jog operation startup or inching operation startup.
If a + command is issued, the actuator will operate in the direction opposite home. When a – command is
issued, the actuator will operate in the direction of home.

[1] Jog operation

Jog operation can be performed when the jog/inching switching (JISL) signal is OFF.
While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it is
turned “OFF”, the actuator is decelerated and stopped.
While the JOG – is ON, the actuator will operate in the direction of home and when it is turned OFF, it is
decelerated to a stop.
The operation is performed based on the set values of the following parameters.
• The speed is based on the parameter value specified using the Jog speed/Inching distance change-over
(JVEL) signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”.
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.
• The acceleration/deceleration conforms to the rate acceleration/deceleration (the specific value varies

6. Servo Press Type SCON-CB/CGB

depending on the actuator).
• When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.

[2] Inching operation

The inching operation is available while the IISI signal is turned “ON”.
Once it is turned “ON”, the actuator is moved as much as the inching distance.
When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is
turned “ON”, the movement is to the home.
The operation is performed based on the set values of the following parameters.
• The speed conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”.
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.
• The travel conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance”.
If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2”.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the
actuator).

During the normal operation, even when the “+” Jog signal or “-“ Jog signal is turned “ON”, the normal
operation is continued. (The Jog signal is ignored)
In the pause condition, even when the “+” Jog signal or “-“ Jog signal is turned “ON”, the actuator is not
moved.

(Note) Because the software stroke limit is disabled before the home return operation, the actuator might
run against the mechanism end. Take the greatest care.

(15) Positioning command (DSTR) PLC output signal

This signal is processed at the startup (ON-edge) and the positioning to the target position input in the
PLC's target position register is performed. When this signal is issued in the condition where the home
return operation has not performed at all after the power injection (HEND signal OFF), an alarm is issued
(Operation Cancellation Level).
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.

Target position
(PLC→SCON)
CSTR
(PLC→SCON)
PEND
(SCON→PLC)

279
 CC-Link

(16) Positioning completion signal (PEND) PLC output signal

This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning
band and the pressing is completed.

Timing at which the position

complete signal turns on
Speed
Target position

Travel
Time

Positioning band

When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set
as the target position. Accordingly, this signal is turned “ON” and after that, when the positioning
6. Servo Press Type SCON-CB/CGB

operation is started with the home return (HOME) signal, positioning start (CSTR) signal and positioning
command (DSTR) signal, this signal is turned “OFF”.

Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is
stopped at the target position, the PEND signal is turned “OFF” temporarily.
Then, when the servo-motor is turned “ON” and the actuator is within the positioning
band, the PEND signal is turned “ON” again.
When the positioning is completed with the CSTR signal or DSTR signal turned “ON”,
the PEND signal is not turned “ON”.

(17) Zone 1 (ZONE1) PLC output signal

Zone 2 (ZONE2) PLC output signal
These signals are turned ON when the current position of the actuator is within the set area and turned
OFF when the current position is out of the set area.
The zone is set using the user parameters.
The Zone 1 signal is set using the parameter No. 1 “Zone Boundary 1 “+” side” and No. 2 “Zone
Boundary 1 “-“ side”.
The Zone 2 signal is set using the parameter No. 23 “Zone Boundary 2 “+” side” and No. 24 “Zone
Boundary 2 “–“ side”.
The Zone 1 signal and Zone 2 signal become effective when the home return operation is completed.
After that, even during the servo OFF, it is effective.

Zone signal

Actuator operation + direction

Home
Zone setting - Zone setting +

280
 CC-Link

(18) Program alarm (PALM) PLC input signal

This turns ON when a press program alarm is detected.
The alarm turns OFF when the reset (RES) signal gets turned ON if it is an operation cancelation level
alarm. (without removing the cause of alarm, the alarm will be generated again when press program is
executed.)

(19) Light failure status (ALML) PLC input signal

It turns to 1 when a message level (light alarm available to continue) alarm is generated.
This signal is not linked to ALM_LED on the controller front panel.
[Detail of the alarm refer to SCON controller instruction manual for servo press]

(20) Alarm (ALM) PLC input signal

When any error is detected using the controller protection circuit (function), it is turned “ON”.

6. Servo Press Type SCON-CB/CGB

■ Function
When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”.
When the cause of the alarm is eliminated and the reset (RES) signal is turned “ON”, the alarm is turned
“OFF” in the case that it is the alarm with the operation cancellation level. (In the case of the alarm with
the cold start level, re-injection of the power is required)
When the alarm is detected, the status indicator LED on the front surface of the controller illuminates in red.

(21) Emergency stop (EMGS) PLC input signal

When the controller is stopped in an emergency, it is turned “ON”.
■ Function
When the controller is stopped in an emergency (motor driving power is cut OFF), it is turned “ON”.
When the emergency stop status is cleared, it is turned “OFF”.

(22) While in approaching operation (APRC) PLC input signal

It turns ON during the approaching stage in press program.

(23) While in probing operation (SERC) PLC input signal

It turns ON during the probing stage in press program.

(24) While in pressurizing operation (PRSS) PLC input signal

It turns ON during the pressurizing stage in press program.

(25) While in pressurizing stop (PSTP) PLC input signal

It turns ON at the stop after pressurizing in the pressurizing stage in press program.

281
 CC-Link

(26) While in decompressing operation (DCMP) PLC input signal

It turns ON during the decompressing stage in press program.

(27) While in returning operation (RTRN) PLC input signal

It turns ON during the returning stage in press program.

(28) Press program standby (WAIT) PLC input signal

It turns ON during standby after press program finished in normal condition.

(29) Position (distance) judgment OK (PJOK) PLC input signal

6. Servo Press Type SCON-CB/CGB

Position (distance) judgment NG (PJNG) PLC input signal

Load judgment OK (LJOK) PLC input signal
Load judgment NG (LJNG) PLC input signal
PJOK signal turns ON when the position (distance) range set as the judgment of press program is kept
when the pressurizing operation is finished, and PJNG signal turns ON when it is not kept.
LJNG signal turns ON when the position (distance) range set as the judgment of press program is kept
when the pressurizing operation is finished, and LJNG signal turns ON when it is not kept.

Load
Judgement only
distance
(pass range)

Judgement only Judgement both of Judgement only

Load judgment load load and distance load
range (pass range) (pass range) (pass range)
Judgement only
distance
(pass range)

Position
Position judgment range

(30) Overall Judgment OK (JDOK) PLC input signal

Overall Judgment NG (JDNG) PLC input signal
Overall judgment is made from the position (distance) judgment and the load judgment, and JDOK signal
turns ON when it passes and JDNG signal is turned ON when it fails.

282
 CC-Link

6.6 I/O Signal Timings

When any of the control signal is turned ON to perform the operation of the actuator using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is
expressed using the following formula.

Maximum response time (msec)=Yt+Xt+3+command processing time (operation time, etc.)

Yt: Master Station→slave transmission delay time Filed Network Transmission Delay Time
Xt: Slave→Master Station Transmission Delay Time

Master Station→For the master station → slave transmission delay (Yt) and slave → master station
transmission delay (Xt), refer to the instruction manuals for the CC-Link master unit and PLC installed in
the master unit.

PLC sequence program

6. Servo Press Type SCON-CB/CGB

Control signal

Status signal
Master station → Slave Slave → Master station
transmission delay time (Yt) transmission delay time (Xt)

SCON
Control signal

Status signal
Command processing time

283
 CC-Link

6.7 Operation

The timings for the basic operation examples.

(1) Operation in the remote I/O mode

Here, it shows examples for when executing one press program to turn the servo ON, return to home
position and having loadcell calibration.

z Example of operation
1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Indicate the press program number (PC1 to PC32).
3) Turn the press program home position movement signal (PHOM) ON. During the movement to home
position, the press program home position movement signal is kept ON. The press program home
position signal (PORG) turns ON once the home position movement completes.
4) Turn the press program start signal (PSTR) on to execute the press program.
The press program execution signal (PRUN) turns ON while the press program is executed *.
6. Servo Press Type SCON-CB/CGB

* Duration from program start till standby time pass after return stage
5) Each stage execution signal is kept on while each stage in the press program is executed.
z While in approaching stage executed = While in approaching operation signal (APRC)

z While in probing stage executed = While in probing operation signal (SERC)

z While in pressurizing stage (pressurize) executed = While in pressurizing operation (APRC)

z While in pressurizing stage (stop) executed = While in pressurizing stop (PSTP)

6) Judgment made for pressurizing stop (PSTP ON).

The result is output in judgment OK signal (JDOK) and judgment NG signal (JDNG).
7) Once each of decompressing and return stage is finished, the press program normal complete signal
(PCMP) turns ON.

284
 6. Servo Press Type SCON-CB/CGB

285
CC-Link
 CC-Link

(2) Operation in the full function mode

Here, it shows examples for [1] when executing one press program and [2] when performing direct
indication movement to the target position after completing to turn the servo ON, return to home position
and having loadcell calibration.

[1] Example for when executing one press program

1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Set the press program number to execute to the command program number register.
3) Turn the press program home position movement signal (PHOM) ON. During the movement to home
position, the press program home position movement signal is kept ON. The press program home
position signal (PORG) turns ON once the home position movement completes.
4) Turn the press program start signal (PSTR) on to execute the press program.
The press program execution signal (PRUN) turns ON while the press program is executed *.
* Duration from program start till standby time pass after return stage
5) Each stage execution signal is kept on while each stage in the press program is executed.
6. Servo Press Type SCON-CB/CGB

z While in approaching stage executed = While in approaching operation signal (APRC)

z While in probing stage executed = While in probing operation signal (SERC)

z While in pressurizing stage (pressurize) executed = While in pressurizing operation (APRC)

z While in pressurizing stage (stop) executed = While in pressurizing stop (PSTP)

6) Judgment made for pressurizing stop (PSTP ON).

The position (distance) result is output in judgement OK signal (PJOK), judgment NG signal (PJNG).
The load result is output in judgment OK signal (LJOK), judgment NG signal (LJNG).
The overall judgement result is output in judgment OK signal (JDOK), judgment NG signal (JDNG).
7) Executing signal for each stage turns on during operation of each stage in press program.
z While decompressing stage executed = While decompressing operation signal (DCMP)

z While returning stage executed = While returning operation signal (RTRN)

8) Once each of decompressing and return stage is finished, the press program normal complete signal
(PCMP) turns ON, stops operation for the duration of standby time set in the press program, and
turns ON the press program standby signal (WAIT). Wait for the standby time before making a
command when the next press program is to be executed.

286
 6. Servo Press Type SCON-CB/CGB

287
CC-Link
 CC-Link

[2] Example for when performing direct indication movement to the target position
1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Set the target position data in the target position register.
3) Set the positioning band data in the positioning band register.
4) Set the speed data to the speed resister.
5) Set the acceleration/deceleration data in the acceleration/deceleration register.
6) In the condition where the positioning completion (PEND) signal is turned “ON”, turn “ON” the
positioning command (DSTR) signal.
The data items set in Steps 2) through 5) are read in the controller at the startup (ON-edge) of the
DSTR signal.
7) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
8) After confirming that the PEND signal is turned “OFF”, turn “OFF” the DSTR signal. Do not change any
value in each register until the DSTR signal has been turned “OFF”.
9) When the DSTR signal is turned “OFF” and the motor current reaches the current-limiting value set in
Step 3), the PEND signal is turned “ON” .
6. Servo Press Type SCON-CB/CGB

288
 CC-Link

Axis movement permission 1)

ENMV
(PLC→Controller)
2)

Target position data

(PLC→Controller)

3)

Positioning band data

(PLC→Controller)

4)

Speed data

6. Servo Press Type SCON-CB/CGB

(PLC→Controller)

5)

Acceleration data
(PLC→Controller)
5)

Deceleration data
(PLC→Controller)

* T1

Positioning command
DSTR
6)
(PLC→Controller)
* tpdf
7)
Positioning completion 8)
PEND 9)
(Controller→PLC)

Current position
(Controller→PLC)

Positioning band
Actuator operation
(Image of velocity waveform)

* T1 Establish setting to have T1 ≥ 0ms.

* Yt+Xt ≤ tdpf ≤ Yt+Xt+3 (msec)
Refer to 6.6 I/O Signal Timings

289
 CC-Link

6.8 CC-Link Related Parameters

The parameters related to CC-Link are from No. 84 to No. 87, 90 and 159.

Classification: C: External Interface Related

Default Value set in the
No Classification Symbol Name
Factory before Delivery
1 Refer to instruction manual for the
controller for the parameters No. 1
~

through No. 83.

83
84 C FMOD Field Bus Operation Mode 0
85 C NADR Field Bus Node Address 1
86 C FBRS Filed Bus Communication Speed 0
87 C NTYP Network Type 1
90 C FMIO Filed Bus I/O Format 3
6. Servo Press Type SCON-CB/CGB

159 C FBVS FB Half Direct Mode Speed Unit 0

z Field bus operation mode (No. 84 FMOD)

Specify the operation mode in parameter No. 84 using a value between 0 and 8.
Value set in Number of
Mode Contents
parameter No. 84 occupied bytes
Operation using PIOs (24 V I/Os) is performed
0 (Factory setting) Remote I/O mode 2
via CC-Link.
It is the system to support all the features such
as movement by direct indication or current load
Full function
1 32 reading in addition to those for servo press such
mode as startup of press program or judgment result
reading.

z Field Bus Node Address (No. 85 “NADR”)

The remote station No. is set for the parameter No. 85.

Setting Range: 1 to 64 (When the system is delivered it has been set to “1”).

z Field Bus Communication Speed (No. 86 “FBRS”)

The communication speed is selected for the parameter No. 86.
Parameter No. 86
Communication Speed
Set Value
0 (Set in delivery) 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
Except for the above Baud Rate Setting Error

z Network Type (No. 87 “NTYP”)

The network module type is set for the parameter No. 87. Do not change the default value.

290
 CC-Link

z Filed Bus I/O Format (No. 90 “FMIO”)

The addresses in PLC are allocated based on each operation mode, in units of 16 points to the I/O bit
register and I/O data register corresponding to the station Nos. set in the controller and the number of
occupied stations set using the PLC's parameter.
Changing the setting for the parameter No. 90 enables the transmission and receipt of the data within 2
words, exchanging such data in units of byte within the communication area of the PLC's bit register and
I/O data register.
Parameter No. 90
Description
Set Value
Data exchange is not performed. The data is transmitted to PLC as they are (Refer to
0
the Example i).
The host bytes are exchanged with slave bytes in the host words and slave words
1
(Refer to the Example ii).
In the case of word register, the host words are exchanged with the slave words (Refer
2
to the Example iii).
The host bytes are exchanged with slave bytes in the host words and slave words. In
3 (Set in delivery) the case of word register, further the host words are exchanged with the slave words
(Refer to the Example iv).

6. Servo Press Type SCON-CB/CGB

(Example i) Set value = “0” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output
CH

Hexadecimal
data

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

291
 CC-Link

(Example ii) Set value = “1” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output
CH

Hexadecimal
data
6. Servo Press Type SCON-CB/CGB

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

292
 CC-Link

(Example iii) Set value = “2” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output
CH

Hexadecimal
data

6. Servo Press Type SCON-CB/CGB

SCON
Input
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

293
 CC-Link

(Example iv) Set value = “3” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output
CH

Hexadecimal
data
6. Servo Press Type SCON-CB/CGB

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

z FB Half Direct Mode Speed Unit (No. 159 FBVS)

Parameter No. 159 determines the unit of measure when operating the unit in half direct mode.
Parameter No.159 setting value Speed setting unit
0 (Set in delivery) 1.0mm/sec
1 0.1mm/sec

294
 CC-Link

6.10 Troubleshooting

z Alarm messages and causes/actions

The alarm signal (ALM) or light malfunction alarm (ALML) is output in active low in the remote I/O mode
when an alarm is generated.
In the full functional mode, an alarm code gets output to the press program alarm code register and alarm
code register.
[1] Check the alarm code using the monitor function of the PLC, etc., or connect the RC PC software or
other teaching tool and check the status monitor screen.
[2] Search the alarm list in the instruction manual for your controller to find the section corresponding to
the identified alarm code.
[3] Take an appropriate action according to the explanation of the alarm code.
For the alarm codes listed below, take the corresponding actions:

ID RES
Code Error name (*1) (*2) Cause/action

6. Servo Press Type SCON-CB/CGB

Cause: It shows an alarm has occurred while the
press program is executed.
Press program Action: Have a countermeasure by referring to the
094 02 ○ press program alarm list provided below.
alarm detection
[Refer to Program Alarm in Controller
Instruction Manual]
Cause: Program check at controller startup,
program startup command and program
home position movement command has
Press program
0AD 06 ○ detected an error.
data error Action: As the program number is stored in the
detail code, check the applicable grogram
setting.
Cause: A fieldbus module error has been detected.
0F2 Fieldbus module error 05 ×
Action: Check the applicable parameters.
Cause: The module could not be detected.
Fieldbus module
0F3 04 × Action: Reconnect the power. If the problem
non-detection error persists, please contact IAI.
Cause: Error in load data analog output component
(Note) An error will not be detected when
parameter No. 180 DAC Output is
0FD Extension device error 05 × set inactivated.
Action: Check the wires for analog output.
In case there is no fault wiring, please
contact IAI.
(*1) ID → Simple alarm code
(*2) RES → Alarm can/cannot be reset ○: Alarm can be reset / ×: Alarm cannot be reset

295
 CC-Link

7. Common Items
7.1 Communication Cable
Use the dedicated cable for CC-Link applicable for Ver.1.10 (FANC-SBH, FANC-SB etc.)

7.1.1 Examples for Connection

7. Common Items

7.1.2 Terminal Resistance

Terminal resister is requred to be connected for CC-Link system both ends unit.
Connect a attached resistance between DA and DB of the connector.
(Note) The terminal resister differs depending on the type of the CC-Link dedicated cable.
1) Cable: FANC-SBH・・・130Ω 1/2W (CC-Link high performance cable)
2) Cable: FANC-SB・・・・110Ω 1/2W (Dedicated cable for CC-Link)

Refer to details instruction manual for master unit side.

296
 CC-Link

8. Change History

Revision Date Revision Description

2011.11 First edition

Contents changed in Safety Guide
Caution notes added for when working with two or more persons
(ACON and PCON picked up from existing Instruction Manual and SCON-CA
added to rearrange new Instruction Manual)

2012.06 Second edition

Contents added and changed in Safety Guide
PCON-CA/CFA added

2012.11 Third edition

Unit of measurement parameter adjustment added for SCON-CA half direct
value mode, half direct value mode 2 and half direct value mode 3

8. Change History
Maintenance information added to the SCON-CA full direct mode

2013.08 Fourth edition

Positioning unit changed to 0.001° when DD motor is connected

2013.10 Fifth edition

ACON-CA, DCON-CA added

2014.03 Sixth edition

Connector model code changed

2014.08 Seventh edition

SCON-CAL addeed

2015.03 Eighth edition

ACON-CB, DCON-CB, PCON-CB, SCON-CB added

2015.08 Ninth edition

Servo press type SCON-CB/CGB added

2015.12 Tenth edition

PCON-CB series added

2016.02 10C edition

SCON for servo press (3000 ~ 3300W) added

2017.01 10D edition

Servo Press Type SCON-CB/CGB correction made

297
Manual No.: ME0254-10D (January 2017)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL (847) 908-1400 FAX (847) 908-1399
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com

825, PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2017. Jan. IAI Corporation. All rights reserved.
17.01.000