ROBONET

Operation Manual Fourteenth Edition

 Please Read Before Use
Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the
information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of
the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying
them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it
quickly when necessary.

[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall assume no
responsibility for the outcome of any operation not specified herein.
Information contained in this Operation 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 Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
 CAUTION

24-V Power Supply for UL Certification

The 24-VDC power supply conditions for obtaining a UL certification are explained below.

• To obtain a UL certification, use a Class 2 power supply conforming to all applicable U.S. electrical wiring
regulations.
• If one Class 2 power supply cannot supply enough current, use two or more Class 2 power supplies. In
this case, wire each power supply according to the figure below (example). Also make sure the 0-V
terminals of all power supplies are connected with a common line.

Gateway RACON Simple RACON Simple RPCON RACON Simple RPCON

absolute absolute unit absolute unit
R unit unit unit unit R unit
Class 2 R unit R unit
24-VDC
power
supply

Class 2 Class 2
24-VDC 24-VDC
power power
supply supply
 CAUTION

Notes on Connecting PC and Teaching Pendant to ROBONET Whose

24-V Power Supply Is Grounded at Positive Terminal
If the positive terminal of the ROBONET’s 24-V power supply is grounded, use a SIO converter as shown below to connect a
teaching pendant or PC to the Gateway R unit.
At this time, do not connect the FG of the SIO converter.

Teaching pendant PC, etc. Do not connect the FG of the PC to ground.

If the FC may be connected to ground
through other COM port, disconnect the
communication cable from the applicable
COM port.
PC software

RS232 connection type

<Model: RCM-101-MW>
USB connection type
<Model: RCM-101-USB>

* The cable is supplied with the PC software.

SIO converter (optional)

(with built-in terminal resistor)
Model: RCB-TU-SIO-A (B)

* One e-CON connector, one junction and one

terminal resistor are supplied with one
controller link cable.

e-CON connector (3-1473562-4 by AMP) GateWay

Do not
Junction (5-1473574-4 by AMP) R unit
connect
the FG.
Terminal resistor

Controller link cable

Model: CB-RCB-CTL002
24-V power supply
 CAUTION
If the positive terminal of the ROBONET’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected
directly to the Gateway R unit.
If a teaching pendant or PC is connected directly to the Gateway R unit, the power supply may be short-circuited, causing the
PC or teaching pendant to suffer damage.

Cannot be connected directly.

PC

GateWay R unit

This teaching pendant

cannot be used.

24-V power supply

 Introduction

Introduction
Thank you for purchasing IAI’s ROBONET. “ROBONET” is a general term for dedicated single-axis controllers used in a field
network environment and characterized by their ultra-compact size, wire-saving features, and easy installation.
This manual provides the information you need to know to use the ROBONET. Before using your ROBONET, peruse this
manual and understand its contents fully.

x Unauthorized reproduction of this manual, whether in part or in whole, is strictly prohibited.

x The information provided in this manual is subject to change without notice for the sake of improvement.
x This manual has been created with the utmost attention to precision. Should you find any error, however, or have any
comment, please contact IAI.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

UL
ROBONET controller can be used in an environment of pollution degree 2 and the surrounding air
temperature between 0 to 40 degree C.
The upper limit for overload protection for the RPCON controller is set to 100% of the motor’s rated current.
Drives have no provisions for motor overload protection and motor over temperature protection. External
or remote motor overload protection and motor over temperature protection shall be provided at end
application.
 Warranty

Warranty
Warranty
(1) Warranty Period
One of Warranty
(1) the following periods,
Periodwhichever is shorter:
18 months after shipment from our factory
One12ofmonths
the following periods,
after delivery to a whichever is shorter:
specified location
y 18 months after shipment from our company
12 months
(2) yScope after delivery to the specified location
of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products covered by
warranty will be replaced or repaired free of charge:
(2) Scope oforWarranty
1) The breakdown problem in question pertains to our product as delivered by us or our authorized dealer.
2) The breakdown or problem in question occurred during the warranty period.
Our products
3) The are covered
breakdown by in
or problem warranty
questionwhen all of
occurred thethe
while following
product conditions arean
was in use for met. Faulty products
appropriate purpose under
the conditions
covered and will
by warranty environment of use
be replaced orspecified
repairedinfree
the operation
of charge:manual and catalog.
4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor quality of
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized
our product.
dealer.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
(2) [1]
TheAnything other or
breakdown than our product
problem in question occurred during the warranty period.
[2] Modification or repair performed by a party other than us (unless we have approved such modification or repair)
(3) [3]
The breakdown
Anything or problem
that could in question
not be easily occurred
predicted with the while
level ofthe product
science andwas in use for
technology an appropriate
available at the time
purpose underfrom
of shipment theour
conditions
companyand environment of use specified in the operation manual and catalog.
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
(4) [5]
The breakdown
Natural ofpaint
fading of problem in question
or other symptomswas caused by a specification defect or problem, or by a
of aging
quality
[6] Wear,issue with or
depletion our product.
other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note
Notethat
thatbreakdowns duecovers
the warranty only to anyour of the following
product reasons
as delivered andare
thatexcluded from the
any secondary lossscope
arising of warranty:
from a breakdown of our
[1] Anything other than our product
product is excluded from the scope of warranty.
[2] Modification or repair performed by a party other than us (unless we have approved such
(3) Honoringmodification
the Warranty or repair)
As a[3]rule,Anything thatmust
the product could
be not be easily
brought predicted
to us for withwarranty.
repair under the level of science and technology available at
the time of shipment from our company
(4) Limited
[4] Liability
A natural disaster, man-made disaster, incident or accident for which we are not liable
1) We
[5] shall assume
Natural no liability
fading of paintforor
any special
other damage,of
symptoms consequential
aging loss or passive loss such as a loss of expected
profit arising from
[6] Wear, or in connection
depletion with our product.
or other expected result of use
2) We shall not be liable for any program or control method created by the customer to operate our product or for the
[7] Operation
result noise,orvibration
of such program or other subjective sensation not affecting function or maintenance
control method.

(5) Note that theofwarranty

Conditions only covers
Conformance our productStandards/Regulations,
with Applicable as delivered and that anyEtc.,secondary loss arising from a
and Applications
breakdown of ouris product
1) If our product combinediswith
excluded
anotherfrom the or
product scope of warranty.
any system, device, etc., used by the customer, the customer
must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming
that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable
for the conformance of our product with the applicable standards, etc.
(3) Honoring the Warranty
2) Our product is for general industrial use. It is not intended or designed for the applications specified below, which
As arequire a high
rule, the level of
product safety.
must be Accordingly,
brought to us as for
a rule our product
repair cannot be used in these applications. Contact us
under warranty.
if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle, railway
(4) Limited Liability
facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
(1) We [4]shall assume
Equipment usednotoliability
handlefor any special
cultural damage,
assets, art or otherconsequential loss or passive loss such as a
irreplaceable items
loss of expected profit arising from or in connection with our product.
3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs from
(2) what
We shall not beinliable
is specified for any
the catalog or program
operation or control method created by the customer to operate our
manual.
product or for the result of such program or control method.
(6) Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the dispatch of
engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
 Warranty

Warranty
(5) Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications
(1) Warranty Period
(1) If our product is combined with another product or any system, device, etc., used by the customer,
One of the following periods, whichever is shorter:
the customer must first check the applicable standards, regulations and/or rules. The customer is also
18 months after shipment from our factory
responsible for confirming that such combination with our product conforms to the applicable
12 months after delivery to a specified location
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.
(2) Scope of Warranty
(2)
OurOur product
products are is for general
covered industrial
by warranty whenuse.
all ofItthe
is not intended
following or designed
conditions are met.for the applications
Faulty specified
products covered by
below,willwhich
warranty requireorarepaired
be replaced high level freeofofsafety.
charge:Accordingly, as a rule our product cannot be used in these
1) The breakdownContact
applications. or problem
us in question
if you mustpertains
use our to product
our product for as
anydelivered
of thesebyapplications:
us or our authorized dealer.
2) The breakdown or problem in question occurred during the warranty period.
3) The[1] Medicalorequipment
breakdown problem in pertaining to maintenance
question occurred or management
while the product of human
was in use for life or health
an appropriate purpose under
the[2] A mechanism
conditions or mechanical
and environment equipment
of use specified in theintended
operationtomanual
move and
or transport
catalog. people (such as a
vehicle,orrailway
4) The breakdown problemfacility or aviation
in question facility)
was caused by a specification defect or problem, or by the poor quality of
our[3] Important safety parts of mechanical equipment (such as safety devices)
product.
[4] breakdowns
Note that Equipmentdue used to handle
to any cultural reasons
of the following assets, are art or other irreplaceable
excluded from the scopeitems
of warranty:
(3) [1] Anything
Contact us other
at thethan our product
earliest opportunity if our product is to be used in any condition or environment that
[2] Modification or repair performed by a party other than us (unless we have approved such modification or repair)
differs from what is specified in the
[3] Anything that could not be easily catalog
predicted or the
with operation
level of manual.
science and technology available at the time
of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
(6) [5] Natural
Otherfading
Items Excluded
of paint from Warranty
or other symptoms of aging
[6] Wear, depletion or other expected result of use
The [7]
price of the product
Operation delivered
noise, vibration to you
or other does not
subjective includenot
sensation expenses
affecting associated with programming, the
function or maintenance
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of our
the warranty
product period:from the scope of warranty.
is excluded
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance
(3) Honoring the Warranty and inspection
[3]rule,Technical
As a guidance
the product must be and education
brought to us foron operating/wiring
repair under warranty.methods, etc.
[4] Technical guidance and education on programming and other items related to programs
(4) Limited Liability
1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected
profit arising from or in connection with our product.
2) We shall not be liable for any program or control method created by the customer to operate our product or for the
result of such program or control method.

(5) Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

1) If our product is combined with another product or any system, device, etc., used by the customer, the customer
must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming
that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable
for the conformance of our product with the applicable standards, etc.
2) Our product is for general industrial use. It is not intended or designed for the applications specified below, which
require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us
if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle, railway
facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs from
what is specified in the catalog or operation manual.

(6) Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the dispatch of
engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
 Table of Contents

Table of Contents
Safety Guide ..................................................................................................................................... 1
Part 1 Specification .................................................................................................................... 9
Chapter 1 Overview of ROBONET .................................................................................................. 9
1.1 Overview...................................................................................................................................... 9
1.2 Features ......................................................................................................................................10
Chapter 2 System Configuration and General Specifications ........................................................ 14
2.1 System Configuration ................................................................................................................ 14
2.2 List of Component Units ............................................................................................................ 14
2.3 General Specifications .............................................................................................................. 17
2.4 24-V Power Current Consumption of Each Unit........................................................................ 17
2.5 Connection Diagram.................................................................................................................. 19
Chapter 3 Gateway R unit.............................................................................................................. 20
3.1 Overview.................................................................................................................................... 20
3.2 How to Read the Model Name .................................................................................................. 21
3.3 Gateway R unit and Accessories .............................................................................................. 21
3.4 General Specifications .............................................................................................................. 22
3.4.1 CC-Link......................................................................................................................................... 24
3.4.2 DeviceNet ..................................................................................................................................... 24
3.4.3 Profibus......................................................................................................................................... 25
3.4.4 RS485 SIO.................................................................................................................................... 26
3.5 Name/Function of Each Part and External Dimensions ............................................................ 27
3.5.1 Name of Each Part........................................................................................................................ 27
3.5.2 LED Indicators .............................................................................................................................. 28
3.5.3 MODE Switch ............................................................................................................................... 30
3.5.4 TP Connector................................................................................................................................ 30
3.5.5 User Setting Switches................................................................................................................... 30
3.5.6 ROBONET Communication Connector......................................................................................... 30
3.5.7 Power-supply Input Terminal Block .............................................................................................. 30
3.5.8 FG Terminal (Frame Ground) ....................................................................................................... 31
3.5.9 EMG Connector (Emergency Stop) .............................................................................................. 31
3.5.10 Field Network Connector .............................................................................................................. 33
3.5.11 External Dimensions ..................................................................................................................... 37
3.6 Operation Function List ............................................................................................................. 38
3.7 Address Configuration............................................................................................................... 40
3.7.1 Examples of Overall Address Configuration ................................................................................. 41
(1) CC-Link ................................................................................................................................ 41
(2) DeviceNet ............................................................................................................................. 44
(3) Profibus ................................................................................................................................ 46
(4) RS485SIO ............................................................................................................................ 48
3.7.2 Gateway Control/Status Signals ................................................................................................... 50
3.7.3 Command Area............................................................................................................................. 52
3.7.4 Position Table ............................................................................................................................... 60
3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode ..................................................... 67
3.7.6 Assignments in the Direct Numerical Specification Mode ............................................................. 71
3.7.7 Assignment in Positioner 2 Mode ................................................................................................. 76
3.7.8 Signal Assignments in Solenoid Valve Mode 1............................................................................. 77
3.7.9 Signal Assignments in Solenoid Valve Mode 2............................................................................. 79
3.8 I/O Signals ................................................................................................................................. 81
3.8.1 I/O Signal Timings ........................................................................................................................ 81
3.8.2 I/O Signal Functions...................................................................................................................... 82
3.8.3 Basic Operation Timings............................................................................................................... 95
3.8.4 Other Basic Operations............................................................................................................... 107
3.8.5 Command Transmission ............................................................................................................. 119
 Table of Contents

3.9 Modbus Gateway Mode of RS485 SIO ................................................................................... 120

3.9.1 Overview..................................................................................................................................... 120
3.9.2 Modbus/RTU Protocol Specification ........................................................................................... 121
3.9.3 Protocol Format .......................................................................................................................... 125
3.9.3.1 Gateway Address Map ............................................................................................... 125
3.9.3.2 Query List ................................................................................................................... 127
3.9.3.3 Read Holding Registers (Query using FC = 03H)....................................................... 129
3.9.3.4 Preset Single Register (Query using FC = 06H)......................................................... 140
3.9.3.5 Preset Multiple Registers (Query using FC = 10H)..................................................... 157
3.9.4 Function Block ............................................................................................................................ 175
3.9.4.1 Dedicated ROBONET Function Block ........................................................................ 175
3.9.4.2 What Is Function Block?............................................................................................. 186

Chapter 4 Controller Unit ............................................................................................................. 190

4.1 Overview.................................................................................................................................. 190
4.1.1 Features...................................................................................................................................... 190
4.1.2 How to Read the Model Name.................................................................................................... 190
4.2 Basic Specifications................................................................................................................. 192
4.3 Name/Function of Each Part and External Dimensions. ......................................................... 193
4.3.1 Name of Each Part...................................................................................................................... 193
4.3.2 LED Indicators ............................................................................................................................ 194
4.3.3 Brake Release Switch................................................................................................................. 196
4.3.4 User Setting Switches................................................................................................................. 196
4.3.5 Axis Number Setting Switch........................................................................................................ 196
4.3.6 ROBONET Communication Connector....................................................................................... 197
4.3.7 Simple Absolute R Unit Connector.............................................................................................. 197
4.3.8 Power-supply Input Terminal Block ............................................................................................ 197
4.3.9 Motor Cable Connector............................................................................................................... 199
4.3.10 Encoder Cable Connector........................................................................................................... 200
4.3.11 External Dimensions ................................................................................................................... 200
4.4 Parameters .............................................................................................................................. 202
4.4.1 Parameter List ............................................................................................................................ 202
4.4.2 Parameters Relating to Actuator Stroke...................................................................................... 204
4.4.3 Parameters Relating to Actuator Operating Characteristics........................................................ 206
4.4.4 Parameters Relating to External Interface .................................................................................. 216
4.4.5 Parameters Relating to Servo Gain Adjustment ......................................................................... 217
4.5 Notes on ROBO Rotary........................................................................................................... 220
4.6 Notes on ROBO Gripper ......................................................................................................... 222
Chapter 5 Simple Absolute R Unit ............................................................................................... 224
5.1 Overview.................................................................................................................................. 224
5.2 How to Read the Model Name ................................................................................................ 225
5.3 Specifications .......................................................................................................................... 226
5.3.1 General Specifications ................................................................................................................ 226
5.3.2 Backup Battery ........................................................................................................................... 227
5.4 Name/Function of Each Part and External Dimensions .......................................................... 228
5.4.1 Name of Each Part...................................................................................................................... 228
5.4.2 Functions .................................................................................................................................... 229
5.4.3 External Dimensions ................................................................................................................... 232
5.5 Notes ..................................................................................................................................... 233
Chapter 6 Extension unit.............................................................................................................. 234
6.1 Overview.................................................................................................................................. 234
6.2 Specifications .......................................................................................................................... 235
6.3 Product Configuration.............................................................................................................. 236
6.4 Name of Each Part and External Dimensions......................................................................... 240
6.4.1 Name of Each Part...................................................................................................................... 240
6.4.2 External Dimensions ................................................................................................................... 241
 Table of Contents

Part 2 Startup Chapter ........................................................................................................... 242

Chapter 1 Overview ..................................................................................................................... 242
1.1 Required Tools ........................................................................................................................ 242
1.2 Startup Procedure ................................................................................................................... 243
Chapter 2 Mounting and Installation ............................................................................................ 244
2.1 Installation ............................................................................................................................... 244
2.1.1 Important Information and Items to Note..................................................................................... 244
2.1.2 Mounting on a DIN Rail............................................................................................................... 248
2.1.3 Interconnecting Multiple Units..................................................................................................... 250
2.1.4 Installing in a Control Panel ........................................................................................................ 252
2.2 Wiring .......................................................................................................................................253
2.2.1 Wiring the Power Supply............................................................................................................. 253
2.2.2 Grounding Wire........................................................................................................................... 255
2.2.3 EMG Connector .......................................................................................................................... 255
2.2.4 Motor Cable and Encoder Cable................................................................................................. 256
2.2.5 Multi-stage ROBONET Layout .................................................................................................... 258
2.2.6 External SIO Link of ROBONET ................................................................................................. 260
2.2.7 Emergency Stop Circuit .............................................................................................................. 263
2.2.8 Network Wiring ........................................................................................................................... 266
(1) CC-Link .............................................................................................................................. 266
(2) DeviceNet ........................................................................................................................... 267
(3) Profibus-DP ........................................................................................................................ 269
(4) RS485SIO .......................................................................................................................... 271
2.2.9 How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power Supply....... 272

Chapter 3 Controller Address Setting .......................................................................................... 273

Chapter 4 Absolute Reset............................................................................................................ 274
4.1 Overview of Simple Absolute System ..................................................................................... 274
4.2 Setting the Configuration Switches ......................................................................................... 275
4.3 Connecting the Backup Battery............................................................................................... 277
4.4 Setting the Parameters............................................................................................................ 277
4.5 Performing an Absolute Reset ................................................................................................ 277
4.5.1 Performing an Absolute Reset in the PC Software ..................................................................... 277
4.5.2 Performing an Absolute Reset from the Host.............................................................................. 279

Chapter 5 Network Setup............................................................................................................. 280

5.1 How to Use the ROBONET Gateway Parameter Setting Tool ............................................... 280
5.1.1 Operating Environment ............................................................................................................... 280
5.1.2 Launching the Setting Tool ......................................................................................................... 250
5.1.3 Explanation of the Main Screen .................................................................................................. 281
5.1.4 Operating Procedures................................................................................................................. 286
5.2 Setting Up the Master.............................................................................................................. 304
5.2.1 CC-Link....................................................................................................................................... 304
5.2.2 DeviceNet ................................................................................................................................... 310
5.2.3 Profibus....................................................................................................................................... 323
5.2.4 RS485SIO................................................................................................................................... 328
5.3 Creating a Controller Position Table ....................................................................................... 343
5.4 Address Correlation Diagram .................................................................................................. 345
5.4.1 Address Correlation Diagram for CC-Link System (Example) .................................................... 346
5.4.2 Address Correlation Diagram for DeviceNet System (Example)................................................. 348
5.4.3 Address Correlation Diagram for RS485SIO System (Example) ................................................ 349
 Table of Contents

Chapter 6 Setting for External SIO Link and Other...................................................................... 350

6.1 SCON/PCON-CF Settings and Signal Assignments............................................................... 350
6.2 Other .......................................................................................................................... 351
Part 3 Maintenance................................................................................................................ 352
Chapter 1 Troubleshooting .......................................................................................................... 352
1.1 Actions to Be Taken upon Problems ....................................................................................... 352
1.2 Alarms of the Gateway R unit.................................................................................................. 353
1.2.1 Common Alarms ......................................................................................................................... 354
1.2.2 Alarms by Field Network Type .................................................................................................... 355
1.2.3 Examples of Indicator Statuses Corresponding to Representative Alarms ................................. 358
1.3 Alarms of the Controller Unit and Simple Absolute R Unit ...................................................... 359
1.3.1 Overview of Alarms..................................................................................................................... 359
1.3.2 Alarms, Causes and Actions....................................................................................................... 362
1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software ................ 370

Chapter 2 Maintenance/Inspection ............................................................................................. 372

2.1 Periodic Inspection Items ........................................................................................................ 373
2.2 Important Information on Unit Replacement ........................................................................... 374
2.3 Replacing the Backup Battery ................................................................................................. 375
* Appendix ..................................................................................................................................... 377
List of Specifications of Connectable Actuators.............................................................................. 377
Correlation diagram of speed and payload capacity for the slider type (motor-straight type) ........ 397
Correlation diagram of speed and payload capacity for the slider type (motor-reversing type)...... 398
Correlation diagram of speed and payload capacity for the standard rod type .............................. 399
Correlation diagram of speed and payload capacity for the single-guide type ............................... 400
Correlation diagram of speed and payload capacity for the double-guide type.............................. 401
Correlation diagram of speed and payload capacity for the dustproof/splash-proof type .............. 402
Push Force and Current-limiting Value ........................................................................................... 403
Change History ............................................................................................................................... 410
 Safety Guide

Safety Guide
Safety Guide
This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to
read this section before using your product.
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
Regulations
damage beforehand. andtoStandards
Make sure Governing
read it before the operation of Industrial
this product. Robots

Safety Precautions for Our Products

Safety measures on mechanical devices are generally classified into four categories under the International Industrial
The
Standard common
ISO/DIS safety
12100, precautions
“Safety for the
of machinery,” asuse of any of our robots in each operation.
follows:
Safety measures Inherent safety design
Operation Protective guards --- Safety fence, etc.
No. Description
Additional safety measures --- Emergency stop device, etc.
Description
1 Model Information on use --- Danger sign, warnings,
Ɣ This product has not been planned and designed operation
formanual
the application where
Selection 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
Based on this classification, various standards are established in a hierarchical manner under the International Standards
ISO/IEC. The safety standards that apply applications.
to industrial robots are as follows:
1) Medical equipment used to maintain, control or otherwise affect human
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For JIS vehicle, railway facility or air navigation facility)
B 8433
3) Important safety parts of (Manipulating
machinery (Safety device,
industrial robotsetc.)
– Safety)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Also, Japanese laws regulate the safety
Ɣ Doofnot industrial robots,
use it in asthe
any of follows:
following environments.
1) Location where there is any inflammable gas, inflammable object or
Industrial Safety and Health Law Article 59
explosive
Workers engaged in dangerous or harmful operations must receive special education.
2) Place with potential exposure to radiation
Ordinance on Industrial Safety and Health3) Location with the ambient temperature or relative humidity exceeding
Article 36 --- Operations requiring specialthe specification range
education
4) Location where radiant heat is added from direct sunlight or other large
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions apply)
heat source
No. 32 (Inspection, etc.) ---5) Location where
Inspection, condensation
repair, occurs
adjustment and due
similar to abrupt
work temperature
involving industrial robots
changes
(exceptions apply)
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
Article 150 --- Measures to be taken by the acid)user of an industrial robot
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ 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

 Safety Guide

Requirements for Industrial Robots under Ordinance on Industrial

Operation Safety and Health
No. Description
Description
Work area
2 Work condition Ɣ Cutoff
Transportation Whenofcarrying
drive sourcea heavy object, do the Measure
work with two or more persons Article or
Outside During Signs
utilize equipment such as crane. for starting operation Article 104
movement automatic Not cut off
Ɣ When the work is carried out with
Installation of 2 or more
railings, persons,etc.
enclosures, make itArticle
clear150-4
who is
range operation
toCut
beoffthe(including
leader and who to be the follower(s) and
Sign, etc., indicating that work is in
communicate well with
each other to ensure the safety of the workers. Article 150-3
stopping of operation) progress
Ɣ When in transportation, consider of
Preparation wellworkabout
rulesthe positions to hold,Articleweight
150-3
and weight balance and pay special
Measures to enableattention to the carried object so it
immediate
would not get hit or dropped. Article 150-3
During stopping of operation
teaching, etc. Ɣ Transport it using an appropriate transportation
Sign, etc., indicating that workmeasure.
is in
Not cut off Article 150-3
The actuators available for transportation with a crane have eyebolts
progress
attached or there are Provision
tapped holes of special education
to attach bolts. Follow theArticle 36-31
instructions
in the operation manual Checkup,
for each etc., before commencement
model. Article 151
Inside Ɣ Do not step or sit on the of work
package.
movement Ɣ Do not put any heavy To be performed
thing that can deformafter stopping the
the package, on Article
it. 150-5
range operation
Ɣ WhenCut usingoff a crane capable of 1t or more of weight, have an operator
Sign, etc., indicating that work is in
who has qualificationsprogress for crane operation and sling work. Article 150-5
Ɣ When using a crane or equivalentofequipments,
Preparation work rules make sure not to hang
Article 150-5a
During load that weighs moreMeasures than the to equipment’s capability limit.
enable immediate
inspection, etc. Ɣ UseNot acut off (when
hook that is suitable forofthe load. Consider the safety factor Article of
150-5
the
stopping operation
inspection, etc., must
hook in such factors as be shear
Sign, etc.,strength.
indicating that work is in
performed during Article 150-5
Ɣ Do not get on the loadprogress that is hung on a crane.
operation)
Ɣ Do not leave a load hung up with
Provision a crane.
of special education
Article 36-32
Ɣ Do not stand under the (excluding
load thatcleaning
is hungand up lubrication)
with a crane.
3 Storage and Ɣ The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention of
condensation.
Ɣ 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 Ɣ 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.
Ɣ 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.
Ɣ 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

 Safety Guide

Applicable Modes of IAI’s Industrial Robot

meetingOperation
MachinesNo. the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No.
Description
Description
51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):
(1) 4Single-axis robo with a motor
Installation wattage
(2) Cable of 80 W or less
Wiring
(2) Combined multi-axis robot
and Start whose
Ɣ Use ourX,company’s
Y and Z-axes are 300cables
genuine mm or shorter and whose
for connecting rotating the
between part,actuator
if any, has the
3
maximum movement rangeand of within 300 mm including the end of
controller, and for the teaching tool.the rotating part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around.
Among the products featured in our catalogs, Do not
the following insertare
models it. Do not put
classified asany heavyrobots:
industrial thing on it. Failure to
1. Single-axis ROBO Cylinders do so may cause a fire, electric shock or malfunction due to leakage or
RCS2/RCS2CR-SS8† whose stroke continuity error.
exceeds 300 mm
2. Single-axis robots Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that
The following models whose stroke there300
exceeds is no
mmwiring error.motor capacity also exceeds 80 W:
and whose
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA,
Ɣ When the IF, FS, NS current power (+24V) is connected, take the great care of
direct
3. Linear servo actuators the directions of positive and negative poles. If the connection direction is
All models whose stroke exceeds 300
not mm it might cause a fire, product breakdown or malfunction.
correct,
4. Cartesian robos
Ɣ Connect the cable connector securely so that there is no disconnection or
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots looseness. Failure to do so may cause a fire, electric shock or malfunction
of the300
All models whose arm length exceeds product.
mm
Ɣ Never cut and/or reconnect
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515the andcables supplied with the product for the
NNC1205/1505/1805/2515)
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
Ɣ 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.
Ɣ 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).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).

3

 Safety Guide

Notes on Safety of Our Products

CommonNo.
Operation
items you should note when performing each task on any IAI robot are explained below.
Description
Description
No. 4 TaskInstallation (4) Safety Measures Note
and Start
1 Model selection z This product Ɣ Whenis notthe work or
planned is designed
carried out for with
uses2requiring
or morehigh persons,
degrees make it clear who is
of safety.
Accordingly, to itbe the leader
cannot be used and who toor
to sustain besupport
the follower(s)
life and must andnot communicate
be used in thewell with
each other to ensure the safety of the workers.
following applications:
Ɣ When
[1] Medical devices therelating
product is under operation
to maintenance, or in the
management, ready
etc., of lifemode, take the safety
or health
[2] Mechanisms
measures or mechanical
(such asdevices (vehicles,of
the installation railway
safetyfacilities, aircraft facilities,
and protection fence) soetc.)that
intended to move
nobody can or transport
enter thepeoplearea within the robot’s movable range. When the
[3] Importantrobotsafety
underparts in mechanical
operation devicesit(safety
is touched, may resultdevices, etc.) or serious injury.
in death
z Do not use this product in the following environments:
Ɣ Make sure to install the emergency stop circuit so that the unit can be
[1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
stopped immediately in an emergency during the unit operation.
[2] Place that may be exposed to radiation
Ɣ Take the
[3] Place where the ambient
safety measure
temperature notortorelative
start up the unit
humidity only with
exceeds the the power
specified turning
range
ON. Failure
[4] Place subject to direct tosunlight
do so may start up
or radiated heatthefrom
machine suddenly
large heat sources and cause an
injury or
[5] Place subject damagetemperature
to sudden to the product. shift and condensation
[6] PlaceƔ subject
Take the safety measure
to corrosive gases (sulfuricnot toacid,
starthydrochloric
up the machine only with the
acid, etc.)
[7] Place subject
emergency to excessive dust, salt or iron
stop cancellation powder after the power failure. Failure to
or recovery
[8] Place where
do sothe may product
resultreceives direct vibration
in an electric shock ororinjury impactdue to unexpected power
z Do not useinput.
this product outside the specified ranges. Doing so may significantly shorten the
life of the product or result in product failure or facility stoppage.
Ɣ When the installation or adjustment operation is to be performed, give
2 Transportation z When transporting the product,
clear warnings suchexercise
as “Under due caution
Operation; not toDo bump
not or turndrop
ONthethe product.
power!” etc.
z Use appropriate means for transportation.
Sudden
z Do not step on the package.
power input may cause an electric shock or injury.
Ɣ Take
z Do not place thepackage
on the measureany soheavy
that the work
article thatpart
mayisdeform
not dropped in power failure or
the package.
z When using emergency
a crane of 1stop. ton or more in capacity, make sure the crane operators are
qualifiedƔtoWear
operate protection
cranes and gloves,
perform goggle
slingingor work.
safety shoes, as necessary, to secure
z When using safety.
a crane, etc., never hoist articles exceeding the rated load of the crane, etc.
Ɣ Doequipment
z Use hoisting not insertsuitable
a finger forortheobject
articleintothebe openings in the product.
hoisted. Calculate the load Failure
needed to to do
cut off the hoisting
so may equipment
cause an and injury,other loads shock,
electric incidental to equipment
damage to theoperation
product or by fire.
considering a safety
Ɣ When factor. Also
releasing the check
brakethe on hoisting
a verticallyequipment
oriented for actuator,
damage. exercise
z Do not climb onto the article while it is being hoisted.
precaution not to pinch your hand or damage the work parts with the
z Do not keep the article hoisted for an extended period of time.
actuator dropped by gravity.
z Do not stand under the hoisted article.
5
3 Storage/
Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
z The storage/preservation environment should conform to the installation environment.
preservation Among others,to bebethe leader
careful notand who condensation.
to cause to be the follower(s) and communicate well with
4 Installation/ each other to ensure
(1) Installing the robot, controller, etc. the safety of the workers.
startup Ɣ Perform the teaching operation
z Be sure to firmly secure and affix the product (including from outside the part).
its work safety protection fence, if
possible. In the case that the operation is
If the product tips over, drops, malfunctions, etc., damage or injury may result. to be performed unavoidably
z Do not stepinside
on thethe safety
product or protection
place any article fence,onprepare
top. Thethe “Stipulations
product may tip over for or
thethe
article mayOperation”
drop, resulting andinmake
injury,sureproductthatdamage,
all the workers
loss of/drop acknowledge and
in product performance,
shorter life,understand
etc. them well.
z If the product
Ɣ When is used
the inoperation
any of theisfollowing places, provide
to be performed insidesufficient
the safety shielding measures:
protection fence,
[1] Place subject
the workerto electrical
shouldnoise have an emergency stop switch at hand with him so that
[2] Place subject to a strong electric or magnetic field
the unit can be stopped any time in an emergency.
[3] Place where power lines or drive lines are wired nearby
Ɣ When to
[4] Place subject the operation
splashed water,is to oilbe
or performed
chemicals 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.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ 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.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

4

 Safety Guide

No. Task Note

4 Installation/ (2) Wiring the cables
startup z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool,
Operation
No. etc. Description
Description
6 Trial Operation Ɣ When the work is carried out withan2 object
z Do not damage, forcibly bend, pull, loop round or more or pinch the cables
persons, makeorit place
clear heavy
who is
articles on top. Current leak or poor electrical continuity may occur, resulting in fire, electric
to be
shock or malfunction.
the leader and who to be the follower(s) and communicate well with
each other to ensure the safety
z Wire the product correctly after turning off the power. of the workers.
z When wiringƔ Aftera DC the teaching
power supply or(+24
programming operation,
V), pay attention to the perform
positive and thenegative
check operation
polarities. one step by one step and then shift to the automatic operation.
ConnectingƔ When
the wiresthe incheck
wrongoperation
polarities ismayto result
be performed inside
in fire, product the safety
failure protection
or malfunction.
z Be sure to fence,
connectperform
the cablethe connectors without fail
check operation and firmly.
using Failing to specified
the previously do so mayworkresult
in fire, electric shock orlike
procedure product malfunction.
the teaching operation.
z Do not cut and reconnect
Ɣ Make the cablesthe
sure to perform of the product to extend
programmed or shorten
operation checkthe cables.
at the Doing
safety
so may result in fire or product malfunction.
speed. Failure to do so may result in an accident due to unexpected
(3) Groundingmotion caused by a program error, etc.
z Be sure to provide class D (former class 3) grounding for the controller. Grounding is
Ɣ Do not touch the terminal block or any of the various setting switches in
required to prevent electric shock and electrostatic charges, improve noise resistance and
the power ON
suppress unnecessary mode. Failure
electromagnetic to do so may result in an electric shock or
radiation.
malfunction.
(4) Safety measures
7 Automatic
z Implement Ɣ Check before starting
safety measures (such as theinstalling
automaticsafetyoperation or rebooting
fences, etc.) to preventafter
entryoperation
into the
Operation movement stop that there is nobody in the safety protection fence.
range of the robot when the product is moving or can be moved. Contacting the
Ɣ Before
moving robot starting
may result automatic
in death operation,
or serious injury. make sure that all peripheral
z Be sure to equipment is in an automatic-operation-ready
provide an emergency stop circuit so that the product state
canand there is no alarm
be stopped
immediately in case of emergency during operation.
indication.
z Implement safety sure
Ɣ Make measures so thatautomatic
to operate the productoperation
cannot be startstarted onlyoutside
from by turning on the
of the safety
power. If the product starts
protection fence. suddenly, injury or product damage may result.
z Implement safety measures so that the product will not start upon cancellation of an
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
emergency stop or recovery of power following a power outage. Failure to do so may result
abnormaldamage,
in injury, equipment noise inetc.the product, immediately stop the machine and turn
OFF the power
z Put up a sign saying “WORK IN PROGRESS.switch. Failure toDO doNOTso may TURN result in a fire oretc.,
ON POWER,” damage
duringto
the product.
installation, adjustment, etc. If the power is accidently turned on, electric shock or injury
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may result.
z Implement may causetoan
measures injurythe
prevent orwork
damagepart, to the
etc., product,
from droppingdue duetotoa asudden motionorof
power outage
emergencythe stop.
product in the recovery operation from the power failure.
z Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as
necessary.
z Do not insert fingers and objects into openings in the product. Doing so may result in injury,
electric shock, product damage, fire, etc.
z When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
5 Teaching z Whenever possible, perform teaching from outside the safety fences. If teaching must be
performed inside the safety fences, prepare “work rules” and make sure the operator
understands the procedures thoroughly.
z When working inside the safety fences, the operator should carry a handy emergency stop
switch so that the operation can be stopped any time when an abnormality occurs.
z When working inside the safety fences, appoint a safety watcher in addition to the operator
so that the operation can be stopped any time when an abnormality occurs. The safety
watcher must also make sure the switches are not operated inadvertently by a third party.
z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.

5

 Safety Guide

No. Task Note

z When releasing the brake of the vertically installed actuator, be careful not to let the
Operation
actuator drop due to its dead weight, causingDescription pinched hands or damaged work part, etc.
No.
Description
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 8 Maintenance
Confirmation Ɣ When
z After teaching the work is carried
or programming, carry out outstep-by-step
with 2 or more persons,
confirmation make itbefore
operation clear who is
operationand Inspection
switching totoautomatic
be the leader and who to be the follower(s) and communicate well with
operation.
z When carryingeachout confirmation
other to ensure operation inside
the safety of the
thesafety
workers.fences, follow the specified work
procedure just like during teaching.
Ɣ Perform the work out of the safety protection fence, if possible. In the case
z When confirming
that the theoperation
program operation, use the safety
is to be performed speed. Failure
unavoidably insideto the
do so may result
safety
in an unexpected movement due to programming errors, etc., causing injury.
protection fence, prepare the “Stipulations for the Operation” and make
z Do not touch the terminal blocks and various setting switches while the power is supplied.
sure parts
Touching these that all maytheresult
workers acknowledge
in electric and understand them well.
shock or malfunction.
7 Automatic Ɣ When the work is to be performed
z Before commencing automatic operation, make sure no one inside the safety
is insideprotection
the safety fence,
fences.
operation basically turn OFF the power switch.
z Before commencing automatic operation, make sure all related peripherals are ready to
operate Ɣin When
the autothe modeoperation
and no is to be performed
abnormalities inside or
are displayed theindicated.
safety protection fence,
z Be sure to thestartworker
automatic should havefrom
operation an emergency stop switch
outside the safety fences.at hand with him so that
thegenerated
z If the product unit can be stopped
abnormal anysmoke,
heat, time in an or
odor emergency.
noise, stop the product
immediately
Ɣ Whenand turn the off the power
operation is switch. Failure to do
to be performed so may
inside theresult in fire
safety or product
protection fence,
damage. in addition to the workers, arrange a watchman so that the machine can
z If a power outage
be stopped occurred,any turn
timeoffinthean power switch. Also,
emergency. Otherwise,keepthe product
watch mayoperation
on the move
suddenly when the power is restored, resulting in injury or product damage.
so that any third person can not operate the switches carelessly.
8 Maintenance/ z Whenever possible, work from outside the safety fences. If work must be performed inside
Ɣ Place a sign “Under Operation” at the position easy to see.
inspection the safety fences, prepare “work rules” and make sure the operator understands the
Ɣ For the grease for the guide or ball screw, use appropriate grease
procedures thoroughly.
z When working according
inside the to the
safetyOperation
fences, turn Manual
off thefor eachswitch,
power model. as a rule.
Ɣ Do not
z When working inside perform the fences,
the safety dielectricthestrength test. Failure
operator should carry ato do soemergency
handy may result in a
stop
damage
switch so that to the product.
the operation can be stopped any time when an abnormality occurs.
Ɣ When
z When working insidereleasing
the safetythefences,
brake appoint
on a vertically
a safety oriented
watcher inactuator,
addition toexercise
the operator
so that the precaution
operation can notbetostopped
pinch your any time
hand when an abnormality
or damage the work occurs.
partsThewithsafety
the
watcher must also make
actuator sure the
dropped switches are not operated inadvertently by a third party.
by gravity.
z Put up aƔsignThesaying
slider“WORK or rod IN may PROGRESS”
get misalignedin a conspicuous
OFF the stop location.
position if the servo is
z Use appropriate grease for the guides and ball screws by checking the operation manual
turned OFF. Be careful not to get injured or damaged due to an
for each model.
unnecessary operation.
z Do not perform a withstand voltage test. Conducting this test may result in product damage.
Ɣ Pay attention
z When releasing the brake not to vertically
of the lose the installed
cover oractuator,
untightened screws,
be careful and
not to let make
the sure
to put
actuator drop duethe to itsproduct back to
dead weight, the original
causing pinchedcondition
hands or afterdamagedmaintenance
work part, and
etc.
* Safety fencesinspection
--- Indicate works.
the movement range if safety fences are not provided.
9 Modification Use in incomplete
z The customer must not modify or condition may cause damage
disassemble/assemble the productto the
or product or an injury.
use maintenance
parts not*specified
Safety protection
in the manual Fence : Infirst
without the consulting
case thatIAI. there is no safety protection
z Any damage or loss resulting from the above fence,actions
the movable range should
will be excluded from thebescope
indicated.
of
9 warranty.
Modification Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
10 Disposal and Dismantle
z When the product
specified becomes
based no at longer
your own usable or necessary, dispose of it properly as an
discretion.
10 Disposal industrial waste.
Ɣ When the product becomes no longer usable or necessary, dispose of it
z When disposing of the product, do not throw it into fire. The product may explode or
properly as an industrial waste.
generate toxic gases.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ 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.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.

6

 Safety Guide

No. Task Note

z When releasing the brake of the vertically installed actuator, be careful not to let the
Alert Indication
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 The safety precautions
Confirmation are divided
z After teaching into “Danger”,
or programming, carry“Warning”, “Caution”
out step-by-step and “Notice”
confirmation according
operation before to the
operation switchingand
warning level, as follows, to automatic
described operation.
in the Operation Manual for each model.
z When carrying out confirmation operation inside the safety fences, follow the specified work
procedure just like during teaching.
z When confirming the program operation, use the safety speed. Failure to do so may result
Level Degree of Danger and Damage
in an unexpected movement due to programming errors, etc., causing injury.
Symbol
z Do not touch the terminal blocks and various setting switches while the power is supplied.
Touchingan
This indicates these parts may
imminently result in electric
hazardous shock
situation or malfunction.
which, if the
7
Danger
Automatic product is notcommencing
z Before handled correctly,
automatic willoperation,
result in make
deathsureor serious
no one is injury. Danger
inside the safety fences.
operation z Before commencing automatic operation, make sure all related peripherals are ready to
operate in the auto mode and no abnormalities are displayed or indicated.
z Be sure a
This indicates to potentially
start automatic operationsituation
hazardous from outside
which,the ifsafety fences.
the product
Warning z If the product generated abnormal heat, smoke, odor or noise, stop the product Warning
is not handled correctly, could result in death or serious injury.
immediately and turn off the power switch. Failure to do so may result in fire or product
damage.
If a power
This zindicates outage occurred,
a potentially turn offsituation
hazardous the powerwhich,
switch.ifOtherwise,
the product the product may move
suddenly when the power is restored, resulting
Caution is not handled correctly, may result in minor injury or property in injury or product damage. Caution
8 Maintenance/damage.
z Whenever possible, work from outside the safety fences. If work must be performed inside
inspection the safety fences, prepare “work rules” and make sure the operator understands the
procedures thoroughly.
This zindicates lower inside
When working possibility for the
the safety injury,
fences, butoffshould
turn the powerbe kept to as a rule.
switch,
Notice
use this
z Whenproduct properly.
working inside the safety fences, the operator should carry a handy emergency Notice
stop
switch so that the operation can be stopped any time when an abnormality occurs.
z When working inside the safety fences, appoint a safety watcher in addition to the operator
so that the operation can be stopped any time when an abnormality occurs. The safety
watcher must also make sure the switches are not operated inadvertently by a third party.
z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
z Use appropriate grease for the guides and ball screws by checking the operation manual
for each model.
z Do not perform a withstand voltage test. Conducting this test may result in product damage.
z When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification z The customer must not modify or disassemble/assemble the product or use maintenance
parts not specified in the manual without first consulting IAI.
z Any damage or loss resulting from the above actions will be excluded from the scope of
warranty.
10 Disposal z When the product becomes no longer usable or necessary, dispose of it properly as an
industrial waste.
z When disposing of the product, do not throw it into fire. The product may explode or
generate toxic gases.

6

 Safety Guide

No. Task Note

z When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation z After teaching or programming, carry out step-by-step confirmation operation before
operation switching to automatic operation.
z When carrying out confirmation operation inside the safety fences, follow the specified work
procedure just like during teaching.
z When confirming the program operation, use the safety speed. Failure to do so may result
in an unexpected movement due to programming errors, etc., causing injury.
z Do not touch the terminal blocks and various setting switches while the power is supplied.
Touching these parts may result in electric shock or malfunction.
7 Automatic z Before commencing automatic operation, make sure no one is inside the safety fences.
operation z Before commencing automatic operation, make sure all related peripherals are ready to
operate in the auto mode and no abnormalities are displayed or indicated.
z Be sure to start automatic operation from outside the safety fences.
z If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or product
damage.
z If a power outage occurred, turn off the power switch. Otherwise, the product may move
suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/ z Whenever possible, work from outside the safety fences. If work must be performed inside
inspection the safety fences, prepare “work rules” and make sure the operator understands the
procedures thoroughly.
z When working inside the safety fences, turn off the power switch, as a rule.
z When working inside the safety fences, the operator should carry a handy emergency stop
switch so that the operation can be stopped any time when an abnormality occurs.
z When working inside the safety fences, appoint a safety watcher in addition to the operator
so that the operation can be stopped any time when an abnormality occurs. The safety
watcher must also make sure the switches are not operated inadvertently by a third party.
z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
z Use appropriate grease for the guides and ball screws by checking the operation manual
for each model.
z Do not perform a withstand voltage test. Conducting this test may result in product damage.
z When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification z The customer must not modify or disassemble/assemble the product or use maintenance
parts not specified in the manual without first consulting IAI.
z Any damage or loss resulting from the above actions will be excluded from the scope of
warranty.
10 Disposal z When the product becomes no longer usable or necessary, dispose of it properly as an
industrial waste.
z When disposing of the product, do not throw it into fire. The product may explode or
generate toxic gases.

6

 Part 1 Specification

Part 1 Specification
Part 1 Specification
Chapter 1 Overview of ROBONET
1.1 Overview
“ROBONET” is a general term for dedicated controllers used to operate ROBO Cylinders (RCA/RCA2/RCL/RCP2/RCP3) over
a field network connected to a host programmable controller (hereinafter referred to as “PLC”).
A ROBONET system can be configured with a desired combination of a Gateway R unit, which serves as a field network
connection interface, and one or more RACON units (RCA/RCA2/RCL controller) and RPCON unit (RCP2/RCP3 controller).
Up to 16 axes can be controlled in one ROBONET system.
You can also configure an absolute system by connecting a simple absolute R unit to the controller of each axis.
The Gateway R unit is available in four types: DeviceNet type, CC-Link type, Profibus type, and RS485 SIO type.
The ROBONET is treated as a slave station in a field network.
RS485 SIO communication is implemented according to the Modbus-RTU protocol.
The ROBONET extension unit can be used to implement a ROBONET system of multi-stage layout and connect
non-ROBONET controllers (SCON, PCON-CF, ERC2) (via external SIO link).

Chapter 1 Overview of ROBONET

9

 Part 1 Specification
Part 1 Specification

1.2 Features
(1) Five Types of Component Units
The five types of units specified below can be combined in a desired fashion to build a ROBONET system. The maximum
number of component axes is 16.
[1] Gateway R unit
Four types—DeviceNet type, CC-Link type, Profibus type, and RS485 SIO communication type—are available.
[2] RACON unit --- RCA/RCA2/RX=CL controller
[3] RPCON unit --- RCP2/RCP3 controller
[4] Simple absolute R unit
[5] ROBONET extension unit

Gateway R RACON RPCON unit

unit unit
Simple absolute R unit
Chapter 1 Overview of ROBONET

(2) Ultra-compact Size

Each unit has an ultra-compact design with external dimensions of 34 mm in width, 100 mm in height, and 73 mm in
depth. Accordingly, you can reduce the control panel size for your ROBONET system.

(3) Wire-saving
Units are interconnected by dedicated power-supply connection plates and communication connection circuit boards,
which substantially reduces the hassle of wiring.

ROBONET communication connection circuit boards

Terminal resistor circuit board

Power-supply connection plates

(Interconnections of ROBONET units)

(4) Easy Installation

All units are installed on a DIN rail (35 mm), so installation to a control panel or equipment is easy.
Units can also be installed side by side with other components.

(5) Simple Absolute System

The axis-drive unit is either a RPCON unit for 24-V pulse motor actuators or RACON unit for 24-V servo motor actuators.
Although both use an incremental encoder, they can be used as an absolute axis when a simple absolute R unit is
connected.

(6) Four Types of Gateway R units

To support various field networks, the Gateway R unit (gateway function) is available in the following four types, each
supporting a different field network.
x DeviceNet type x CC-Link type x Profibus type
x RS485 SIO communication type

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Part 1 Specification
(7) Six ROBONET operation modes
The ROBONET can operate ROBO Cylinders in one of the following four modes under the control of the Gateway R unit,
regardless of the type of the host fieldbus.
The following three modes from [1] to [3] can be combined together. You can also combine the remaining three modes
from [4] to [6].
However, [1] and [4] cannot be combined, and modes in the group of [1] to [3] cannot be combined with modes in the
group of [4] to [6].

[1] Positioner mode (Number of positions: 768 points)

In this mode, the actuator is operated by specifying a position number. The position data, speed,
acceleration/deceleration and other data are input in the position table beforehand. Up to 768 points can be
registered as positions for each axis.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple
alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.

[2] Simple direct mode (Number of positions: 768 points)

In this mode, the actuator is operated by specifying only the position data directly as a numerical value, and
specifying all other data including the speed, acceleration/deceleration, positioning band and push-current limiting
value using a position number. Up to 768 points can be registered as positions.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple

Chapter 1 Overview of ROBONET

alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.

[3] Direct numerical specification mode

In this mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, positioning
band and push-current limiting value directly as numerical values. The various status signals of the controller unit,
current actuator position, alarm codes and speed/electrical current can be monitored at all times.

[4] Positioner 2 mode (Number of positions: 768 points)

This mode is the same as the positioner 1 mode.
It cannot be combined with the positioner 1 mode, simple direct mode or direct numerical specification mode.
The positioner 2 mode can only be used alone. The positioner 2 mode can be combined with solenoid valve mode 1
or solenoid valve mode 2. This mode is supported by gateway units of firmware version 000B and later.

[5] Solenoid valve mode 1 (Number of positions: 7)

In this mode, the number of positioning points is limited to 7 to simplify operations.
Actuators can be operated simply by issuing a command with a target position number (no start signal is required).
Accordingly, PLC ladder sequence circuits can be created with ease.

[6] Solenoid valve mode 2 (Number of positions: 3)

Operations are also simplified in this mode, as with solenoid valve mode 1. You can operate actuators using the
same control methods you normally use on solenoid valves.

In the positioner mode or simple direct mode, position table data can be read, written or otherwise manipulated using
dedicated commands.
Even in the AUTO mode, the various information of each axis (alarm codes, speed, electrical current, etc.) can be
monitored on the touch panel display (RCM-PM-01) connected to the TP connector.

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Part 1 Specification

List of ROBONET Operation Functions

Solenoid Solenoid
Operation mode Simple direct Direct numerical
Positioner 1 mode Positioner 2 mode valve valve mode
Item mode specification mode
mode 1 2
Axis area
4 words 8 words 2 words 2 words
(both input and output)
Fixed area 8 words 8 words 8 words
8 words
(The command area (The command area (The command area can
(both input and output) (The command area can be used.)
cannot be used.) can be used.) be used.)
Number of registrable 768 7 3
768 points/axis - 768 points/axis
positions points/axis points/axis points/axis
Operation by position number
X
specification
Direct position data X X X
specification (Position table) (Position table) (Position table)
Direct speed &
X X *3 X X
acceleration/deceleration
(Position table) (Position table) (Position table) (Position table)
specification
Direct positioning band X X X X
specification (Position table) (Position table) (Position table) (Position table)
X X X X
Push operation
Chapter 1 Overview of ROBONET

(Position table) (Position table) (Direct specification) (Position table) (Position table)
Completed position number
X
monitor
Zone output monitor
Position zone output monitor X
Teaching operation X X X
Jogging operation X
Inching operation X
Various status signal monitor
X
*1
Current position monitor
X
*1
Alarm code monitor *1 X
Speed/electrical current
X X X X
monitor *1 *4
Axis monitor function in
AUTO mode *2
Handshake X
Position table data
Command

X
read/write
Current position read X X X X X

Broadcast X X

Maximum specifiable position 9999.99 mm 9999.99 mm 9999.99 mm

(When a 9999.99 mm 9999.99 mm (When a command (When a command
data value command is used) is used) is used)
Number of connectable axes 16 16 8 16 16

*1 Various status signals, current position, alarm codes and speed/electrical current can be monitored by accessing each
address of the gateway unit from the PLC.
*2 Before, axis monitor was not possible in the AUTO mode. This has become possible with the ROBONET, even when the
MODE switch is set to AUTO, by connecting a dedicated touch panel to the TP connector.
*3 Separate values cannot be set for acceleration and deceleration. The acceleration and deceleration are always the same.
*4 The command is monitored for speed and electrical current.

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Part 1 Specification
(8) Easy Setting Using the ROBONET Gateway Parameter Setting Tool
With this tool, you can set the station number, baud rate, and operation mode of each axis, and also check the occupied
areas.
Also, reserved axes can be set in consideration of expansion of axis configuration in the future.
[1] Station number setting ------------------------- Set the station number (node address) in the field network.
[2] Baud rate setting -------------------------------- Set the baud rate over the field network. The setting must be the same as
the baud rate set on the master side.
[3] Operation mode setting for each axis
[4] Setting of reserved axes
[5] Checking of occupied area information --- The ROBONET-occupied area information set on the master side can be
checked.
[6] Operation of parameter files

Setting of the positioner 2 mode, setting of reserved axes and operation of parameter files are supported when the
version of the parameter setting tool is 1.0.3.0 or later and the firmware version of the Gateway R unit is 000B or later.
Correspondences with gateway firmware versions are shown below. (O: Supported, X: Not supported)
Solenoid valve mode 1, solenoid valve mode 2 and special parameter setting functions are supported by parameter
setting tools of version 1.0.4.0 and later and Gateway R units of firmware version 000F and later.

(9) Multi-stage layout

The extension unit can be used to implement a ROBONET system of multi-stage layout.

Chapter 1 Overview of ROBONET

(10) External SIO link
The extension unit can be used to connect non-ROBONET controllers (SCON, PCON-CF, ERC2).

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 Part 1 Specification
Part 1 Specification

Chapter 2 System Configuration and General Specifications

2.1 System Configuration
A ROBONET system is comprised of one Gateway R unit and up to 16 axes of controller units. The Gateway R unit is
available in four types—DeviceNet specification, CC-Link specification, Profibus specification, and RS485 SIO
specification—to support various field networks.
The controller unit may be a RPCON unit for 24-V pulse motor actuators or RACON unit for 24-V servo motor actuators.
When a simple absolute R unit is connected to the controller unit, the controller can be used as an absolute axis.
Also, the ROBONET extension unit can be used to implement a ROBONET system of multiple-row layout (multi-stage layout)
and connect non-ROBONET controller units (SCON, PCON-CF, ERC2) to a ROBONET system (via external SIO link).
A ROBONET system configuration is shown on the next page.

2.2 List of Component Units

The units comprising a ROBONET system are listed below.

Product name Model

DeviceNet specification RGW-DV
CC-Link specification RGW-CC
Gateway R unit
Profibus specification RGW-PR
RS485SIO specification RGW-SIO
Chapter 2 System Configuration and General Specifications

RACON (for RCA ,RCL actuators) RACON-10I/20S/30 *

Controller unit
RPCON (for RCP actuators) RACON-20P/28P/28SP/42P/56P *
Simple absolute R unit Common to the RACON and RPCON RABU
ROBONET extension (Optional) REXT

* If a simple absolute R unit is connected, “-ABU” is appended at the end of the model name.

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 ROBONET Configuration (1) (Basic)

Field network (DeviceNet, CC-Link, Profibus) RS485 SIO

Axis 0 Axis 1 Axis 2 Axis 3 Axis 14 Axis 15

Gateway RACON RPCON RAON Simple RPCON Simple RACON RPCON

R unit unit unit unit absolute unit absolute unit unit
R unit R unit Simple absolute connection
circuit board

Terminal resistor circuit board

ROBONET communication
connection circuit board

Power-supply connection plates

Part 1

RCA , RCA ,
Emergency RCP RCA , RCL RCP RCP
PCL RCL
stop circuit actuator actuator actuator actuator
actuator actuator

15
Specification

Chapter 2 System Configuration and General Specifications 15

Part 1 Specification
 Part 1 Specification
Part 1 Specification

ROBONET Configuration (2) (Multi-stage layout and external SIO link)

Field network (DeviceNet, CC-Link, Profibus) RS485 SIO

Axis 2
Axis 0 Axis 1

Gateway RACON RPCON RAON Simple Extension

R unit unit unit unit absolute unit
R unit
Simple absolute connection
circuit board

ROBONET communication
connection circuit board
Chapter 2 System Configuration and General Specifications

Power-supply connection plates

Axis 3 Axis 4 Unit link cable

Extension RACON RPCON Extension

unit unit unit unit

<Multi-stage layout>

Controller connection cable

4-way junction 4-way junction

<External SIO link>
Terminal resistor

Axis 5 Axis 6 Axis 7

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 Part 1 Specification

Part 1 Specification
2.3 General Specifications
The general specifications of a ROBONET system are listed below.

Item Specification
Power-supply voltage 24 VDC 10 %
Power-supply current Varies depending on the system configuration.
Maximum number of connectable axes 16 axes (Controller units can be combined freely.)
Supported field networks CC-Link, DeviceNet, Profibus, RS485 SIO
(slave station)
ROBONET communication protocol Modbus protocol
Component units Gateway R unit, controller unit, simple absolute R unit
ROBONET extension
(Refer to 2.2 for details.)
Emergency stop/enable operation The entire system is stopped by the emergency stop input from the Gateway R
unit. Each controller unit has a built-in drive-source cutoff relay.
Use environment Pollution degree 2
Surrounding air temperature 0 to 40 C
Surrounding humidity 95% RH max. (non-condensing)
Protection degree IP20
External dimensions of each unit 34 W x 105 H x 73.3 D [mm]
All units have the same dimensions.

Chapter 2 System Configuration and General Specifications

Interconnection of units Power-supply connection plate
Unit link cable or controller connection cable when the ROBONET communication
connection circuit board, simple absolute connection circuit board or ROBONET
extension unit is used (multi-stage layout or external SIO link)
Installation method Installation on a DIN rail (35 mm)
(However, controllers corresponding to external SIO link axes are excluded.)

2.4 24-V Power Current Consumption of Each Unit

Current consumption
Gateway R unit 600 mA max. (Common to all four types)
RACON unit Actuator Standard specification, high
Energy-saving type
acceleration/deceleration type
Rating Max. *1 Rating Max. *1
SA3 (10) 1.3 A 4.0 A 1.3 A 2.2 A
SA4 SA5 RA4 (20) 1.3 A 4.4 A 1.3 A 2.5 A
SA6 RA4 (30) 1.3 A 4.0 A 1.3 A 2.2 A
RA3 (20S) 1.7 A 5.1 A 1.7 A 3.4 A
RPCON unit Actuator Rating Max. *2
20P, 28P, 28SP motors 0.4 A 2.0 A
42P, 56P motors 1.2 A 2.0 A
Simple absolute R unit 300 mA max.
ROBONET extension 100 mA max.
*1 The current becomes the maximum during the excited-phase detection of the servo motor performed when the servo is
turned on for the first time following the power on. (Normal: Approx. 1 to 2 seconds, Maximum: 10 seconds)
*2 The current becomes the maximum during the excited-phase detection performed when the servo is turned on for the first
time following the power on. (Normal: 100 msec)

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 Part 1 Specification
Part 1 Specification

<Selection of Power-supply Capacity>

The method to select an appropriate 24-VDC power supply to be used with your ROBONET system is explained below.

(1) Current consumption of controller units when the respective axes operate simultaneously
Rated RACON current x Number of RACON controllers operating simultaneously ( 1) + Rated
RPCON current x Number of RPCON controllers operating simultaneously ( 1) --- [1]

(2) Current consumption of other units

= 0.6 A x Number of Gateway R units + 0.3 A x Number of simple absolute R units
+ 0.1 A x Number of extension units --- [2]
The current consumption is calculated by [1] + [2] in a steady state.

(3) Current consumption during excited-phase detection

Maximum RACON current x Number of RACON controllers performing excited-phase detection simultaneously ( 1) +
Maximum RPCON current x Number of RPCON controllers performing excited-phase detection simultaneously ( 1)
--- [3]
Normally a power supply whose rated current is equivalent to ([1] + [2]) x 1.3 or more is selected by considering 20 to
30% of allowance in addition to the above current consumption of [1] + [2].
However, make sure you select a power supply of “peak load accommodation” specification or having a sufficient
allowance because the current of [3] will flow for a brief moment. In particular, exercise caution when the remote sensing
function is provided.

<Reference>
Chapter 2 System Configuration and General Specifications

ROBONET
Circuit Gateway RACON or RPCON (up to 16 axes)
breaker Power supply R unit

(1) It is recommended that the ROBONET power be turned on/off on the AC power supply side (primary side of
the 24-V power supply). If the ROBONET power is turned on/off on the output side of the 24-V power supply,
the large current will flow for a brief moment when the power is turned on, as explained in (2).

Turning on the power on the AC power supply side causes a rush current (*1) to flow where the size of this rush current is
determined by the 24-V power supply used. Accordingly, select a circuit breaker that will not trip when this rush current
flows.
(Example) If the PS241 is used as the 24-V power supply, a rush current of approx. 50 to 60 A will flow through the
power supply for approx. 3 ms. (Measured value)
*1 The specific value varies depending on the model of the 24-V power supply and impedance of the power-supply line.

(2) The table below lists the measured ROBONET rush currents (*2) that generate when the ROBONET power
is turned on/off on the DC side (secondary side of the 24-V power supply). (These values assume parallel
connection of three PS241s as 24-V power supplies.)
Number of axes
1 to 3 axes 4 to 8 axes 9 to 12 axes 13 to 16 axes

Approx. 50 to 60 A, Approx. 100 to 120 A, Approx. 12 to 130 A, Approx. 130 A

ROBONET rush current
0.2 ms 0.2 to 0.5 ms 0.6 to 0.8 ms 1.0 to 1.5 ms
*2 The specific ROBONET rush current varies depending on the model of the 24-V power supply and impedance of the
power-supply line. The values in the above table are reference values only and not guaranteed.
*3 If turning the power on/off is necessary on 24-V side, keep the 0-V connected and connect/disconnect the 24-V line.

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Part 1 Specification
2.5 Connection Diagram
Shown below is a connection diagram of a ROBONET system comprising of a RPCON and a RACON connected to a simple
absolute R unit.
Gateway R unit
24-V power supply Terminal block Motor cable (CB-RCP2-MA***)

Emergency stop circuit

RPCON encoder cable (CB-RCP2-PA***)

Field network
connector

Chapter 2 System Configuration and General Specifications

PG (white)
Motor cable (CB-ACS-MA***)

RPCON
encoder cable port

Simple RACON encoder cable port

absolute R unit (Simple absolute R unit not connected)
RACON
encoder cable
(CB-ACS-PA***) PG (red)

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 Part 1 Specification
Part 1 Specification

Chapter 3 Gateway R unit

3.1 Overview
The Gateway R unit is a slave station with gateway function for connecting ROBO Cylinders to a field network of a host PLC
and operating the connected ROBO Cylinders.
The Gateway R unit is available in four types to support field networks of CC-Link, DeviceNet, Profibus and RS485 SIO
communication types.
A total of up to 16 axes can be connected by combining dedicated ROBONET controller units (RACON/RPCON) and
non-ROBONET controller units (SCON, PCON-CF, ERC2), and each axis can be monitored in the AUTO mode (only when
the touch panel display RCM-PM-01 is connected).
Chapter 3 Gateway R unit

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Part 1 Specification
3.2 How to Read the Model Name

Base model Supported field network

Dedicated Gateway R unit for ROBONET

3.3 Gateway R unit and Accessories

The four types of units each come with a different set of accessories appropriate for the applicable field network.

Main unit
EMG connector

Common accessories

Terminal resistor circuit board

Chapter 3 Gateway R unit

Dedicated accessories for CC-Link type
[1] Communication connector, terminal resistors

Dedicated accessory for DeviceNet type

[2] Communication connector

Dedicated accessory for RS485 SIO communication type

[3] Communication connector

CC-Link DeviceNet RS485 SIO communication Profibus

Fig. [1] Fig. [2] Fig. [3] -
EMG connector
MC1.5/2-STF-3.81 (by Phoenix Contact)
Terminal resistor circuit board (model TN-1)
CC-Link communication DeviceNet communication RS485 SIO communication
connector connector connector
None
MSTB2.5/5-ST-5.08ABGYAU MSTB2.5/5-ST-5.08ABGYAU MC1.5/4-ST-3.5
(by Phoenix Contact) (by Phoenix Contact) (by Phoenix Contact)
Terminal resistors
None None None
110 , 130 (1/2 W)

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 Part 1 Specification
Part 1 Specification

3.4 General Specifications

3.4.1 CC-Link
This product is a maximum 4-station remote device station supporting CC-Link Version 2.00. (Its specifications vary
depending on the extended cyclic setting.)
This product supports the following functions of CC-Link Version 2.00:
x Extended cyclic transmission
x Relaxed limitation on station link cable length

CC-Link Version 1.10 is also supported as long as the extended cyclic transmission setting of x1 (four stations occupied) can
be used.
Chapter 3 Gateway R unit

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 Part 1 Specification

Part 1 Specification
Item Specification
Power supply 24 VDC r 10%
Current consumption 600 mA max.
Communication protocol CC-Link Version 2.00 (Version 1.10)
Baud rate 10M/5M/2.5M/625k/156k [bps] (Set by a ROBONET gateway parameter)
Communication method Broadcast polling method
CC-Link specification

Synchronization method Frame synchronization method

Encoding method NRZI
Transmission path type Bus type (Conforming to EIA RS485)
Transmission format Conforming to HDLC
Error control method CRC (X16 + X12 + X5 + 1)
Number of occupiable stations Remote device stations: four x1 stations, two x4 stations or two x8 stations
Communication cable length (*1) Baud rate (bps) 10M 5M 2.5M 625k 156k
Total cable length (m) 100 160 400 900 1200
Communication cable Dedicated CC-Link cable
Transmission path configuration IAI’s dedicated multi-drop differential communication
Communication method Half-duplex
SIO communication

Synchronization method Asynchronous method

specification

Transmission path type 2-wire method corresponding to EIA RS485

Baud rate 230.4k [bps]
Error control method CRC with no parity bit (*2)
Communication cable ROBONET communication connection circuit board (supplied), ROBONET
extension cable (when an extension unit is used)
Number of connectable units 16 axes max.

Chapter 3 Gateway R unit

Ambient operating temperature 0 to 40qC
Ambient operating humidity 95% RH max. (non-condensing)
Operating ambience Free from corrosive gases, flammable gases, oil mist or powder dust.
Environment
conditions

Storage temperature -25 to 70qC

Storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
Impact resistance XYZ directions: 147 mm/s2, 11 ms, half-sine wave pulse
Protection degree IP20
Weight Approx. 140 g
External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit.
*2: CRC: Cyclic Redundancy Check
A data error detection method frequently used for synchronous transmission.

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Part 1 Specification

3.4.2 DeviceNet
Item Specification
Power supply 24 VDC r 10%
Current consumption 600 mA max. (*1)
Communication protocol An interface module certified under DeviceNet 2.0 is used.
Group 2 only server
Network-powered isolated node
Communication specification Master-slave connection Bit strobe
DeviceNet specification

Polling
Cyclic
Baud rate 500k/250k/125k [bps] (Set by a ROBONET gateway parameter)
Communication cable length (*1) Maximum network Maximum branch Total branch
Baud rate
length length length
500 kbps 100 m 39 m
250 kbps 250 m 6m 78 m
125 kbps 500 m 156 m
Note) When a thick DeviceNet cable is used.
Number of occupiable nodes 1 node
Communication power supply Voltage: 24 VDC (Supplied from DeviceNet)
Current consumption: 60 mA
Transmission path configuration IAI’s dedicated multi-drop differential communication
Communication method Half-duplex
SIO communication
Chapter 3 Gateway R unit

Synchronization method Asynchronous method

specification

Transmission path type 2-wire method corresponding to EIA RS485

Baud rate 230.4k [bps]
Error control method CRC with no parity bit (*2)
Communication cable ROBONET communication connection circuit board (supplied), ROBONET
extension cable (when an extension unit is used)
Number of connectable units 16 axes max.
Ambient operating temperature 0 to 40qC
Environment conditions

Ambient operating humidity 95% RH max. (non-condensing)

Operating ambience Free from corrosive gases, flammable gases, oil mist or powder dust.
Storage temperature -25 to 70qC
Storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent)
2 2
57 to 150 Hz – 4.9 m/s (continuous) / 9.8 m/s (intermittent)
Impact resistance XYZ directions:
2
147 mm/s , 11 ms, half-sine wave pulse
Protection degree IP20
Weight Approx. 140 g
External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit.
*2: CRC: Cyclic Redundancy Check
A data error detection method frequently used for synchronous transmission.

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Part 1 Specification
3.4.3 Profibus
Item Specification
Power supply 24 VDC r 10%
Current consumption 600 mA max. (*1)
Communication protocol Group 2 only server
Network-powered isolated node
Profibus specification

Communication specification Master-slave connection Bit strobe

Polling
Cyclic
Baud rate 9.6 kbps to 12 Mbps
Communication cable length (*1) 9.6 kbps 1500 m
500 kbps 400 m
1.5 Mbps 200 m
3 Mbps 200 m
12 Mbps 100 m
Transmission path configuration IAI’s dedicated multi-drop differential communication
Communication method Half-duplex
SIO communication

Synchronization method Asynchronous method

specification

Transmission path type 2-wire method corresponding to EIA RS485

Baud rate 230.4k [bps]
Error control method CRC with no parity bit (*2)
Communication cable ROBONET communication connection circuit board (supplied), ROBONET
extension cable (when an extension unit is used)

Chapter 3 Gateway R unit

Number of connectable units 16 axes max.
Ambient operating temperature 0 to 40qC
Environment conditions

Ambient operating humidity 95% RH max. (non-condensing)

Operating ambience Free from corrosive gases, flammable gases, oil mist or powder dust.
Storage temperature -25 to 70qC
Storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
Impact resistance XYZ directions:
147 mm/s2, 11 ms, half-sine wave pulse
Protection degree IP20
Weight Approx. 140 g
External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit.
*2: CRC: Cyclic Redundancy Check
A data error detection method frequently used for synchronous transmission.

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3.4.4 RS485 SIO

Two modes are available: the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station, and the SIO
through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII protocols.

Specification
Item
Modbus gateway mode SIO through mode
Power supply 24 VDC r 10%
Current consumption 600 mA max.
Communication format 1:1 communication connection 1:N (1d N d 16) communication
conforming to RS485 connection conforming to RS485
Communication method Asynchronous half-duplex
Communication mode Modbus/RTU Modbus/RTU, ASCII
Baud rate [bps] *2 9600 19200 38400 57600 115200 230400 38400 57600 115200 230400
Frame delay time t3.5 Fixed to 1.75 ms t3.5 Fixed to 1.75 ms
Host RS485 specifications

Slave address Fixed to 63 (3FH) Axis number + 1 (01H to 10H)

Master Ÿ F600H to F647H
ROBONET
Register address Arbitrary
ROBONET Ÿ F700H to F747H
Master
Read Holding Register (03H) 01H to 07H
Available function codes Preset Single Register (06H) 0FH, 10H, 11H, 17H
Preset Multiple Register (10H)
Chapter 3 Gateway R unit

Maximum send/receive buffer size 160 byte

Bit length 8 bits
Start bit 1 bit
Stop bit 1 bit
Parity None
Cable length 100 m max. (master Ÿ RGW-SIO)
Transmission path configuration IAI’s dedicated multi-drop differential communication
Communication method Half-duplex
SIO communication

Synchronization method Start-stop method

specifications

Transmission path format Conforming to EIA RS485, 2-wire type

Baud rate 230.4 k [bps]
Error control method No parity bit, CRC *2
Communication cable ROBONET communication connection circuit board (supplied), ROBONET
extension cable (when an extension unit is used)
Number of units that can be connected 16 axes max.
Ambient operating temperature 0 to 40qC
Ambient operating humidity 95% RH max. (non-condensing)
Operating ambience Free from corrosive gases, flammable gases, oil mist or powder dust.
Environment conditions

Storage temperature -25 to 70qC

Storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm
(intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
Impact resistance XYZ directions:
2
147 mm/s , 11 ms, half-sine wave pulse
Protection degree IP20
Weight Approx. 140 g
External dimensions [mm] 34 W x 105 H x 73.3 D [mm]

*1: The baud rate is set by the gateway parameter selection tool.
*2: If the host is a PLC, the PLC must have a RS485 or RS232C interface. If a RS232C interface is used, a SIO converter
(RCB-TU-SIO-*) is required.

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Part 1 Specification
3.5 Name/Function of Each Part and External Dimensions
The four types of Gateway R units are exactly the same, except for the field network connector provided on top of the unit.

3.5.1 Name of Each Part

Field network connector

(Varies according to the network type)

MODE switch LED indicators

(Front cover open)

TP connector

Chapter 3 Gateway R unit

User setting
switches

ROBONET communication connector

Power-supply input terminal block

EMG connector FG terminal

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3.5.2 LED Indicators

These LEDs are used to monitor the status of the gateway unit.

Symbol Indicator color Explanation

Steady green: Operating normally.
RUN/ALM Green/orange
Steady orange: An error is present.
EMG Red This LED is lit when an emergency stop is actuated.
This LED is lit when a communication error is present between the controller and
ERROR T Orange
internal bus.
ERROR C Orange This LED is lit when a communication error is present over the field network.
STATUS 1 Green/orange The function of this LED varies according to the field network type.
STATUS 0 Green/orange (Refer to the table below.)
AUTO Green This LED is lit in the AUTO (auto operation) mode.

STATUS 0 and 1 indicate the field network statuses. What these LEDs indicate vary according to the field network type, as
shown in the table below.

(1) CC-Link

Name Indicator color Status Explanation

An error (CRC error, station number setting error or baud rate setting
Steady
error) is present.
Chapter 3 Gateway R unit

STATUS 1 Orange
The station number or baud rate has changed from the set value due to a
Blinking
reset.
A refresh & polling command has been received successfully, or a refresh
STATUS 0 Green Steady
command has been received successfully, after joining the network.

(2) DiviceNet

Name Indicator color Status Explanation

Steady Online.
Green
Blinking Online (Cnx not established).
STATUS 1
Steady An error is present.
Orange
Blinking At least one Cnx has generated a timeout.
Green/orange Alternate Self-diagnosis is in progress.
Steady Operating normally.
Green No configuration information is available or the configuration information
Blinking
is incomplete.
STATUS 0
Steady Failed (unrecoverable).
Orange
Blinking Failed (recoverable).
Green/orange Alternate Self-diagnosis is in progress.

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Part 1 Specification
(3) Profibus

Name Indicator color Status Explanation

Steady Online.
Green
STATUS 1 Blinking Online (clear command executed).
Orange Blinking An error (parameter error or Profibus configuration error) is present.
Steady Initialization has completed.
Green
STATUS 0 Blinking Initialization has completed (diagnosis event has occurred).
Orange Steady An error (exceptional error) is present.

(4) RS485SIO

Name Indicator color Status Explanation

STATUS 1 Green Steady Sending data.
STATUS 0 Green Steady Receiving data.

Chapter 3 Gateway R unit

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3.5.3 MODE Switch

This switch is used to set the operation mode of the controller.

Status Explanation
MANU Manual operation: The ROBONET system can be operated using a teaching pendant or PC.
AUTO Auto operation: The ROBONET system is controlled via field network communication.

3.5.4 TP Connector
A connector used exclusively for connecting a teaching pendant or PC.
Connector: TCS7587-0121077 (by Hosiden)

3.5.5 User Setting Switches

These switches are used to set the operation mode of the Gateway R unit.
Normally SW3 and SW4 should remain OFF (they should be in the left positions). Do not change the settings of these
switches.

Explanation
SW No.
CC-Link DeviceNet Profibus RS485SIO
Chapter 3 Gateway R unit

SW4 Always OFF

SW3 Always OFF
ON: SIO through mode
SW2 Always OFF Endian *2
OFF: Modbus gateway mode
SW1 When this switch is set to ON, the TP enable switch signal is effective.

*1 SW1 to SW4 are ON when set to the right side, and OFF when set to the left side.
*2 Remote I/O endian
ON Little endian (LSB first) PLC by Mitsubishi, Omron, etc.
OFF Big endian (MSB first) PLC by Siemens

3.5.6 ROBONET Communication Connector

This connector is used to connect a Modbus communication line, emergency stop signal, etc., to the axis controller unit.
Connection is made using the ROBONET communication connection circuit board supplied with the axis controller unit.

3.5.7 Power-supply Input Terminal Block

24-VDC power is input to this terminal block.
To supply power, connect the +24-V side and 0-V side to the power-supply input terminal block of the adjoining axis controller
unit using the power-supply connection plate supplied with the controller.
11. M3 screw

M3 screw
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Part 1 Specification
ROBONET communication connection circuit boards

Terminal resistor circuit board

Power-supply connection plates

(Interconnections of ROBONET units)

ROBONET communication
connection circuit boards
(Model JB-1)

Chapter 3 Gateway R unit

Power-supply connection plates
(Model PP-1)

RACON RPCON unit

unit Simple absolute R unit

The photographs show the parts supplied with the axis controller unit or simple absolute R unit.

3.5.8 FG Terminal (Frame Ground)

This terminal is used to connect the Gateway R unit to ground. The thread size is M3.

3.5.9 EMG Connector (Emergency Stop)

This connector is used to connect an emergency stop circuit. It turns ON/OFF the drive sources of all axes simultaneously.
Gateway-end connector: MC1.5/2-GF-3.81 (by Phoenix Contact)
Cable-end connector: MC1.5/2-STF-3.81 (by Phoenix Contact) = Standard accessory

Signal name Explanation

EMG+ Emergency stop switch+
EMG- Emergency stop switch-

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Recommended Emergency Stop Circuit

Shown below is an example of an emergency stop circuit of a ROBONET system.
The built-in drive-source cutoff relays of all axis controller units are turned ON/OFF simultaneously using the emergency stop
switch of the emergency stop circuit or teaching pendant connected to the Gateway R unit.

TP connector Gateway R unit Axis controller unit Axis controller unit

Teaching pendant ROBONET Communication Connector

TP connection
detection circuit

Drive-source cutoff signal

EMG connector (CPU control signal)

Motor drive source Motor drive source

Drive-source cutoff relay Drive-source cutoff relay

Chapter 3 Gateway R unit

Power-supply input terminal block

Internal power supply

common GND

Emergency
stop reset Emergency stop

Caution
If an emergency stop is actuated with the emergency stop button, the emergency stop can be reset using the emergency
stop reset switch. If an emergency stop is actuated with a teaching pendant, however, the emergency switch will be reset
when the same emergency switch is turned and reset.

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3.5.10 Field Network Connector
This connector is used to connect the master unit of each field network.
The connector varies according to the field network type.

(1) CC-Link (RGW-CC)

RGW-CC-end connector: MSTBA2.5/5-G-5.08AU (by Phoenix Contact)
Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory

RGW-CC end

CC-Link communication connector

Signal name Explanation
DA Communication line A
DB Communication line B

Chapter 3 Gateway R unit

DG Digital ground
Connect the shield of the shielded cable.
SLD
This signal is internally connected to “FG” and the enclosure.
Frame ground
FG
This signal is internally connected to “SLD” and the enclosure.

* The cable-end connector, “terminal resistor 110 :, 1/2 W” and “terminal resistor 130 :, 1/2 W” are supplied.
A terminal resistor must be connected to the units at both ends of the CC-Link system. If the RGW-CC is a terminal unit
of the CC-Link system, connect the supplied terminal resistor between the DA and DB pins of the connector.
The applicable terminal resistor varies according to the type of the CC-Link cable used, as shown below. Use the
terminal resistor appropriate for the cable.
For details, refer to the operation manual of the master unit.

Cable name Terminal resistor

Dedicated CC-Link cable (Version 1.00, Version 1.10) 110 :, 1/2 W
Dedicated high-performance CC-Link cable (Version 1.00) 130 :, 1/2 W

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(1) DeviceNet (RGW-DV)

RGW-DV-end connector: MSTBA2.5/5-G-5.08ABGYAU (by Phoenix Contact)
Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory

RGW-DV end

Black Blue White Red

DeviceNet communication connector

Pin color Explanation
Black Power-supply cable- *
Blue Communication data low
- Shield
White Communication data high
Red Power-supply cable+ *
Chapter 3 Gateway R unit

* Current consumption of bus power supply = 60 mA

Applicable Wire for Cable-end Connector

Item Description
Applicable wire size Stranded wire: AWG24 to 12 (0.2 to 2.5 mm2)
Cable stripping length 7 mm (stripping length of cable sheath)

* Although the RGW-DV does not come with terminal resistors, a terminal resistor must be connected to both ends of
the main DeviceNet line. Use a T-branch tap with terminal resistor (121 : r 1%, 1/4 W) or terminal-block type terminal
resistor (121 : r 1%, 1/4 W) at both ends of the main line.
Alternatively, connect a resistor of the same specification directly between the blue and white pins of the connector.
For details, refer to the operation manual of the master unit.

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Part 1 Specification
(3) Profibus (RGW-PR)
RGW-PR connector: D-Sub, 9-pin connector (female)

Profibus communication connector

Pin number Signal name Explanation
1 NC Not connected
2 NC Not connected
3 B-Line Communication line B (RS485)
4 RTS Send request
5 GND Signal ground (isolated)
6 +5 V +5-V output (isolated)
7 NC Not connected
8 A-Line Communication line A (RS485)
9 NC Not connected

Chapter 3 Gateway R unit

Shield Cable shield
Housing
This signal is connected to the enclosure.

 Caution
(1) The mating (cable-end) connector (D-sub, 9-pin connector) is not supplied.
(2) The RGW-PR does not have terminal resistor setting switches. If the RGW-PR is connected at the end of a network,
connect a terminal resistor to the network connector or use a connector with terminal resistor, as specified below.

z Connecting a terminal resistor

Female connector Male connector on network

on RGW-PR end end (view from the side
opposite the insertion side)

Network wiring

z Profibus connector (with terminal resistor)

(Example) SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)
For details, refer to the operation manual of the master unit.

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(4) RS485SIO (RGW-SIO)

RGW-SIO connector: MC1.5/4-G-3.5 (by Phoenix Contact)
Cable-end connector: MC1.5/4-ST-3.5 (by Phoenix Contact) = Standard accessory

SIO communication connector

Signal name Explanation
SA Communication line A (+) Built-in terminal resistor (220 :) conforming
SB Communication line B (-) to RS485
SG Signal ground
Frame ground
FG
This signal is connected to the enclosure.
Chapter 3 Gateway R unit

Applicable Wire for Cable-end Connector

Item Description
Applicable wire size Stranded wire: AWG28 to 16 (0.14 to 1.5 mm2)
Cable stripping length 7 mm

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Part 1 Specification
3.5.11 External Dimensions

* Installable on a
35-mm DIN rail

Chapter 3 Gateway R unit

(50 from DIN rail center)

(69.3 from DIN rail surface)

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3.6 Operation Function List

RACON/RPCON Function List

Positioner 1, 2 mode Solenoid valve modes 1, 2

c Solenoid valve mode 1
Home return operation c X Solenoid valve mode 2
(not required)

Positioning operation U Specify a position table number. U Specify a position table number.

Speed setting U Set in the position table. U Set in the position table.

U Set acceleration and deceleration in U Set acceleration and deceleration in

Acceleration/deceleration setting
the position table separately. the position table separately.

Operation at different acceleration and U Set acceleration and deceleration in U Set acceleration and deceleration in
deceleration the position table separately. the position table separately.

Push operation U Set in the position table. U Set in the position table.
Chapter 3 Gateway R unit

U Combine two or more position U Combine two or more position

Speed change during movement
numbers. numbers.
c Solenoid valve mode 1
Pause c X Solenoid valve mode 2
(not required)
c Set using the position table and user
parameters.
c Set using the position table and user The following zone signals are output:
Zone signal parameters. • Solenoid valve mode 1: ZONE1,
Outputs: PZONE, ZONE1, ZONE2 ZONE2
• Solenoid valve mode 2: PZONE,
ZONE1

Teaching operation c X

c Solenoid valve mode 1

Jogging operation c
X Solenoid valve mode 2

c Solenoid valve mode 1

Inching operation c
X Solenoid valve mode 2

With the RPCON, set parameter No. 53

Power-saving mode c
to “4” to implement full servo control.

Position table Required Required

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Part 1 Specification
{: Direct control U: Indirect control X: Not available

Simple direct mode Direct numerical specification mode

c c

{ Specify position data (32-bit signed integer). { Specify position data (32-bit signed integer).

U Set in the position table. { Specify speed data (16-bit integer).

U Set acceleration and deceleration in the position table

{ Specify acceleration/deceleration data (16-bit integer).
separately.

{ Since the acceleration/deceleration data is accepted when

the positioning is started, change the
U Set acceleration and deceleration in the position table
acceleration/deceleration data while the actuator is moving
separately.
and restart the operation in order to decelerate the actuator
at a value different from the acceleration.

Chapter 3 Gateway R unit

{ Specify the push-current limiting value (8-bit integer) and
U Set in the position table. also specify the push direction (DIR) and push mode
(PUSH).

{ Since the speed data is accepted when the positioning is

U Combine two or more position numbers. started, change the speed data while the actuator is
moving and restart the operation.

{ {

{ Set using the position table and user parameters. { Set using user parameters.
Outputs: PZONE, ZONE1, ZONE2 Outputs: ZONE1, ZONE2

X X

{ {

{ {

With the RPCON, set parameter No. 53 to “4” to implement full servo control.

Required Not required

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3.7 Address Configuration

ROBONET addresses are configured in the same manner with all four types of gateway units regardless of the type of field
network.
The addresses occupied by the network consist of a fixed 8-word area and a data area that changes according to the
operation mode and number of axes. The operation modes and occupied data areas are shown below.
The positioner 1 mode, simple direct mode and direct numerical specification mode can be combined, and a desired mode can
be selected for each axis. Also note that the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2 cannot be
combined with the positioner 1 mode, simple direct mode or direct numerical specification mode.

Fixed area (8 words) Fixed area (8 words)

Data area Data area

Solenoid valve
Positioner 1 Simple direct Direct numerical Positioner 2 mode 1, solenoid
mode mode specification mode valve mode 2
(4 words) (4 words) mode (8 words) (2 words) (2 words)

Number of axes Number of axes Number of axes Number of axes Number of axes
Chapter 3 Gateway R unit

(1) Configuration of Fixed Area

PLC output Ÿ ROBONET ROBONET Ÿ PLC input

Number Number
Upper byte Lower byte Upper byte Lower byte
of words of words
Gateway control Gateway control signal 0 Gateway status signal 0
2 2
area Gateway control signal 1 Gateway status signal 1
Request command Response command
Data 0 Data 0
Data 1 Data 1
Command area 6 6
Data 2 Data 2
Data 3 Data 3
Cannot be used. Cannot be used.

* In the direct numerical specification mode, the command area cannot be used, but this area is occupied as part of the data
area.

(2) Data Area Configuration in the Positioner Mode and Simple Direct Mode

PLC output Ÿ Axis input Axis output Ÿ PLC input

Simple Simple
Upper Number Positioner Upper Number Positioner
Lower byte direct Lower byte direct
byte of words mode byte of words mode
mode mode
Position data
Position data specification (L) Current position data (L)
Position data 2 X { 2 { {
specification area Current position data
specification (H)
Position specification Command position Completed position
1 { { 1 { {
area number number
Control signal area Control signal 1 { { Status signal 1 { {

* In the positioner mode, the position data specification area (PLC Ÿ Axis input) is not used, but this area is occupied as part
of the data area.

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Part 1 Specification
(3) Data Area Configuration in the Direct Numerical Specification Mode

PLC output Ÿ Axis input Axis output Ÿ PLC input

Number Number
Upper byte Lower byte Upper byte Lower byte
of words of words
Position data specification (L)* Current position data (L)*
2 2
Position data specification (H)* Current position data (H)*
Positioning band specification (L)* Current electrical current (L)*
Direct numerical 2 2
Positioning band specification (H)* Current electrical current (H)*
specification area
Speed specification 1 Current speed data 1
Acceleration/deceleration specification 1 Cannot be used. 1
Push-current limiting value 1 Alarm code 1
Control signal area Control signal 1 Status signal 1

* (L) indicates the lower word of 2-word data, while (H) indicates the upper word of 2-word data.

(4) Structure of data fields in the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2

Number Number of
Upper byte Lower byte Upper byte Lower byte
of words words
Position
Command position number 1 Completed position number 1
specification area
Control signal area Control signal 1 Status signal 1

Chapter 3 Gateway R unit

3.7.1 Examples of Overall Address Configuration
Overall address configurations are shown based on a system where 12 4-word mode axes (positioner 1/simple direct mode)
and two 8-word mode axes (direct numerical specification mode) are connected.
For your information, the CC-Link and DeviceNet types are assigned by word addressing, while the Profibus and RS485 SIO
types are assigned by byte addressing.

(1) CC-Link
A configuration example using the CC-Link type is shown on the next page.
The eight words in the fixed area are assigned to bit registers (RX/RY), while the area of each axis is assigned to word
registers (RWr/RWw).

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„ Example of Overall CC-Link Address Configuration

(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Output Input
Upper byte Lower byte Upper byte Lower byte
register register
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 Request command RX2F to 20 Response command
RY3F to 30 Data 0 RX3F to 30 Data 0 8-word
RY4F to 40 Data 1 RX4F to 40 Data 1 fixed area
RY5F to 50 Data 2 RX5F to 50 Data 2
RY6F to 60 Data 3 RX6F to 60 Data 3
RY7F to 70 (Cannot be used) RX7F to 70 (Cannot be used)
*1
PLC master expanded Output register Input register
cyclic setting RWw 00H (Axis 0) Position data specification (L) RWr 00H (Axis 0) Current position data (L) 4 words
RWw 01H (Axis 0) Position data specification (H) RWr 01H (Axis 0) Current position data (H) Positioner/
RWw 02H (Axis 0) Command position number RWr 02H (Axis 0) Completed position number simple direct
RWw 03H (Axis 0) Control signal RWr 03H (Axis 0) Status signal mode
RWw 04H (Axis 1) Position data specification (L) RWr 04H (Axis 1) Current position data (L)
RWw 05H (Axis 1) Position data specification (H) RWr 05H (Axis 1) Current position data (H)
4 words
RWw 06H (Axis 1) Command position number RWr 06H (Axis 1) Completed position number
RWw 07H (Axis 1) Control signal RWr 07H (Axis 1) Status signal
RWw 08H (Axis 2) Position data specification (L) RWr 08H (Axis 2) Current position data (L)
Chapter 3 Gateway R unit

RWw 09H (Axis 2) Position data specification (H) RWr 09H (Axis 2) Current position data (H)
4 words
16 words RWw 0AH (Axis 2) Command position number RWr 0AH (Axis 2) Completed position number
x1 setting, RWw 0BH (Axis 2) Control signal RWr 0BH (Axis 2) Status signal
4 stations RWw 0CH (Axis 3) Position data specification (L) RWr 0CH (Axis 3) Current position data (L)
*2 RWw 0DH (Axis 3) Position data specification (H) RWr 0DH (Axis 3) Current position data (H)
4 words
RWw 0EH (Axis 3) Command position number RWr 0EH (Axis 3) Completed position number
RWw 0FH (Axis 3) Control signal RWr 0FH (Axis 3) Status signal
32 words    
x4 setting,    
2 stations    
RWw 1FH (Axis 7) Control signal RWr 1FH (Axis 7) Status signal
4 words
   
   
   
RWw 2FH (Axis 11) Control signal RWr 2FH (Axis 11) Status signal
RWw 30H (Axis 12) Position data specification (L) RWr 30H (Axis 12) Current position data (L)
RWw 31H (Axis 12) Position data specification (H) RWr 31H (Axis 12) Current position data (H)
RWw 32H (Axis 12) Positioning band specification (L) RWr 32H (Axis 12) Current electrical current (L) 8 words
Direct
RWw 33H (Axis 12) Positioning band specification (H) RWr 33H (Axis 12) Current electrical current (H)
numerical
RWw 34H (Axis 12) Speed specification RWr 34H (Axis 12) Current speed data specification
RWw 35H (Axis 12) Acceleration/deceleration specification RWr 35H (Cannot be used) mode
RWw 36H (Axis 12) Push-current limiting value RWr 36H (Axis 12) Alarm code
RWw 37H (Axis12) Control signal RWr 37H (Axis 12) Status signal
RWw 38H (Axis 13) Position data specification (L) RWr 38H (Axis 13) Current position data (L)
RWw 39H (Axis 13) Position data specification (H) RWr 39H (Axis 13) Current position data (H)
RWw 3AH (Axis 13) Positioning band specification (L) RWr 3AH (Axis 13) Current electrical current (L)
64 words
RWw 3BH (Axis 13) Positioning band specification (H) RWr 3BH (Axis 13) Current electrical current (H)
x8 setting, 8 words
2 stations RWw 3CH (Axis 13) Speed specification RWr 3CH (Axis 13) Current speed data
RWw 3DH (Axis 13) Acceleration/deceleration specification RWr 3DH (Cannot be used)
RWw 3EH (Axis 13) Push-current limiting value RWr 3EH (Axis 13) Alarm code
RWw 3FH (Axis13) Control signal RWr 3FH (Axis 13) Status signal

*1 The extended cyclic setting is based on the occupied area information displayed using the gateway parameter setting tool.
*2 CC-Link Version 1.10 is also supplied as long as the expanded cyclic setting of x1 (four stations occupied) can be used.

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Part 1 Specification
„ Example of Overall CC-Link Address Configuration (positioner 2 mode and solenoid valve modes 1 and 2)
An example of connecting 16 axes in the positioner 2 mode or solenoid valve mode 1 or 2 is shown below.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Output Input
Upper byte Lower byte Upper byte Lower byte
register register
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0 8-word
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1 fixed area
RY2F to 20 Request command RX2F to 20 Response command
RY3F to 30 Data 0 RX3F to 30 Data 0
RY4F to 40 Data 1 RX4F to 40 Data 1
RY5F to 50 Data 2 RX5F to 50 Data 2
RY6F to 60 Data 3 RX6F to 60 Data 3
RY7F to 70 (Cannot be used) RX7F to 70 (Cannot be used)
*1
PLC master expanded Output register Input register
cyclic setting RWw 00H (Axis 0) Command position number RWr 00H (Axis 0) Completed position number
RWw 01H (Axis 0) Control signal RWr 01H (Axis 0) Status signal 2 words
RWw 02H (Axis 1) Command position number RWr 02H (Axis 1) Completed position number
RWw 03H (Axis 1) Control signal RWr 03H (Axis 1) Status signal
RWw 04H (Axis 2) Command position number RWr 04H (Axis 2) Completed position number
RWw 05H (Axis 2) Control signal RWr 05H (Axis 2) Status signal
RWw 06H (Axis 3) Command position number RWr 06H (Axis 3) Completed position number
RWw 07H (Axis 3) Control signal RWr 07H (Axis 3) Status signal
RWw 08H (Axis 4) Command position number RWr 08H (Axis 4) Completed position number
RWw 09H (Axis 4) Control signal RWr 09H (Axis 4) Status signal
16 words RWw 0AH (Axis 5) Command position number RWr 0AH (Axis 5) Completed position number

Chapter 3 Gateway R unit

x1 setting, RWw 0BH (Axis 5) Control signal RWr 0BH (Axis 5) Status signal
4 stations RWw 0CH (Axis 6) Command position number RWr 0CH (Axis 6) Completed position number
*2 RWw 0DH (Axis 6) Control signal RWr 0DH (Axis 6) Status signal
RWw 0EH (Axis 7) Command position number RWr 0EH (Axis 7) Completed position number
RWw 0FH (Axis 7) Control signal RWr 0FH (Axis 7) Status signal
RWw 10H (Axis 8) Command position number RWr 10H (Axis 8) Completed position number
RWw 11H (Axis 8) Control signal RWr 11H (Axis 8) Status signal
RWw 12H (Axis 9) Command position number RWr 12H (Axis 9) Completed position number
RWw 13H (Axis 9) Control signal RWr 13H (Axis 9) Status signal
RWw 14H (Axis 10) Command position number RWr 14H (Axis 10) Completed position number
RWw 15H (Axis 10) Control signal RWr 15H (Axis 10) Status signal
RWw 16H (Axis 11) Command position number RWr 16H (Axis 11) Completed position number
RWw 17H (Axis 11) Control signal RWr 17H (Axis 11) Status signal
RWw 18H (Axis 12) Command position number RWr 18H (Axis 12) Completed position number
RWw 19H (Axis 12) Control signal RWr 19H (Axis 12) Status signal
RWw 1AH (Axis 13) Command position number RWr 1AH (Axis 13) Completed position number
32 words
RWw 1BH (Axis 13) Control signal RWr 1BH (Axis 13) Status signal
x4 setting,
RWw 1CH (Axis 14) Command position number RWr 1CH (Axis 14) Completed position number
2 stations
RWw 1DH (Axis 14) Control signal RWr 1DH (Axis 14) Status signal
RWw 1EH (Axis 15) Command position number RWr 1EH (Axis 15) Completed position number
RWw 1FH (Axis 15) Control signal RWr 1FH (Axis 15) Status signal

*1 The extended cyclic setting is based on the occupied area information displayed using the gateway parameter setting tool.
*2 CC-Link Version 1.10 is also supplied as long as the expanded cyclic setting of x1 (four stations occupied) can be used.

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(2) DeviceNet

„ Example of Overall DeviceNet Address Configuration

(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Relative
Upper byte Lower byte Upper byte Lower byte
channel*
0 Gateway control signal 0 Gateway status signal 0
1 Gateway control signal 1 Gateway status signal 1
2 Request command Response command 8-word
3 Data 0 Data 0 fixed area
4 Data 1 Data 1
5 Data 2 Data 2
6 Data 3 Data 3
7 (Cannot be used) (Cannot be used)
8 (Axis 0) Position data specification (L) (Axis 0) Current position data (L) 4 words
9 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) Positioner/
simple direct
10 (Axis 0) Command position number (Axis 0) Completed position number mode
11 (Axis 0) Control signal (Axis 0) Status signal
12 (Axis 1) Position data specification (L) (Axis 1) Current position data (L)
13 (Axis 1) Position data specification (H) (Axis 1) Current position data (H)
4 words
14 (Axis 1) Command position number (Axis 1) Completed position number
Chapter 3 Gateway R unit

15 (Axis 1) Control signal (Axis 1) Status signal

16 (Axis 2) Position data specification (L) (Axis 2) Current position data (L)
17 (Axis 2) Position data specification (H) (Axis 2) Current position data (H)
4 words
18 (Axis 2) Command position number (Axis 2) Completed position number
19 (Axis 2) Control signal (Axis 2) Status signal
20 (Axis 3) Position data specification (L) (Axis 3) Current position data (L)
21 (Axis 3) Position data specification (H) (Axis 3) Current position data (H)
4 words
22 (Axis 3) Command position number (Axis 3) Completed position number
23 (Axis 3) Control signal (Axis 3) Status signal
  
  
  
39 (Axis 7) Control signal (Axis 7) Status signal
4 words
  
  
  
55 (Axis 11) Control signal (Axis 11) Status signal
56 (Axis 12) Position data specification (L) (Axis 12) Current position data (L)
57 (Axis 12) Position data specification (H) (Axis 12) Current position data (H)
58 (Axis 12) Positioning band specification (L) (Axis 12) Current electrical current (L) 8 words
Direct
59 (Axis 12) Positioning band specification (H) (Axis 12) Current electrical current (H)
numerical
60 (Axis 12) Speed specification (Axis 12) Current speed data specification
61 (Axis 12) Acceleration/deceleration specification (Cannot be used) mode
62 (Axis 12) Push-current limiting value (Axis 12) Alarm code
63 (Axis12) Control signal (Axis 12) Status signal
64 (Axis 13) Position data specification (L) (Axis 13) Current position data (L)
65 (Axis 13) Position data specification (H) (Axis 13) Current position data (H)
66 (Axis 13) Positioning band specification (L) (Axis 13) Current electrical current (L)
67 (Axis 13) Positioning band specification (H) (Axis 13) Current electrical current (H)
8 words
68 (Axis 13) Speed specification (Axis 13) Current speed data
69 (Axis 13) Acceleration/deceleration specification (Cannot be used)
70 (Axis 13) Push-current limiting value (Axis 13) Alarm code
71 (Axis13) Control signal (Axis 13) Status signal

* The relative channel indicates the relative channel number from the first gateway channel.

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Part 1 Specification
„ Example of Overall DeviceNet Address Configuration (positioner 2 mode and solenoid valve modes 1 and 2)
An example of connecting 16 axes in the positioner 2 mode or solenoid valve mode 1 or 2 is shown below.
PLC output Ÿ ROBONET ROBONETŸ PLC input
Relative
Upper byte Lower byte Upper byte Lower byte
channel*
0 Gateway control signal 0 Gateway status signal 0
1 Gateway control signal 1 Gateway status signal 1
2 Request command Response command 8-word
3 Data 0 Data 0 fixed area
4 Data 1 Data 1
5 Data 2 Data 2
6 Data 3 Data 3
7 (Cannot be used) (Cannot be used)
8 (Axis 0) Command position number (Axis 0) Completed position number
9 (Axis 0) Control signal (Axis 0) Status signal 2 words
10 (Axis 1) Command position number (Axis 1) Completed position number
11 (Axis 1) Control signal (Axis 1) Status signal
12 (Axis 2) Command position number (Axis 2) Completed position number
13 (Axis 2) Control signal (Axis 2) Status signal
14 (Axis 3) Command position number (Axis 3) Completed position number
15 (Axis 3) Control signal (Axis 3) Status signal
16 (Axis 4) Command position number (Axis 4) Completed position number
17 (Axis 4) Control signal (Axis 4) Status signal
18 (Axis 5) Command position number (Axis 5) Completed position number
19 (Axis 5) Control signal (Axis 5) Status signal
20 (Axis 6) Command position number (Axis 6) Completed position number

Chapter 3 Gateway R unit

21 (Axis 6) Control signal (Axis 6) Status signal
22 (Axis 7) Command position number (Axis 7) Completed position number
23 (Axis 7) Control signal (Axis 7) Status signal
24 (Axis 8) Command position number (Axis 8) Completed position number
25 (Axis 8) Control signal (Axis 8) Status signal
26 (Axis 9) Command position number (Axis 9) Completed position number
27 (Axis 9) Control signal (Axis 9) Status signal
28 (Axis 10) Command position number (Axis 10) Completed position number
29 (Axis 10) Control signal (Axis 10) Status signal
30 (Axis 11) Command position number (Axis 11) Completed position number
31 (Axis 11) Control signal (Axis 11) Status signal
32 (Axis 12) Command position number (Axis 12) Completed position number
33 (Axis 12) Control signal (Axis 12) Status signal
34 (Axis 13) Command position number (Axis 13) Completed position number
35 (Axis 13) Control signal (Axis 13) Status signal
36 (Axis 14) Command position number (Axis 14) Completed position number
37 (Axis 14) Control signal (Axis 14) Status signal
38 (Axis 15) Command position number (Axis 15) Completed position number
39 (Axis 15) Control signal (Axis 15) Status signal

* The relative channel indicates the relative channel number from the first gateway channel.

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Part 1 Specification

(3) Profibus

„ Example of Overall Profibus Address Configuration

(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Relative
Upper byte Lower byte Upper byte Lower byte
byte*
0 Gateway control signal 0 Gateway status signal 0
2 Gateway control signal 1 Gateway status signal 1
4 Request command Response command 8-word
6 Data 0 Data 0 fixed area
8 Data 1 Data 1
10 Data 2 Data 2
12 Data 3 Data 3
14 (Cannot be used) (Cannot be used)
16 (Axis 0) Position data specification (L) (Axis 0) Current position data (L) 4 words
18 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) Positioner/
simple direct
20 (Axis 0) Command position number (Axis 0) Completed position number mode
22 (Axis 0) Control signal (Axis 0) Status signal
24 (Axis 1) Position data specification (L) (Axis 1) Current position data (L)
26 (Axis 1) Position data specification (H) (Axis 1) Current position data (H)
4 words
28 (Axis 1) Command position number (Axis 1) Completed position number
Chapter 3 Gateway R unit

30 (Axis 1) Control signal (Axis 1) Status signal

31 (Axis 2) Position data specification (L) (Axis 2) Current position data (L)
34 (Axis 2) Position data specification (H) (Axis 2) Current position data (H)
4 words
36 (Axis 2) Command position number (Axis 2) Completed position number
38 (Axis 2) Control signal (Axis 2) Status signal
40 (Axis 3) Position data specification (L) (Axis 3) Current position data (L)
42 (Axis 3) Position data specification (H) (Axis 3) Current position data (H)
4 words
44 (Axis 3) Command position number (Axis 3) Completed position number
46 (Axis 3) Control signal (Axis 3) Status signal
  
  
  
78 (Axis 7) Control signal (Axis 7) Status signal
4 words
  
  
  
110 (Axis 11) Control signal (Axis 11) Status signal
112 (Axis 12) Position data specification (L) (Axis 12) Current position data (L)
114 (Axis 12) Position data specification (H) (Axis 12) Current position data (H)
116 (Axis 12) Positioning band specification (L) (Axis 12) Current electrical current (L) 8 words
Direct
118 (Axis 12) Positioning band specification (H) (Axis 12) Current electrical current (H)
numerical
120 (Axis 12) Speed specification (Axis 12) Current speed data specification
122 (Axis 12) Acceleration/deceleration specification (Cannot be used) mode
124 (Axis 12) Push-current limiting value (Axis 12) Alarm code
126 (Axis12) Control signal (Axis 12) Status signal
128 (Axis 13) Position data specification (L) (Axis 13) Current position data (L)
130 (Axis 13) Position data specification (H) (Axis 13) Current position data (H)
132 (Axis 13) Positioning band specification (L) (Axis 13) Current electrical current (L)
134 (Axis 13) Positioning band specification (H) (Axis 13) Current electrical current (H)
8 words
136 (Axis 13) Speed specification (Axis 13) Current speed data
138 (Axis 13) Acceleration/deceleration specification (Cannot be used)
140 (Axis 13) Push-current limiting value (Axis 13) Alarm code
142 (Axis13) Control signal (Axis 13) Status signal

* The relative byte indicates the relative byte address from the beginning of the gateway.

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Part 1 Specification
„ Example of Overall Profibus Address Configuration (positioner 2 mode and solenoid valve modes 1 and 2)
An example of connecting 16 axes in the positioner 2 mode or solenoid valve mode 1 or 2 is shown below.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Relative
Upper byte Lower byte Upper byte Lower byte
channel*
0 Gateway control signal 0 Gateway status signal 0
2 Gateway control signal 1 Gateway status signal 1
4 Request command Response command 8-word
6 Data 0 Data 0 fixed area
8 Data 1 Data 1
10 Data 2 Data 2
12 Data 3 Data 3
14 (Cannot be used) (Cannot be used)
16 (Axis 0) Command position number (Axis 0) Completed position number
18 (Axis 0) Control signal (Axis 0) Status signal 2 words
20 (Axis 1) Command position number (Axis 1) Completed position number
22 (Axis 1) Control signal (Axis 1) Status signal
24 (Axis 2) Command position number (Axis 2) Completed position number
26 (Axis 2) Control signal (Axis 2) Status signal
28 (Axis 3) Command position number (Axis 3) Completed position number
30 (Axis 3) Control signal (Axis 3) Status signal
32 (Axis 4) Command position number (Axis 4) Completed position number
34 (Axis 4) Control signal (Axis 4) Status signal
36 (Axis 5) Command position number (Axis 5) Completed position number
38 (Axis 5) Control signal (Axis 5) Status signal

Chapter 3 Gateway R unit

40 (Axis 6) Command position number (Axis 6) Completed position number
42 (Axis 6) Control signal (Axis 6) Status signal
44 (Axis 7) Command position number (Axis 7) Completed position number
46 (Axis 7) Control signal (Axis 7) Status signal
48 (Axis 8) Command position number (Axis 8) Completed position number
50 (Axis 8) Control signal (Axis 8) Status signal
52 (Axis 9) Command position number (Axis 9) Completed position number
54 (Axis 9) Control signal (Axis 9) Status signal
56 (Axis 10) Command position number (Axis 10) Completed position number
58 (Axis 10) Control signal (Axis 10) Status signal
60 (Axis 11) Command position number (Axis 11) Completed position number
62 (Axis 11) Control signal (Axis 11) Status signal
64 (Axis 12) Command position number (Axis 12) Completed position number
66 (Axis 12) Control signal (Axis 12) Status signal
68 (Axis 13) Command position number (Axis 13) Completed position number
70 (Axis 13) Control signal (Axis 13) Status signal
72 (Axis 14) Command position number (Axis 14) Completed position number
74 (Axis 14) Control signal (Axis 14) Status signal
76 (Axis 15) Command position number (Axis 15) Completed position number
78 (Axis 15) Control signal (Axis 15) Status signal

* The relative byte indicates the relative byte address from the beginning of the gateway.

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Part 1 Specification

(4) RS485SIO

„ Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration

(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Register Relative Register
Upper byte Lower byte Upper byte Lower byte
address byte address
F600* Gateway control signal 0 0 Gateway status signal 0 F700*
F601 Gateway control signal 1 2 Gateway status signal 1 F701
F602 Request command 4 Response command F702
F603 Data 0 6 Data 0 F703
F604 Data 1 8 Data 1 F704
F605 Data 2 10 Data 2 F705
F606 Data 3 12 Data 3 F706
F607 (Reserved) 14 (Reserved) F707
F608 (Axis 0) Position data specification (L) 16 (Axis 0) Current position data (L) F708
F609 (Axis 0) Position data specification (H) 18 (Axis 0) Current position data (H) F709
F60A (Axis 0) Command position number 20 (Axis 0) Completed position number F70A
F60B (Axis 0) Control signal 22 (Axis 0) Status signal F70B
F60C (Axis 1) Position data specification (L) 24 (Axis 1) Current position data (L) F70C
F60D (Axis 1) Position data specification (H) 26 (Axis 1) Current position data (H) F70D
F60E (Axis 1) Command position number 28 (Axis 1) Completed position number F70E
Chapter 3 Gateway R unit

F60F (Axis 1) Control signal 30 (Axis 1) Status signal F70F

F610 (Axis 2) Position data specification (L) 32 (Axis 2) Current position data (L) F710
F611 (Axis 2) Position data specification (H) 34 (Axis 2) Current position data (H) F711
F612 (Axis 2) Command position number 36 (Axis 2) Completed position number F712
F613 (Axis 2) Control signal 38 (Axis 2) Status signal F713
F614 (Axis 3) Position data specification (L) 40 (Axis 3) Current position data (L) F714
F615 (Axis 3) Position data specification (H) 42 (Axis 3) Current position data (H) F715
F616 (Axis 3) Command position number 44 (Axis 3) Completed position number F716
F617 (Axis 3) Control signal 46 (Axis 3) Status signal F717
    
    
    
F627 (Axis 7) Control signal 78 (Axis 7) Status signal F727
    
    
    
F637 (Axis 11) Control signal 110 (Axis 11) Status signal F737
F638 (Axis 12) Position data specification (L) 112 (Axis 12) Current position data (L) F738
F639 (Axis 12) Position data specification (H) 114 (Axis 12) Current position data (H) F739
F63A (Axis 12) Positioning band specification (L) 116 (Axis 12) Current electrical current (L) F73A
F63B (Axis 12) Positioning band specification (H) 118 (Axis 12) Current electrical current (H) F73B
F63C (Axis 12) Speed specification 120 (Axis 12) Current speed data F73C
F63D (Axis 12) Acceleration/deceleration specification 122 (Reserved) F73D
F63E (Axis 12) Push-current limiting value 124 (Axis 12) Alarm code F73E
F63F (Axis12) Control signal 126 (Axis 12) Status signal F73F
F640 (Axis 13) Position data specification (L) 128 (Axis 13) Current position data (L) F740
F641 (Axis 13) Position data specification (H) 130 (Axis 13) Current position data (H) F741
F642 (Axis 13) Positioning band specification (L) 132 (Axis 13) Current electrical current (L) F742
F643 (Axis 13) Positioning band specification (H) 134 (Axis 13) Current electrical current (H) F743
F644 (Axis 13) Speed specification 136 (Axis 13) Current speed data F744
F645 (Axis 13) Acceleration/deceleration specification 138 (Reserved) F745
F646 (Axis 13) Push-current limiting value 140 (Axis 13) Alarm F746
F647 (Axis13) Control signal 142 (Axis 13) Status signal F747

* With the RS485 SIO type, the initial address is F600H (PLC Ÿ ROBONET) or F700H (ROBONET Ÿ PLC).

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 Part 1 Specification

Part 1 Specification
„ Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration (positioner 2 mode and solenoid valve
modes 1 and 2)
An example of connecting 16 axes in the positioner 2 mode or solenoid valve mode 1 or 2 is shown below.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Register Relative Register
Upper byte Lower byte Upper byte Lower byte
address byte address
F600* Gateway control signal 0 0 Gateway status signal 0 F700*
F601 Gateway control signal 1 2 Gateway status signal 1 F701
F602 Request command 4 Response command F702
F603 Data 0 6 Data 0 F703
F604 Data 1 8 Data 1 F704
F605 Data 2 10 Data 2 F705
F606 Data 3 12 Data 3 F706
F607 (Reserved) 14 (Reserved) F707
F608 (Axis 0) Command position number 16 (Axis 0) Completed position number F708
F609 (Axis 0) Control signal 18 (Axis 0) Status signal F709
F60A (Axis 1) Command position number 20 (Axis 1) Completed position number F70A
F60B (Axis 1) Control signal 22 (Axis 1) Status signal F70B
F60C (Axis 2) Command position number 24 (Axis 2) Completed position number F70C
F60D (Axis 2) Control signal 26 (Axis 2) Status signal F70D
F60E (Axis 3) Command position number 28 (Axis 3) Completed position number F70E
F60F (Axis 3) Control signal 30 (Axis 3) Status signal F70F
F610 (Axis 4) Command position number 32 (Axis 4) Completed position number F710
F611 (Axis 4) Control signal 34 (Axis 4) Status signal F711
F612 (Axis 5) Command position number 36 (Axis 5) Completed position number F712

Chapter 3 Gateway R unit

F613 (Axis 5) Control signal 38 (Axis 5) Status signal F713
F614 (Axis 6) Command position number 40 (Axis 6) Completed position number F714
F615 (Axis 6) Control signal 42 (Axis 6) Status signal F715
F616 (Axis 7) Command position number 44 (Axis 7) Completed position number F716
F617 (Axis 7) Control signal 46 (Axis 7) Status signal F717
F618 (Axis 8) Command position number 48 (Axis 8) Completed position number F718
F619 (Axis 8) Control signal 50 (Axis 8) Status signal F719
F61A (Axis 9) Command position number 52 (Axis 9) Completed position number F71A
F61B (Axis 9) Control signal 54 (Axis 9) Status signal F71B
F61C (Axis 10) Command position number 56 (Axis 10) Completed position number F71C
F61D (Axis 10) Control signal 58 (Axis 10) Status signal F71D
F61E (Axis 11) Command position number 60 (Axis 11) Completed position number F71E
F61F (Axis 11) Control signal 62 (Axis 11) Status signal F71F
F620 (Axis 12) Command position number 64 (Axis 12) Completed position number F720
F621 (Axis 12) Control signal 66 (Axis 12) Status signal F721
F622 (Axis 13) Command position number 68 (Axis 13) Completed position number F722
F623 (Axis 13) Control signal 70 (Axis 13) Status signal F723
F624 (Axis 14) Command position number 72 (Axis 14) Completed position number F724
F625 (Axis 14) Control signal 74 (Axis 14) Status signal F725
F626 (Axis 15) Command position number 76 (Axis 15) Completed position number F726
F627 (Axis 15) Control signal 78 (Axis 15) Status signal F727

* With the RS485 SIO type, the initial address is F600H (PLC Ÿ ROBONET) or F700H (ROBONET Ÿ PLC).

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Part 1 Specification

3.7.2 Gateway Control/Status Signals

In the address configuration of the Gateway R unit, the first two input words and output words are used to control the Gateway
R unit.
These signals can be used to perform ON/OFF control of ROBONET communication (SIO control) and monitor the
communication status as well as the status of the Gateway R unit.

PLC output Address*

Relative channel Relative byte

Gateway RMOD ECE

control
signal 0

Gateway
Chapter 3 Gateway R unit

control
signal 1

PLC input Address*

Relative channel Relative byte

Gateway
status
signal 0

Gateway
status
signal 1

* Each address is a relative address from the beginning of the gateway.

Word addresses are used by the CC-Link and DeviceNet types, while byte addresses are used by the Profibus and RS485
SIO types.
With the CC-Link type, the asterisk (*) in bit register addresses is a value between 0 and F.
With the CC-Link type, b10 to b15 are indicated as bA to b7 (due to hexadecimal notation).
With the Profibus and RS485 SIO types, b8 to b15 are indicated as b0 to b7 (due to use of byte addresses).

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Part 1 Specification
I/O Signal List

Signal type Bit Signal name Description

When this signal is ON ( “1” ), control outputs from the PLC are effective
15 MON (outputs from the PLC are reflected in the controller unit). When the signal
is OFF ( “0” ), the outputs are ineffective.
14 - Cannot be used. Always keep this signal OFF (0).
If an ERR-T or ERR-C error has generated, free the locked bit by setting it
13 RTE
to “1” (level input).
PLC output

AUTO/MANU Mode (ON : MANU, OFF : AUTO)

Control signal 0 It functions under the combination with AUTO/MANU Switch on the front
panel of Gateway R Unit. The mode turns to AUTO Mode with the both
12 RMOD
are on AUTO while it is MANU Mode when one of them is on MANU.
(Note) This signal is not linked to Fieldbus, thus it would not turn OFF
even if Fieldbus turns offline.
Control is activated even during emergency stop when this signal is ON.
11 ECE
(Those including operation are excluded.)
10-0 -
Control signal 1 15-0 RTE Cannot be used.
This signal is ON while the gateway unit is
Gateway unit operation
15 RUN operating normally. The signal is synchronized
normal output
with the LED (RUN) on the front panel of the unit.
If an ERR-C error generates, this bit will be
14 LERC -
locked to the current status.

Chapter 3 Gateway R unit

This signal turns ON upon detection of a
ROBONET
ROBONET communication (SIO communication)
13 ERRT communication error
error. The signal is synchronized with the
output
ERROR-T LED on the front panel of the unit.
This signal is ON when the MODE switch on the
12 MOD MODE switch output
front panel of the unit is set to MANU.
Status signal 0 11-10 - - Cannot be used.
9 W8B16
8 W8B8 Number-of-axes setting The number of axes in the direct numerical
7 W8B4 in direct numerical specification mode is output as a 5-bit binary
6 W8B2 specification mode code.
5 W8B1
4 W4B16
PLC input

3 W4B8 The number of axes in the positioner mode or

Positioner mode or
2 W4B4 simple direct mode is output as a 5-bit binary
simple direct mode
1 W4B2 code.
0 W4B1
15 LNK15 Linked axis No. 15
14 LNK14 14
13 LNK13 13
12 LNK12 12
11 LNK11 11
10 LNK10 10
9 LNK9 9
8 LNK8 8
Status signal 1 The signal of each linked axis turns ON ( “1” ).
7 LNK7 7
6 LNK6 6
5 LNK5 5
4 LNK4 4
3 LNK3 3
2 LNK2 2
1 LNK1 1
0 LNK0 0

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Part 1 Specification

3.7.3 Command Area

The eight input words and eight output words from the initial address of the gateway unit are fixed areas. With both output and
input, six words in this fixed area are assigned as a command area where various commands can be used to read/write the
position table, among others.
Note that commands cannot be used in the direct numerical specification mode.

(1) Address Configuration

The request command area and response command area consist of six input words and six output words, respectively.

[1] CC-Link

PLC output Ÿ Gateway Ÿ Axis input Axis output Ÿ Gateway Ÿ PLC input

*1 b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0 *1
RY 2F to 20 Request command Response command RX 2F to 20
RY 3F to 30 Data 0 Data 0 RX 3F to 30
RY 4F to 40 Data 1 Data 1 *2 (error code) RX 4F to 40
RY 5F to 50 Data 2 Data 2 RX 5F to 50
RY 6F to 60 Data 3 Data 3 RX 6F to 60
RY 7F to 70 Cannot be used. Cannot be used. RX 7F to 70

*1) Bit register address

*2) If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code
Chapter 3 Gateway R unit

will be set in response data 1.

[1] DeviceNet, Profibus, RS485SIO

*1 PLC output Ÿ Gateway Ÿ Axis input Axis output Ÿ Gateway Ÿ PLC input
Address
Word Byte b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0
+2 +4/+5 Request command Response command
+3 +6/+7 Data 0 Data 0
+4 +8/+9 Data 1 Data 1 *2 (error code)
+5 +10/+11 Data 2 Data 2
+6 +12/+13 Data 3 Data 3
+7 +13/+14 Cannot be used. Cannot be used.

*1 Each address is a relative address from the beginning of the gateway, and word addresses are used by the
DeviceNet type. With the Profibus and RS485 SIO types, byte addresses are used and b8 to b15 comprising the
upper word are indicated as b0 to b7.
*2 If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code
will be set in response data 1.

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(2) Command List
The available command and command codes are listed below.

Direct
Simple Solenoid
Function Positioner 1 numerical Positioner
Code Explanation direct valve
classification mode
mode
specificatio 2 mode
modes 1, 2
n mode
Handshake 0000H Clear request command { { X { {
Position table 1000H Write target position
data write *1 1001H Write positioning band
1002H Write speed
1003H Write individual zone boundary+
1004H Write individual zone boundary- { { X { {
1005H Write acceleration
1006H Write deceleration
1007H Write push-current limiting value
1008H Write load current threshold
Position table 1040H Read target position
data read 1041H Read positioning band
1042H Read speed
1043H Read individual zone boundary+
1044H Read individual zone boundary- { { X { {
1045H Read acceleration
1046H Read deceleration

Chapter 3 Gateway R unit

1047H Read push-current-limiting value
1048H Read load current threshold
Group-specific Simultaneous start to same POS
broadcast 0D03H number position { X X { {
operation

{: Available X: Not available

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(3) Commands and Data Formats

The rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table
constantly.

[1] Position table data write commands

Relative address from beginning

Command name Profibus PLC output (request) PLC input (response)
CC-Link*8 DeviceNet
RS485SIO *1
Write target position RY 2*/RX 2* +2 +4/+5 1000H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Position data *2
RY 5*/RX 5* +5 +10/+11
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH *3
RY 7*/RX 7* +7 +14/+15 Cannot be used.
Write positioning RY 2*/RX 2* +2 +4/+5 1001H
band RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Positioning band data *4
RY 5*/RX 5* +5 +10/+11
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.
Write speed RY 2*/RX 2* +2 +4/+5 1002H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Speed data *5
Chapter 3 Gateway R unit

RY 5*/RX 5* +5 +10/+11 If the command has been

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH successful, the same value
RY 7*/RX 7* +7 +14/+15 Cannot be used. set in the request is
Write individual zone RY 2*/RX 2* +2 +4/+5 1003H returned as a response.
boundary+ RY 3*/RX 3* +3 +6/+7 Position number For error responses, refer
RY 4*/RX 4* +4 +8/+9 Position data *2 to (4), “Error Responses.”
RY 5*/RX 5* +5 +10/+11
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.
Write individual zone RY 2*/RX 2* +2 +4/+5 1004H
boundary- RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Position data *2
RY 5*/RX 5* +5 +10/+11
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.
Write acceleration RY 2*/RX 2* +2 +4/+5 1005H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Acceleration data *6
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.

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Relative address from beginning
Command name Profibus PLC output (request) PLC input (response)
CC-Link DeviceNet
RS485SIO *1
Write deceleration RY 2*/RX 2* +2 +4/+5 1006H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Deceleration data *6
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.
Write push-current RY 2*/RX 2* +2 +4/+5 1007H
limiting value *7 RY 3*/RX 3* +3 +6/+7 Position number If the command has been
RY 4*/RX 4* +4 +8/+9 0000 to 00FFH successful, the same value
(00FFH, maximum current) set in the request is
RY 5*/RX 5* +5 +10/+11 0 returned as a response.
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH For error responses, refer
RY 7*/RX 7* +7 +14/+15 Cannot be used. to (4), “Error Responses.”
Write load current RY 2*/RX 2* +2 +4/+5 1008H
threshold RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 0000 to 00FFH
(00FFH, maximum current)
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
RY 7*/RX 7* +7 +14/+15 Cannot be used.

Chapter 3 Gateway R unit

*1 In byte address specification, the smaller byte address on the left corresponds to the upper byte of 1-word data, while the
larger byte address on the right corresponds to the lower byte of 1-word data.
*2 x Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).
Example) To set +25.4 mm, specify “0009ECH” (decimal number: 2540).
x The maximum settable value is +9999.99 mm = 999999 (decimal number) = 0F423FH (hexadecimal number).
x Since a negative value is indicated as a 2’s complement, the most significant bit becomes “1.”
x Set position data within the soft stroke range.
*3 Axis numbers (0) to (15) correspond to data 00 to 0FH.
*4 x Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).
Example) To set +25.4 mm, specify “0009ECH” (decimal number: 2540).
x Set within the soft stroke range.
*5 x Set as a hexadecimal number using a 32-bit integer (unit: 0.01 mm/sec).
Example) To set 200 mm/sec, specify “000000C8H” (decimal number: 200).
*6 x Set as a hexadecimal number using a 16-bit integer (unit: 0.01 G).
Example) To set 0.2 G, specify “0014H” (decimal number: 20).
x The maximum settable value is 2G, specifying “00C8H” (decimal number: 200)
*7 If push-current limiting value is not set in the position table before the write command is executed, the data will not be
rewritten.
*8 The asterisk (*) in CC-Link addresses is a value between 0 and F.

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[2] Position table data read commands

Relative address from beginning

Command name Profibus PLC output (request) PLC input (response)
CC-Link*6 DeviceNet
RS485SIO *1
Read target position RY 2*/RX 2* +2 +4/+5 1040H If the command has been
successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Target position data *2
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH*1 If the command has been
successful, the value returned
RY 7*/RX 7* +7 +14/+15 Cannot be used. in the response is the same as
the value set in the request.
Read positioning RY 2*/RX 2* +2 +4/+5 1041H If the command has been
band successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Positioning band data *3
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH If the command has been
RY 7*/RX 7* +7 +14/+15 Cannot be used. successful, the value returned
in the response is the same as
the value set in the request.
Read speed RY 2*/RX 2* +2 +4/+5 1042H If the command has been
Chapter 3 Gateway R unit

successful, the value returned

RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Speed data *4
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH If the command has been
RY 7*/RX 7* +7 +14/+15 Cannot be used. successful, the value returned
in the response is the same as
the value set in the request.
Read individual zone RY 2*/RX 2* +2 +4/+5 1043H If the command has been
boundary+ successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Individual zone boundary+
RY 5*/RX 5* +5 +10/+11 0 data *2
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH If the command has been
RY 7*/RX 7* +7 +14/+15 Cannot be used. successful, the value returned
in the response is the same as
the value set in the request.
Read individual zone RY 2*/RX 2* +2 +4/+5 1044H If the command has been
boundary- successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Individual zone boundary-
RY 5*/RX 5* +5 +10/+11 0 data *2
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH If the command has been
RY 7*/RX 7* +7 +14/+15 Cannot be used. successful, the value returned
in the response is the same as
the value set in the request.
Read acceleration RY 2*/RX 2* +2 +4/+5 1045H If the command has been
successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Acceleration data *5
RY 5*/RX 5* +5 +10/+11 0 If the command has been
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH successful, the value returned
in the response is the same as
RY 7*/RX 7* +7 +14/+15 Cannot be used.
the value set in the request.

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Relative address from beginning
Command name Profibus PLC output (request) PLC input (response)
CC-Link*6 DeviceNet
RS485SIO *1
Read deceleration RY 2*/RX 2* +2 +4/+5 1046H If the command has been
successful, the value returned
RY 3*/RX 3* +3 +6/+7 Deceleration read in the response is the same as
POS number the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 Deceleration data *5
RY 5*/RX 5* +5 +10/+11 0 If the command has been
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH successful, the value returned
in the response is the same as
RY 7*/RX 7* +7 +14/+15 Cannot be used.
the value set in the request.
Read RY 2*/RX 2* +2 +4/+5 1047H If the command has been
push-current-limiting successful, the value returned
value RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH
(00FFH, maximum current)
RY 5*/RX 5* +5 +10/+11 0 If the command has been
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH successful, the value returned
in the response is the same as
RY 7*/RX 7* +7 +14/+15 Cannot be used.
the value set in the request.
Read load current RY 2*/RX 2* +2 +4/+5 1048H If the command has been
threshold successful, the value returned
RY 3*/RX 3* +3 +6/+7 Position number in the response is the same as
the value set in the request.
RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH

Chapter 3 Gateway R unit

(00FFH, maximum current)
RY 5*/RX 5* +5 +10/+11 0 If the command has been
successful, the value returned
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
in the response is the same as
RY 7*/RX 7* +7 +14/+15 Cannot be used. the value set in the request.

*1 Axis numbers (0) to (15) correspond to data 00 to 0FH.

*2 32-bit signed integer data. The details are the same as described in *2 under [1].
*3 32-bit integer data. The details are the same as described in *4 under [1].
*4 32-bit integer data. The details are the same as described in *5 under [1].
*5 16-bit integer data. The details are the same as described in *6 under [1].
*6 The asterisk (*) in addresses is a value between 0 and F.

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[3] Group-specific broadcast operation commands

These operations can be used in the positioner mode.
The axes specified by the group number are started simultaneously to the position specified by the POS number. Since
these commands implement broadcast communication between the gateway and controllers, no response is returned
from the controllers.
The response result indicated by the PLC input means that the command has been successfully sent to the controllers; it
does not indicate the status of each controller. position complete, etc., based on the status signal of each axis.

Relative address from beginning

Profibus PLC output (request) PLC input (response)
CC-Link*3 DeviceNet
RS485SIO *1
RY 2*/RX 2* +2 +4/+5 0D03H If the command has been
RY 3*/RX 3* +3 +6/+7 Target POS number successful, the value returned in
RY 4*/RX 4* +4 +8/+9 Group ID number *1 the response is the same as the
RY 5*/RX 5* +5 +10/+11 0 value set in the request.
RY 6*/RX 6* +6 +12/+13 0
RY 7*/RX 7* +7 +14/+15 Cannot be used.

*1 If this value is “0,” all linked axes will move regardless of the group specification.
The group number is set using a system parameter in the PC software.
*2 If a move command is issued using an axis-specific control word while any axis is currently moving by this command, the
movement by the original command will be cancelled and the axis specified by the latest move command will operate
according to the command. In other words, each axis has two interfaces for move commands.
Provide an interlock to prevent two commands from being issued simultaneously.
Chapter 3 Gateway R unit

*3 The asterisk (*) in addresses is a value between 0 and F.

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(4) Error Responses
If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code will be
set in response data 1.

Code Explanation
0101H Invalid axis number *1
0102H Invalid position number *1
0103H Invalid request command *1
0201H Communication failed
0202H Controller could not execute the command

*1 If an error is found in the data from the PLC as a result of check, the data will not be sent to the controller, but an
error code will be set in the response data instead.
*2 If no link is established yet, nothing will be shown in the response command.

(5) How to Use Commands

To use various commands, process the data in command areas according to the flow shown below. In this flow, only one
command is processed.

Use a command

Chapter 3 Gateway R unit

Clear the request command
area and data areas 0 to 3.
Response
command area 0?

Write the command code in

the request command area

Write the necessary data in

data areas 0 to 3

Response command =
Request command?

Clear the request command area

Clear data areas 0 to 3

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3.7.4 Position Table

RACON and RPCON controllers can be operated in one of six modes—positioner mode 1, 2, simple direct mode, direct
numerical specification mode and solenoid valve mode 1, 2—using one of four types of Gateway R units.
To perform positioning operation in the positioner mode or simple direct mode, a position table must be created beforehand
using a teaching tool. For details on how to set a position table, refer to “PC Software RCM-101-** Operation Manual” or
“CON-T Teaching Pendant Operation Manual.”
As explained in the previous section, the position table can also be read or written from the host PLC using various commands.
Take note, however, that the position table can be written only 100,000 times or so.
Chapter 3 Gateway R unit

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The position table is explained using the screen of the PC software as an example.
(The display is different on the teaching pendant.)

Position Speed Acceleration Deceleration Push Threshold Positioning band

Zone+ Zone- Acceleration

Command Stop
/deceleration Incremental Comment
mode mode mode

(1) No. x A position data number is indicated.

(2) Position x Input the target position to which to move the actuator [mm].
Absolute coordination specification: Input the distance from the actuator home.
Relative coordination specification: Constant pitch feed is assumed. The specified value

Chapter 3 Gateway R unit

represents a relative distance from the current position.
Position

Absolute coordination specification: The target position is 5 mm from the home.

Relative coordination specification: The target position is 10 mm plus the current position.
Relative coordination specification: The target position is 10 mm minus the current position.

* On the teaching pendant (RCM-T), this sign indicates that the position is specified in relative coordinates.

A: Absolute coordinate specification (ABS)

I: Relative coordinate specification (INC)
Axis number of the axis
Position number whose data is being edited

* On the teaching pendant (CON-T), this sign indicates that the position is
specified in relative coordinates.

(3) Speed x Input the speed at which to move the actuator [mm/sec].
The default varies according to the actuator type.

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(4) Acceleration/Deceleration x Input the acceleration/deceleration at which to move the actuator (unit: [G]). Input a value
within the rated range.
(Refer to Appendix, “Specification List of Supported Actuators.”)
Exercise caution when setting the acceleration/deceleration, because the input range is
greater than the rated range in the catalog.
If the transferring load vibrates during acceleration/deceleration to cause problems,
decrease the set value.

Speed

Acceleration Deceleration
0.3 G 0.2 G
Time
Start position Target position

Increasing the value will make the acceleration/deceleration curve sharper, while
decreasing the value will make the curve more gradual.

Caution
Chapter 3 Gateway R unit

Refer to Appendix, “Specification List of Supported Actuators” and input appropriate values for speed and
acceleration/deceleration by considering the installation conditions and the shape of the transferring load, so that the
actuator will not receive excessive impact or vibration.
Take note that increasing this value will significantly affect the allowable transferring mass, or may even cause a system
failure.

(5) Push x Select “positioning operation” or “push operation.”

The factory setting is “0.”
0: Normal positioning operation
Other than 0: The set value indicates a current-limiting value. The push operation mode is
selected when a current-limiting value is set.

(6) Threshold x This field is not used with this controller.

The factory setting is “0.”

(7) Positioning Band x How the set value is handled varies between “positioning operation” and “push operation.”

“Positioning operation”
This field defines how much before the target The position complete
position the position complete signal is signal turns ON.
turned ON.
Even after the position complete signal turns
ON, the actuator will continue to move toward
the target position.
Increasing the positioning band will quicken Positioning band
the start of the next sequence, which helps
reduce the tact time. Set an optimal value by Target position
considering the balance of the entire system.

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

When the load is contacted, push operation is deemed complete

Speed and the position complete signal turns ON.

Push
speed

Positioning band
(Maximum distance traveled in push operation)
Target position

(8) Zone+/- x These fields define the zone within which the zone output signal turns ON.
A separate zone can be set for each target position.
Only the zone setting for the currently executed position number becomes effective, and the
zone settings for all other position numbers remain ineffective.

Chapter 3 Gateway R unit

[Rotary actuator in the index mode]

Zone signal ON area

Set values Set values

Zone setting+: 70q Zone setting+: 315q
Zone setting-: 315q Zone setting-: 70q

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[Linear axis]

Current position

Set values
Zone setting+: 70 mm
Zone setting-: 30 mm
Zone signal output

Set values
Zone setting+: 30 mm
Zone signal output Zone setting-: 70 mm
Chapter 3 Gateway R unit

Caution
The specifics of the zone function vary depending on the application version.
y In applications of version 0015 and older, zone signals will not be output if the parameters are set as follows:
Zone setting+ d Zone setting-
y In applications of version 0016 and later, zone signals will not be output if the parameters are set as follows:
Zone setting+ = Zone setting-

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(9) Acceleration/Deceleration Mode x This field defines the acceleration/deceleration pattern characteristics.
The factory setting is “0.”
0: Trapezoid pattern
1: S-motion
2: Primary delay filter

Trapezoid Pattern

Speed

Acceleration Deceleration

Time
The acceleration and deceleration are set in the “Acceleration” and “Deceleration”
fields of the position table, respectively.

S-motion

The actuator accelerates over a curve that increases gradually at first and then rises
sharply in the middle.
Use this pattern if you want to set the acceleration/deceleration high to meet the tact
time requirement, but still want the actuator to accelerate and decelerate gradually
immediately after starting and before stopping.

Chapter 3 Gateway R unit

Speed

Time
The S-motion level is set in parameter No. 56, “S-motion ratio setting.” The setting
unit is %, and the setting range is 0 to 100.
(The above graph assumes a ratio of 100%.)
When this parameter is set to “0,” the S-motion mode will be disabled.
Note, however, that the parameter will not be reflected in jogging or inching feed
operated from a PC or teaching pendant.
Although the acceleration/deceleration time does not change, the value of
acceleration/deceleration becomes greater than the acceleration/deceleration set
in the position table (by up to twice), as shown in the above graph.

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Primary Delay Filter

The actuator accelerates/decelerates over a curve that is more gradual than in

linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don’t
want the work part to receive micro-vibration during acceleration/deceleration.
Speed

Time

The primary delay level is set in parameter No. 55, “Position-command primary
filter time constant.” The setting unit is msec, and a desired value can be set in a
range of 0.0 to 100.0 in 0.1-msec steps.
If this parameter is set to “0,” the primary delay filter will be disabled.
Note, however, that the parameter will not be reflected in jogging or inching feed
operated from a PC or teaching pendant.

(10) Incremental x This field defines either absolute coordinate specification or relative coordinate
specification.
The factory setting is “0.”
0: Absolute coordinate specification
1: Relative coordinate specification
Chapter 3 Gateway R unit

(11) Command Mode x This field is not used with this controller.
The factory setting is “0.”

(12) Stop mode x This field is invalid with RACON controllers.

x With RPCON controllers, define the power-saving method to be applied during the
standby period after completion of positioning to the target position set in the
“Position” field of the position number table.
0: Disable the power-saving mode
4: Full-servo control method

Full-servo control method

The holding current can be reduced by servo-controlling the pulse motor.
Although the degree of reduction varies depending on the actuator model, load
condition, etc., the holding current will drop to approx. 1/2 to 1/4.
Under this method, the servo remains on and therefore position deviation will not
occur.
The actual holding current can be checked on the current monitor screen of the PC
software.

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3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode
Assignments in the positioner 1 mode or simple direct mode are shown below.
PLC output = Axis control signal
1 word = 16 bits
Address*

(Upper byte)

(Lower byte)
Position data specification (Signed integer)

Position data specification (Signed integer)

Command position Number (Signed integer)

Chapter 3 Gateway R unit

Control signal
PLC input = Axis status signal
Address*

(Upper byte)

(Lower byte)
Current position data (Signed integer)

Current position data (Signed integer)

Completed position Number

Status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address.
The CC-Link and DeviceNet types use word addresses, while the Profibus and RS485 SIO types use byte addresses.

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I/O Signal List

Simple
Signal type Bit Signal name Description Positioner Details
direct
Position data 32-bit - Set as a hexadecimal number using a 32-bit 3.8.3
specification data signed integer (unit: 0.01 mm) (4)
Example) To set +25.4 mm, specify
“0009EC” (decimal number: 2540).
z The maximum settable value is +9999.99 X {
mm = 999999 (decimal number) =
0F423FH (hexadecimal number).
z If the applicable data is a negative value,
specify it as a complement of 2.
Set the command position number as a binary
{ X 3.8.2 (11)
number.
Command
b9-b0 PC*** Move data other than the specified position
position number
PLC output

data is set in the position table. Specify the X { 3.8.3 (3)

position number as a binary number.
b15 BKRL Forced brake release { { 3.8.2 (19)
b10 MODE Teaching mode command { X 3.8.2 (17)
b9 PWRT Position data load command { X 3.8.2 (18)
b8 JOG+ Jog+ command { { 3.8.2 (14)
b7 JOG- Jog- command { {
b6 JVEL Jogging speed/inching distance switching { { 3.8.2 (15)
Chapter 3 Gateway R unit

Control signal b5 JISL Jogging/inching switching { { 3.8.2 (16)

b4 SON Servo ON command { { 3.8.2 (5)
b3 RES Reset command { { 3.8.2 (4)
3.8.2 (10)
b2 STP Pause command { { 3.8.4 (2)
b1 HOME Home return command { { 3.8.2 (6)
b0 CSTR Start command { { 3.8.2 (7)

{: Available X: Not available

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I/O Signal List

Simple
Signal type Bit Signal name Description Positioner Details
direct
Current position 32-bit - Output as a hexadecimal number using a 3.8.3
data data 32-bit signed integer (unit: 0.01 mm). (4)
Example) To set +25.4 mm, specify
“0009EC” (decimal number: 2540).
The maximum settable value is +9999.99
mm = 999999 (decimal number) =
0F423FH (hexadecimal number).
If the applicable data is a negative value, a
complement of 2 is displayed.
Completed The completed position number is read as a 3.8.2 (12)
position number b9-b0 PM*** binary number. A simple alarm code is output 3.8.3 (3)
PLC input

while an alarm is present.

b15 EMGS Emergency stop status 3.8.2 (2)
b14 CRDY Controller ready 3.8.2 (1)
b13 ZONE2 Zone output monitor 1 3.8.2 (13)
b12 ZONE1 Zone output monitor 2
b11 PZONE Position zone output monitor X
b10 MODES Teaching mode status X 3.8.2 (18)
b9 WEND Position data load command status X 3.8.2 (18)
Control signal b8 - Can not be used. - - -

Chapter 3 Gateway R unit

b7 LOAD Load output judgement 3.8.2 (24)
b6 TRQS Torque level 3.8.2 (25)
b5 PSFL Missed work part in push operation 3.8.4 (1)
b4 SV Ready (servo ON) 3.8.2 (5)
b3 ALM Alarm present 3.8.2 (3)
b2 MOVE Moving 3.8.2 (8)
b1 HEND Home return complete 3.8.2 (6)
b0 PEND Position complete 3.8.2 (9)

: Available X: Not available

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[Alarm List]
Listed below are simple alarm codes that will be output when the respective alarms generate.
For details, refer to Part 3, “Maintenance.”
Simple alarm codes and alarm codes are given as hexadecimal numbers.
* Simple alarm codes are indicated by the STATUS0 to 3 LEDs on the controller unit.

z: ON X: OFF {: Available X: Not available

PM PM PM PM PM PM PM PM PM PM Simple* Alarm
alarm Alarm name RPCON RACON
512 256 128 64 32 16 8 4 2 1 code
code
90 Software reset command with servo ON { {
91 Position number error during teaching { {
X X X X X X X X z X 2
92 PWRT signal detection during movement { {
93 PWRT signal detection before home return { {
80 Move command with servo OFF { {
82 Position command before home return { {
83 Absolute position move command before home return { {
X X X X X X X X z z 3
84 Move command during home return { {
85 Position number error during movement { {
A7 Command deceleration error { {
X X X X X X X z X X 4 F4 PCB mismatch error { {
A1 Parameter data error { {
X X X X X X X z z X 6 A2 Position data error { {
A3 Position command information data error { {
B6 Phase-Z detection timeout X {
B7 Indeterminable magnetic pole X {
Chapter 3 Gateway R unit

X X X X X X X z z z 7 B8 Excited phase detection error { X

BA Home sensor not detected { {
BE Home return timeout { {
X X X X X X z X X X 8 C0 Excessive actual speed { {
C8 Overcurrent X {
C9 Overvoltage { {
CA Overheat { {
X X X X X X z X X z 9
CB Current sensor offset adjustment error X {
CC Control power-supply voltage error { {
CE Control power-supply voltage low { {
D8 Deviation overflow { {
D9 Software stroke limit over error { {
X X X X X X z X z z B
DC Push operation range over error { {
A4 Command counter overflow { {
C1 Servo error { X
D2 Motor power-supply overvoltage X {
X X X X X X z z X X C
E0 Overload X {
F0 Driver logic error X {
E5 Encoder receive error { {
E8 Phase A/B open { {
E9 Phase A open { X
X X X X X X z z X z D EA Phase B open { X
ED Absolute encoder error detection 1 { {
EE Absolute encoder error detection 2 { {
EF Absolute encoder error detection 3 { {
FA CPU error { {
X X X X X X z z z X E
FC Logic error { {
F5 Nonvolatile memory write verification error { {
X X X X X X z z z z F F6 Nonvolatile memory write timeout { {
F8 Nonvolatile memory data damage { {

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3.7.6 Assignments in the Direct Numerical Specification Mode
Assignments in the direct numerical specification mode are shown below.
Set the push-current limiting value, acceleration/deceleration and speed within the ranges specified for the applicable actuator,
and set the target position data within the soft stroke range.

Setting units: Current-limiting value = 1%, Acceleration/deceleration = 0.01 G, Speed = 1.0 mm/sec or 0.1
mm/sec
Position data/positioning band = 1/100 mm,

PLC output = Axis control signal

Address* 1 word = 16 bits

(Upper byte)

(Lower byte)
Position data specification (Signed integer)

Position data specification (Signed integer)

Chapter 3 Gateway R unit

Positioning band

Positioning band

Speed

Acceleration/deceleration

Push-current limiting value

Control signal
* m indicates the initial register address of each axis.
n indicates the relative address at the beginning of each address.
The CC-Link and DeviceNet types use word addresses, while the Profibus and RS485 SIO types use byte addresses.
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PLC input = Axis status signal

1 word = 16 bits
Address*

(Upper byte)

(Lower byte)
Current position data (Signed integer)

Current position data (Signed integer)

Motor command current value (Signed integer)

Chapter 3 Gateway R unit

Motor command current value (Signed integer)

Current speed

(Cannot be used.)

Alarm code
MEND

Status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address.
The CC-Link and DeviceNet types use word addresses, while the Profibus and RS485 SIO types use byte addresses.

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I/O Signal List

Signal type Bit Signal name Description Details

Set as a hexadecimal number using a 32-bit signed integer 3.8.3 (5)
(unit: 0.01 mm)
Example) To set +25.4 mm, specify “0009ECH”
(decimal number: 2540).
Position data 32-bit
- z The maximum settable value is +9999.99 mm = 999999
specification data
(decimal number) = 0F423FH (hexadecimal number).
z If the applicable data is a negative value, specify it as a
complement of 2.
z Set the position data within the soft stroke range.
Set as a hexadecimal number using a 32-bit integer 3.8.3 (5)
(unit: 0.01 mm).
Example) To set +25.4 mm, specify “0009ECH”
(decimal number: 2540).
32-bit
Positioning band - z Set the position data within the soft stroke range.
data
z Set the direction of push operation using the DIR.
z Take note that if positioning band specification data is not set,
the setting of parameter No. 10, “Default positioning band” will
not be applied.
PLC output

Set as a hexadecimal number using a 16-bit integer 3.8.3 (5)

(unit: 1.0 mm/sec or 0.1 mm/sec).
Example) To set 200 mm/sec, specify “00C8H”
(decimal number: 200).

Chapter 3 Gateway R unit

z If speed is not set, or the set speed is “0,” the actuator will
16-bit remain stopped and no alarm will generate.
Speed -
data If the speed setting is changed to “0” while the actuator is
moving, the actuator will decelerate to a stop.
z Change the unit on the special parameter setting screen of
the ROBONET gateway parameter setting tool. (The unit
change function is supported by applications of version
1.0.4.0 and later.) (The factory setting is 1.0 mm/sec.)
Set as a hexadecimal number using a 16-bit integer (unit: 0.01 G). 3.8.3 (5)
Example) To set 0.2 G, specify “0014H” (decimal number: 20).
The maximum value is 2 G, corresponding to “00C8H” (decimal
number: 200).
Acceleration/ 16-bit z Take note that if acceleration/deceleration is not set, the
-
deceleration data setting of parameter No. 9, “Default
acceleration/deceleration” will not be applied.
z Separate values cannot be set for acceleration and
deceleration. The acceleration and deceleration are always
the same.

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I/O Signal List

Signal type Bit Signal name Description Details

Set the push-current limiting value as a hexadecimal number 3.8.3 (5)
(unit: %) to set the push force.
Push-current 8-bit The setting range is 00H to FFH, where FFH and 1FFH
-
limiting value data correspond to 100% and 200%, respectively.
Example) To set 50%, specify FFH x 50% = 255 x 50% = 127
(decimal number) = “7FH.”
b15 BKRL Forced brake release 3.8.2 (19)
b14 - Cannot be used. -
b13 DIR Push direction specification 3.8.3 (5)
(0 = Home return direction, 1 = Opposite home return direction) 3.8.4 (1)
b12 PUSH Push operation mode specification
PLC output

b11 - Cannot be used. -

b10 - Cannot be used. -
b9 - Cannot be used. -
b8 JOG+ Jog+ command 3.8.2 (14)
Control signal
b7 JOG- Jog- command
b6 JVEL Jogging speed/inching distance switching 3.8.2 (15)
b5 JISL Jogging/inching switching 3.8.2 (16)
b4 SON Servo ON command 3.8.2 (5)
b3 RES Reset command 3.8.2 (4)
3.8.2 (10)
Chapter 3 Gateway R unit

b2 STP Pause command

3.8.4 (2)
b1 HOME Home return command 3.8.2 (6)
b0 CSTR Start command 3.8.2 (7)

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I/O Signal List

Signal type Bit Signal name Description Details

The current position data is output as a hexadecimal number 3.8.3 (5)
using a 32-bit signed integer (unit: 0.01 mm).
Current position 32-bit Example) If the data is +25.4 mm, “000009ECH”
-
data data (decimal number: 2540) is output.
Since a negative value is indicated as a 2’ s complement, the
most significant bit becomes “1.”
The motor command current value data is output as a 3.8.3 (5)
hexadecimal number using a 32-bit signed integer (unit: mA).
Motor command 32-bit Example) If the data is +1 A (1000 mA), “000003EH8
-
current value data (decimal number: 1000) is output.
Since a negative value is indicated as a 2’ s complement, the
most significant bit becomes “1.”
Output as a hexadecimal number using a 16-bit integer 3.8.3 (5)
16-bit (unit: 1.0 mm/sec).
Current speed -
data Example) If the data is 200 mm/sec, “00C8H”
(decimal number: 200) is output.
PLC input

The present alarm code is output. (The ALM is turned ON.) 3.7.5
16-bit
Alarm code - Refer to the list in 3.7.5 for the alarm details. Take note that
data
these are not simple alarm codes.
b15 EMGS Emergency stop mode 3.8.2 (2)
b14 CRDY Controller ready 3.8.2 (1)
b13 ZONE2 Zone output monitor 2 3.8.2 (13)

Chapter 3 Gateway R unit

b12 ZONE1 Zone output monitor 1
b11 - Cannot be used. -
b10-b9 - Cannot be used. -
b8 - Cannot be used. -
Status signal b7-b6 - Cannot be used. -
3.8.3 (5)
b5 PSFL Missed work part in push operation
3.8.4 (1)
b4 SV Ready (servo ON) 3.8.2 (5)
b3 ALM Alarm present 3.8.2 (3)
b2 MOVE Moving 3.8.2 (8)
b1 HEND Home return complete 3.8.2 (6)
b0 PEND Position complete 3.8.2 (9)

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3.7.7 Assignment in Positioner 2 Mode

Assignment in the positioner 2 mode is explained below.
PLC output = Axis control signal

1 word = 16 bits
Address*

(Upper byte)

(Lower byte)
Command position number

Control signal
Chapter 3 Gateway R unit

PLC input = Axis status signal

Address*

(Upper byte)

(Lower byte)
Completed position number

Status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address.
The CC-Link and DeviceNet types use word addresses, while the Profibus and RS485 SIO types use byte addresses.
The I/O signal list and alarm list are the same as those of the positioner 1 mode. Refer to 3.7.5.

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3.7.8 Signal Assignments in Solenoid Valve Mode 1
Signal assignments in solenoid valve mode 1 are shown below.

PLC output = Axis control signal

1 word = 16 bits
Address*
E E E E E E E E E E E E E E E E
&&/LQN 'HYLFH1HW 352),%86
566,2
(Upper byte)

6 7
6 7
6 7
6 7
6 7
6 7
6 7
Q䠇
5:Z 䠄 P 䠇䠅 Q䠇 (Lower byte)
Command position number
Q䠇

+20 (
%.5 /

62 1
5(6
6 73
Q䠇
5:Z 䠄 P 䠇䠅 Q䠇
Q䠇
Control signal

Chapter 3 Gateway R unit

PLC input = Axis status signal

Address*
E E E E E E E E E E E E E E E E
&&/LQN 'HYLFH1HW 352),%86
566,2
(Upper byte)
3(
3(
3(
3(
3(
3(
3(
Q䠇
5:U 䠄 P 䠇䠅 Q䠇 (Lower byte)
Completed position number
Q䠇
=2 1 ( 
3 =2 1 (
(0 * 6

+ (1 '
3(1 '
$ /0
69

Q䠇
5:U 䠄 P 䠇䠅 Q䠇
Q䠇
Status signal

* m indicates the first register address of each axis.

n indicates the relative address at the beginning of each axis.
Word addresses are used for CC-Link and DeviceNet networks, while byte addresses are used for Profibus and RS485SIO
networks.

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I/O Signal List

Signal type Bit Signal Description Details

b15-b7 - Cannot be used. -
b6 ST6 Start position command 6
b5 ST5 Start position command 5
Command b4 ST4 Start position command 4
position
number b3 ST3 Start position command 3 3.8.2. (20)
b2 ST2 Start position command 2
b1 ST1 Start position command 1
PLC output

b0 ST0 Start position command 0

b15 BKRL Forced brake release 3.8.2. (19)
b14-b5 - Cannot be used. -
b4 SON Servo ON command 3.8.2. (5)
Control b3 RES Reset command 3.8.2. (4)
signal
3.8.2. (2)
b2 STP Pause command
3.8.2. (10)
b1 HOME Home return command 3.8.2. (6)
Chapter 3 Gateway R unit

b0 - Cannot be used. -
b15-b7 - Cannot be used. -
b6 PE6 Current position number signal 6
b5 PE5 Current position number signal 5
Completed b4 PE4 Current position number signal 4
position
number b3 PE3 Current position number signal 3 3.8.2. (22)
b2 PE2 Current position number signal 2
b1 PE1 Current position number signal 1
b0 PE0 Current position number signal 0
PLC input

b15 EMGS Emergency stop 3.8.2. (2)

b14-b13 - Cannot be used. -
b12 ZONE1 Zone output 1 monitor 3.8.2. (13)
b11 PZONE Position zone output monitor 3.8.2. (13)
Status b10-b5 - Cannot be used. -
signal b4 SV Ready (servo ON) 3.8.2. (5)
b3 ALM Alarm 3.8.2. (3)
b2 - Cannot be used. -
b1 HEND Home return complete 3.8.2. (6)
b0 PEND Position complete 3.8.2. (9)

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3.7.9 Signal Assignments in Solenoid Valve Mode 2
Signal assignments in solenoid valve mode 2 are shown below.

PLC output = Axis control signal

Address* 1 word = 16 bits

(Upper byte)

(Lower byte)
Command position number

Control signal

PLC input = Axis status signal

Chapter 3 Gateway R unit

Address*

(Upper byte)

(Lower byte)
Completed position number

Status signal

* m indicates the first register address of each axis.

n indicates the relative address at the beginning of each axis.
Word addresses are used for CC-Link and DeviceNet networks, while byte addresses are used for Profibus and RS485SIO
networks.

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I/O Signal List

Signal type Bit Signal Description Details

b15-b3 - Cannot be used. -
Command b2 ST2 Intermediate point movement command
position
number b1 ST1 Front end movement command 3.8.2. (21)
b0 ST0 Rear end movement command
PLC
b15 BKRL Forced brake release 3.8.2. (19)
output
b14-b5 - Cannot be used. -
Control b4 SON Servo ON command 3.8.2. (5)
signal
b3 RES Reset command 3.8.2. (4)
b2-b0 - Cannot be used. -
b15-b3 - Cannot be used. -
Completed b2 LS2 Intermediate point position detection
position
number b1 LS1 Front end position detection 3.8.2. (23)
b0 LS0 Rear end position detection
b15 EMGS Emergency stop 3.8.2. (2)
Chapter 3 Gateway R unit

b14-b13 - Cannot be used. -

PLC b12 ZONE1 Zone output 1 monitor 3.8.2. (13)
input b11 PZONE Position zone output monitor 3.8.2. (13)
Status b10-b5 - Cannot be used. -
signal b4 SV Ready (servo ON) 3.8.2. (5)
b3 ALM Alarm 3.8.2. (3)
b2 - Cannot be used. -
b1 HEND Home return complete 3.8.2. (6)
b0 - Cannot be used. -

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3.8 I/O Signals
3.8.1 I/O Signal Timings
To operate the ROBO Cylinder using the PLC’s sequence program, a given control signal is turned ON. The maximum
response time after the signal turns ON until the response (status) signal is returned to the PLC is calculated by the formula
below:

Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.)
Mt = 10 (msec) x (n + 1) : SIO link (Modbus) cycle time
n: Number of controlled axes
Yt: Master station o remote I/O station transmission delay time Field network transmission delay time
Xt: Remote I/O station o master station transmission delay time

For the master station o remote I/O station transmission delay time (Yt) and remote I/O station o master station transmission
delay time (Xt), refer to the operation manuals of the CC-Link master unit and the PLC installed in the master unit.

PLC sequence program

Control signal

Status signal

Chapter 3 Gateway R unit

Master station o remote I/O station Remote I/O station o master station
transmission delay time (Yt) transmission delay time (Xt)

Gateway
Control signal

Status signal

SIO link cycle time SIO link cycle time

Controller
Control signal
Command
processing time

Status signal

(Note) If a communication error occurred due to a problem along the transmission path, etc., communication will be retried
(by up to three times) and consequently the SIO link cycle time (Mt) may become longer than normal.

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3.8.2 I/O Signal Functions

(1) Controller Ready (CRDY) PLC Input Signal
This signal turns “1” (ON) when the controller has become ready to perform control after the power is turned ON.

„ Function
This signal turns “1” (ON) when the controller has been successfully initialized and become ready to perform control
after the power is turned ON, regardless of the alarm status, servo status, etc.
Even when an alarm is present, this signal is always “1” (ON) whenever the controller is ready.

(2) Emergency Stop (EMGS) PLC Input Signal

This signal turns “1” (ON) when the controller has actuated an emergency stop.

„ Function
This signal turns “1” (ON) when the controller generates an alarm or actuates an emergency stop (= the motor driver
power is cut off). It will turn “0” (OFF) once the emergency stop is cancelled. The applicable alarms are
operation-cancellation alarms and cold-start alarms.

(3) Alarm (ALM) PLC Input Signal

This signal turns “1” (ON) when the controller’s protective circuit (function) has detected an alarm.

„ Function
Chapter 3 Gateway R unit

This signal turns “1” (ON) when a protective circuit (function) is activated due to detection of an error.
When the cause of the alarm is removed and the reset (RES) signal is turned “1” (ON), the signal will turn “0” (OFF).
(With cold-start alarms, the power must be reconnected.)
When an alarm is detected, the ALM LED (red) on the front panel of the controller illuminates. This LED remains unlit
in a normal condition.

(4) Reset (RES) PLC Output Signal

This signal has two functions. It can be used to reset controller alarms or to cancel the remaining travel distance during a
pause.

„ Function
[1] While an alarm is present, remove the cause of the alarm and change this signal from “0” (OFF) to “1” (ON), and
the alarm signal will be reset. (With cold-start alarms, the power must be reconnected.)
[2] Change this signal from “0” (OFF) to “1” (ON) while the actuator is paused, and the remaining travel distance will
be cancelled.

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(5) Servo ON Command (SON) PLC Output Signal
Ready (SV) PLC Input Signal
Turn the SON signal “1” (ON), and the servo will turn on. When the servo is turned ON, the SV LED (green) on the front
panel of the controller will illuminate.
The SV signal is synchronized with this LED indicator.

‫ ڦ‬Function
The SON signal can be used to turn ON/OFF the controller servo.
The controller servo remains on and thus the controller can be operated while the SV signal is “1” (ON).
The relationship of SON and SV signals is shown below.

Chapter 3 Gateway R unit

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(6) Home Return Command (HOME) PLC Output Signal

Home Return Complete (HEND) PLC Input Signal
Home return operation will start at the “0” (OFF) Æ “1” (ON) leading edge of the HOME signal.
When home return is complete, the HEND (home return complete) signal will turn “1” (ON).
Turn the HOME signal “0” (OFF) after the HEND signal has turned “1” (ON). Once it turns “1,” the HEND signal will not
turn “0” (OFF) until the power is turned OFF or the HOME signal is input again. After home return has been completed
once, home return can be performed as many times as desired using the HOME signal.
An absolute reset must be performed for each axis (controller unit) connected to a simple absolute R unit, when the
system is started.
To perform an absolute reset from the host PLC, output the home return signal (HOME).
For details, refer to the section on starting up the simple absolute R unit in Part 2, “Startup.”
Chapter 3 Gateway R unit

Actuator operation

Mechanical end Stops at the home position

Caution
1. If a positioning command is issued in the positioner mode immediately after the power has been turned ON, without
performing home return, home return will be performed automatically, but only if no home return has been performed
after the power ON, and then the positioning will be executed.
2. Take note that in any other mode, an alarm “Error 83: ALARM HOME ABS (absolute position move command before
home return)” will generate.

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(7) Positioning Start (CSTR) PLC Output Signal
Upon detection of the “0” (OFF) o “1” (ON) leading edge of this signal, the controller will read the target position number
consisting of a 10-bit binary code from PC1 to PC512, and perform positioning to the target position specified by the
corresponding position data. The same procedure is followed when the target position is specified directly as a numerical
value in the position data specification area.
Before executing a start command, the operation data such as target position and speed must be set in the position table
using a PC/teaching pendant.
If this command is issued when no home return has been performed after the power ON (= when the HEND output signal
is “0” (OFF)), home return will be performed automatically and then the positioning will be executed.
Turn this signal “0” (OFF) after confirming that the PEND signal has turned “0” (OFF).

(8) Moving (MOVE)

This signal is “1” (ON) while the actuator is moving with the servo turned ON (and also during home return, push
operation and jogging operation).
Use the MOVE signal together with the PEND signal for status judgment on the PLC side.
This signal will turn “0” (OFF) once the actuator completes positioning, home return or push operation, or is paused.

(9) Position complete (PEND) PLC Input Signal

This signal turns “1” (ON) when the actuator has moved to the target position and entered the positioning band, or push
operation has completed (the work part has not been missed).
When the servo status changes from OFF to ON, the applicable position is set as the target position and accordingly this

Chapter 3 Gateway R unit

signal turns “1” (ON). When positioning operation is subsequently started via the HOME signal or CSTR signal, this
signal will turn “0” (OFF).
The position complete
Speed signal turns ON.

Target position

Travel distance

Time

Positioning band

Caution
If the servo turns OFF or an emergency stop is actuated while the actuator is stopped at the target position, the PEND will
turn “0” (OFF).
If the current position is within the positioning band when the servo turns ON again, the signal will return to “1” (ON). If the
CSTR remains “1” (ON), the PEND will not turn “1” (ON) even when the current position is within the positioning band. It will
turn “1” (ON) only after the CSTR signal has turned “0” (OFF).

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(10) Pause (STP) PLC Output Signal

Turn this signal “1” (ON), and the axis movement will pause (the axis will decelerate to a stop). Turn the signal “0” (OFF),
and the axis movement will resume.

(11) Command Position Number (PC1 to PC512) PLC Output Signal

The command position number is read as a 10-bit binary number.
Upon detecting the “0” (OFF) o “1” (ON) edge of the CSTR signal, the controller will read the 10-bit binary number
consisting of PC1 to PC512 signals as the command position number.

(12) Completed Position Number (PM1 to PM512) PLC Input Signal

The position complete number is output as a 10-bit binary number.
When the power is turned ON or while the actuator is moving, all of PM1 to PM512 signals are “0” (OFF).
All signals will turn “0” (OFF) once the servo turns OFF or an emergency stop is actuated. The signals will return to “1”
(ON) if the current position is within the positioning band (INP) with respect to the target position when the servo turns
ON again. If the positioning band (INP) is exceeded, the signals will remain “0” (OFF).
These signals also turn “1” (ON) when push operation has completed or the work part has been missed.

(13) Zone (PZONE, ZONE1, ZONE2) PLC Input Signal

These signals remain “1” (ON) while the current actuator position is inside the specified zone.
Chapter 3 Gateway R unit

Zones are set using the position table or user parameters.

This signal becomes effective after completion of home return. It will remain effective, even while the servo is turned off,
once home return has completed.

Positioner Direct numerical

Solenoid valve mode 1
Setting Zone signal mode, simple specification
Solenoid valve mode 2
direct mode mode
Position zone
Individual zone boundaries in the position table output { X {
PZONE
User parameters for zone boundary 1 Zone output 1
{ { {
(Parameter No. 1 = + side, No. 2 = - side) ZONE1

User parameters for zone boundary 2 Zone output 2

{ { X
(Parameter No. 23 = + side, No. 24 = - side) ZONE2

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Examples are shown below.

[Rotary actuator in the index mode]

Zone signal ON area

Set values
Zone setting+: 70q Set values
Zone setting-: 315q Zone setting+: 315q
Zone setting-: 70q

Chapter 3 Gateway R unit

[Linear axis]

Current position

Set values
Zone setting+: 70 mm
Zone setting-: 30 mm
Zone signal output

Set values
Zone setting+: 30 mm
Zone signal output Zone setting-: 70 mm

Caution
The specifics of the zone function vary depending on the application version.
y In applications of version 0015 and older, zone signals will not be output if the parameters are set as follows:
Zone setting+ d Zone setting-
y In applications of version 0016 and later, zone signals will not be output if the parameters are set as follows:
Zone setting+ = Zone setting-

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(14) Jog+ Command/Jog- Command (JOG+/JOG-) PLC Output Signal

These signals function as start commands for jogging operation or inching operation.
The + command starts operation in the direction opposite home, while the – command starts operation in the home
direction.
Jogging operation or inching operation is specified by a combination of this signal and the JISL signal (jogging/inching
switching signal) and JVEL signal (jogging/inching speed and inching distance parameter switching signal).

[1] Jogging operation

The actuator can be jogged when the jogging/inching switching signal (JISL) is “0” (OFF).
The actuator will operate in the direction opposite home while the JOG+ is “1” (ON), and decelerate to a stop when
the signal turns “0” (OFF).
The actuator will operate in the direction of home while the JOG- is “1” (ON), and decelerate to a stop when the
signal turns “0” (OFF).
The operation is set by the following parameters:
x Speed: Jogging speed in the parameter specified by the jogging speed/inching distance
switching (JVEL) signal
JVEL signal = “0” (OFF)o Parameter No. 26 (PIO jogging speed)
JVEL signal = “1” (ON)o Parameter No. 47 (PIO jogging speed 2)
x Acceleration/deceleration: Rated acceleration/deceleration (The specific value varies depending on the actuator.)
To stop the jogging operation (cause the actuator to decelerate to a stop), change the active JOG signal from “1”
(ON) to “0” (OFF) or turn both the JOG+ and JOG- “1” (ON).

[2] Inching operation

The actuator can be inched when the jogging/inching switching signal (JISL) is “1” (ON).
Chapter 3 Gateway R unit

The actuator moves by the inching distance every time the JOG signal changes from “0” (OFF) to “1” (ON).
The JOG+ signal causes the actuator to inch in the direction opposite home, while the JOG- signal causes the
actuator to inch in the direction of home.
The operation is set by the following parameters:
x Speed: Jogging speed set in the parameter specified by the JVEL signal
JVEL signal = “0” (OFF)o Parameter No. 26 (PIO jogging speed)
JVEL signal = “1” (ON)o Parameter No. 47 (PIO jogging speed 2)
x Travel distance: Travel distance set in the parameter specified by the JVEL signal
JVEL signal = “0” (OFF)o Parameter No. 48 (PIO inching distance)
JVEL signal = “1” (ON)o Parameter No. 49 (PIO inching distance 2)
x Acceleration/deceleration: Rated acceleration/deceleration (The specific value varies depending on the actuator.)
Normally while the actuator is operating, the actuator will continue to operate even when the JOG+ or JOG- signal is
turned “1” (ON) (= the JOG signal will be ignored). Also while the actuator is paused,
turning the JOG+ or JOG- signal “1” (ON) will not cause the actuator to operate (= the
JOG signal will be ignored).

Caution
Exercise caution that until home return is completed, the software stroke limits are ineffective and therefore the actuator
may collide with a mechanical end.

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(15) Jogging Speed/Inching Distance Switching (JVEL) PLC Output Signal
This signal switches between the parameter for specifying the jogging speed when jogging operation is selected and the
parameter for specifying the inching distance when inching operation is selected.
The relationships are summarized in the table below.

JVEL signal Jogging operation: JISL = “0” (OFF) Inching operation: JISL = “1” (ON)
Parameter No. 26 (Jogging speed) Parameter No. 26 (Jogging speed)
“0” (OFF)
Parameter No. 48 (Inching distance)
Parameter No. 47 (Jogging speed 2) Parameter No. 47 (Jogging speed 2)
“1” (ON)
Parameter No. 49 (Inching distance 2)

(16) Jogging/Inching Switching (JISL) PLC Output Signal

This signal is used to switch jogging operation and inching operation.
JISL = “0” (OFF): Jogging operation
JISL = “1” (ON): Inching operation
If the JISL signal switches to “1” (ON) during jogging operation, the actuator will decelerate to a stop and the inching
function will become effective. If the JISL signal switches to “0” (OFF) during inching operation, the actuator will
complete the inching operation and then the jogging function will become effective.

Jogging and inching operation commands are based on a combination of JISL, JVEL and JOG+/JOG- signals. The
relationships of these signals are summarized in the table below.

Jogging operation Inching operation

Chapter 3 Gateway R unit

JISL “0” (OFF) “1” (ON)
Speed Parameter No. 26 (Jogging speed) Parameter No. 26 (Jogging speed)
JVEL= Travel distance - Parameter No. 48 (Inching distance)
“0” (OFF) Acceleration/ Rated value (The specific value varies Rated value (The specific value varies
deceleration depending on the actuator.) depending on the actuator.)
Speed Parameter No. 47 (Jogging speed 2) Parameter No. 47 (Jogging speed 2)
JVEL= Travel distance - Parameter No. 49 (Inching distance 2)
“1” (ON) Acceleration/ Rated value (The specific value varies Rated value (The specific value varies
deceleration depending on the actuator.) depending on the actuator.)
When the JOG+/JOG- is “1” When the JOG+/JOG- changes from
Operation
“0” from “1”

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(17) Teaching Mode Command (MODE) PLC Output Signal (Effective only in the positioner mode)
Teaching Mode Status (MODES) PLC Input Signal
When this signal is turned “1,” the controller will switch from the normal operation mode to the teaching mode. After
switching to the teaching mode, each axis controller will output the teaching mode status (MODES) signal.
Turning the MODE signal “1” (ON) switches the normal operation mode to the teaching mode.
When the teaching mode becomes effective, the MODES signal for each controller axis turns “1” (ON).
Teaching should be performed on the PLC side after confirming that the MODES signal has turned “1” (ON).
Switching from the normal operation mode to the teaching mode is permitted in the following conditions:
x The actuator (motor) is stopped
x The JOG+ signal and JOG- signal are “0” (OFF)
x The position data load command (PWRT) signal and positioning start (CSTR) signal are “0” (OFF)

(18) Position Data Load Command (PWRT) PLC Output Signal (Effective only in the positioner mode)
Position Data Load Complete (WEND) PLC Input Signal
The PWRT signal is effective when the MODES signal is “1” (ON).
When the PWRT signal remains “1” (ON) for 20 msec or more (*1), the current position data will be written to the
“Position” field under the position number (PC1 to PC512) currently specified by the PLC. (*2)
When the writing is complete, the WEND signal turns “1” (ON).
The host PLC should turn the PWRT signal “0” (OFF) after the WEND signal has turned “1” (ON).
If the PWRT signal is turned “0” (OFF) before the WEND signal turns “1” (ON), the WEND signal will not turn “1” (ON).
When the PWRT signal is turned “0” (OFF), the WEND signal turns “0” (OFF).
*1 If the signal only remains “1” (ON) for less than 20 msec, the data may not be written.
Chapter 3 Gateway R unit

*2 If any data other than position is not yet defined, the default value of the corresponding parameter will be written.

20 msec or more

(19) Forced Brake Release (BKRL) PLC Output Signal

The brake can be forcibly released by turning this signal “1” (ON).

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(20) Start position commands (ST0 to ST6) [Solenoid valve mode 1] PLC output signal
Upon detection of the OFF Æ ON leading edge of any of these signals or an ON level signal for such signal, the actuator
starts positioning to the target position specified by corresponding position data.
Before issuing a start position command, the target position, speed and other operation data must be set in the position
table using a PC or teaching pendant.
Also note that if an ON signal is detected for two or more start position commands at the same time, the detected
position command of the youngest number will be executed. (Example: If an ON signal is detected for ST0 and ST1 at
the same time, the actuator will start moving to ST0.)
Although each command is executed based on detection of an ON signal for the applicable signal, priority is given to the
command whose ON signal is detected first, meaning that a signal input while the actuator is moving will not affect the
current actuator operation. Even if the signal for a different position is turned ON while the actuator is moving, the
actuator will not start moving to the applicable position after reaching the target position.

Correspondence table of input signals and command positions

Input signal Command position

ST0 Position No. 0
ST1 Position No. 1
ST2 Position No. 2
ST3 Position No. 3
ST4 Position No. 4

Chapter 3 Gateway R unit

ST5 Position No. 5
ST6 Position No. 6

If any of these commands is issued when the actuator has not yet completed a single home return operation following
the power on, the actuator will automatically perform a home return operation and then move to the target position.

(21) Front end movement command (ST1)

Rear end movement command (ST0)
Intermediate point movement command (ST2) [Solenoid valve mode 2] PLC output signal

While any of these signals is ON, the actuator continues to move to the applicable target position.
If the signal turns OFF during movement, the actuator will decelerate to a stop.
Before executing any of these commands, enter the target position in the “Position” field of the position table for position
No. 0, 1 or 2.

Input signal Target position Command position

The target position is defined in the “Position”
ST0 Rear end
field for position No. 0.
The target position is defined in the “Position”
ST1 Front end
field for position No. 1.
The target position is defined in the “Position”
ST2 Intermediate point
field for position No. 2.

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(22) Current position number signals (PE0 to PE6) [Solenoid valve mode 1] PLC input signal
When positioning is complete, a signal for the position number corresponding to the movement command (0 to 6) is
output separately.

Correspondence table of output signals and completed positions

Output signal Completed position

PE0 Position No. 0
PE1 Position No. 1
PE2 Position No. 2
PE3 Position No. 3
PE4 Position No. 4
PE5 Position No. 5
PE6 Position No. 6

Note) These signals turn OFF when the servo turns OFF or an emergency stop is executed. If the actuator is inside the
positioning band relative to the target position when the servo turns ON again, each current position number signal
will turn ON again. If the actuator is outside the positioning band, however, the signal will remain OFF.
Chapter 3 Gateway R unit

(23) Position detection output (LS0 to LS2) [Solenoid volume mode 2] PLC input signal
Similar to the air cylinder LS system, these signals turn ON when the current position is inside the positioning band
relative to each target position.
(Note) Even when the servo turns OFF or an emergency stop is executed while the actuator is stopped at the target position,
the applicable current position number signal will remain ON as long as the actuator is inside the positioning band.

Output signal Position detection Remarks

The detection position is defined in the “Position” and
LS0 Rear end position
“Positioning band” fields for position No. 0.
The detection position is defined in the “Position” and
LS1 Front end position
“Positioning band” fields for position No. 1.
The detection position is defined in the “Position” and
LS2 Intermediate position
“Positioning band” fields for position No. 2.

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(24) Load output judgment (LOAD) PLC Input Signal Dedicated Function for RPCON
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.
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 this signal is turned ON Position where the actuator is pushed against
when the command torque exceeds the work and the pressing completion is judged
the threshold within the torque inspected so the positioning completion signal is turned "ON"
width range
Velocity
Check range
Movement
distance

Chapter 3 Gateway R unit

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 Boarder Value + Register or Zone Boarder 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.

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.

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(25) Torque level (TRQS) PLC Input Signal Dedicated Function for RPCON
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"

Velocity

Movement Range where the TRQS signal is output.

distance

Positioning width (Max. pressing level)

Target position
Chapter 3 Gateway R unit

• 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” (disable).
• 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.

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.

(26) Movement command complete (MEND) PLC Input Signal

They are all set to “0” (OFF) when the power is turned ON and while in operation.
It turns OFF when servo is “0” (OFF) or at an emergency stop.
They turn to “1” (ON) when pressing is complete, and even when the pressing operation was missed.
Output would not be made when CSTR signal is ON.

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3.8.3 Basic Operation Timings
(1) Ready
Follow the steps bellow to start the system after confirming that the slider or rod is not contacting a mechanical end and
the transferring load is not contacting any peripherals, either:
[1] Cancel the emergency stop or enable the motor drive power.
[2] Supply the 24-VDC controller power (24-V terminal and 0-V terminal on the power-supply terminal block).
[3] Initialize the minimum parameter(s) required.
(Example) x To change the feed speed during teaching:
Change the value of parameter No. 35, “Safety speed.”
[4] In the positioner mode or simple direct mode, set optimal values in the “Position,” “Speed,” “Acceleration,”
“Deceleration” and other fields of the position table.

Safety circuit status Emergency stop cancelled

Supply of 24-VDC
controller power
A steady orange light comes on only for 2 seconds,
and then turns OFF.
Green
SV lamp
(front panel)
Initial parameter setting

Chapter 3 Gateway R unit

Controller ready
(CRDY)
“0” (OFF) Pause cancelled
Pause (STP)

Servo ON command
(SON)

Ready (SV)

1.6 sec or less

Position complete
(PEND)

Caution
If the power is turned ON while an emergency stop is actuated and then the emergency stop is cancelled (SON signal “1”
(ON)), it will take a maximum of 1.6 seconds after the cancellation of emergency stop for the servo to turn ON.

Emergency stop cancelled

Servo ON

1.6 sec or less

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Warning
The RACON controller performs magnetic-pole phase detection operation during the first servo ON processing after the
power has been turned ON. During this detection operation, the actuator will generally move by approx. 0.5 to 2 mm,
although the specific dimension varies depending on the ball screw lead.
(On rare occasions, the actuator may move by up to around one-half the ball screw lead depending on the position at which
the power is turned ON.)
If the power is turned ON while the actuator is positioned near a mechanical end, the actuator may contact the mechanical
end during the detection operation and reverse its direction.
Exercise due caution not to let the work part or hand contact any surrounding structure because of this movement and
sustain damage as a result.
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(2) Home Return Operation
This controller unit uses an incremental position detector (encoder) and therefore its mechanical coordinates will be lost
once the power is cut off.
After the power is turned ON, therefore, home return must be performed to establish mechanical coordinates.
To perform home return operation, input the home return command signal (HOME).
Home return operation is not required if a simple absolute R unit is connected to the controller unit to make the controller
an absolute axis.

Operation timings
PLC processing 1: As the start button is pressed, the home return command signal (HOME) turns "1" (ON).
Operation: [1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and moves to the home
position, upon reaching, which the actuator stops.
o The home return complete signal (HEND) turns "1" (ON).
PLC processing 2: Turn the home return command (HOME) signal “0” (OFF) after confirming that the HEND signal has
turned “1” (ON).
PLC processing 3: The actuator starts continuous operation.

Home return command

(HOME)

Home return complete

Chapter 3 Gateway R unit

(HEND)

Position complete
(PEND)

Moving (MOVE)

1 msec or less
[1] [2]

Actuator movement
Power ON position

Mechanical end

Home position

Caution
Take heed of the following points when performing home return:
[1] Confirm that no obstacles are present in the direction of home return.
[2] If any obstacle is present in the direction of home return, move the actuator in the direction opposite home and remove
the obstacle.
[3] When the HOME signal is turned “1” (ON), the PEND signal turns “0” (OFF) and MOVE signal turns “1” (ON).
Return the HOME signal to “0” (OFF) after confirming that the HEND signal has turned “1” (ON) while the HOME signal
is still “1” (ON).

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(3) Operation in the Positioner 1 Mode and Positioner 2 Mode

Input position data in the controller’s position table beforehand, and specify a desired position number using a link
register of the PLC.

‫ ڦ‬Operation
[1] Set the position number in the command position number register.
[2] Next, turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is
“1” (ON).
[3] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1” (ON).
[4] Turn the CSTR “0” (OFF) after confirming that the PEND has turned “0” (OFF).
[5] The MOVE turns “1” (ON) the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[6] When the remaining travel distance has become within the specified positioning band (INP), the PEND turns “1”
(ON) if the CSTR is “0” (OFF) and the completed position number is output.
Accordingly, check the completed position number following the completion of positioning after waiting for an
appropriate time after the PEND has turned “1” (ON) (time needed to travel the remaining distance).

Caution
x When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Always turn the start signal OFF after confirming that the position complete output has turned OFF.
Chapter 3 Gateway R unit

If the start input remains ON, the position complete output will not turn ON after the actuator completes its movement, as
shown below.

Start (CSTR)

Position complete (PEND)

Moving (MOVE)

Actuator
Movement complete

x If a move command specifying the same position is issued, the position complete output will turn OFF but the moving
output will not turn ON.
x Even though the actuator is moving, the moving output turns OFF the moment the position complete output turns ON.
Therefore, although increasing the positioning band in the position data will cause the moving output to turn OFF the
moment the position complete output turns ON, the actuator may still be moving.
x When a soft limit is reached through repeated incremental moves, the actuator will stop at that position and the position
complete signal will be output.

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[1]

Command position number

(PLC o GW)
*1
[2]

Start command
CSTR
(PLC o GW)
*2
[3]
Position complete [4]
PEND
(GW o PLC)
[6]

Completed position number

(GW o PLC)
[5]
d 1Mt d 1Mt

Moving

Chapter 3 Gateway R unit

MOVE
(GW o PLC)

*1 T1: Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller.
*2 Yt + 2Mt + Xt d tdpf d Yt + 2Mt + Xt + 7 (ms)

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(4) Operation in the Simple Direct Mode

In this mode, position data is written to a link register of the PLC and other data such as speed, acceleration/deceleration,
positioning band and push current-limiting value are specified by a position table.

„ Preparation
Set in the position table all position data (speed, acceleration/deceleration, positioning band, push-current limiting
value, etc.) other than the target position.
„ Operation
[Normal positioning operation]
[1] Set the target position data in the position data specification register.
[2] Set the position number in the command position number register.
[3] Turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is “1”
(ON) or moving signal (MOVE) is “0” (OFF).
The target position data will be read by the controller at the “0” (OFF) Æ “1” (ON) edge of the CSTR (leading edge
of the signal).
[4] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1.”
[5] Turn the CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE signal has turned
“1” (ON).
Do not change the target position data until CSTR turns "0" (OFF)
[6] The MOVE turns “1” the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[7] The current position data is constantly updated. When the remaining travel distance has become within the
specified positioning band (INP), the PEND turns “1” (ON) if the CSTR is “0” (OFF).
Accordingly, check the completed position number following the position complete after waiting for an appropriate
Chapter 3 Gateway R unit

time after the PEND has turned “1” (ON) (time needed to travel the remaining distance).
Also note that the current position data may vary slightly due to variation, etc., even when the actuator is stopped.
[8] The MOVE turns “0” (OFF) the moment the PEND turns “1” (ON) or within 1 Mt thereafter.
[9] The target position data can be changed while the actuator is moving.
To change the target position data while the actuator is moving, change the target position data and then wait for
at least the scan time of the PLC before turning the CSTR “1” (ON).
In this case, keep the CSTR “1” (ON) for tdpf or more. Also provide an interval of 1 Mt or more after the CSTR is
turned “0” (OFF) until it is turned “1” (ON) again.

[Push operation]
Push operation is performed by setting the push-current limiting value in the Push field of the position table in the
preparation stage and then performing positioning to the applicable position number.

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[1]

Position data setting

(PLC o GW)

[2]

Command position number

(PLC o GW)
*1

[3] *3 *4
twcsON twcsOFF

Start command
CSTR
(PLC o GW)
*2
tdpf
[4] [5]
Position complete
PEND
[7]
(GW o PLC)

Chapter 3 Gateway R unit

[8]

Current position
(GW o PLC) [6]
d 1Mt d 1Mt

Moving
MOVE
(GW o PLC)

*1 Set an appropriate time so that “T1 t 0 ms” is

satisfied, by considering the scan time of the host
controller.
*2 Yt + 2Mt + Xt d tdpf d Yt + 2Mt + Xt + 7 (msec)
*3 twcsON t 1Mt
*4 twcsOFF t 1Mt

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(5) Operation in the Direct Numerical Specification Mode

In this mode, the actuator is operated by writing the target position data, acceleration/deceleration data, speed data,
push-current limiting value data and positioning band data to link registers in the PLC, without using the position table of
the controller.
With push operation, set all of the above data.
With normal positioning operation, the push-current limiting value data, PUSH signal and DIR signal are not required
among the data set for push operation.
Take note that with either operation, the actuator will not operate unless all necessary data are set.

„ Operation
[Push operation]
[1] Set the push start position data in the position data specification register.
[2] Set the speed data until the push start position in the speed specification register, and set the applicable
acceleration/deceleration data in the acceleration/deceleration register. Take note that if
acceleration/deceleration is not set, the setting of parameter No. 9, “Default acceleration/deceleration” will not be
applied.
[3] Set the distance traveled in push operation in the positioning band specification register. *
[4] Set in the push-current limiting value register the push-current limiting data for setting the push force.
[5] Turn the PUSH (push operation mode specification) signal “1” (ON).
[6] Select the push direction using the DIR (push direction specification) signal.
Push operation is performed in the direction opposite home return direction when the DIR signal is “1” (ON), or in
the home return direction when the DIR signal is “0” (OFF).
[7] Next, turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is
“1” (ON).
Chapter 3 Gateway R unit

The data set in [1] to [4] is loaded to the controller at the “0” (OFF) Æ “1” (ON) edge (leading edge) of the CSTR.
[8] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1” (ON).
[9] Turn the CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE signal has turned
“1” (ON).
[10] The MOVE turns “1” (ON) the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[11] When the motor current reaches the push-current limiting value set in [4] during push operation while the CSTR
is “0” (OFF), the PEND will turn “1” (ON). (Push operation is completed.)
If the motor current does not reach the push-current limiting value set in [4] even after the actuator has reached
the positioning band set in [3], the PSFL (missed work part in push operation) signal will turn “1” (ON). In this
case, the PEND will not turn “1” (ON). (The work part was missed.)
[12] The current position data is constantly updated.
[13] Turn the PUSH “0” (OFF) after the PEND or PSFL has turned “1” (ON).
* Take note that if positioning band specification data is not set, the setting of parameter No. 10, “Default positioning
band” will not be applied.

[Normal positioning operation]

With normal positioning operation, the PUSH signal remains “0” (OFF) in [5] above. The setting of push-current
limiting value in [4] is not required, either.The PEND turns “1” (ON) once the remaining travel distance has become the
data range set in [3] as the positioning band while the CSTR is “0” (OFF).

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[1]

Target position data

setting
(PLC Æ GW)

[2]

Speed and
acceleration/deceleration data
setting (PLC o GW)

[3]

Positioning band data

setting (PLC o GW)

[4]

Push-current limiting
value data setting
(PLC o GW)

Chapter 3 Gateway R unit

[5]
Push mode
PUSH
(PLC o GW)

[6]

Push direction
DIR
(PLC o GW)
*1
[7]

Start command [13]

CSTR
(PLC o GW) *2

[8] [9]
Position complete/missed
load in push operation
PEND/PSFL
(GW Æ PLC) [11]

Current position
(GW o PLC)
[12]
[10] d 1Mt d 1Mt
Moving
MOVE
(GW o PLC)
*1 Set an appropriate time so that “T1 t 0 ms” is
satisfied, by considering the scan time of the host
controller.
*2 Yt + 2Mt + Xt d tdpf d Yt + 2Mt + Xt + 7 (msec)

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The target position data, acceleration/deceleration data, speed data, positioning band data and push-current limiting value
data can be changed while the actuator is moving. To do so, turn the CSTR “1” (ON) and keep it “1” (ON) for tdpf or more after
the data has been changed.
Also provide an interval of 1 Mt or more after the CSTR is turned “0” (OFF) until it is turned “1” (ON) again.
An example of changing the speed and acceleration/deceleration is shown below.

[1]

Speed and
acceleration/deceleration data
setting (PLC o GW)
t0
[2] *2 [3] *1
*1
Chapter 3 Gateway R unit

Speed n3
d 1Mt
Speed n2

Actuator speed

*1 twcsON t 1Mt
*2 twcsOFF t 1Mt

Caution
1. If speed data is not set, or the set speed is “0,” the actuator will remain stopped and no alarm will generate.
2. f the speed data setting is changed to “0” while the actuator is moving, the actuator will decelerate to a stop.
3. Target position data must be set even if you only want to change the acceleration/deceleration or speed data.
4. Acceleration/deceleration and speed data must be set even if you only want to change the target position data.

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(6) Operation in solenoid valve mode 1
Enter position data beforehand in the position table of the controller, and specify each desired position number using the
corresponding link register on the PLC.

‫ ڦ‬Operation
[1] After confirming that the position complete (PEND) signal is “1” (ON), turn the ST* signal corresponding to the
position number under which the target position you want to move the actuator to, which is currently stored in a
command position number register, from “0” (OFF) to “1” (ON).
[2] The actuator starts moving, and then PEND turns “0” (OFF) tdpf thereafter.
[3] When the remaining travel becomes within the specified positioning band (INP), PEND turns “1” (ON) and the
position achieved (PE*) signal is output.
Accordingly, when checking if the position achieved (PE*) signal has been output following the completion of
positioning, do so by waiting for an appropriate time (time to move remaining travel) after PEND has turned “1”
(ON).
[4] After confirming that the position achieved (PE*) signal has been output, rewrite the command position number
register to “0” or to the next command position number.

Command position number

Chapter 3 Gateway R unit

[1]
[2]
[4]
Position complete

[3]
Position achieved

Actuator operation

Position to start Target position

movement

*1 Yt + 2Mt + Xt d tdpf d Yt + 2Mt + Xt + 7 (ms)

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(7) Operation in solenoid valve mode 2

Enter position data beforehand in the position table of the controller, and specify each desired position number using the
corresponding link register on the PLC.
‫ ڦ‬Operation
[1] Set all movement command bits to “0” (turn all movement command signals OFF).
[2] Set the movement command bit (front end movement command in the example below) to “1” (turn the signal
ON).
[3] When the current position of the actuator enters the range of the value set in the position table r positioning
band (INP), each position detection is output.
[4] Set the movement command bit to “0” (turn the signal OFF) after confirming that the position detection output bit
for the target position (front end position detection output in the example below) has changed to “1” (the signal
has turned ON).

[1]

Rear end movement command input (ST0)

Intermediate point movement command input (ST2)

[2]
Front end movement command input
Chapter 3 Gateway R unit

Positioning band for

Front end movement command input [3] position No. 0

Positioning band for

[3] position No. 2
Intermediate position detection output

Positioning
band for
[3] position No. 1
Front end position detection output

[4]

Actuator movement

Rear end Intermediate point Front end

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3.8.4 Other Basic Operations
(1) Push operation

[1] Basic operation

As shown below, the actuator moves to the specified target position, and then moves at the specified push speed by
up to the specified positioning band while pushing the work part.
The moment the push force reaches a certain value during push movement, completion of push is recognized and
the position complete signal turns “1” (ON).

When the load is contacted, completion of push is recognized

Speed
and the position complete signal turns ON.

Push speed
Travel distance

Positioning band (maximum distance traveled in push operation)

Target position

x Image of push direction

Target position

Target position

Chapter 3 Gateway R unit

Start point

Start point
Home

Home
Push direction
Push direction

Actuator Actuator

Positioning band Positioning band

(sign +) (sign -)

Correct operation Correct operation

Speed Speed

Position Position
Start point Start point
Target position Target position

When the sign is When the sign is

Positioning Positioning Positioning Positioning
set to (-) band band band band
set to (+)

As shown above, when the actuator pushes from the start point to the target position the direction in which the coordinate
increases is defined as the positive (+) direction, while the direction in which the coordinate decreases is defined as the
negative (-) direction. Exercise caution because if the push direction is set incorrectly, the actuator will not operate correctly
and push the work part at a position offset toward the start point by the distance of “positioning band x 2.”

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„ Push Mode Specification

x In the positioner 1, 2 mode, simple direct mode and solenoid valve mode 1, 2, set a value other than “0” (push-current
limiting value) in the “Push” field of the position table.
x I In the direct numerical specification mode, set a value in the push-current limiting value area (bit 8) and set “1” (ON) in
the control signal PUSH (bit 12).

„ Push Speed
Set the push speed using parameter No. 34, “Push speed.”
(Before shipment, this parameter has been set individually in accordance with the actuator characteristics.)

„ Maximum Distance Traveled in Push operation

x In the positioner 1, 2 mode, simple direct mode and solenoid valve mode 1, 2, set in the “Positioning band” field of the
position table.
x In the direct numerical specification mode, set in the positioning band area.
(Consider the position error generated when the work part was installed, and also consider the amount of deflection if the
work part is made of elastic material).

„ Push Direction
x In the positioner 1, 2 mode, simple direct mode and solenoid valve mode 1, 2, the sign in the “Positioning band” field of
the position table specifies the push direction.
x In the direct numerical specification mode, set “0” (OFF) or “1” (ON) in the control signal DIR (bit 13).

„ Push Completion Judgment

x Push completion judgment is based on the motor generated torque (push force) and push time.
Chapter 3 Gateway R unit

x To set the push force, set a push-current limiting value (%) in the “Push” field of the position table. In the direct numerical
specification mode, set an applicable value in the push-current-limiting value register.
Determine an appropriate push force based on the characteristics (shape, material, etc.) of the work part, and determine
a corresponding push-current-limiting value by referring to the correlation diagram of “push force and current-limiting
value” of the actuator.
x Set the push stop judgment time in parameter No. 6.
(The factory setting is “255” [msec].)

„ Continuous Push
x Once push operation is judged complete, the position complete signal will turn “1” (ON). However, the actuator will
continue to push the work part until the next move command (command position number and positioning start signal) is
issued.

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[2] When the work part was missed in push operation
If the work part is not contacted (= the motor current does not reach the push-current limiting value) after the actuator
has moved the distance corresponding to the specified positioning band, the position complete signal is not output.
However, the completed position number is output.
In this case, status signal bit 5, or the PSFL, turns “1” (ON).

Speed

The position complete signal does not turn

ON if the load was not contacted.

Travel distance

Positioning band (maximum distance traveled in push operation)

Target position

[3] When the work part moves after contact

„ The work part moves in the push direction
If the work part moves in the push direction after completion of push operation, the actuator will continue to chase the
work part within the positioning band.
If the current becomes smaller than the push-current limiting value during this movement, the position complete
signal will turn “0” (OFF). When the current-limiting value is reached again, the signal will turn “1” (ON).

Chapter 3 Gateway R unit

Speed Position at which push operation
was initially judged complete If the load deviates backward, the actuator chases
the load within the positioning band.

Travel distance

Positioning band (maximum distance traveled in push operation)

Target position

‫ ڦ‬When the work part moves in the direction opposite push direction
(The work part is pushed back because the reactive force of the work part is too strong.)
If the reactive force of the work part exceeds the push force and the work part is pushed back after completion of
push operation, the actuator will be pushed back continuously until the push force balances with the reactive force of
the work part.
The position complete signal remains “1” (ON).
If the actuator is pushed back to the target position, an alarm will generate.

Speed
Position at which push operation
was initially judged complete

Travel distance

Positioning band (maximum distance traveled in push operation)

Target position

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[4] When the push direction is set incorrectly

If the push direction is set incorrectly, the actuator position will deviate by “positioning band x 2,” as shown below.
Exercise caution.

Speed

Intended operation
Actual operation
Travel
distance

Positioning band Positioning band Positioning band

Actual position reached Target position

(load missed)

[5] When the return operation after push is specified in relative coordinates
Take note that when relative coordinate
specification is used, the reference
position is not the current position at Speed
which the actuator is stopped after
completing the push operation, but the
target position under the position number
Chapter 3 Gateway R unit

based on which the push operation was

executed.
In this example, setting the position Return
number as -40 mm in relative coordinates operation
will cause the actuator to move to the
position at 240 mm (280 – 40). Position at which push
If the push mode is specified, the actuator (Target position) operation is completed
will execute an incremental move from the
stopped position.

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(2) Pause
When the pause command signal (STP) is turned “1” (ON) while the actuator is moving, the actuator will decelerate to a
stop.
Since the remaining travel distance is retained, the remaining travel can be resumed by turning the SPT “0” (OFF) again.

Command position

Position start
(CSTR)

Position complete
(PEND)

Completed position

Pause command
(STP)

Moving (MOVE)
4 msec Max

Chapter 3 Gateway R unit

Speed

Actuator movement

Decelerate to a stop Start of remaining travel

The remaining travel can be cancelled by turning the reset signal (RES) “1” (ON) while the actuator is paused. When the
cancellation of the pause command (STP) is recognized thereafter, the position complete signal (PEND) will turn “1”
(ON) within approx. 1 msec.
(The command is cancelled upon detection of the leading edge of the reset signal.)

Command position

Position start
(CSTR)

Position complete
(PEND)
Approx. 1 msec
Completed position

Pause command
(STP)

Reset (RES)

Moving (MOVE)

Speed

Actuator movement

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(3) Speed Change during Movement

The actuator can be controlled at multiple speeds in a single operation. In other words, the speed can be decreased or
increased at a given point.
However, a position data must be set for every point at which the speed is changed.

Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3

This function can be used in situations where the work part is made of soft material or is a bottle or has other
easy-to-topple shape and you don’t want the work part to receive vibration or impact upon stopping.

(Example) Positioning to position 2 (300 mm from the home), where the actuator is moved at a speed of 200 mm/sec to
intermediate position 1 (200 mm from the home) and at a speed of 20 mm/sec thereafter.

Example of Position Table

Position Speed Acceleration Deceleration Push Positioning band

Comment
Chapter 3 Gateway R unit

Position command Position 1 Position 2

*
Position start
(CSTR)
Position complete
(PEND)

Completed position Position 2

Position 1

Moving (MOVE)

Speed

Actuator movement

Position 1 Position 2

* Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller.

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Caution
[1] When the start signal (CSTR) is turned “1” (ON), the position complete signal (PEND) will turn “0” (OFF) and the
moving signal (MOVE) will turn “1” (ON).
Turn the start signal (CSTR) “0” (OFF) after confirming that the position complete signal (PEND) has turned “0” (OFF)
when CSTR is turned “1” (ON).
[2] By setting a large positioning band for position 1, speed change can be implemented smoothly without causing the
actuator to stop.

Caution
If a pause command is issued during home return, the move command will be retained if the actuator has not yet contacted
a mechanical end. If the actuator has already reversed its direction after contacting a mechanical end, however, home
return will be repeated from the beginning.

Chapter 3 Gateway R unit

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(4) Operation at Different Acceleration and Deceleration

[1] When the controller is used in the positioner 1, 2 mode or simple direct mode, separate values can be set for
acceleration and deceleration using the position table.
[2] Direct numerical specification mode
In this mode, separate values cannot be set for acceleration and deceleration. The acceleration and deceleration are
always the same.
The acceleration/deceleration data (16-bit data) becomes effective when the data is received by the axis controller
(at the “0” (OFF) o “1” (ON) leading edge of the CSTR signal). To cause the actuator to decelerate at a different
value than the acceleration, change the acceleration/deceleration data while the actuator is moving.

(Example)

Position data setting

Acceleration/
deceleration setting Acceleration Deceleration

Position complete
(PEND)
Chapter 3 Gateway R unit

Start command
(CSTR)

Moving
(MOVE)

Speed

Actuator movement

Target position

Acceleration Deceleration

* Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.

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(5) Operation by Relative Coordinate Specification
The target position in the position table can also be specified in relative coordinates. This function can be used to repeat
positioning operations at equal pitches.

[1] Example of operation in the positioner 1, 2 mode

The following explains an example of positioning operation repeated at a 50-mm pitch, starting from position No. 1.
The position table shown below is created. End of operation is determined based on the count managed by the PLC.
The zone signal can be used to doubly confirm that operation has ended.

Direction of front end

Position 1 50-mm
pitch
Last load

Chapter 3 Gateway R unit

Zone output signal

The coordinate immediately before the last load is set as the + boundary.

Example of Position Table

Position Zone+ Zone-

Incremental Comment

On the teaching pendant, this sign indicates that the position is specified in relative coordinates.

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Command position Position 1 Position 2

*
Start
(CSTR)

Position complete
(PEND)

Completed position
Position 1 Position 2 Position 2
Moving (MOVE)

Zone signal
(PZONE)
[1] [2] [3] [4] [5]
Speed
Actuator movement
Time

Distances from home

Chapter 3 Gateway R unit

* Set an appropriate time so that “T1 t 0 ms” is satisfied, by considering the scan time of the host controller.

[Explanation of Operation]
[1] Positioning operation to position 1 (100.00 mm) is performed.
[2] Upon completion of positioning to position 1, the position complete signal (PEND) turns “1” (ON). The zone signal
(PZONE) also turns “1” (ON).
The position number is changed from 1 to 2, and the start signal (CSTR) is turned “1” (ON).
[3] Once the actuator starts moving, the position complete signal (PEND) changes from “1” (ON) to “0” (OFF) and
the moving signal (MOVE) changes from “0” (OFF) to “1” (ON). Turn the start signal (CSTR) “0” (OFF) after
confirming that the PEND has turned “0” (OFF).
[4] After the actuator has moved by 50 mm, the position complete signal (PEND) turns “1” (ON) and the moving
signal (MOVE) turns “0” (OFF) again. At this time, the PLC registers the first count in the movement counter.
Next, the start signal (CSTR) is turned “1” (ON) to start the next 50-mm movement.
[5] Steps [3] and [4] are repeated hereafter.

The PLC checks the status of the zone signal (PZONE) upon completion of positioning. If the signal is “0” (OFF), the PLC
determines that this is the last work part.
If the count in the PLC does not match the zone signal status, the signal timings may not be synchronized.

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[2] Notes on positioning operation
If a position number specified in relative coordinates is selected/entered and a start signal is input during positioning
operation, the actuator will move to the initial target position plus the relative travel distance. (If the relative travel
distance is a negative value, the actuator will move to the initial target position less than the relative travel distance.)
Example) If a start signal is input for positioning to position 2 while the actuator is moving to position 1, the actuator
will travel to a position 40 mm from home.
<Position Table of Teaching Pendant>
Command position Position 1 Position 2 Position Speed

Start

Position complete

Completed position Position 2

Moving

Speed
Actuator movement

Chapter 3 Gateway R unit

Distance
Position from home: 40

If during positioning operation a start signal is input multiple times for a position number specified in relative
coordinates, the actuator will move to the initial target position plus “relative travel distance x number of times the
signal is input.”
Example) If a start signal is input twice while the actuator is moving to position 1, the actuator will travel to a position
50 mm from home.

Command position Position 1 Position 2

Start

Position complete

Completed position Position 2

Moving

Speed
Actuator movement
Distance
Position from home: 50

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[3] Notes on push operation

If a position number specified in relative coordinates (for which the push mode is specified) is selected/input and a
start signal is input while the actuator is moving in the push mode, the actuator will move to the position at which the
start signal was input, plus the relative travel distance. Therefore, the end position becomes indeterminable.
Example) If a start signal for positioning to position 2 is input while the actuator is moving to position 1 in the push
mode, the actuator will travel to a position 10 mm from the position at which the start signal was input.

<Position Table of Teaching Pendant>

Command position Position 1 Position 2 Position Speed

Start

Position complete

Completed position Position 2

Speed
Actuator movement
Chapter 3 Gateway R unit

Distance

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3.8.5 Command Transmission
A command transmission chart is shown below.
The Gateway R unit analyzes each request command and returns a response every time the replacement of control/status
data of all axes, which is performed constantly, is completed.
The PLC and Gateway R unit perform the following actions:
[1] Upon detecting a response command with zero set in it, the PLC application sets the necessary request command and
data.
[2] Upon detecting the change of the request command to a value other than zero, the gateway sends the request data to the
applicable axis.
[3] Upon receiving a response from the applicable axis, the gateway outputs the response result.
[4] Upon confirming the response result, the PLC application clears the request command.
[5] Upon detecting the clearing of the request command, the gateway clears the response command and waits for the next
command.
[1] to [5] are repeated if commands are used consecutively.

Request = 0000H
PLC request Request command,
䠄 3/& 䊻*:䠅 data

Chapter 3 Gateway R unit

䐟 䐠

䐢
Controller command
transmission via the 䐣
gateway

Gateway response Response command,

response data
Response = 0000H

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3.9 Modbus Gateway Mode of RS485 SIO

3.9.1 Overview
With the RS485 SIO Gateway R unit, the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station,
and the SIO through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII
protocols, are available.
For the operation in the SIO through mode, refer to the operation manual “ROBO CYLINDER Series – Serial Communication
(Modbus Version).”

This section explains the Modbus gateway mode.

Modbus/RTU is the only applicable communication protocol in this mode, and the unit must be connected to a serial port that
supports the Modbus/RTU protocol.
Axes are operated by sending communication messages under the Modbus/RTU protocol to the Gateway R unit (RGW-SIO)
and accessing the gateway’s registers (addresses F600 onward and F700 onward in the PLC).
Normally communication messages must be created using a PLC ladder sequence. If the number of communications
increases, however, the required ladder sequence will become large and complex and creating an appropriate sequence will
require a longer time.
Accordingly, the “Modbus cyclic communication FBL” is provided as a dedicated communication function block. This function
block is very useful because the user can use it to create a ladder sequence without a need to consider serial communication.
To use this function block, the PLC must meet the following conditions:

[1] CPU unit CS/CJ Series by Omron

(If the function block is to be used, the CS/CJ Series unit must be Version 4.0 or later.)
Chapter 3 Gateway R unit

[2] Serial communication unit CS/CJ Series by Omron

CS: CS1W-SCU**-V1 (Version 1.2 or later)
CJ: CS1W-SCU**-V1 (Version 1.2 or later)
[3] CX Programmer Version 7.0 or later

Caution
Switch between the Modbus gateway mode and SIO through mode using the user setting switch (SW2) on the Gateway R
unit.
SW2 ON: SIO through mode
OFF: Modbus gateway mode

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3.9.2 Modbus/RTU Protocol Specification
The RS485 SIO Gateway R unit has an asynchronous serial bus interface conforming to EIA RS485 for interfacing with the
host.
The Modbus protocol is used for communication to receive commands from the host or reference internal information in the
host.
The Modbus protocol is a communication protocol developed by Modicon Inc. (AEG Schneider Automation International
S.A.S.) for PLCs, and its specification is open to the world. For the detailed specifications of this protocol, refer to the
specification document (Modbus Application Protocol Specification V1.1a) published by Modbus-IDA
(http://www.modbus-ida.org/), along with this specification.

(1) Basic Specifications

The basic specifications were explained in 3.4.4. Key items are summarized below.

Item Method/condition

Interface Conforming to EIA RS485

Communication method Half-duplex communication

Synchronization method Asynchronous method

Connection pattern 1:1 differential connection

Chapter 3 Gateway R unit

Transmission mode Modbus/RTU

Selectable from the following by a parameter:

Baud rate (bps) 9600, 19200, 38400,
57600, 115200, 230400

Bit length 8 bits

Stop bit 1 bit

Parity None

Caution
In the SIO through mode, 9600 bps and 19200 bps cannot be selected.

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(2) Communication Method

The Modbus protocol uses the single-master/multiple-slave communication method. Only the master can issue a query
(to start communication). The slave receives a query, performs the specified function, and returns a response message.
The master can issue a query to a specific slave or broadcast a query to all slaves.
In the case of a broadcast query, the slaves only performs the specified function and do not return a response message.
Each slave returns a response message only after receiving a query addressed specifically to the slave. The query
transmission format consists of the slave address (or broadcast specification), function code defining the request, and
data/error check fields.
The response message transmission format consists of the request check field and data/error check fields. The
transmission formats of query and response messages are shown below.

Query and response communication cycle

Query message
(from the master)

Address 8 bits Address

Function 8 bits Function

Chapter 3 Gateway R unit

Data N x 8 bits Data

Error check 16 bits Error check

Response message
(from the slave)

(3) Serial Transfer Mode

The serial transfer mode in the Modbus gateway mode is the RTU (Remote Terminal Unit) mode.
In the RTU mode, 1-byte (8-bit) data is transmitted directly, which results in greater transmission efficiency.

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(4) Message Frame
Query and response messages use the following message frame.

Header Address Function Data Error check Trailer

T1-T2-T3-T4 8 bits 8 bits N x 8 bits 16 bits T1-T2-T3-T4

* “T1-T2-T3-T4” represents a silent interval.

[1] Header field

The frame starts with a silent interval of 3.5 characters or more.

[2] Address field

The address in the message frame. Fixed to 3FH for the RS485 SIO gateway.

[3] Function field

The following three functions can be used in the Modbus gateway mode.

Broadcast
Code (Hex) Name Function
support
03H Read Holding Registers Read holding registers
06H Preset Single Register Write holding register {
10H Preset Multiple Registers Write multiple holding registers simultaneously {

Chapter 3 Gateway R unit

[4] Data field
This field is used to append data relating to the function code. The data field has a variable length and it can be
omitted.

[5] Error check field

16-bit data is indicated by two bytes of eight-bit data.
The error check result is calculated by the method called “CRC (Cyclical Redundancy Check).”

[6] Trailer field

The frame ends with a silent interval of 3.5 characters or more.

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(5) Error Check

CRC check
Each message contains an error check field based on the CRC method.
The CRC field is used to check the content of the entire message. This check is independent of the parity check of
individual characters comprising the message.
The CRC field consists of two bytes of 16-bit binary data. The CRC value is calculated by the sender who appends the
CRC to the message. The recipient recalculates the CRC value while the message is being received, and compares the
calculated result against the actual value received in the CRC field. If the two values do not match, an error will be
recognized.
In CRC calculation, first the register is preloaded with all 16 bits set to “1.” Next, the successive 8-bit bytes are applied to
the current content of the register. Among the characters, only eight bits are used to generate a CRC. The start, stop and
parity bits are not used in CRC.
While a CRC is generated, each 8-bit character is compared against the register content based on the exclusive OR
gate.
The result is shifted toward the least significant digit, and zero is inserted in the most significant digit. Thereafter, the
least significant digit is taken out and checked. If the least significant digit is “1,” the register is again compared based on
the exclusive OR gate. If the least significant digit is “0,” the exclusive OR gate is not applied.
This process is repeated until the data is shifted eight times. After the last (eighth) shift, the next 8-bit byte is compared
against the current register value based on the exclusive OR gate. Then, this process is repeated eight times as
explained above. After the process has been applied to all message bytes, the last content of the register provides the
CRC value.

The generation polynomial is shown below (CRC-16 method)

x16 + x15 + x2 +1
Chapter 3 Gateway R unit

When a CRC is appended to the message, the lower byte is appended first, followed by the upper byte.

(6) Send/Receive Buffers

With the RS485 SIO Gateway R unit, the sizes of send/receive buffers are 160 bytes, respectively. Calculate the
message size to make sure the receive buffer is not exceeded in the case of messages sent from the host, and the send
buffer is not exceeded in the case of data request messages.

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3.9.3 Protocol Format
3.9.3.1 Gateway Address Map

The slave address is fixed to “63 (3FH)” for the RS485 SIO gateway.
As for gateway registers, inputs (PLC Ÿ ROBONET) are assigned to word addresses F600 H onward in the PLC, while
outputs (ROBONET Ÿ PLC) are assigned to word addresses F700 H onward in the PLC.
These word addresses are the register addresses used in communication messages.
Take note that these addresses vary depending on the gateway parameter settings (assignment of each axis). The address
map on the next page assumes that 12 axes of positioner mode or simple direct mode and two axes of direct numerical
specification mode are connected.

In the sample protocol format explained in this section, axis (0) is operated in the positioner mode, while axis (1) is operated in
the direct numerical specification mode. The gateway address map is as follows.

PLC output Ÿ ROBONET ROBONETŸ PLC input

Register Register
Upper byte Lower byte Upper byte Lower byte
address address
F600 Gateway control signal 0 Gateway status signal 0 F700
F601 Gateway control signal 1 Gateway status signal 1 F701
F602 Request command Response command F702
F603 Data 0 Data 0 F703

Chapter 3 Gateway R unit

F604 Data 1 Data 1 F704
F605 Data 2 Data 2 F705
F606 Data 3 Data 3 F706
F607 Cannot be used. Cannot be used. F707
F608 (Axis 0) Position data specification (L) (Axis 0) Current position data (L) F708
F609 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) F709
F60A (Axis 0) Command position number (Axis 0) Completed position number F70A
F60B (Axis 0) Control signal (Axis 0) Status signal F70B
F60C (Axis 1) Position data specification (L) (Axis 1) Current position data (L) F70C
F60D (Axis 1) Position data specification (H) (Axis 1) Current position data (H) F70D
F60E (Axis 1) Positioning band specification (L) (Axis 1) Current electrical current (L) F70E
F60F (Axis 1) Positioning band specification (H) (Axis 1) Current electrical current (H) F70F
F610 (Axis 1) Speed specification (Axis 1) Current speed data F710
F611 (Axis 1) Acceleration/deceleration specification (Reserved) F711
F612 (Axis 1) Push-current limiting value Axis (1) Alarm F712
F613 (Axis1) Control signal (Axis 1) Status signal F713

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Example of Overall RS485SIO Gateway Address Configuration

An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.
PLC output Ÿ ROBONET ROBONETŸ PLC input
Register Relative Register
Upper byte Lower byte Upper byte Lower byte
address byte address
F600* Gateway control signal 0 0 Gateway status signal 0 F700*
F601 Gateway control signal 1 2 Gateway status signal 1 F701
F602 Request command 4 Response command F702
F603 Data 0 6 Data 0 F703
F604 Data 1 8 Data 1 F704
F605 Data 2 10 Data 2 F705
F606 Data 3 12 Data 3 F706
F607 (Cannot be used.) 14 (Cannot be used.) F707
F608 (Axis 0) Position data specification (L) 16 (Axis 0) Current position data (L) F708
F609 (Axis 0) Position data specification (H) 18 (Axis 0) Current position data (H) F709
F60A (Axis 0) Command position number 20 (Axis 0) Completed position number F70A
F60B (Axis 0) Control signal 22 (Axis 0) Status signal F70B
F60C (Axis 1) Position data specification (L) 24 (Axis 1) Current position data (L) F70C
F60D (Axis 1) Position data specification (H) 26 (Axis 1) Current position data (H) F70D
F60E (Axis 1) Command position number 28 (Axis 1) Completed position number F70E
F60F (Axis 1) Control signal 30 (Axis 1) Status signal F70F
F610 (Axis 2) Position data specification (L) 32 (Axis 2) Current position data (L) F710
F611 (Axis 2) Position data specification (H) 34 (Axis 2) Current position data (H) F711
Chapter 3 Gateway R unit

F612 (Axis 2) Command position number 36 (Axis 2) Completed position number F712
F613 (Axis 2) Control signal 38 (Axis 2) Status signal F713
F614 (Axis 3) Position data specification (L) 40 (Axis 3) Current position data (L) F714
F615 (Axis 3) Position data specification (H) 42 (Axis 3) Current position data (H) F715
F616 (Axis 3) Command position number 44 (Axis 3) Completed position number F716
F617 (Axis 3) Control signal 46 (Axis 3) Status signal F717
    
    
    
F627 (Axis 7) Control signal 78 (Axis 7) Status signal F727
    
    
    
F637 (Axis 11) Control signal 110 (Axis 11) Status signal F737
F638 (Axis 12) Position data specification (L) 112 (Axis 12) Current position data (L) F738
F639 (Axis 12) Position data specification (H) 114 (Axis 12) Current position data (H) F739
F63A (Axis 12) Positioning band specification (L) 116 (Axis 12) Current electrical current (L) F73A
F63B (Axis 12) Positioning band specification (H) 118 (Axis 12) Current electrical current (H) F73B
F63C (Axis 12) Speed specification 120 (Axis 12) Current speed data F73C
F63D (Axis 12) Acceleration/deceleration specification 122 (Cannot be used) F73D
F63E (Axis 12) Push-current limiting value 124 (Axis 12) Alarm F73E
F63F (Axis12) Control signal 126 (Axis 12) Status signal F73F
F640 (Axis 13) Position data specification (L) 128 (Axis 13) Current position data (L) F740
F641 (Axis 13) Position data specification (H) 130 (Axis 13) Current position data (H) F741
F642 (Axis 13) Positioning band specification (L) 132 (Axis 13) Current electrical current (L) F742
F643 (Axis 13) Positioning band specification (H) 134 (Axis 13) Current electrical current (H) F743
F644 (Axis 13) Speed specification 136 (Axis 13) Current speed data F744
F645 (Axis 13) Acceleration/deceleration specification 138 (Cannot be used.) F745
F646 (Axis 13) Push-current limiting value 140 (Axis 13) Alarm F746
F647 (Axis13) Control signal 142 (Axis 13) Status signal F747

* With the RS485 SIO unit, the initial address is “0xF600H” for PLC Ÿ ROBONET messages, and “0xF700H” for ROBONET
Ÿ PLC messages.

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Part 1 Specification
3.9.3.2 Query List
The table below lists queries that can be used.

Simple Direct
Remarks Positioner
FC Function direct numerical Details
(Performable operation) mode axis
mode axis mode axis
[1] Read gateway status signal 0, 1 1 each 1 each 1 each 3.9.3.3 (2) [1]
03H Read [2] Read response command data 0 to 3 1 each 1 each X 3.9.3.3 (2) [2]
multiple [3] Monitor current position (unit: 0.01 mm, 2 words) 2 2 2 3.9.3.3 (2) [3]
registers [4] Monitor current electrical current (unit: 1 mA, 2 words) X X 2 3.9.3.3 (2) [4]
[5] Monitor current speed (unit: 1 mm/s, 1 word) X X 1 3.9.3.3 (2) [5]
[6] Monitor alarm information (1 word) X X 1 3.9.3.3 (2) [6]
[7] Read completed position number status 3.9.3.3 (2) [7]
PM1/PM2/PM4/PM8/PM16/PM32/PM64/PM128/ 1 1 X
PM256/PM512
[8] Read status signal status 1 1 1 3.9.3.3 (2) [8]
x Position complete (PEND) { { {
x Home return complete (HEND) { { {
x Moving (MOVE) { { {
x Alarm (ALM) { { {
x Ready (SV) { { {
x Missed work part in push operation (PSFL) { { {
x Position data load command status (WEND) { X X
x Teaching mode status (MODES) { X X

Chapter 3 Gateway R unit

x Position zone output monitor (PZONE) { X X
x Zone output monitor 1 (ZONE1) { { {
x Zone output monitor 2 (ZONE2) { { {
x Controller ready (CRDY) { { {
x Emergency stop status (EMGS) { { {
Write [1] Write gateway control signal 0, 1 1 each 1 each 1 each 3.9.3.4 (2) [1]
06H register [2] Output command position number 1 X X 3.9.3.4 (2) [2]
[3] Output control signals 1 1 1 3.9.3.4 (2) [3]
x Start command (CSTR) { { {
x Home return command (HOME) { { {
x Pause command (STP) { { {
x Reset command (RES) { { {
x Servo ON command (SON) { { {
x Jogging/inching switching (JISL) { { {
x Jogging speed/inching distance switching (JVEL) { { {
x Jog- command (JOG-) { { {
x Jog+ command (JOG+) { { {
x Position data load command (PWRT) { X X
x Teaching mode command (MODE) { X X

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Part 1 Specification

Simple Direct
Remarks Positioner
FC Function direct numerical Details
(Performable operation) mode axis
mode axis mode axis
Write x Forced brake release (BKRL) { { { 3.9.3.4 (2) [3]
06H register x Push operation mode specification X X {
x Push direction specification X X { 3.9.3.4 (2) [4]
Write With a move command by direct numerical specification, 3.9.3.5 (2)
10H multiple the following data is sent in one message: 3.9.3.5 (3)
registers [1] Position data specification (2 words) X X 2
simultane- [2] Positioning band (2 words) X X 2
ously [3] Speed command (1 word) X X 1
[4] Acceleration/deceleration command (1 word) X X 1
[5] Push-current limiting value (1 word) X X 1
[6] Control signal output (1 word) X X 1
(The content is the same as when the applicable
register is written.)
[7] Send request command data 0 to 3, if a gateway
1 each 1 each X 3.9.3.5 (4)
command is used.

x Positioner mode axes include positioner 1 mode axes and positioner 2 mode axes.
x The value indicates the number of registers (register size: 1 word).
A field that contains a value or “{” indicates that the function is available, while one that contains “X” indicates that the
function is not available.
Chapter 3 Gateway R unit

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3.9.3.3 Read Holding Registers (Query using FC = 03H)
This query reads the contents of holding registers in the slave. Broadcast is not supported.
The basic query/response structures and examples of queries are shown below.

(1) Basic Query/Response Structures

[1] Query format
The query message specifies the address of the holding register (gateway register) from which to start reading data,
and the number of registers.
Data length of 1 holding register = 1 word = 2 bytes = 16 bits

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) Arbitrary The address varies depending on the axis
2
Starting address (lower) Arbitrary arrangement.
Number of registers (upper) Arbitrary
2 Refer to the query list.
Number of registers (lower) Arbitrary
Error check CRC (16 bits) 2
Trailer None -
Total bytes 8

Chapter 3 Gateway R unit

[2] Response format

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Number of registers specified in the query
Data bytes Arbitrary 1
format x 2
1 each for upper
Data 1 (upper) Arbitrary
and lower words
Data 1 (lower) Arbitrary 2 Data corresponding to the data bytes (number
Data 2 (upper) Arbitrary of specified registers x 2)
Same as above
Data 2 (lower) Arbitrary
  
  
Error check CRC (16 bits) 2
Trailer None -
Total bytes

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Part 1 Specification

(2) Examples of Queries/Responses

Queries are implemented by reading a 1-word register and thus the basic pattern is the same with all queries. The only
differences are the starting address and data.

[1] Read gateway status signal 0, 1

The configuration of the completed position number register of axis (0) is shown below.

Address Gateway
status signal 0

Address
Gateway
status signal 1
Chapter 3 Gateway R unit

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
2 Initial address of gateway status signal 0, 1
Starting address (lower) 00 H
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 2
Number of registers (lower) 02 H
Based on
Error check (CRC) 2 (F2 A1)
calculation result
Trailer None -
Total bytes 8

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Part 1 Specification
z Response
RTU mode data
Field name Data length (bytes) Remarks
(8 bits)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 04 H 1 1-word register x 2 = 4 bytes
1 each for upper and
Data 1 (upper) Arbitrary
lower words
Data 1 (lower) Arbitrary 2 Data of gateway status signal 0, 1
Data 2 (upper) Arbitrary
Same as above
Data 2 (lower) Arbitrary
Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes Arbitrary

z Actual Example
„ Sent Query: 3F03F7000002F2A1
„ Received Response: 3F0304802100031C3B

Gateway status signal 0 is “8021H,” while status signal 1 is “0003H.” In other words, the RUN, W8B1, W4B1, LNK1
and LNK0 signals are ON.

Chapter 3 Gateway R unit

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Part 1 Specification

[2] Read response command data 0 to 3

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
2 Initial address of the response command
Starting address (lower) 02 H
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 5
Number of registers (lower) 05 H
Based on
Error check (CRC) 2 (12 A3)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Chapter 3 Gateway R unit

Function code 03 H 1
Data bytes 0A H 1 1-word register x 5 = 10 bytes
Response Position number specified in the request
Data 1 (upper) (lower) 2
command command
Data 2 (upper) (lower) Data 0 2
Data 3 (upper) (lower) Data 1 2
Data 4 (upper) (lower) Data 2 2
Data 5 (upper) (lower) Data 3 2 Address
Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes

z Actual Example (Example of reading the response data after issuing a command to read the table position for position
No. 2 of axis 0)
„ Sent Query: 3F03F702000512A3
„ Received Response: 3F030A 1040 0002 2710 0000 0000 A74A
[1] [2] [3] [4] [5]

(Explanation) [1] The response command is “1040H,” meaning that this is a target position read command.
[2] Position number: 2
[3] Lower word of position data that has been read: 2710H 2710H = 10000 (decimal)
[4] Upper word of position data that has been read: 0000H o 100.00 mm
[5] Axis number: 0

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[3] Monitor current position – Axis (0)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H The addresses of current position data of axis
2 (0) are F708H and F709H for the lower word
Starting address (lower) 08 H and upper word, respectively.
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 2
Number of registers (lower) 02 H
Based on
Error check (CRC) 2 (73 63)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -

Chapter 3 Gateway R unit

Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 04 H 1 1-word register x 2 = 4 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words Lower word of the current position
Data 1 (lower) Arbitrary 2
Data 2 (upper) Arbitrary
Same as above Upper word of the current position
Data 2 (lower) Arbitrary
Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes

z Actual Example
„ Sent Query: 3F03F70800027363
„ Received Response: 3F030438A5000038B3

(Explanation) x Lower word: 38A5H

x Upper word: 0000H
The current position data is indicated in units of 0.01 mm.
In other words, 000038A5 H = 14501 (decimal) o 145.01 mm

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[4] Monitor current electrical current – Axis (1)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H Address of the current electrical current of axis
2
Starting address (lower) 0E H (1)
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 2
Number of registers (lower) 02 H
Based on
Error check (CRC) 2 (93 62)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Chapter 3 Gateway R unit

Function code 03 H 1
Data bytes 04 H 1 1-word register x 2 = 4 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words Lower word of the current electrical current
Data 1 (lower) Arbitrary 2
Data 2 (upper) Arbitrary
Same as above Upper word of the current electrical current
Data 2 (lower) Arbitrary
Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes

z Actual Example
„ Sent Query: 3F03F70E00029362
„ Received Response: 3F030400260000C43B

(Explanation) x Lower word: 0026 H

x Upper word: 0000 H
The electrical current data is indicated in unit of 1mA.
In other words, 00000026 H = 38 (decimal) o 38 mA

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Part 1 Specification
[5] Monitor current speed – Axis (1)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
2 Address of the current speed data of axis (1)
Starting address (lower) 10 H
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 1
Number of registers (lower) 01 H
Based on
Error check (CRC) 2 (B3 65)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.

Chapter 3 Gateway R unit

Function code 03 H 1
Data bytes 02 H 1 1-word register x 1 = 2 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words Current speed data
Data 1 (lower) Arbitrary 2

Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes

z Actual Example
„ Sent Query: 3F03F7100001B365
„ Received Response: 3F030200009181

(Explanation) The current speed data is “0000H.”

In other words, the current speed is “0” in this example.
The current speed is indicated in units of 1.0 mm/sec.
The current speed is set as a multiple of 1.0 mm/sec or 0.1 mm/sec.
The unit is changed on the special parameter setting screen of the ROBONET gateway parameter
creation tool. (The unit change function is supported by tools of version 1.0.4.0 and later.)

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[6] Monitor alarm information – Axis (1)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
2 Alarm address of axis (1)
Starting address (lower) 12 H
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 2
Number of registers (lower) 01 H
Based on
Error check (CRC) 2 (12 A5)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Chapter 3 Gateway R unit

Function code 03 H 1
Data bytes 02 H 1 1-word register x 1 = 2 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words
Data 1 (lower) Arbitrary 2

Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes

z Actual Example
„ Sent Query: 3F03F762000112A5
„ Received Response: 3F030200009181

(Explanation Alarm code is 0000H. Accordingly, no alarm has generated.

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Part 1 Specification
[7] Read completed position number status – Axis (0)
The configuration of the completed position number register of axis (0) is shown below.

Address

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H Address of the completed position number of
2
Starting address (lower) 0A H axis (0)
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 1
Number of registers (lower) 01 H
Based on
Error check (CRC) 2 (92 A2)
calculation result

Chapter 3 Gateway R unit

Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 02 H 1 1-word register x 1 = 2 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words Completed position number data
Data 1 (lower) Arbitrary 2

Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes 7

z Actual Example
„ Sent Query: 3F03F70A000192A2
„ Received Response: 3F03020003D180

(Explanation) The completed position number is “3.”

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Part 1 Specification

[8] Read status signal status – Axis (0)

The configuration of the status signal register of axis (0) is shown below.

Address

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
2 Address of the status signal of axis (0)
Starting address (lower) 0B H
Number of registers (upper) 00 H
2 Number of registers (1 register = 1 word): 1
Number of registers (lower) 01 H
Chapter 3 Gateway R unit

Based on
Error check (CRC) 2 (C3 62)
calculation result
Trailer None -
Total bytes 8

z Response
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 02 H 1 1-word register x 1 = 2 bytes
1 each for upper
Data 1 (upper) Arbitrary
and lower words Status signal data
Data 1 (lower) Arbitrary 2

Based on
Error check (CRC) 2
calculation result
Trailer None -
Total bytes 7

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Part 1 Specification
z Actual Example After axis (0) servo ON
„ Sent Query: 3F03F70B0001C362
„ Received Response: 3F03024011604D

(Explanation) The CRDY, SV and PEND signals are ON.

z Actual Example After axis (0) home return
„ Sent Query: 3F03F70B0001C362
„ Received Response: 3F03027013F58C

(Explanation) The CRDY, ZONE1, ZONE2, SV, HEND and PEND signals are ON.

Chapter 3 Gateway R unit

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Part 1 Specification

3.9.3.4 Preset Single Register (Query using FC = 06H)

Data is written to (changed in) a holding register in the slave.
The basic query/response structures and examples of queries are shown below.

(1) Basic Query/Response Structures

[1] Query format
The query message specifies the address of the holding register (gateway register) from which to start writing
(changing) data, and the data.
Data length of 1 holding register = 1 word = 2 bytes = 16 bits

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) Arbitrary The address varies depending on the axis
2
Starting address (lower) Arbitrary arrangement.
New data (data written) (upper) Arbitrary
2
New data (data written) (lower) Arbitrary
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Chapter 3 Gateway R unit

Total bytes 8

[2] Response format

If the data has been changed (written) successfully, the response is the same as the query.
If invalid data has been sent, no response is returned.

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Part 1 Specification
(2) Examples of Queries/Responses
Queries are implemented by changing (writing) a 1-word register and thus the basic pattern is the same with all queries.
The only differences are the starting address and data. The following explanations use axis (0) or axis (12) in the
example.

[1] Write gateway control signals 0, 1

MON (bit 15 of control signal 0) is the only applicable control signal. Always turn this signal ON to enable the
applicable control.

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of gateway control signal 0 register
Starting address (lower) 00 H
New data (data written) (upper) 80 H
2
New data (data written) (lower) 00 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -

Chapter 3 Gateway R unit

Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F6008000DF5C
„ Received Response: 3F06F6008000DF5C

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Part 1 Specification

[2] Output command position number

A position number (= 1) is specified for axis (0).
The configuration of the command position number register of axis (0) is shown below.

Address

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H Address of the command position number
2
Starting address (lower) 0A H register of axis (0)
New data (data written) (upper) 00 H
Chapter 3 Gateway R unit

2 A position number (= 1) is specified.

New data (data written) (lower) 01 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60A00015F5E
„ Received Response: 3F06F60A00015F5E

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Part 1 Specification
[3] Output control signals (Axis 0 = Positioner mode or simple direct mode)
An example of control signals of axis (0) is explained.
The configuration of the control signal register of axis (0) is shown below.

Address

‹ Servo ON Command (SON)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 00 H
2

Chapter 3 Gateway R unit

New data (data written) (lower) 10 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60B0010CE92
„ Received Response: 3F06F60B0010CE92

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‹ Home Return Command (HOME)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 00 H
2
New data (data written) (lower) 12H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60B00124F53
„ Received Response: 3F06F60B00124F53
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Be sure to turn on the servo before executing the home return command.

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‹ Start Command (CSTR)
z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 00 H
2 The SON and CSTR signals are “1.”
New data (data written) (lower) 11 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60B00110F52
„ Received Response: 3F06F60B00110F52

Chapter 3 Gateway R unit

[Function]
Upon detection of the signal edge for executing the position command when the new data is in normal state, the content
of the position number register will be read and positioning will be performed to the target position of the corresponding
position data.
If the position start command for the new data remains ON, the position complete signal (PEND) will not be output even
when the actuator enters the positioning band. However, the completed position number signal (PM***) will be output.
If this command is executed when no home return operation has been performed after the power on (when HEND = “0”),
the actuator will perform home return operation and then start moving to the target position.

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‹ Pause Command (STP)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 00 H
2 The SON and STP signals are “1.”
New data (data written) (lower) 14 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60B0014CF51
„ Received Response: 3F06F60B0014CF51
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Reset Command (RES)
Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 00 H
2 The RES signal is “1.”
New data (data written) (lower) 08 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

Response
If the data has been changed (written) successfully, the response is the same as the query.

Actual Example
Sent Query: 3F06F60B0008CE98
Received Response: 3F06F60B0008CE98

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‹ Jogging/Inching Switching Command (JISL)

This signal is used to switch jogging operation and inching operation.
JISL = “0”: Jogging operation
JISL = “1”: Inching operation

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) Arbitrary Used in combination with the JOG+/-, JVEL and
2
New data (data written) (lower) Arbitrary SON signals.
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.
Chapter 3 Gateway R unit

z Actual Example
„ Sent Query: 3F06F60B -----
„ Received Response: 3F06F60B -----

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‹ Jogging Speed/Inching Distance Switching Command (JVEL)
In jogging operation and inching operation, the jogging speed and inching distance are determined by referencing the
applicable control parameters. This signal is used to switch these parameters.

JVEL Jogging speed of jogging operation (JISL = “0”) Inching distance of inching operation (JISL = “1”)
“0” Parameter No. 26 (Jogging speed) Parameter No. 48 (Inching distance)
“1” Parameter No. 47 (Jogging speed 2) Parameter No. 49 (Inching distance 2)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) Arbitrary Used in combination with the JISL, JOG+/- and
2
New data (data written) (lower) Arbitrary SON signals.
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -

Chapter 3 Gateway R unit

Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F60B -----
„ Received Response: 3F06F60B -----

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‹ Jog+ Command (JOG+)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) Arbitrary Used in combination with the JISL and JVEL
2
New data (data written) (lower) Arbitrary signals.
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

[Function] This signal is used to start jogging operation or inching operation.

„ Jogging Operation in + Direction
When the JOG+ signal is turned “1” while the JISL signal is “0” (jogging mode), the actuator will jog in the direction
Chapter 3 Gateway R unit

opposite home. The speed corresponds to the jogging speed of the parameter specified by the JVEL signal, while
the acceleration/deceleration corresponds to the rated acceleration/deceleration (the specific value varies
depending on the actuator).
„ How to Stop Jogging Operation in + Direction
x Change the JOG+ signal from “1” to “0” during operation.
x Change the JOG- signal from “0” to “1” during operation.
„ Inching Operation
The actuator will inch in the direction opposite home every time the JOG+ signal changes from “0” to “1” while the
JISL signal is “1” (inching mode). The speed and travel distance correspond to the jogging speed and inching
distance of the parameters specified by the JVEL signal, while the acceleration/deceleration corresponds to the
rated acceleration/deceleration (the specific value varies depending on the actuator).

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‹ Jog- Command (JOG-)
z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) Arbitrary Used in combination with the JISL and JVEL
2
New data (data written) (lower) Arbitrary signals.
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

[Function] This signal is used to start jogging operation or inching operation.

„ Jogging Operation in - Direction
When the JOG- signal is turned “1” while the JISL signal is “0” (jogging mode), the actuator will jog in the direction

Chapter 3 Gateway R unit

home. The speed corresponds to the jogging speed of the parameter specified by the JVEL signal, while the
acceleration/deceleration corresponds to the rated acceleration/deceleration (the specific value varies depending
on the actuator).
„ How to Stop Jogging Operation in - Direction
x Change the JOG- signal from “1” to “0” during operation.
x Change the JOG+ signal from “0” to “1” during operation.
„ Inching Operation
The actuator will inch in the direction home every time the JOG- signal changes from “0” to “1” while the JISL signal
is “1” (inching mode). The speed and travel distance correspond to the jogging speed and inching distance of the
parameters specified by the JVEL signal, while the acceleration/deceleration corresponds to the rated
acceleration/deceleration (the specific value varies depending on the actuator).

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[Summary of Jogging Operation and Inching Operation]

With both jogging operation and inching operation, the JISL, JVEL, JOG+ and JOG- signals are used in combination.
The relationships of these signals are summarized in the table below.

Jogging operation Inching operation

JISL “0” “1”
JVEL = “0” Speed Parameter 26 Parameter 26
Travel distance - Parameter 48
Acceleration/ Rated value (The specific value varies Rated value (The specific value varies
deceleration depending on the actuator.) depending on the actuator.)
JVEL = “1” Speed Parameter 47 Parameter 47
Travel distance - Parameter 49
Acceleration/ Rated value (The specific value varies Rated value (The specific value varies
deceleration depending on the actuator.) depending on the actuator.)
Condition for operation Either the JOG+ or JOG- changes from “0”
Either the JOG+ or JOG- is “1”
to “1”

z Actual Example of Jogging Operation (JOG+) (Axis 0)

„ Sent Query: 3F06F60B0110CF02 (JVEL = “0”, JISL = “0”)
„ Received Response: 3F06F60B0110CF02

z Actual Example of Jogging Operation (JOG-) (Axis 0)

Chapter 3 Gateway R unit

„ Sent Query: 3F06F60B0090CF32 (JVEL = “0”, JISL = “0”)

„ Received Response: 3F06F60B0090CF32

z Actual Example of Inching Operation (JOG+) (Axis 0)

„ Sent Query: 3F06F60B0130CEDA (JVEL = “0”, JISL = “1”)
„ Received Response: 3F06F60B0030CF4A

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‹ Teaching Mode Command (MODE)
The controller will switch to the teaching mode when the MODE signal turns “1.”

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 04 H
2 The MODE and SON signals are “1.”
New data (data written) (lower) 10 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example

Chapter 3 Gateway R unit

„ Sent Query: 3F06F60B0410CC52
„ Received Response: 3F06F60B0410CC52

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‹ Position Data Load Command (PWRT)

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 06 H
2 The MODE, PWRT and SON signals are “1.”
New data (data written) (lower) 10 H
Error check (CRC) 16 bits 2 (CD32) Based on calculation result
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

[Function]
When the PWRT signal changes from “0” to “1” while in the teaching mode (MODE = “1”) and this condition is
maintained for 20 msec or more after it is recognized by the controller, the current position data will be written to the
Chapter 3 Gateway R unit

target position corresponding to the position number in the command position number register effective at the time of
detection.
If the position table is empty, the default parameters will be written together in the data fields other than the target
position (positioning band, speed, acceleration/deceleration).

z Actual Example (Axis 0)

Load the teaching position into No. 8 of the axis (0) position table.

Inching operation in the teaching mode (MODE = “1”) 3F06F60B0530CC1A

(Repeated inching operations)

Specification of command position number (Ex: 8) 3F06F60B0430CD8A

3F06F60A00089F58

Position data load command 3F06F60B0610CD32

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Forced Brake Release Command (BKRL)
Normally brake control is linked to the servo ON/OFF operations. However, the brake can be forcibly released while the
servo is ON, by using this command.

Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (0)
Starting address (lower) 0B H
New data (data written) (upper) 80 H
2 The BKRL signal is “1.”
New data (data written) (lower) 00 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8

Response
If the data has been changed (written) successfully, the response is the same as the query.

Chapter 3 Gateway R unit

Actual Example
Sent Query: 3F06F60B8000C29E
Received Response: 3F06F60B8000C29E

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[4] Output control signals (Axis 1 = Direct numerical specification mode)

An example of control signals of axis (1) is explained.
The configuration of the control signal register of axis (1) is shown below.

Address

The method of use is the same as in [3], except for the DIR and PUSH.
The DIR and PUSH signals are used as a set when performing push operation in the direct numerical specification
mode.
x PUSH signal: The push mode is effective when this signal is “1.”
x DIR signal: This signal specifies the push direction.
“0” = Home return direction “1” = Opposite home return direction
In other conditions, the push speed corresponds to the specification of parameter No. 34, while the maximum push
amount corresponds to the specified positioning band.

A query in the push operation mode is described below.

z Query
Chapter 3 Gateway R unit

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
2 Address of the control signal register of axis (1)
Starting address (lower) 13 H
New data (data written) (upper) 30 H
2 Set DIR, PUSH and SON to “1.”
New data (data written) (lower) 10 H
Error check (CRC) 16 bits 2 Based on calculation result (5A95)
Trailer None -
Total bytes 8

z Response
If the data has been changed (written) successfully, the response is the same as the query.

z Actual Example
„ Sent Query: 3F06F61330105A95
„ Received Response: 3F06F61330105A95

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3.9.3.5 Preset Multiple Registers (Query using FC = 10H)
Data is changed in (written to) multiple successive holding registers in the slave.
The basic query/response structures and examples of queries are shown below.

(1) Basic Query/Response Structures

[1] Query format
The query message specifies the address of the holding register (gateway register) from which to start changing
(writing) data, and the data.
Data length of 1 holding register = 1 word = 2 bytes = 16 bits

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) Arbitrary The address varies depending on the axis
2
Starting address (lower) Arbitrary arrangement.
Number of registers (upper) Arbitrary
2
Number of registers (lower) Arbitrary
Bytes Arbitrary 1
New data 1 (upper) Arbitrary 1 each for upper

Chapter 3 Gateway R unit

and lower words
New data 1 (lower) Arbitrary 2
New data 2 (upper) Arbitrary 1 each for upper
and lower words
New data 2 (lower) Arbitrary 2
New data 3 (upper) Arbitrary 1 each for upper
and lower words
New data 3 (lower) Arbitrary 2


Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 15

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[2] Response format

If the data has been changed (written) successfully, the response returned is a copy of the query excluding the
number of bytes and new data.

RTU mode data Data length

Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) Arbitrary The address varies depending on the axis
2
Starting address (lower) Arbitrary arrangement.
Number of registers (upper) Arbitrary
2
Number of registers (lower) Arbitrary
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8
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(2) Basic Axis Operations
[1] Axis area in the direct numerical specification mode
Assignments of axis control signals for axis (1) (direct numerical specification mode) are shown below.

Address

Position data specification (lower word)

Position data specification (upper word)

Positioning Band (lower word)

Positioning Band (upper word)

Speed

Acceleration/deceleration

Chapter 3 Gateway R unit

Push-current limiting value

Refer to the section on gateway specifications for the detailed explanation of signals. An overview is given below.

„ Position Data Specification

x 32-bit signed integer
x Register size: 2 (4 bytes)
x Unit: 0.01 mm
x Settable range: -9999.99 mm to 9999.99 mm (0F423F H)

„ Positioning Band
x 32-bit integer
x Register size: 2 (4 bytes)
x Unit: 0.01 mm
x Maximum settable value: 9999.99 mm (0F423F H)
x In normal positioning operation, the allowable difference between the target position and current position upon
detection of position completion is set.
x In push operation, the push band is set.
x Whether to perform normal positioning or push operation is specified by the control signal PUSH.

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„ Speed
x 16-bit integer
x Register size: 1 (2 bytes)
x The unit is 1.0 mm/sec or 0.1 mm/sec. Set either unit as deemed appropriate using the ROBONET Gateway
parameter setting tool.
x Settable range: 0 to 9999 mm/sec
If a value exceeding the maximum actuator speed is set, an alarm will generate when a movement start command
is issued.

„ Acceleration/Deceleration
x 16-bit integer
x Register size: 1 (2 bytes)
x Unit: 0.01 G
x The maximum settable value corresponds to the maximum actuator acceleration/deceleration.
If a value exceeding the maximum actuator acceleration/deceleration is set, an alarm will generate when a
movement start command is issued.

„ Push-current Limiting Value

x 8-bit integer
x Register size: 1 (1 byte)
x Unit: %
x Although the settable range is 0 to 100% (FF H = 255), the actual setting range varies depending on the actuator.
Refer to the catalog or operation manual.
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[1] Procedure
In the direct numerical specification mode, the actuator is operated by writing data to the axis control signal registers
(position data, positioning band, speed, acceleration/deceleration, push-current limiting value, control signals).
Operation is started when the start (CSTR) signal changes from “0” to “1.” Items to note regarding this process are
listed below.

z The control signal register has been cleared to zero after the initialization following the power on.
z The default controller parameters are not referenced.
z In normal operation, the axis will not operate unless position data, positioning band, speed and
acceleration/deceleration are all written to the registers. (If any one of these data is missing, an alarm 085 will
generate.)
z In push operation, push-current limiting value must also be written in addition to the above data.
z Even after all data has been written, the axis will not operate unless the CSTR signal is changed from “0” to “1.”
z Once all data has been written to the registers, you can change desired data only and change the CSTR signal from
“0” to “1” to operate the axis based on the new data.
Even if the above change is made while the axis is operating, the axis will start operating based on the new data the
moment the CSTR signal is changed from “0” to “1.”

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(3) Examples of Queries/Responses (Axis 1, direct numerical specification mode)

[1] Query format for normal operation
Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current
limiting value) to the registers.

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H
2 Initial control signal register address of axis (1)
Starting address (lower) 0C H
Number of registers (upper) 00 H The number of registers is “8” corresponding to
2 new data 1 to 8.
Number of registers (lower) 08 H
Bytes 10 H 1 Number of registers x 2 = 16 (10H)
New data 1 (upper) 3A H 1 each for upper
and lower words
New data 1 (lower) 98 H 2 Position data specification
New data 2 (upper) 00 H 1 each for upper 150.00 mm = 15000 = 00003A98 H
and lower words
New data 2 (lower) 00 H 2
Chapter 3 Gateway R unit

New data 3 (upper) 00 H 1 each for upper

and lower words
New data 3 (lower) 0A H 2 Positioning Band
New data 4 (upper) 00 H 1 each for upper 0.1 mm = 10 = 000A H
and lower words
New data 4 (lower) 00 H 2
New data 5 (upper) 00 H 1 each for upper
Speed
and lower words
New data 5 (lower) 32 H 50 mm/sec = 50 = 0032 H
2
New data 6 (upper) 00 H 1 each for upper
Acceleration/deceleration
and lower words
New data 6 (lower) 1E H 0.30 G = 30 = 001E H
2
New data 7 (upper) 00 H 1 each for upper
Push-current limiting value
and lower words
New data 7 (lower) 00 H 0% = 0000 H
2
New data 8 (upper) 00 H 1 each for upper
Control signal
and lower words
New data 8 (lower) 11 H Set SON and CSTR to “1.”
2
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes

„ Sent Query: 3F10F60C0008103A980000000A0000

0032001E00000011406C
„ Received Response: 3F10F60C0008369A

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[2] Query format for normal operation where only the position is changed
Use the same format in [1] by changing only the position data, to operate the axis.

z Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H
2 Initial control signal register address of axis (1)
Starting address (lower) 0C H
Number of registers (upper) 00 H The number of registers is “2” corresponding to
2 new data 1 to 2.
Number of registers (lower) 02 H
Bytes 04 H 1 Number of registers x 2 = 4 (04 H)
New data 1 (upper) 03 H 1 each for upper
and lower words
New data 1 (lower) E8 H 2 Position data specification
New data 2 (upper) 00 H 1 each for upper 10.00 mm = 1000 = 000003E8 H
and lower words
New data 2 (lower) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -

Chapter 3 Gateway R unit

Total bytes 13

„ Sent Query: 3F10F60C00020403E80000976C

„ Received Response: 3F10F60C0002B69D

Thereafter, turn the CSTR signal from “0” to “1.”

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[3] Query format for normal operation where the position and speed are changed.
In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis.
The following two queries are transmitted.

z Query (Position data change)

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial position data specification register
2
Starting address (lower) 0C H address of axis (1)
Number of registers (upper) 00 H The number of registers is “2” corresponding to
2 new data 1 to 2.
Number of registers (lower) 02 H
Bytes 04 H 1 Number of registers x 2 = 4 (04 H)
New data 1 (upper) 3A H 1 each for upper
and lower words
New data 1 (lower) 98 H 2 Position data specification
New data 2 (upper) 00 H 1 each for upper 150.00 mm = 15000 = 00003A98 H
and lower words
New data 2 (lower) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (9A81)
Chapter 3 Gateway R unit

Trailer None -
Total bytes 13

z Query (Speed change)

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H
2 Initial speed register address of axis (1)
Starting address (lower) 10 H
Number of registers (upper) 00 H The number of registers is “1” corresponding to
2 new data 1.
Number of registers (lower) 01 H
Bytes 02 H 1 Number of registers x 2 = 2 (02 H)
New data 1 (upper) 00 H 1 each for upper
Speed
and lower words
New data 1 (lower) C8 H 200 mm/sec = 200 = 00C8 H
2
Error check (CRC) 16 bits 2 Based on calculation result (2B38)
Trailer None -
Total bytes 11

Thereafter, turn the CSTR signal from “0” to “1.”

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[4] Query format for push operation
Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current
limiting value) to the registers.

z Query (Position data change)

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H
2 Initial control signal register address of axis (1)
Starting address (lower) 0C H
Number of registers (upper) 00 H The number of registers is “8” corresponding to
2 new data 1 to 8.
Number of registers (lower) 08 H
Bytes 10 H 1 Number of registers x 2 = 16 (10H)
New data 1 (upper) 36 H 1 each for upper
and lower words
New data 1 (lower) B0 H 2 Position data specification
New data 2 (upper) 00 H 1 each for upper 140.00 mm = 14000 = 000036B0 H
and lower words
New data 2 (lower) 00 H 2
New data 3 (upper) 01 H 1 each for upper
and lower words

Chapter 3 Gateway R unit

New data 3 (lower) F4 H 2 Positioning Band
New data 4 (upper) 00 H 1 each for upper 5.0 mm = 500 = 01F4 H
and lower words
New data 4 (upper) 00 H 2
New data 5 (upper) 00 H 1 each for upper
Speed
and lower words
New data 5 (upper) 32 H 50 mm/sec = 50 = 0032 H
2
New data 6 (upper) 00 H 1 each for upper
Acceleration/deceleration
and lower words
New data 6 (upper) 1E H 0.30 G = 30 = 001E H
2
New data 7 (upper) 00 H 1 each for upper
Push-current limiting value
and lower words
New data 7 (upper) 7F H 0% = 007F H
2
New data 8 (upper) 30 H 1 each for upper
Control signal
and lower words
New data 8 (upper) 11 H Set DIR, PUSH and CSTR to “1.”
2
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes

„ Sent Query: 3F10F60C00081036B0000001F40000

0032001E007F30118287
„ Received Response: 3F10F60C0008369A

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(4) Use of Gateway Commands

The position table can be read/written by writing request commands and data in the command area of the gateway unit.
For details, refer to the specifications of the gateway unit.
An address map of the command area is shown below.

Register address Register address

F602 Request command Response command F702
F603 Data 0 Data 0 F703
F604 Data 1 Data 1 F704
F605 Data 2 Data 2 F705
F606 Data 3 Data 3 F706

The table below lists the data that can be handled with these commands.

Data name Register size Data size Unit Data range

Target position 2 words 32-bit signed integer 0.01 mm -999999 ~ 999999
Positioning band 2 words 32-bit integer 0.01 mm Up to 999999
Speed (Note) 2 words 32-bit integer 0.01 mm/sec 0 ~ 999999
Individual zone boundary+ 2 words 32-bit integer 0.01 mm Within the actuator stroke
Individual zone boundary- 2 words 32-bit integer 0.01 mm Within the actuator stroke
Chapter 3 Gateway R unit

Acceleration 1 word 16-bit integer 0.01 G Within the maximum actuator

Deceleration 1 word 16-bit integer 0.01 G acceleration/deceleration
Push-current limiting value 1 word 8-bit integer % 100% corresponds to FFH.
Load current threshold 1 word 8-bit integer % 0 ~ 100 (00H ~ FFH)

Caution
When writing to the position table, the speed is specified in units of 0.01 mm/sec. Take note that in the direct numerical
specification mode, the speed is specified in units of 1.0 mm/sec.

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[1] Write position table data
An example of writing the target position, positioning band and speed data one by one to the position table under No.
10 corresponding to positioner mode axis (0) is explained.
x Target position 100 m o 10000 = 2710H
x Positioning band 0.3 mm o 30 = 001EH
x Speed 2 mm/sec o 200 = 00C8H

z Target Position Write Query

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Number of registers (upper) 00 H
2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H 1 each for upper
and lower words Request command (position write)
New data 1 (lower) 00 H 2
New data 2 (upper) 00 H 1 each for upper

Chapter 3 Gateway R unit

and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 27 H 1 each for upper
and lower words Data 1: Lower word of target position data
New data 3 (lower) 10 H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: Upper word of target position data
New data 4 (upper) 00 H 2
New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (6891)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A1000000A27100000

00006891
„ Received Response: 3F10F6020005969C

Caution
Each gateway command must be cleared after use. If the command area is not cleared, the next command cannot be
accepted.
Query sent in this example: 3F 06 F602 0000 1F5C

Request command clear code

Request command area address

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z Positioning Band Write Query

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Number of registers (upper) 00 H
2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H 1 each for upper
and lower words Request command (positioning band write)
New data 1 (lower) 01 H 2
New data 2 (upper) 00 H 1 each for upper
and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 00 H 1 each for upper
and lower words Data 1: Lower word of positioning band data
New data 3 (lower) 1E H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: Upper word of positioning band data
New data 4 (upper) 00 H
Chapter 3 Gateway R unit

2
New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (0A17)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A1001000A001E0000

00000A17
„ Received Response: 3F10F6020005969C

Caution
Each gateway command must be cleared after use. If the command area is not cleared, the next command cannot be
accepted.
Query sent in this example: 3F 06 F602 0000 1F5C

Request command clear code

Request command area address

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z Speed Write Query
RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Number of registers (upper) 00 H
2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H 1 each for upper
and lower words Request command (speed write)
New data 1 (lower) 02 H 2
New data 2 (upper) 00 H 1 each for upper
and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 00 H 1 each for upper
and lower words Data 1: Lower word of speed data
New data 3 (lower) C8 H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: Upper word of speed data
New data 4 (upper) 00 H 2

Chapter 3 Gateway R unit

New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (5735)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A1002000A00C80000

00005735
„ Received Response: 3F10F6020005969C

Caution
Each gateway command must be cleared after use. If the command area is not cleared, the next command cannot be
accepted.
Query sent in this example: 3F 06 F602 0000 1F5C

Request command clear code

Request command area address

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[2] Read position table data

In [1], the target position, positioning band and speed were written one by one to the position table under No. 10
corresponding to positioner mode axis (0). Next, an example of reading data from this position table is explained.

Query Send Procedure

[1] Send a position table data read query
(Write command data to the request command area)
[2] Send a response command area read query.

When a position table data read command is received, the gateway unit will output response data to the response
command area.

z Target Position Read Query

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Number of registers (upper) 00 H
2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 1
Chapter 3 Gateway R unit

0A H Number of registers x 2 = 10 (0AH)

New data 1 (upper) 10 H 1 each for upper
and lower words Request command (read target position)
New data 1 (lower) 40 H 2
New data 2 (upper) 00 H 1 each for upper
and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 00 H 1 each for upper
and lower words Data 1: 0
New data 3 (lower) 00 H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: 0
New data 4 (upper) 00 H 2
New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (9E46)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A 1040 000A 00000000

0000 9E46
„ Received Response: 3F10F6020005969C

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<Reading of Response Command Area>
Send a register read (FC = 03H) query.
„ Sent Query: 3F03F702000512A3
„ Received Response: 3F030A 1040 000A 27100000 0000 2E8A
Position data
The position data (2710H) written to the position table in [1] has been
read.

Caution
Each gateway command must be cleared after use.

z Positioning Band Read Query

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Number of registers (upper) 00 H

Chapter 3 Gateway R unit

2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H 1 each for upper
and lower words Request command (read positioning band)
New data 1 (lower) 41 H 2
New data 2 (upper) 00 H 1 each for upper
and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 00 H 1 each for upper
and lower words Data 1: 0
New data 3 (lower) 00 H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: 0
New data 4 (upper) 00 H 2
New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (93D6)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A 1041 000A 00000000

0000 9D36
„ Received Response: 3F10F6020005969C

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<Reading of Response Command Area>

Send a register read (FC = 03H) query.
„ Sent Query: 3F03F702000512A3
„ Received Response: 3F030A 1041 000A 001E0000 0000 4C0C
Positioning band data
The data (001EH) written to the position table in [1] has been
read.

Caution
Each gateway command must be cleared after use.

z Speed Read Query

RTU mode data Data length
Field name Remarks
(8 bits) (bytes)
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H Initial request command register address of axis
2
Starting address (lower) 02 H (0)
Chapter 3 Gateway R unit

Number of registers (upper) 00 H

2 The number of registers is 5.
Number of registers (lower) 05 H
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H 1 each for upper
and lower words Request command (read speed)
New data 1 (lower) 42 H 2
New data 2 (upper) 00 H 1 each for upper
and lower words Data 0: Position No. 10 is specified.
New data 2 (lower) 0A H 2
New data 3 (upper) 00 H 1 each for upper
and lower words Data 1: 0
New data 3 (lower) 00 H 2
New data 4 (upper) 00 H 1 each for upper
and lower words Data 2: 0
New data 4 (upper) 00 H 2
New data 5 (upper) 00 H 1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
New data 5 (upper) 00 H 2
Error check (CRC) 16 bits 2 Based on calculation result (8726)
Trailer None -
Total bytes 19

„ Sent Query: 3F10F60200050A 1042 000A 00000000

0000 8726

„ Received Response: 3F10F6020005969C

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<Reading of Response Command Area>
Send a register read (FC = 03H) query.
„ Sent Query: 3F03F702000512A3
„ Received Response: 3F030A 1042 000A 00C80000 0000 4C0C
Speed data
The data (00C8H) written to the position table in [1] has been read.

Caution
Each gateway command must be cleared after use.

Chapter 3 Gateway R unit

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In [1] and [2], the target position, positioning band and speed data were written to the position table and the write results
were checked.
The applicable position table in the RC PC software is shown as follows.

„ Before Sending the Write Query

Chapter 3 Gateway R unit

„ After Sending the Write Query

* Although acceleration/deceleration was not written, the default parameter value has been applied and written.

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3.9.4 Function Block
3.9.4.1 Dedicated ROBONET Function Block
(1) Overview
IAI provides a dedicated function block for ROBONET systems.
It is called “ROBONET Gateway Modbus Cyclic Communication FBL” (ROBONET GW).
This function block performs the following operations between the PLC and ROBONET gateway (Modbus gateway
mode):
x Read gateway status signals, response commands and axis data cyclically
x Write gateway control signals, request commands and axis data

A conceptual diagram of data exchange between the PLC and ROBONET gateway is shown below.

PLC I/O memory Serial communication unit Gateway unit’s

(SCU) memory areas
PLC ladder sequence

Chapter 3 Gateway R unit

The memory areas of
the gateway unit vary
depending on the
number of connectable
Parameters Function block Parameters axes and operation
mode.

Function block parameters are set to associate the memory areas of the gateway unit with the I/O memory of the PLC
based on 1:1 address correspondence. The function block constantly performs data exchange, but only between the PLC
I/O memory and gateway unit memory whose addresses have been associated.
Accordingly, the ladder sequence only needs to access the PLC’s I/O memory associated with the gateway unit memory,
as if accessing the gateway unit memory directly.
Since there is no need to use a ladder sequence to create communication messages to be sent, a desired ladder
sequence can be created without a need to consider serial communication.

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The function block parameters are used to specify the following addresses of the PLC’s I/O memory to be linked with the
gateway unit’s memory areas:
x Initial gateway control signal address
x Initial request command area address
x Initial axis data specification area address
x Initial gateway status signal address
x Initial response command area address
x Initial axis status area address

The PLC’s I/O memory areas that can be set by parameters include W (internal auxiliary relays), D (data memory), A
(special auxiliary relays), E (extended data memory), H (holding relays), and CIO (channel I/Os).

The function block is able to exchange data between the specified I/O memory areas and the gateway unit’s memory
areas linked to these I/O memory areas, via serial communication.

The conditions under which this function block can be used are as follows:
[1] CPU unit CS/CJ Series by Omron, Version 4.0 or later
[2] Serial communication unit (SCU) CS/CJ Series by Omron
CS: CS1W-SCU**-V1 (Version 1.2 or later)
CJ: CJ1W-SCU**-V1 (Version 1.2 or later)
[3] CX Programmer Version 7.0 or later
Chapter 3 Gateway R unit

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(2) Specifications

Name ROBONET Gateway Modbus Cyclic Communication FBL

Function x Read gateway information, command responses and axis data cyclically from the ROBONET gateway.
overview x Write gateway control information, command requests and axis data to the ROBONET gateway via bit
operation.
Symbols
Start trigger

Connection
source setting FB processing flag
Port number FB successful flag
Error reset FB error flag
Gateway control write Error code
Command request write
Axis data write
Gateway information table Gateway information table
Gateway control table Gateway control table
Command request table Command request table
Command response table Command response table

Chapter 3 Gateway R unit

Data write table Data write table
Data read table Data read table

File name ROBONET_RW.cxf

Applicable CPU unit CS/CJ Series Version 4.0 or later
models SCU unit CS/CJ Series Version 1.2 or later *
CX-Programmer Version 7.0 or later
Use conditions „ CPU Unit Settings
PC system settings “Common settings for FB internal communication commands”
x Communication command response monitor time: 5 seconds or more (default: 2 seconds)
x Resend count [default: 2 times]
„ SCU Unit Settings
x Serial communication mode, serial gateway (default: host link)
x Communication settings: Aligned with the ROBONET gateway
Baud rate: 115200 bps/Character length: 8 bits/Parity: None
(default: 9.6 kbps/7 bits/2 bits / Even)

The serial port communication settings can be specified using the serial gateway mode settings of the
smart FBL (SCx604_SetPortGATEWAY).

„ Shared Resource
x Communication port [internal logical port]

* Serial communication port

Only the port on the serial communication unit (SCU) can be used.
The serial port on the CPU unit cannot be used, because it does not support the Modbus-RTU protocol.

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„ Variable Table (Parameter Settings)

The variables and parameter settings of the function block (FB) are described.

[Inputs] (Input Variables)

Name Variable name Data type Default Explanation of variable and parameter settings
EN EN BOOL False 1 (ON): Start the FB
2 (OFF): Do not start the FB
Connection source Unit_Select UNIT 0 Unit number &0 to &15
setting Set the high-function CPU unit number of the
connected SCU.
Port number Port_No UNIT 0 Set the SCU port number to be used.
&1: SCU port 1
&2: SCU port 2
Error reset ERR_CLR BOOL False The error output is cleared at the leading edge of
this signal.
Set the bit address of the I/O memory to be used
by this signal.
Gateway control GateWayControl BOOL False Gateway control information is sent at the leading
write _exe edge of this signal.
Set the bit address of the I/O memory to be used
by this signal.
Command request CommandRequest BOOL False A command request is sent at the leading edge of
write _exe this signal.
Set the bit address of the I/O memory to be used
Chapter 3 Gateway R unit

by this signal.
Axis data write DataWrite_exe BOOL False Axis data specification is sent at the leading edge
of this signal.
Set the bit address of the I/O memory to be used
by this signal.

[Outputs] (Output Variables)

Name Variable name Data type Explanation of variable and parameter settings
ENO ENO BOOL 1 (ON): The FB operated normally.
(May be omitted) 0 (OFF): The FB is not started or was terminated abnormally.
Processing flag FB_BUSY BOOL This signal remains ON while processing is in progress, and will turn
OFF automatically when the processing is completed.
Set the bit address of the I/O memory to be used by this signal.
Successful flag FB_OK BOOL This signal turns ON for only one cycle if the command was
successful.
Set the bit address of the I/O memory to be used by this signal.
Error flag FB_NG BOOL This signal turns ON when the command generated an error.
Set the bit address of the I/O memory to be used by this signal.
Error code ERR_Code INT The present FINS command error code is returned.
Set the bit address of the I/O memory to be used by this signal.

* For the FINS command error codes, refer to the operation manual of Omron’s PLC (CS/CJ Communication Command
Reference Manual).

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[VER-IN/OUT] (Input/Output Variables)
Name Variable name Data type Explanation of variable and parameter settings
Gateway information Gateway INT [2] Gateway information data is returned.
table Information Set the I/O memory address to be assigned to the initial status
_Table signal address of the gateway.
Gateway control Gateway INT [2] Gateway control data is placed.
table Control Set the I/O memory address to be assigned to the initial control
_Table signal address of the gateway.
Command request Command INT [6] Request command data is placed.
table Request Set the I/O memory address to be assigned to the initial request
_Table command area address of the gateway.
Command response Command INT [6] Command response data is returned.
table Response Set the I/O memory address to be assigned to the initial response
_Table command area address of the gateway.
Axis data write table DataWrite INT [64] A command for each axis is placed.
_Table Set the I/O memory address to be assigned to the initial axis input
area (PLC output) address of the gateway.
Axis data read table DataRead INT [64] A monitored value of each axis is returned.
_Table Set the I/O memory address to be assigned to the initial axis output
area (PLC input) address of the gateway.

Caution

Chapter 3 Gateway R unit

Before setting the parameters or creating a ladder sequence, create an association matrix of SIO gateway addresses as
explained later.

(Supplement) [Internal] (Internal Variables)

Internal variables are not output to outside the FB.
Name Variable name Data type Explanation of variable and parameter settings
Modbus MODBUS_ WORD A Modbus error code is output. “#0000” is output if the command was
Error code ErrorCode successful.
Continuation-upon- ERR BOOL Whether to continue or stop the read operation upon communication
error setting flag _Setting error is set.
0: Stop the read operation when a communication error occurs.
1: Retry continuously even after a communication error occurs.

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‫ ڦ‬Explanation of Function
[1] When the “start trigger” signal is turned ON, gateway information, command responses and axis data will be read
cyclically. (Constant read mode)

[2] When data is set in the gateway control table and the gateway control write signal is turned ON, the gateway control
data (2 words) will be written to the gateway unit at the leading edge of the signal.
When writing data to the request command area or axis data specification area of the gateway, bit 15 of gateway
control dada 0 (MON signal) must be turned “1” (ON) to enable the remote operation.

[3] When data is set in the command request table and the command request write signal is turned ON, the command
request data (6 words) will be written to the gateway unit at the leading edge of the signal.

[4] When data is set in the axis data write table and the axis data write signal is turned ON, the axis control data (64 words)
will be written to the gateway unit at the leading edge of the signal.

[5] If an error occurs during the communication, the FB abort flag turns ON and an error code (FINS command error) is
output to the error code table. When the error reset signal is turned ON, the error will be cleared.

Caution
Do not issue position data write commands successively, because these commands are written to the flash memory area.
The flash memory can be written only so many times (100,000 times).
Chapter 3 Gateway R unit

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‫ ڦ‬Operation Timing Chart
Timing chart Successful pattern of read-only operation
Data is read from the gateway unit in each cycle.

1. Successful pattern, no request

FB_Busy

Reading

Successful response

Error response

Error clear

2. Error pattern, no request

If Continuation is set, operation will
continue even after an error occurs.

FB_Busy

Reading

Chapter 3 Gateway R unit

Successful response

Error response

Error clear

3. Successful pattern, with request

If a write command is received during communication,
the command will be executed by interrupting after the
current processing.
GW control command

Command

Data write command

FB_Busy

GW control write

Command write

Axis data write

GW information read

Successful response

Error response

Error clear

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4. Error pattern, with request

If an error is received, the current communication will
be interrupted. However, commands will be received
continuously from the next processing.

GW control command

Command

Data write command

FB_Busy

GW control write

Command write

Axis data write

GW information read

Successful response
Chapter 3 Gateway R unit

Error response

Error clear

Caution
Notes on using the FB x Do not issue position data write commands successively, because these commands are
written to the flash memory area. The flash memory can be written only so many times.
x If communication is cut off while the axis is moving (during jogging operation, etc.), the axis
will continue to operate. To prevent danger, provide a measure to allow the axis to be stopped
externally.
x Do not use multiple instances of the same name. Duplication of assigned addresses will inhibit
normal operation.
EN input condition Connect the FB start condition input to the “start trigger” signal.
This FB is of constant execution type.
Limitation x If the value of any input variable is out of range, the ENO will be turned OFF and the FB will
- Input variables not be executed.
- Output variables x Do not turn ON/OFF the output variable FB_BUSY from outside the FB.

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(3) Address Association Matrix
As explained in (1), “Overview,” the PLC’s I/O memory is associated with the gateway unit’s memory. Before setting the
parameters or creating a ladder sequence, therefore, create an association matrix of SIO gateway addresses.
An example is shown on the next page.
This example assumes the following conditions:
z Gateway Address Assignments
x Axis (0) – Positioner mode
x Axis (1) – Numerical specification mode
z PLC I/O Memory
Use W (internal auxiliary relays) and D (data memory).

Chapter 3 Gateway R unit

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182
SIO Gateway FB Address Association Matrix (PLC Output) (Example)

184
Function Block Gateway register
Variable name Set address Description Address

GW control 0

GW control 1

Request command

Data 0
Data 1
Data 2
Data 3
Cannot be used.
(Axis 0) Position data specification (L)

(Axis 0) Position data specification (H)

(Axis 0) Position number

(Axis 0) Control signal
(Axis 1) Position data specification (L)

(Axis 1) Position data specification (H)

(Axis 1) Positioning band specification (L)

(Axis 1) Positioning band specification (H)

(Axis 1) Speed specification

(Axis 1) Acceleration/deceleration
specification
(Axis 1) Push-current limiting value

(Axis 1) Control signal

Part 1
Specification
 SIO Gateway FB Address Association Matrix (PLC Input) (Example)

Function Block Gateway register

Variable name Set address Description Address

GW control 0

GW control 1

Response command

Data 0
Data 1
Data 2
Data 3
Cannot be used.
(Axis 0) Current position data (L)
(Axis 0) Current position data (H)
(Axis 0) Completed position number

(Axis 0) Status signal

(Axis 1) Current position data (L)
(Axis 1) Current position data (H)
(Axis 1) Current electrical current (L)

(Axis 1) Current electrical current (H)

(Axis 1) Current speed data

Cannot be used.
(Axis 1) Alarm
(Axis 1) Status signal
Part 1
Specification

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 Part 1 Specification
Part 1 Specification

3.9.4.2 What Is Function Block?

(1) Overview

A function block is a graphical program language for PLCs. It is one of the five program languages for PLCs defined by
the IEC standard (IEC 61131-3).
Ladder logic (or ladder language) currently adopted by the largest number of PLCs is also one of the above five program
languages.
A function block is a program element that allows a group (block) of typical processes (functions) to be created
beforehand, so that they can be used simply by placing the function block in a program and setting the inputs and
outputs.
Basically all typical processes are defined by “variables” instead of actual addresses. When the block is placed and used
in a program, a parameter (address or value) is set for each of these “variables.”
As explained above, a function block is a function having one or more input parameters and one output parameter. It
performs calculation based on the values given to each input parameter and outputs the result to the output parameter.
Use of function blocks allows for modular program design and reuse of programs, thereby reducing the hassle of creating
PLC programs.

Program
Copy of function block A
(Instance)
Function Block A
Chapter 3 Gateway R unit

Input Variable Variable Output

(Setting) (Setting)

Created beforehand Copy of function block A

Each function block is saved as a file (Instance)
o Managed in a library

Typical processes
(defined by variables)

Input Variable Variable Output

(Setting) (Setting)

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(2) Function Block Configuration

A function block consists of a predetermined function block definition and an instance that actually places the function
block definition in a program.

[1] Function block definition

A program described in a function block. An algorithm is described along with a variable definition.
z Algorithm
A typical circuit defined by variable names (not actual addresses).
z Variable definition
A table describing the types (input, output or internal) and attributes (data type, etc.) of variables.

<Example of Function Block Definition>

1. Algorithm

Chapter 3 Gateway R unit

2. Variable definition

Type Variable name Type

Internal
Internal
Input
Input

[2] Instance
To actually use a function block in a program, a copy of its function block definition must be created and placed in the
program.
An instance is a function block definition placed in a program.
A function block definition represents a function block not yet placed in a program and therefore not yet assigned to a
memory (still in an abstract form). Once the function block is placed in a program and assigned to a memory (in a
tangible form), it is called an instance.
Instances are managed by their names. Use the same internal variables for instances of the same name, and use
different internal variables for those of different names.

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[3] Parameter
Every time an instance is created, actual I/O memory addresses (or constants) must be set for data exchange with
input/output variables. These set addresses (or constants) are called parameters.

Function block definition A

(example) Program
Algorithm Instance of function block definition A

Output source:
Input source: 2.00
0.00

Input source:
3.00

Variable definition
Chapter 3 Gateway R unit

Input variables a, c
Output variable b
Internal variable d Input parameter Output parameter

x The value (I/O) in 0.00 is passed to a. x The value (I/O) in b is passed to 2.00.

x The value (I/O) in 3.00 is passed to c.

z What is exchanged between the parameters and function block is the data of the size specified by the variable data
type. Take note that the parameter (address) information itself cannot be exchanged.
z The I/O memory addresses that can be used as parameters are limited to CIO (channel I/Os), A (special auxiliary
relays), D (data memory), E (extended data memory), H (holding relays) and W (internal auxiliary relays).

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[4] Variable
Addresses are not described as actual I/O memory addresses, but they are all described as variable names. The
basic items you should know about variables are explained below.

„ Variable Types
[1] Internal variable (internals): Used only in an instance.
[2] Input variables (inputs): Variables to which data can be input from parameters outside the instance. “EN” (Enable)
for inputting input conditions is generated by default.
[3] Output variables (outputs): Variables that can output data to parameters outside the instance. “ENO” (EnableOut)
for outputting instance execution status is generated by default.
[4] External variables (externals): System definition variables pre-registered in CX Programmer, or user-defined
global variables.

„ Variable Attributes (Data Types)

Data type Description Bit How to input value to parameter Value range
BOOL Bit data 1 P-Off, P-On 0 (FALSE), 1 (TRUE)
INT Integer 16 Positive value: -32768 to +32767
DINT Double-precision integer 32 & or +, followed by an integer -2147483648 to +2147483647
LINT Quadruple-precision integer 64 Negative value: -9223372036854775808 to
-, followed by an integer +9223372036854775807
UINT Unsigned integer 16 Positive value: &0 to 65535
UDINT Unsigned double-precision 32 & or +, followed by an integer &0 to 4294967295
integer &0 to 18446744073709551615
ULINT Unsigned 64
quadruple-precision integer

Chapter 3 Gateway R unit

WORD 16-bit data 16 #, followed by a hexadecimal #0000 to #FFFF
number (4 digits or less) Or, &0 to &65535
Or, &, followed by a decimal number
DWORD 32-bit data 32 #, followed by a hexadecimal #00000000 to #FFFFFFFF
number (8 digits or less) Or, &0 to &4294967295
Or, &, followed by a decimal number
LWORD 64-bit data 64 #, followed by a hexadecimal #0000000000000000 to
number (16 digits or less) #FFFFFFFFFFFFFFFF
Or, &, followed by a decimal number Or, &0 to &18446744073709551615
REAL Real number 32 Positive value: 0, -3.402823 x 1038
+, followed by a real number to -1.175494 x 10-38
-38
Negative value: +1.175494 x 10
-, followed by a real number to +3.402823 x 1038
LREAL Double-precision real 64 0, -1.79769313486232 x 10308
-308
number to -2.22507385850720 x 10
-308
+2.22507385850720 x 10
308
to +1.79769313486232 x 10

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Chapter 4 Controller Unit

4.1 Overview
The RACON and RPCON controllers are dedicated ROBONET controllers that drive RCA actuators (24-V servo motor type)
and RCP2 actuators (24-V pulse motor type), respectively. Their basic functions and performance are the same as those of
the ACON/PCON controllers. The RACON/RPCON controllers are operated by the Gateway R unit explained in Chapter 3, by
means of field bus/Modbus communication.

4.1.1 Features
(1) Both controllers are operated by the dedicated Gateway R unit for ROBONET.
(2) Although these controllers are of incremental specifications, they can operate as absolute controllers by connecting a
simple absolute R unit.
(3) The status LEDs on the front panel can be used to monitor the controller output current and read simple alarm codes.
(4) Since multiple controllers are interconnected using dedicated connection plates, the hassle of wiring can be reduced
substantially.
(5) Both controllers are installed on a DIN rail, which makes installation to a control panel, etc., easy.

4.1.2 How to Read the Model Name

RACON - 20 - HA - ABU
Chapter 4 Controller Unit

Base model Use the simple absolute R unit

Dedicated ROBONET controller (Leave this field blank if the simple
absolute R unit is not used.)

Actuator motor wattage

2: 2 W Actuator operation type
5: 5 W HA: High acceleration/deceleration type
10I: 10 W LA: Energy-saving type
20: 20 W Blank: Standard specification
20S: 20 W
30: 30 W

RPCON - 20P - ABU - H

Base model High-acceleration transport
Dedicated ROBONET controller specification

Use the simple absolute R unit

Actuator type (Leave this field blank if the simple
absolute R unit is not used.)
[Motor flange size]
20P: 20, square
28P: 28, square
28P: 28, square
35P: 35, square
42P: 42, square
56P: 56, square

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<RACON Unit Configuration>
RACON controller: 1 unit
ROBONET communication connection circuit board (model JB-1): 1 pc
Standard accessory
Power-supply connection plate (model PP-1): 2 pcs

Main unit

ROBONET communication connection circuit board

Power-supply connection plate

Chapter 4 Controller Unit

<RPCON Unit Configuration>
RPCON controller: 1 unit
ROBONET communication connection circuit board (model JB-1): 1 pc
Standard accessory
Power-supply connection plate (model PP-1): 2 pcs

Main unit

ROBONET communication connection circuit board

Power-supply connection plate

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4.2 Basic Specifications

The basic specifications are the same between the RACON and RPCON.

Item Specification
Number of controllable axes 1 axis
Power-supply voltage 24 VDC r 10%
Power-supply current RACON Standard specification, high
Energy-saving type
unit Actuator acceleration/deceleration type
Rating Max. *1 Rating Max. *1
SA4ySA5yRA4
1.3 A 4.4 A 1.3 A 2.5 A
(20W) type

RCA
SA6yRA4 (30W) type 1.3 A 4.0 A 1.3 A 2.2 A
RA3 (20W) type 1.7 A 5.1 A 1.7 A 3.4 A
SA3 (10W) type
1.3 A 4.4 A 1.3 A 2.5 A
RCA2
SA5yTA6 (20W) type
SA6yTA7 (30W) type 1.3 A 4.0 A 1.3 A 2.2 A
RA4yTA5 (20W) type 1.7 A 5.1 A 1.7 A 3.4 A
RA1LySA1L 0.8 A 4.6 A
RCL

RA2LySA2L 1.0 A 6.4 A

RA3LySA3L 1.3 A 6.4 A
RPCON Actuator Rating Max. *2
unit 20P, 28P, 28SP motors 0.4 A 2.0 A
42P, 56P motors 1.2 A 2.0 A
Positioning commands Position number specification, numerical specification
Chapter 4 Controller Unit

Number of positioning points 768 points

Serial communication RS485, 1 channel (dedicated connector)
Communication protocol Modbus protocol
Encoder RCP*, RCA* 800 pulses/rev
resolution RA1LySA1L 715 pulses/rev
RCL

RA2LySA2L 855 pulses/rev

RA3LySA3L 1145 pulses/rev
Encoder interface Incremental specification conforming to EIA RS-422A/423A
Backup memory Position table data and parameters are saved in the nonvolatile memory.
Serial EEPROM rewrite life: 100,000 times max.
LED indicators Servo ON indicator, alarm indicator, communication status indicator, status indicator
Forced release of electromagnetic Brake release switch on the front panel
brake
Emergency stop circuit Built-in drive-source cutoff relay
Ambient operating 0 to 50qC (*3)
temperature
Ambient operating humidity 95% RH max. (non-condensing)
Operating ambience Free from corrosive gases
Environment

Surrounding storage -25 to 70qC

temperature
Surrounding storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
Impact resistance XYZ directions: 147 mm/s2, 11 ms, half-sine wave pulse
Protection degree IP20
Cooling Forced air cooling (built-in fan)
Weight 200 g
External dimensions 34 W x 105 H x 73.3 D mm

*1 The current becomes the maximum during the excited-phase detection of the servo motor performed when the servo is
turned on for the first time following the power on. (Normal: Approx. 1 to 2 seconds, Maximum: 10 seconds)
*2 The current becomes the maximum during the excited-phase detection performed when the servo is turned on for the first
time following the power on. (Normal: 100 msec)
*3 The ambient operating temperature of a ROBONET system is 0 to 40qC.

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4.3 Name/Function of Each Part and External Dimensions.
The name/function of each part and external dimensions are exactly the same with both the RACON and RPCON. However,
the connector is different between the RACON and RPCON.

4.3.1 Name of Each Part

Axis address setting switch

Brake release switch

LED indicators

(Front cover open)

User setting switches

Chapter 4 Controller Unit

ROBONET communication Simple absolute connector
connectors
Power-supply terminal block

Motor cable connector Encoder cable connector

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4.3.2 LED Indicators

These LEDs are used to monitor the status of the RACON/RPCON.

Symbol Indicator color Explanation

SV/ALM Green/red A steady green light comes on when the servo is ON, and changes to a steady read light
when an alarm is present.
TX/RX Green /yellow A steady green light comes on while data is being sent over the communication line, and a
steady yellow light comes on while data is being received.
STATUS 3 Green x When the servo is ON o Indicate the monitored current
STATUS 2 Green x When an alarm is present o Indicate a simple alarm code
STATUS 1 Green Details are explained below.
STATUS 0 Green
BK (RLS) Yellow A steady yellow light comes on while the brake is released, and the LED is off while the
brake is actuated.

Description of STATUS indicators

What these indicators indicate varies depending on whether or not the servo is ON and an alarm is present.
(1) When the servo is ON
When the servo is ON, the STATUS LEDs on the front panel can be used to roughly monitor the motor current. The
command current ratios (percentage ranges of the rated current) and corresponding LED indicator statuses are shown
below.

STATUS Command current ratio

3 2 1 0 RPCON RACON
Chapter 4 Controller Unit

{ { { { 0.00% to 6.24% 0.00% to 18.74%

{ { { z 6.25% to 24.99% 18.75% to 74.99%
{ { z z 25.00% to 49.00% 5.00% to 131.24%
{ z z z 50.00% to 74.99% 31.25% to 187.74%
z z z z 75.00% to 100.00% 187.75% to 300.00%
{ indicates that the LED is off, while z indicates a steady green light.

(2) When the ALM signal is ON (an alarm is present)

When the ALM signal turns ON, the statuses of STATUS LEDs can be used to check the cause of the alarm. Since there
are only four LEDs, however, several causes are indicated by one indication pattern. Accordingly, you must connect the
PC software or teaching pendant to check the exact cause. Refer to “Alarm Indicator List” on the next page for the alarm
details, alarm codes and corresponding indicator statuses.

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Alarm Indicator List

STATUS Simple Alarm

Alarm name RPCON RACON
3 2 1 0 alarm code code
90 Software reset command with servo ON { {
91 Position number error during teaching { {
{ { z { 2
92 PWRT signal detection during movement { {
93 PWRT signal detection before home return { {
80 Move command with servo OFF { {
82 Position command before home return { {
83 Absolute position move command before home return { {
{ { z z 3
84 Move command during home return { {
85 Position number error during movement { {
A7 Command deceleration error { {
{ z { { 4 F4 PCB mismatch error { {
A1 Parameter data error { {
{ z z { 6 A2 Position data error { {
A3 Position command information data error { {
B6 Phase-Z detection timeout X {
B7 Indeterminable magnetic pole X {
{ z z z 7 B8 Excited phase detection error { X
BA Home sensor not detected { {
BE Home return timeout { {
z { { { 8 C0 Excessive actual speed { {

Chapter 4 Controller Unit

C8 Overcurrent X {
C9 Overvoltage { {
CA Overheat { {
z { { z 9
CB Current sensor offset adjustment error X {
CC Control power-supply voltage error { {
CE Control power-supply voltage low { {
D8 Deviation overflow { {
D9 Software stroke limit over error { {
z { z z B
DC Push operation range over error { {
A4 Command counter overflow { {
C1 Servo error { X
D2 Motor power-supply overvoltage X {
z z { { C
E0 Overload X {
F0 Driver logic error X {
E5 Encoder receive error { {
E8 Phase A/B open { {
E9 Phase A open { X
z z { z D EA Phase B open { X
ED Absolute encoder error detection 1 { {
EE Absolute encoder error detection 2 { {
EF Absolute encoder error detection 3 { {
FA CPU error { {
z z z { E
FC Logic error { {
F5 Nonvolatile memory write verification error { {
z z z z F F6 Nonvolatile memory write timeout { {
F8 Nonvolatile memory data damage { {

{: Off z: Steady light {: Available X: Not available

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4.3.3 Brake Release Switch

When an actuator with brake is used, this switch is used to forcibly release the brake when adjusting the actuator assembly,
etc. Normally this switch is kept in the bottom (NOM) position.

Switch name Status Explanation

Top (RLS) position The brake is forcibly released.
BK Normal operation mode. The brake is always effective and can be released only
Bottom (NOM) position
while the servo is ON.

Caution
After forcibly releasing the brake, be sure to return the switch to the bottom (NOM) position before the next operation.

4.3.4 User Setting Switches

Chapter 4 Controller Unit

No. Explanation
1 Keep this switch in the “OFF” position.
2 Keep this switch in the “OFF” position.
3 Keep this switch in the “OFF” position.
4 This switch is used to set the flash ROM update mode. ON (right) position: Update mode *
* Keep this user setting switch in the “OFF” (left) position.

4.3.5 Axis Number Setting Switch

The axis number is set using this rotary switch as a slave station number on the SIO link.
The axis number is set as a hexadecimal value of 0 to F, where “0” indicates the first axis and “F” indicates the 16th axis.

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Part 1 Specification
4.3.6 ROBONET Communication Connector
This connector is used to connect RACON/RPCON controllers via SIO link below the Gateway R unit. It connects to the SIO
communication (Modbus) signal and emergency stop signal.
RACON/RPCON controllers are connected using the ROBONET communication connection circuit boards supplied with the
controllers.

The photograph below shows the ROBONET communication connection circuit board supplied with the controller. The same
board is used for connecting the simple absolute R unit.

ROBONET communication connection circuit board

(model JB-1)

4.3.7 Simple Absolute R Unit Connector

The RACON/RPCON can be operated as an absolute controller by connecting a simple absolute R unit. This connector is
used to connect the simple absolute R unit, and the connection uses the ROBONET communication connection circuit board
(same board used for SIO communication) supplied with the simple absolute R unit.

Chapter 4 Controller Unit

4.3.8 Power-supply Input Terminal Block
24-VDC power-supply input terminals for the RACON/RPCON. Multiple units are interconnected using the supplied
power-supply connection plates.

M3 screw

Power-supply connection plate

(model PP-1)

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The photographs below show the condition before and after interconnection of units.

Before connection
Chapter 4 Controller Unit

Gateway R unit RPCON controller Simple absolute R unit RACON controller

After connection

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4.3.9 Motor Cable Connector
This connector is used to connect the dedicated actuator motor cable. The connector is different between the RACON and
RPCON.

Specification
Item
RACON RPCON
Connector name MOT MOT
DF1E-3P-2.5DS (Hirose) 0-1376136-1 (AMP)
(Cable end) (Cable end)
Applicable connector
DF1E-3S-2.5C (Hirose) 1-1318119-3 (AMP)
Contact: DF1E-2022SC
Maximum connection
20 m 20 m
length
No. Name Function No. Name Function
1 U Motor phase U A1 A Motor drive line (phase A-)
2 V Motor phase V A2 VMM Motor power line
Terminal assignments 3 W Motor phase W A3 B Motor drive line (phase B-)
B1 A Motor drive line (phase A+)
B2 VMM Motor power line
B3 B Motor drive line (phase B+)
Applicable cable CB-ACS-MA*** CB-RCP2-MA***

Chapter 4 Controller Unit

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4.3.10 Encoder Cable Connector

This connector is used to connect the dedicated actuator encoder cable. The connector is different between the RACON and
RPCON.

Item Specification
RACON RPCON
Connector name PG PG
S18B-PHDRS (JST) S16B-PHDRS (JST)
(Cable end) (Cable end)
Applicable connector
PHDR-18VS (JST) PHDR-16VS (JST)
Contact: SPHD-001T-P0.5 (JST) Contact: SPHD-001T-P0.5 (JST)
Maximum connection
20 m 20 m
length
No. Name Function No. Name Function
1 FG Shield round 1 FG Shield round
2 NC Not connected 2 NC Not connected
3 NC Not connected 3 NC Not connected
4 NC Not connected 4 NC Not connected
5 GND Ground 5 GND Ground
6 5V Encoder power supply 6 5V Encoder power supply
7 VPS Encoder control signal 7 VPS Encoder control signal
8 NC Not connected 8 NC Not connected
Chapter 4 Controller Unit

Phase Z differential input-

ENZ
9 (Simple absolute transmission 9 ENB Phase-B differential input-
(SD)
differential-)
Terminal assignments Phase Z differential input+
ENZ
10 (Simple absolute transmission 10 ENB Phase-B differential input+
(SD)
differential+)
11 ENB Phase-B differential input- 11 ENA Phase-A differential input-
12 ENB Phase-B differential input+ 12 ENA Phase-A differential input+
13 ENA Phase-A differential input- 13 BK- Brake output ground
14 ENA Phase-A differential input+ 14 BK+ Brake output
15 BK- Brake output ground 15 LS- Limit sensor input
Limit-sensor 24-V power supply
16 BK+ Brake output 16 LS+
output
17 LS- Limit sensor input - - -
Limit-sensor 24-V power supply
18 LS+ - - -
output
Applicable cable CB-ACS-PA*** CB-RCP2-PB***

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Part 1 Specification
4.3.11 External Dimensions
The external dimensions are exactly the same between the RACON and RPCON.
Take note that the motor cable connector and encoder cable connector are different.

(50 from DIN rail center)

* Installable on a
35-mm DIN rail

Chapter 4 Controller Unit

(69.3 from DIN rail surface)

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4.4 Parameters
4.4.1 Parameter List
The parameters are classified into the following four types depending on their function.
Types:
a: Parameter relating to actuator stroke
b: Parameter relating to actuator operating characteristic
c: Parameter relating to external interface
d: Parameter relating to servo gain adjustment
*2
No. Type Symbol RPCON RACON Name Unit Factory default
1 a ZONM { { Zone boundary 1+ mm Effective length of the actuator
2 a ZONL { { Zone boundary 1- mm Effective length of the actuator
3 a LIMM { { Soft limit+ mm Effective length of the actuator
4 a LIML { { Soft limit- mm Effective length of the actuator
5 a ORG { { Home return direction [0: Reverse / 1: Forward] - (As specified at the time of order)
6 b PSWT { { Push stop judgment time msec 255
Set individually in accordance with
7 d PLGO { { Servo gain number -
the actuator characteristics.
Set individually in accordance with
8 b VCMD { { Default speed mm/sec
the actuator characteristics.
Set individually in accordance with
9 b ACMD { { Default acceleration/deceleration G
the actuator characteristics.
Chapter 4 Controller Unit

10 b INP { { Default positioning band (in-position) mm 0.1

12 b SPOW { X Current-limiting value at standstill after positioning % 35
Set individually in accordance with
13 b ODPW { { Current-limiting value during home return %
the actuator characteristics.
Set individually in accordance with
18 b LS { { Home sensor input polarity -
the actuator characteristics.
Set individually in accordance with
22 a OFST { { Home return offset mm
the actuator characteristics.
23 a ZNM2 { { Zone boundary 2+ mm Effective length of the actuator
24 a ZNL2 { { Zone boundary 2- mm Effective length of the actuator
26 b JOGV { { PIO jogging speed mm/sec 100
Default direction of excited phase signal detection Set individually in accordance with
28 b PDIR1 { { -
[0: Reverse / 1: Forward] the actuator characteristics.
Set individually in accordance with
29 b PDIR2 { { Excited phase signal detection time msec
the actuator characteristics.
Pole sensing type
30 b PDIR3 X { - 1 [Distance suppression 1]
[0: Current suppression / 1: Distance suppression]
Set individually in accordance with
31 d VLPG { { Speed loop proportional gain -
the actuator characteristics.
Set individually in accordance with
32 d VLPT { { Speed loop integral gain -
the actuator characteristics.
Set individually in accordance with
33 d TRQF { { Torque filter time constant -
the actuator characteristics.
Set individually in accordance with
34 b PSHV { { Push speed mm/sec
the actuator characteristics.
Set individually in accordance with
35 b SAFV { { Safety speed mm/sec
the actuator characteristics.
39 c PEND { { Position complete signal output mode [0: PEND / 1: INP] - 0 [PEND]

*1
*1 {: Available X: Not available
*2 The parameter numbers are displayed in the PC software, but not on the teaching pendant. Missing numbers are not used
and are thereby omitted. Types are indicated solely for the purpose of convenience and are not displayed.

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Part 1 Specification
*2
No. Type Symbol RPCON RACON Name Unit Factory default
43 b HMC { { Home check sensor input polarity - (As specified at the time of order)
46 b OVRD { { Speed override % 100
47 b IOV2 { { PIO jogging speed 2 mm/sec 100
48 b IOID { { PIO inching distance mm 0.1
49 b IOD2 { { PIO inching distance 2 mm 0.1
52 b HSTP1 X { Default acceleration/deceleration mode - 0 [Trapezoid]
53 b HSTP2 { X Default stop mode - 0 [Complete stop]
Set individually in accordance with
54 d CLPF X { Current control band number -
the actuator characteristics.
55 b PLPF X { Position-command primary filter time constant msec 0
56 b SCRV X { S-motion ratio setting % 0
71 b PLFG X { Position feed-forward gain - 0
Set individually in accordance with
77 b LEAD { { Ball screw lead mm
the actuator characteristics.
Set individually in accordance with
78 b ATYP { { Axis operation type -
the actuator characteristics.
Set individually in accordance with
79 b ATYP { { Rotational axis mode selection -
the actuator characteristics.
Set individually in accordance with
80 b ATYP { { Rotational axis shortcut selection -
the actuator characteristics.
Set individually in accordance with
83 b ETYP { { Use absolute unit [0: Do not use / 1: Use] -
the actuator characteristics.
Current-limiting value at standstill after missing work

Chapter 4 Controller Unit

part in push operation 0: Current-limiting value during
91 B PSFC { { -
[0: Current-limiting value during movement / movement
1: Push-current limiting value]

*1

*1 {: Available X: Not available

*2 The parameter numbers are displayed in the PC software, but not on the teaching pendant. Missing numbers are not used
and are thereby omitted. Types are indicated solely for the purpose of convenience and are not displayed.

Caution
If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller power.

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4.4.2 Parameters Relating to Actuator Stroke

z Soft Limits (Nos. 3/4, LIMM/LIML)
Set the + soft limit in parameter No. 3 and – soft limit in parameter No. 4.
Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if necessary,
such as when an obstacle is present and collision between the actuator and obstacle must be prevented.
Exercise due caution when setting these parameters, as wrong settings will cause collision with the mechanical end.
The minimum setting unit is 0.01 mm.

Caution
To change these parameters, set values corresponding to positions that are 0.3 mm wider than the desired effective range.
Example) Set the effective range to between 0 and 80 mm
Parameter No. 3 (+): 80.3
Parameter No. 4 (–): -0.3

Soft limits set in the controller

Approx. 0.3 mm Approx. 0.3 mm

Chapter 4 Controller Unit

Effective range

Approx. 0.1 mm Approx. 0.1 mm

Jogging/inching range permitted after home return

z Home Return Direction (No. 5, ORG)

If not specified by the customer, the home return direction is set to the motor side before shipment.
If you must change the home direction after the actuator has been assembled to your equipment, change the setting of
parameter No. 5.
Also change the parameters for home return offset and soft limits, if necessary.

Caution
Even after the home return direction is reversed, stored position data will be retained.
Rod-type actuators must be used with its home on the motor side. (Do not reverse the factory-set home return direction.)

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z Home Return Offset (No. 22, OFST)
Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will
remain constant.
The minimum setting unit is 0.01 mm.
This parameter can be adjusted in the following conditions:
[1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled to the
equipment.
[2] Set the home position again after reversing the factory-set home direction.
[3] Correct the minor position deviation that has generated after the actuator was replaced.

Caution
If you have changed the home return offset, the soft limit parameters must also be reviewed.

z Zone Boundaries (1: Nos. 1/2, ZONM/ZONL; 2: Nos. 23/24, ZNM2/ ZNL2)
Set the zone within which the zone output signal (ZONE1 or ZONE2) turns ON.
The zone signal turns ON when the actuator coordinate is inside the range set by the (-) boundary and (+) boundary.
For the ZONE1 signal, set the + boundary in parameter No. 1 and – boundary in parameter No. 2.
For the ZONE2 signal, set the + boundary in parameter No. 23 and – boundary in parameter No. 24.
The minimum setting unit is 0.01 mm.
Example) Use ZONE1 as an intermediate LS actuating in a range of 100 to 200 mm, and ZONE2 as a simple ruler
actuating in a range of 270 to 275 mm, for a 300 mm stroke actuator.
Parameter No. 1 (+): 200, Parameter No. 2 (-): 100
Parameter No. 23 (+): 275, Parameter No. 24 (-): 270

Chapter 4 Controller Unit

(Home)

ZONE1 turns ON. ZONE2 turns ON.

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4.4.3 Parameters Relating to Actuator Operating Characteristics

z Default Speed (No. 8, VCMD)
The factory setting is the rated speed of the actuator.
This value is treated as the speed data corresponding to the applicable position number when a target position has been
written to the unregistered position table or the current position read into the table in the teaching mode.
To decrease the default speed from the rated speed, change the value set in parameter No. 8.

z Default Acceleration/Deceleration (No. 9, ACMD)

The factory setting is the rated acceleration/deceleration of the actuator.
This value is treated as the acceleration/deceleration data corresponding to the applicable position number when a target
position has been written to the unregistered position table or the current position read into the table in the teaching mode.
To decrease the default acceleration/deceleration from the rated acceleration/deceleration, change the value set in parameter
No. 9.

z Default Positioning Band (In-position) (No. 10, INP)

The factory setting is “0.10” [mm].
This value is treated as the positioning band data corresponding to the applicable position number when a target position has
been written to the unregistered position table or the current position read into the table in the teaching mode.
Increasing this parameter value causes the position complete signal to output more quickly. If necessary, change the value set
in parameter No. 10.

z Current-limiting Value during Home Return (No. 12, SPOW) <Effective only on the RPCON>
This parameter is effective only on the RPCON.
Before shipment, this parameter has been set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the holding torque at standstill.
Chapter 4 Controller Unit

This parameter need not be changed in normal conditions of use. However, hunting will occur if the actuator receives a large
external force at standstill. In this case, the value set in parameter No. 12 must be increased.
(As a guide, the setting should not exceed 70%.)

z Current-limiting Value at Standstill after Home Return (No. 13, ODPW)

In the case of the RPCON, this parameter has been set to a value appropriate for the standard specification of the actuator
before shipment.
In the case of the RACON, this parameter has been set to 120% for the slider type and 100% for the rod type.
Increasing this parameter value increases the home return torque, but this parameter need not be changed in normal
conditions of use.

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z Speed Override (No. 46, OVRD)
This parameter is used if you want to move the actuator at a slower speed to prevent danger during trial operation or at
startup.
When issuing a move command from the PLC, you can override the travel speed set in the “Speed” field of the position table
by multiplying it with the value set in parameter No. 46.
Actual travel speed = [Speed set in the position table] x [Value of parameter No. 46] / 100
Example) Value in the “Speed” field of the position table: 500 (mm/s)
Value of parameter No. 46: 20 (%)
In this case, the actual travel speed becomes 100 mm/s.
The minimum setting unit is 1%, and the input range is 1 to 100 (%). The factory setting is “100” (%).
This parameter is not effective on the move commands issued from a PC or teaching pendant, or the move commands by
direct numerical specification.
If a PC or teaching pendant is used, you can set a speed ratio in each tool to operate the actuator accordingly.

z Default Direction of Excited Phase Signal Detection (No. 28, PDIR1)

The excited phase is detected when the servo is turned ON for the first time after turning on the power. This parameter defines
the direction of this detection.
This parameter need not be changed in normal conditions of use. However, if the actuator is contacting a mechanical end or
any obstacle when the power is turned on and cannot be moved by hand, change the direction of detection to one in which the
motor can be driven easily.
To do this, set the value of parameter No. 28 to either “0” or “1.” If the direction of detection is to be the same as the home
return direction, specify the same value currently set in parameter No. 5, “Home return direction.”
To set the direction opposite home return direction, specify the value different from the one currently set in parameter No. 5,
“Home return direction.”
This parameter is effective only when the pole sensing type is set to the current suppression mode.

Chapter 4 Controller Unit

(Example 1) The power is turned on when the slider is contacting the bottom mechanical end in a vertical configuration where
the motor is positioned at the top.

Top
Home return direction

Home position

Set to the same value.

Direction of excited phase
signal detection

Bottom The slider is contacting the bottom mechanical end.

(Example 2) The power is turned on when the slider is contacting the bottom mechanical end in a vertical configuration where
the motor is positioned at the bottom.

Top

Direction of excited
phase signal detection

Home position
The slider is contacting the bottom mechanical end. Set to reverse values.
Bottom Home return direction

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z Excited Phase Signal Detection Time (No. 29, PDIR2)

The excited phase is detected when the servo is turned ON for the first time after turning on the power. This parameter defines
the time of this detection (excitation switching period).
Before shipment, this parameter has been set to a detection time appropriate for the standard specification of the actuator,
and thus the setting need not be changed in normal conditions of use.
Should an excitation detection error or abnormal operation occur when the servo is turned ON for the first time after turning on
the power, you can try changing the detection time set in parameter No. 29 as a possible countermeasure.
Before changing this parameter, contact IAI.

z Pole Sensing Type (No. 30, PDIR3) <Effective only on the RACON>
The excited phase is detected when the servo is turned ON for the first time after turning on the power. Parameter No. 30
defines the mode of this operation.
This parameter need not be changed in normal conditions of use, so the customer is advised not to change the setting.
Definition of settings: 0 (Current suppression mode)
1 (Distance suppression mode)
The factory setting is “1 [Distance suppression mode].”

z Safety Speed (No. 35, SAFV)

This parameter defines the feed speed in manual operation.
Before shipment, this parameter has been set individually in accordance with the actuator characteristics.
To change the speed, set an optimal value in parameter No. 35.
Since the maximum speed is limited to “250” [mm/sec], set the safety speed to below this level.

z Default Acceleration/Deceleration Mode (No. 52, HSTP1) <Effective only on the RACON>
This value is treated as the data in the “Acceleration/deceleration mode” field corresponding to the applicable position number
when a target position has been written to the unregistered position table.
Chapter 4 Controller Unit

The factory setting is “0 [Trapezoid pattern].”

To change the default acceleration/deceleration pattern, set the value of parameter No. 52 as follows.

Setting value
Trapezoid pattern 0
S-motion 1
Primary delay filter 2

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z Push Speed (No. 34, PSHV)
This parameter defines the push speed to become effective after the target position is reached in push operation.
Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator.
Set an appropriate speed in parameter No. 34 by considering the material and shape of the work part, etc.
Take note that although the maximum speed varies depending on the actuator, it is limited to “20” [mm/sec] even with
high-speed types. Accordingly, set the push speed lower than this level.

Speed
Push speed

Load

Positioning
band

Caution
It is recommended that the push speed be set to 5 mm/s or above to reduce the effect of push force fluctuation.

z Push-motion Completion Judgment Time (No. 6, PSWT)

This parameter is used as a condition for determining if the work part is contacted and push operation is completed.

Chapter 4 Controller Unit

Specifically, push operation is deemed complete if the current-limiting value set in the position table has been maintained for
the time set in parameter No. 6.
Depending on the material and shape of the work part, etc., set an optimal value in combination with the current-limiting value.
The minimum setting unit is 1 msec, and the maximum value is 9999 msec. The factory setting is “255” [msec].
The following shows a case in which the work part has shifted and current has changed during push completion judgment. In
this example, the judgment time is set to 255 msec.

Push current

Start position Target position Counting starts.

Count to 200.

Decrement to 180.

Count to 255.

Completion of push
operation is determined.

If the push current is maintained for 200 msec and then drops for 20 msec thereafter, the counter is decremented by 20. Upon
recovery of the push current, counting resumes from 180. If the push current is maintained for 75 msec, the counter will have
counted up to 255 and thus completion of push operation is determined.
In this case, the judgment requires a total of 295 msec.

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z Home Check Sensor Input Polarity (No. 43, HMC)

Although not equipped on the standard specification, the home check sensor can be added as an option.
This parameter need not be changed in normal conditions of use. If the customer wishes to change the mode after shipment,
change the value in parameter No. 43.
Definition of settings: 0 (Standard specification/No sensor)
1 (The home check sensor is used based on the sensor polarity conforming to the contact-a logic)
2 (The home check sensor is used based on the sensor polarity conforming to the contact-b logic)

[Explanation of Operation]
[1] When a home return command is issued, the actuator contacts a mechanical end, upon which the home check sensor
outputs a detection signal.
[2] Next, the actuator reverses its direction, moves to the home position, and stops.
[3] If the home check sensor signal has been detected, the controller determines that the home return has completed
successfully.
If the signal has not been detected, the controller recognizes a “position deviation.” Accordingly, it generates a “home sensor
not detected” error and outputs an alarm signal.

Mechanical end
Home return offset
(parameter No. 22)
Chapter 4 Controller Unit

Power is turned on.

Home check sensor
Home position

z Home Sensor Input Polarity (No. 18, LS)

The input polarity of the home sensor is defined by parameter No. 18.
Since the current RCA actuators do not adopt the home sensor method, the factory setting of this parameter is “0 [No sensor]”
when these actuators are used.
On the RCP2-RTB/RTC of home sensor specification, this parameter is set before shipment.
This parameter is reserved for future actuator development, so the customer is advised not to change the setting.
Definition of settings: 0 (No sensor)
1 (The home sensor is used based on the sensor polarity conforming to the contact-a logic)
2 (The home sensor is used based on the sensor polarity conforming to the contact-b logic)

z PIO Jogging Speed (No. 26, JOGV)

PIO JOG Speed 2 (No. 47, IOV2)
These parameters set the speeds of jogging operation or inching operation.
The jogging speed parameter is switched according to the jogging speed/inching distance switching signal (JVEL), as follows:
JVEL = “0” Æ Parameter No. 26 (PIO jogging speed)
JVEL = “1” Æ Parameter No. 47 (PIO jogging s peed 2)
Set an optional value according to the specific purpose. The maximum limit is “250” [mm/sec].

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z PIO Inching Distance (No. 48, IOID)
PIO Inching Distance 2 (No. 49, IOD2)
These parameters set the inching distances for inching operation.
The inching distance parameter is switched according to the jogging speed/inching distance switching signal (JVEL), as
follows:
JVEL = “0” Æ Parameter No. 48 (PIO inching distance)
JVEL = “1” Æ Parameter No. 49 (PIO inching distance 2)
Set an optional value according to the specific purpose. The maximum limit is “1” [min].

z Position-command Primary Filter Constant (No. 55, PLPF) <Effective only on the RACON>
Parameter No. 55 defines the delay level to be applied when “1 [Primary delay filter]” is set in the “Acceleration/deceleration
mode” field of the position table.
The setting unit is [msec], and the minimum input unit is 0.1 msec. The setting range is 0.0 to 100.0.
The factory setting is “0” [msec].
If this parameter is set to “0,” the primary delay filter will be disabled.
The greater the setting value, the greater the delay level becomes.

Speed

Time

z S-motion Ratio Setting (No. 56, SCRV) <Effective only on the RACON>

Chapter 4 Controller Unit

Parameter No. 56 defines the slope of S-motion acceleration/deceleration to be applied when the value set in the
“Acceleration/deceleration mode” field of the position table is “1 (S-motion).”
The setting unit is %, and the setting range is 0 to 100.
The factory setting is “0%” (S-motion is disabled).

Speed

Amplitude

Time

Acceleration time

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In the S-motion mode, a sine wave is drawn where the acceleration time corresponds to one cycle.
Specify a desired amplitude level using parameter No. 56.
Setting of parameter No. 56 [%] Amplitude level
0 [Factory setting] No S-motion (dotted line in the figure below)
100 Sine wave amplitude x 1 (two-dot chain line in the figure below)
50 Sine wave amplitude x 0.5 (one-dot chain line in the figure below)
10 Sine wave amplitude x 0.1 (solid line in the figure below)

Setting: 50 Setting: 10

Setting: 100

z Position Feed-Forward Gain (no. 71, PLFG) <Effective only on the RACON>

Parameter No. Unit Input range Default

71 - 0 to 100 0

This parameter sets the feed-forward gain of the position control system.
Chapter 4 Controller Unit

When this parameter is set, the servo gain will increase and the response of the position control loop will improve.
Use this parameter if you want to improve the response of a system of low mechanical rigidity or mechanical system with a
large load inertia ratio.
As a guide, set a value between 10 and 80. Increasing the setting value reduces the deviation and improves the response.
If an excessively large value is set, however, vibration or noise may occur.

z Default Stop Mode (No. 53, HSTP2) <Effective only on the RPCON>
This parameter defines the power-saving mode to be applied when the actuator stands by for a long period while the facility
is operating.
This parameter is effective only on the RPCON.
Whether or not to use the power-saving mode is defined by parameter No. 53.

Setting value
Disable the power-saving mode 0
Full-servo control mode 4

The factory setting is “0 [Disable].”

Full-servo Control Method

The holding current can be reduced by servo-controlling the pulse motor.
Although the specific level varies according to the actuator model, load condition, etc., the holding current will decrease to
approx. one-half to one-fourth.
Since the servo remains ON with this method, position deviation does not occur.
The actual holding current can be checked on the current monitor screen of the PC software.

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z Current-limiting Value at Standstill after Missing Work Part in Push Operation (No. 91, PSFC)
This parameter defines the current-limiting value to be applied while the actuator is at standstill after missing the work in
push operation.
The definition varies between RACON and RPCON controllers as shown below.

RPCON
RACON Standstill mode = Power-saving
Standstill mode = Full-servo control
mode disabled
Current-limiting value during Current-limiting value at standstill in Current-limiting value during
0 movement (3 times the rated positioning operation (Value of movement (3 times the rated motor
motor current) parameter No .12) current)
1 Push-current limiting value Push-current limiting value Push-current limiting value

z Ball Screw Lead (No. 77, LEAD)

This parameter defines the ball screw lead.
Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator.
* Do not change the setting.

z Axis Operation Type (No. 78, ATYP)

This parameter sets whether the actuator is a linear operation axis or rotational operation axis.
0: Linear operation axis
1: Rotational operation axis

z Rotational Axis Mode Selection (No. 79, ATYP)

This parameter sets the rotational operation mode when the axis operation type is set to “rotational operation axis” (Parameter

Chapter 4 Controller Unit

No. 78 = 1).
0: Normal mode
1: Index mode

[Normal Mode]
Multi-rotational operation can be performed in a range of -9999.99 deg to 9999.99 deg.

[Index Mode]
Rotational operation can be performed in a range of 0 to 359.99 deg.

Caution
Push operation cannot be performed in the index mode. Even if push data is input in the position table, the data will be
ignored and the actuator will perform normal movement. The positioning band will conform to the setting of the default
positioning band parameter.

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z Rotational Axis Shortcut Selection (No. 80, ATYP)

Select the shortcut mode if the actuator is a rotational axis operating in the index mode and you want to rotate the actuator in
the direction closer to the target position.
0: Do not select
1: Select
By selecting the shortcut mode, you can rotate the rotational axis in a specific direction.
This is explained using an example of position table operation.

Position No. 1
Position table

Position No. Position data

1 0
Position No. 4 Position No. 2 2 90
3 180
4 270

With position data, 1q corresponds to 1 mm.

Position No. 3

If the actuator is moved sequentially from position No. 1 to Nos. 2, 3 and 4, the operation will differ as follows depending on
whether or not the shortcut mode is selected. To be specific, while the actuator will reverse its direction to move from position
No. 4 to No. 1 when the shortcut mode is not selected, it will move in the same direction from the 270q position to 360q (0q)
position when the shortcut mode is selected.
Chapter 4 Controller Unit

When the shortcut mode is not selected

Position No. 1 Position No. 1

Position No. 2 Position No. 2 Position No. 4 Position No. 4

Position No. 3 Position No. 3

When the shortcut mode is selected

Position No. 1 Position No. 1

Position No. 2 Position No. 2 Position No. 4 Position No. 4

Position No. 3 Position No. 3

z Use Absolute Unit (No. 83, ETYP)

This parameter is set when a simple absolute R unit is connected.
0: Do not use
1: Use

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[Various Settings for Rotational Operation Axis and Operation Details]

The list below summarizes the operation details of a rotational operation axis.

Absolute Relative
Axis operation Rotational axis Rotational axis Encoder system Current
position position Soft limits Push
type mode selection shortcut selection position
ABS INC display range command command (+, -) operation
(No. 78) (No. 79) (No. 80)
range range
0
-9999.99q to 0.15q to -9999.30q to {
Linear Disable Disable { { Enable
+9999.99q +9999.5q +9999.30q Possible
operation axis
0 -9999.99q to -0.15q to -9999.30q to {
Disable { { Enable
Normal mode +9999.99q +9999.15q +9999.30q Possible
1
Rotational 0
X
operation axis 1 Do not select 0q to 0q to -360.00q to
{ { Disable Not
Index mode 1 +359.99q +359.99q +360.00q
possible
Select

Caution
[1] When the controller unit is started, the soft limits are automatically set to 0q for the – soft limit and +359.99q for the +
soft limit in the controller, and accordingly the parameter settings will be ignored. A soft limit error will not occur.
[2] With relative position commands, the actuator will not perform rotational operation by shortcut even when the shortcut
mode is selected.
[3] Push operation cannot be performed. Even if push operation is set by position data, the actuator will still perform
normal rotational operation. In this case, the positioning band will conform to the default positioning band.

Chapter 4 Controller Unit

[4] In jogging and inching operations, the maximum rotation angle supported in each command is one revolution (up to
360q).
[5] The encoder resolution (deg/pulse) is determined by the gear ratio (or ball screw lead) and encoder pulse count, and
may reach or exceed 0.01 deg/pulse. If the encoder resolution is 0.01 deg/pulse or more, an error will generate
between the position complete position and target position.

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4.4.4 Parameters Relating to External Interface

z Position complete Signal Output Mode (No. 39, PEND)
This parameter defines the status of the position complete signal when the servo is turned OFF or a “position deviation” occurs
while the actuator is stopped after position complete.
The parameter considers the following two conditions:
[1] The actuator position has deviated beyond the specified value of “positioning band” due to an external force applied when
the servo was ON.
[2] The actuator position has deviated beyond the specified value of “positioning band” due to an external force applied when
the servo was OFF.
This is to provide flexibility as to how the “position complete status” should be monitored according to the characteristics of the
equipment or configuration of the PLC’s sequence circuit.
In particular, it is recommended that this parameter be set to “1 [INP]” if the actuator is operated like an air cylinder and you
want to use the position complete signal as an auto switch.
The ON/OFF status of the position complete signal varies as follows depending on the setting of parameter No. 39.

Setting value of
Description
parameter No. 39
0 [PEND] [1] When the servo is ON
The position complete signal will remain ON even after the current position exits the range of the
“positioning band” set for the target position.
[2] When the servo is OFF
The position complete signal is always OFF unconditionally, regardless of the current position.
1 [INP] Regardless of whether the servo is ON or OFF, the position complete signal is ON when the current
position is inside the range of the “positioning band” set for the target position, and OFF when the
current position is outside the range.
Chapter 4 Controller Unit

This parameter functions like an auto switch for an air cylinder.

The factory setting is “0 [PEND].”

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4.4.5 Parameters Relating to Servo Gain Adjustment
Since the servo has been adjusted at the factory to stabilize positioning operation at the maximum payload capacity of the
actuator, the servo gain need not be changed in normal conditions of use.
In actual use, however, the load condition may not be always ideal (where there is no resonance, vibration, load fluctuation,
etc.)
Accordingly, vibration or noise may occur depending on how the actuator is affixed, load condition, and so on, in which case
servo adjustment will become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard model), vibration/noise
may occur due to external conditions.
In this case, the following parameters must be changed. Contact IAI for details.

Note
Check the following items before performing servo adjustment:
1. Is the load installed in a manner free from looseness, play, etc., and is the load rigidity maximally maintained?
2. Is the actuator installed firmly?
3. Is the actuator mounting surface free from distortion?

z Servo Gain Number (No. 7, PLG0)

Parameter number Unit Input range Default

Chapter 4 Controller Unit

7 5 rad/sec 0 to 15 Set individually in accordance with the actuator characteristics.

This parameter determines the level of response with respect to a position control loop.
Increasing the setting value improves compliance with the position command.
However, increasing the setting value too much increases the tendency of the actuator to overshoot.
If the setting value is low, compliance with the position command drops and the positioning time increases as a result.

Speed
Setting value is high (overshoot)

Setting value is low

Time

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Speed Loop Proportional Gain (No. 31, VLPG)

Parameter number Unit Input range Default

31 - 1 to 27661 Set individually in accordance with the actuator characteristics.

This parameter determines the level of response with respect to a speed control loop.
Increasing the setting value improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting value should be.
However, increasing the setting value too much increases the tendency of the actuator to overshoot or oscillate, resulting in
increased mechanical vibration.

Speed
Setting value is high (overshoot)

Setting value is low

Time
Chapter 4 Controller Unit

Speed Loop Integral Gain (No. 32, VLPT)

Parameter number Unit Input range Default

32 - 1 to 217270 Set individually in accordance with the actuator characteristics.

This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive force upon load
change. If the setting is too low, compliance with the position command drops and the positioning time increases as
a result.
Increasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in increased
mechanical vibration.
Speed
Setting value is high (overshoot)

Setting value is low

Time

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z Torque Filter Time Constant (No. 33, TRQF)

Parameter number Unit Input range Default

33 - 1 to 2500 Set individually in accordance with the actuator characteristics.

This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.

z Current Control Band Number (No. 54, CLPF) <Effective only on the RACON>

Parameter number Unit Input range Default

54 - 0 to 7 Set individually in accordance with the actuator characteristics.

This parameter sets the control band of the PI current control system.

Caution
This parameter need not be changed in normal conditions of use, so the customer is advised not to change the setting.
If the setting is changed carelessly, the stability of the control system may be affected and a very dangerous condition may
result.
If the actuator generates resonance noise, the noise can be suppressed by changing this parameter. Even in this case,

Chapter 4 Controller Unit

however, always follow IAI’s instruction when changing this parameter.

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4.5 Notes on ROBO Rotary

(1) Home Return Direction
The moving end of the output axis in counterclockwise direction becomes the home position.
Actuators of multi-rotational specification can be ordered with their rotating direction reversed. On these reverse rotation
models, the home return direction corresponds to the clockwise direction.

Caution
If the home return direction of the delivered actuator is changed by a parameter, the home return direction will be
reversed, but the home position will deviate due to the structure of the actuator.
Do not change the home return direction parameter.

(2) Operation (Position Setting) Range

The position value is determined by the angle of movement from the home position.
„ 330q-rotation Specification: The position specification range is 0 to 330q.

„ Multi-rotational Specification: The position specification range is as follows.

Mode Absolute position specification Relative position specification

Rotational axis, normal mode -0.15 to +9999.15 -9999.30 to +9999.30

Chapter 4 Controller Unit

Rotational axis, index mode 0 to 359.99 -360.00 to +360.00

(3) Angular Velocity and Acceleration/Deceleration Command

The rotational angle command is based on angular velocity (deg/sec).
In programs, acceleration/deceleration is specified in “G.”
Rated angular acceleration/deceleration: 0.3 G = 2940 deg/sec.

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(4) Home Return Operation
‫ ڦ‬330q-rotation Specification
[1] Start of home return o [2] Detection of a mechanical stopper o [3] Reversing o [4] Movement by the offset
o [5] Home position
Operation range (330q)

[1]

Home [5] [2]

(end of rotation in [4]
forward direction)
[3]

Offset

Mechanical stopper
Rotational axis

330q-rotation specification RTB/RTC

Chapter 4 Controller Unit

‫ ڦ‬Multi-rotational Specification
[1] Start of home return o [2] Detection of a home sensor signal (Contact B: Leading edge of the signal or detection of
the signal ON status) o [3] Reversing o [4] Detection of a home sensor signal (Contact B: Leading edge of the signal
or detection of the signal OFF status) o [5] Movement by the offset o [5] Home position
* If home return operation is started within the home sensor detection range, the actuator will move out of the home
sensor detection range and then perform home return operation.
Home return

[1]

Home [5]
(end of rotation in
forward direction)
[4]
[2]
Offset
[3]

Home sensor position

Rotational axis

Home sensor detection range

Multi-rotational specification RTBL/RTCL

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4.6 Notes on ROBO Gripper

(1) Finger Operation
[1] Definition of position
The home of each finger is where the finger is open. The position command specifies the travel distance of each
finger from its home position toward the closing side.
Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type.
With the 2-finger type, the specified stroke indicates the sum of travel distances of both fingers.
In other words, the travel distance per finger is one-half the stroke.
[2] Definition of speed and acceleration
Both the speed and acceleration commands apply to one finger.
With the 2-finger type, the relative speed and acceleration are twice the command values.
[3] Gripper operation mode
In applications where the work part is gripped using the ROBO Gripper, be sure to use the actuator in the “push
mode.”
(Note) If the actuator is used in the “positioning mode,” a servo error may generate while the work part is gripped.

[Diagram of gripping force and current-limiting value]

Gripping force (N)

Gripping force (N)

Chapter 4 Controller Unit

Current-limiting value (%) Current-limiting value (%)

Gripping force P (N)

Gripping force P (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force P (N)

Gripping force P (N)

Current-limiting value (%) Current-limiting value (%)

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(2) Removing the Gripped Work Part
This gripper is structured so that the work part-gripping force will be maintained by a self-lock function even after the
servo is turned OFF or the controller power is cut off.
If the gripped work part must be removed while the power is cut off, turn the open/close screw or take out one finger
attachment to remove the work part.

[2-finger Type]
Turn the open/close screw or take out one finger attachment.
Finger attachment

Open/close screw
Turn counterclockwise using a
screwdriver.

Open direction
OPEN

Fixing bolt

Chapter 4 Controller Unit

[3-finger Type]
Take out one finger attachment.

Finger attachment
Fixing bolt

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Chapter 5 Simple Absolute R Unit

5.1 Overview
RPCON and RACON controller units can be used as absolute axes by connecting a simple absolute R unit. If the controller
unit is used as an absolute axis, home return will not be necessary once an absolute reset is performed, even after the
controller unit power is turned OFF.

Controller unit Simple absolute R unit

Incremental pulse CPU control part Encoder Encoder signal (incremental)

receive
Encoder input circuit
connector Absolute data U/D counter

(Serial
communication) Actuator

(Creation of
absolute data)
Backup battery
Chapter 5 Simple Absolute R Unit

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5.2 How to Read the Model Name

<Base model>
Simple absolute R unit (common to the RPCON and RACON)

<Configuration of Simple Absolute R Unit>

Simple absolute R unit: RABU (backup battery included)
Backup battery: Model AB-7, 1 unit
(Simple absolute connection circuit board),
ROBONET communication connection circuit board: Common model JB-1, 2 units Supplied
Power-supply connection plate: Model PP-1, 2 pcs

The simple absolute connection circuit board is used to connect the simple absolute R unit to the controller unit.
The simple absolute connection circuit board is the same as the ROBONET communication connection circuit board (JB-1).

Backup battery

Simple absolute connection

circuit board

Chapter 5 Simple Absolute R Unit

ROBONET communication
Simple absolute R unit connection circuit board

Power-supply
connection plate

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5.3 Specifications
5.3.1 General Specifications
Model RABU
Power-supply voltage 24 VDC r 10%
Power-supply current MAX 300 mA
Environment Ambient operating temperature 0 to 40qC
Ambient operating humidity 95% RH max. (non-condensing)
Operating ambience Free from corrosive gases and dust.
Surrounding storage
0 to 40qC (If a battery is included, approx. 20qC is desired.)
temperature
Surrounding storage humidity 95% RH max. (non-condensing)
XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous)
Vibration resistance
0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
Impact resistance XYZ directions: 147 mm/s2, 11 ms, half-sine wave pulse
Protection degree IP20
Weight 330 g (including the backup battery)
Outer diameter 34 W x 105 H x 73.3 D [mm]
Chapter 5 Simple Absolute R Unit

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5.3.2 Backup Battery
The absolute specification uses a secondary battery (nickel hydrogen battery) to retain absolute counter data in the FPGA and
supply power to the encoder drive circuit even when the power is cut off.

(1) Battery Specifications

Item Description
Classification Cylindrical sealed nickel hydrogen battery
Manufacturer FDK Corporation
Model AB-7
Nominal voltage 3.6 V (1.2 V x 3)
Rated capacity 3300 mAh
Nominal Capacity 3700 mAh
Average life 3 years
Weight 190 g
Charge time Approx. 72 hours (continuous)

(2) Charging the Battery

Always charge the battery when starting the delivered unit and after replacing the battery.
The battery is charged automatically when the controller power is supplied, so keep the main power supply on for at least
72 hours.
The actuator can be moved and the position table changed while the battery is charging. Also charge the battery

Chapter 5 Simple Absolute R Unit

continuously for at least 72 hours after the power has been cut off for a prolonged period (but within the specified battery
retention time).
For the specified battery retention time, refer to “Setting switches” in 5.4.2.

(3) Replacing the Battery

The battery is a consumable part. Repeated charges will cause the battery characteristics to deteriorate. If you notice that
the battery becomes low very quickly, the battery has probably reached its life. In this case, replace the battery.
Although the replacement interval varies depending on the ambient temperature and discharge condition, as a guide the
battery should be replaced after approx. 3 years of connecting to the controller.
The battery unit has a label that specifies the date three years from the shipment date. Use this date as a guide.
[Refer to Part 3 Maintenance, section 2.3]

Caution
(1) Applying vibration, impact, etc., to the actuator or moving the slider, etc., while the power is cut off may cause loss of
absolute data.
If the RDY/ALM LED and STATUS 1 LED on the front panel of the simple absolute R unit illuminate in green and red,
respectively, the next time the power is turned on, an absolute encoder error has occurred. In this case, an alarm reset
and home return must be performed.
Do not move the slider or rod while the power is cut off.
(2) Since the charge efficiency is particularly affected by the ambient temperature during charge, it is recommended that
the unit be used at normal temperature (+10 to +30 C).
If the ambient temperature exceeds 45 C, the charge efficiency will drop and the battery will not be charged fully. What
is worse, lower battery performance or leakage of battery fluid may also occur.

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5.4 Name/Function of Each Part and External Dimensions

5.4.1 Name of Each Part

Front view

[1] Status indicator LEDs

[4] Ni-MH battery [2] Setting switches

[3] Backup battery connector

replacement timing
[8] Host controller connector
reference battery

[9] ROBONET communication connector

[10] ROBONET communication connector

[5] Power-supply terminal block
Chapter 5 Simple Absolute R Unit

[6] RCP2, RCP3 actuator connector

[7] RCA, RCA2, RCL actuator connector

Down view

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5.4.2 Functions
[1] Status indicator LEDs

RDY/ALM Indicator color

Steady green Steady red
System normal
{ -
- { System error (alarm)
Blinking green Blinking red
Update mode
{ {

STATUS 1
Operation
Steady green Steady red
Absolute reset completed
{ -
(RDY: steady green light)
Absolute reset not yet completed
- {
(RDY: steady green light)
FPGA communication error
- {
(RDY: steady red light)

Chapter 5 Simple Absolute R Unit

STATUS 0
Operation
Steady green Steady orange Steady red
{ - - Battery is fully charged *
- { - Battery charging
- - { Battery not connected

* A green LED comes on when the battery has been charged continuously
for 72 hours or the battery voltage exceeds 4.25 V.
If the simple absolute R unit is connected to the controller unit, a steady
green light will come on when the battery is fully charged.
If the simple absolute R unit is not connected to the controller unit, a
steady green light will not come on even when the battery is fully charged.

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[2] Setting switches

These switches are used to switch the speed setting and update mode.
(The switches are arranged in the order of 1, 2, 3 and 4, from the top.)

Switch Function
1 Speed setting switch 1
2 Speed setting switch 2
3 Update mode selector switch (Keep this switch in the “OFF” position.)
4 Model selector switch (Keep this switch in the “ON” position.)

[Speed Selector Switch Settings]

The maximum motor speed at which absolute data can be detected is set as one of four levels while the controller power is
turned OFF.
Setting Switch Encoder Max. Rotation Speed [rpm]
When the connected Battery Retention Time
When the connected (reference)
1 2 actuator is a model
actuator is RCA2-***N;
other than RCA2-***N;
OFF OFF 100 75 20 days
ON OFF 200 150 15 days
OFF ON 400 300 10 days (Default setting)
ON ON 800 600 5 days

Caution
Chapter 5 Simple Absolute R Unit

1. The above backup battery retention times are reference values based on use of the supplied battery at normal
temperature and when operations within the specified speed are performed only sporadically and for a short period of
time or when the actuator is not operated at all.
Even if the specified speed is not exceeded, the battery will be consumed faster if the actuator is operated
continuously.
2. If the motor is turned at the specified speed or above when the controller power is OFF, absolute data will be lost.

[Update Mode Selector Switch]

Switch
Function
3
ON Update mode
OFF Normal

Normally the setting need not be changed. Keep this switch in the OFF position.

[Model Selector Switch]

Switch
Function
4
ON Keep this switch in the ON position (default setting).
OFF -

[3] Backup battery connector

This connector is used to connect the absolute-data backup battery.

[4] Ni-MH battery

A space is provided to store the absolute-data backup battery.

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[5] Power-supply terminal block

+ side of the 24-V power supply

- side of the 24-V power supply

Use the supplied power-supply connection plate to connect to the power-supply terminal block of the paired controller.

[6] RCP2 connector (white)

This connector is used to connect the PG cable of the RCP2 actuator.

[7] RCA connector (red)

This connector is used to connect the PG cable of the RCA actuator.

[8] Host controller connector

This connector enables encoder feedback to the host controller and serial communication of absolute data.

[9], [10] ROBONET communication connectors

These connectors are used to connect ROBONET communication (RS485 SIO) signals by the multi-drop method.
Although the simple absolute unit does not use communication signals, it exchanges signals with the adjoining controllers.
The supplied ROBONET communication connection circuit board is used to connect to the controller.

Chapter 5 Simple Absolute R Unit

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5.4.3 External Dimensions

(50 from DIN rail center)

35-mm DIN
rail
Chapter 5 Simple Absolute R Unit

(69.3 from DIN rail surface)

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5.5 Notes
(1) Notes on Changing Parameters
If the following parameters are changed, an absolute error will occur. Accordingly, an absolute reset must be performed
after changing any of these parameters:
[1] Parameter No. 5, “Home return direction”
[2] Parameter No. 22, “Home return offset”
[3] Parameter No. 77, “Ball screw lead”
[4] Parameter No. 78, “Axis operation type”

(2) Handling of the Backup Battery

Strictly observe the following safety precautions:

[1] Never disassemble the battery. The electrolyte in the battery is a strong alkaline fluid that may damage the skin or
clothes.
[2] Never short the battery (by causing the + terminal and – terminal to directly contact each other). Doing so may damage
the equipment or cause burns due to generated heat.
[3] Never throw the battery into fire because the battery may explode.
Also avoid immersing the battery in water because the battery function may be lost.
[4] Do not solder the battery directly.
If the safety valve in the battery cap is damaged, the battery may explode.
[5] If the power to the battery is cut off for a prolonged period and the battery undergoes deep discharge while the
connector remains plugged, battery fluid may leak or the battery performance or life may drop significantly.
If the power to the battery will be cut off for a prolonged period due to relocation or modification of the equipment, etc.,
unplug the connector.
[6] When disposing of the battery, take an appropriate course of action such as dropping it into the collection box at a
recycle shop.

Chapter 5 Simple Absolute R Unit

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Chapter 6 Extension unit

6.1 Overview
Basically, a ROBONET system is used by installing a Gateway R unit in the far left position and arranging RPCON and/or
RACON controller units along a single line to its right. However, the controllers may not be arranged in a single line due to
physical limitations such as the width of the control panel. In this case, you can use extension units (optional) to arrange the
controllers in multiple lines (= multi-stage layout).
Also note what while the RPCON and RACON are specified as the standard controller units that can be used in ROBONET
systems, you can use extension units to also configure a ROBONET system combining SCON (positioner mode), PCON-CF
and/or ERC2 controller units (= external SIO link).

(1) Multi-stage layer of ROBONET system

Gateway R unit Extension unit

[1] [2] [3] [4] [5] [6] [7] [1] [2] [3] [4]

RPCON or RACON Unit link cable

Gateway R unit
[5] [6]
Chapter 6 Extension unit

[7]

(2) External SIO link Extension unit

Gateway R unit
RPCON or RACON
Extension unit

[1] [2] [3]

Junction
Terminal resistor
Controller connection cable

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Part 1 Specification
6.2 Specifications

Model REXT (main unit)

Power-supply voltage 24 VDC r 10%
Power-supply current MAX 100 mA
Ambient operating temperature 0 to 40qC
Ambient operating humidity 95% RH max. (non-condensing)
Operating ambience Free from corrosive gases and dust.
Surrounding storage
0 to 40qC
temperature
Environment Surrounding storage humidity 95% RH max. (non-condensing)
XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous)
Vibration resistance
0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s2 (continuous) / 9.8 m/s2 (intermittent)
2
Impact resistance XYZ directions: 147 mm/s , 11 ms, half-sine wave pulse
Protection degree IP20
Weight 140 g (main unit only)
Outer diameter 34 W x 100 H x 73.3 D [mm]

Caution

Chapter 6 Extension unit

The total distance from the Gateway R unit to the downstream SIO link must not exceed 30 m.
When selecting the unit link cables and controller connection cables, make sure the total distance of SIO link does not
exceed 30 m.

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6.3 Product Configuration

Name Model Description Application Figure

ROBONET REXT x Main unit x 1 x For ROBONET
Extension unit x Power-supply connection plate x 2 multi-stage layout
Figure 1
x Communication connection circuit x For external SIO link
board x 1
Unit reversing set REXT-SIO x Main unit x 2 Setting of multi-stage
x Power-supply connection plate x 2 layout
x Communication connection circuit Figure 2
board x 1
x Unit link cable (standard, 1 m)
Controller REXT-CTL x Main unit x 1 Setting of external SIO link
connection set x Power-supply connection plate x 2
x Communication connection circuit
Figure 3
board x 1
x Controller connection cable
(standard, 1 m)
Unit link cable CB-REXT-SIO Cable for interconnecting
Figure 4
ROBONET extension units
Controller CB-REXT-CTL SIO link connection cable
Figure 5
connection cable
Chapter 6 Extension unit

Main unit
Communication connection
circuit board
(Model: JB-1)

Power-supply connection
plates
(Model: PP-1)

Fig.1 ROBONET Extension unit (REXT)

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Part 1 Specification
Communication connection
circuit board
(Model: JB-1)

Power-supply connection
plates
(Model: PP-1)
ROBONET extension unit

Unit link cable

Fig 2 Controller connection set (REXT-SIO)

Chapter 6 Extension unit

Communication connection
circuit board
(Model: JB-1)

Power-supply connection
plates
(Model: PP-1)
ROBONET extension unit

Controller connection cable

Fig 3 Controller connection set (REXT-CTL)

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Harness Connection View

Braided shielded wire

Signal name
black2/white black2/white Signal name

red2/white red2/white
black2/gray black2/gray
red2/gray red2/gray
black2/orange black2/orange
red2/orange red2/orange
black1/pink black1/pink
red1/pink
Chapter 6 Extension unit

red1/pink
black1/yellow black1/yellow
red1/yellow red1/yellow
black1/white black1/white
red1/white red1/white
black1/gray black1/gray
red1/gray red1/gray
black1/orange black1/orange
red1/orange red1/orange

Ground

Legend of wiring colors: Dot color & number of

dots/insulator color
Connection Diagram

indicates the cable length (L).

Example) 010 = 1 m

Fig. 4 Unit link cable (CB-REXT-SIO )

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Part 1 Specification
Harness Connection View

Signal name

Chapter 6 Extension unit

Braided shielded wire
Signal name

white white
gray gray
orange orange

gray gray
orange orange

Ground

Connection Diagram

indicates the cable length (L).

Example) 010 = 1 m

Fig. 5 Controller connection cable (CB-REXT-CTL )

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6.4 Name of Each Part and External Dimensions

6.4.1 Name of Each Part

[3] [4]

[1]

[2]
Chapter 6 Extension unit

[5] [6]

No. Name Description

ROBONET communication This communication connector is used to connect a unit in the same row (same stage).
[1]
connector It is connected using a ROBONET communication connection circuit board (JB-1).
Power-supply terminal block These are 24-VDC input terminals for the unit. The top terminal is +24 V, while the bottom
terminal is 0 V. To connect a power-supply wire, use a M3 round terminal of 6 mm or less
[2] in width.
Connection with a unit in the same row (same stage) uses a power-supply connection
plate (PP-1).
Indicator LEDs This LED indicates the status of the internal power supply (5 V) of the unit.
READY x Green light: Normal x Unlit: Internal power supply error
STATUS This LED indicates the connection statuses of connectors [4] and [5].
x Green light: Normal (Only one connector is connected.)
[3]
x Red light: Abnormal (Both connectors are connected.)
x Unlit: Abnormal (Neither connector is connected.)
When used in the external SIO link connection, this LED is unlit.
RESERVE This LED is not used and remains unlit at all times.

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Part 1 Specification
No. Name Description
Upstream unit connector This connector is used to connect a group of upstream units (units in the upper stage)
[4]
using a unit link cable (CB-REXT-SIO).
Downstream unit connector This connector is used to connect a group of downstream units (units in the lower stage)
using a unit link cable (CB-REXT-SIO).
[5]
To establish connection via external SIO link, use a controller connection cable
(CB-REXT-CTL).
FG terminal block This terminal block is used to connect grounding wires (M3 round terminals).
[6] It functions as a terminal block for connecting the shielded wire of the unit link cable
(CB-REXT-SIO) or controller connection cable (CB-REXT-CTL).

6.4.2 External Dimensions

center)
railcenter)

Chapter 6 Extension unit

(50from
(50 DINrail
fromDIN

(69.3 from
(69.3 from DIN
DIN rail
rail surface)
surface)

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Part 2 Startup Chapter

Part 2 Startup Chapter

Chapter 1 Overview
1.1 Required Tools
The tools needed to configure a ROBONET system and start the system include the PC software, teaching pendant, and
ROBONET gateway parameter setting tool, as specified below.

[1] PC software RCM-101-** Version 6.00.04.00 or later

[2] Teaching pendant
x RCM-T/TD Version 2.06 or later
x RCM-E/P Version 2.08 or later
x CON-T/TD Version 1.00 or later
[3] ROBONET gateway parameter setting tool Version 1.0.2.0 or later
Setting of the positioner 2 mode, setting of the reserved axes and operation of files are supported when the version
of the parameter setting tool is 1.0.3.0 or later. However, the firmware version of the Gateway R unit must be .000B
or later at the same time.
Solenoid valve mode 1, solenoid valve mode 2 and special parameter functions are supported by parameter setting
tools of version 1.0.4.0 and later. However, the firmware version of the Gateway R unit must be 000F or later.

This tool is provided in the CD-ROM containing PC software (Control No. CDCON00006 or later). You can also
Chapter 1 Overview

download the tool from our website.

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1.2 Startup Procedure

Part 2 Startup Chapter

The basic startup procedure for a ROBONET system is shown below.

(1) Installation (Refer to 2.1)

Mount on a DIN rail the Gateway R unit, controller unit and/or simple absolute R unit as required, interconnect
the units, and install the units in a control panel.

(2) Wiring (Refer to 2.2)

Wire the ROBONET 24-V power supply, field network, actuator drive line and encoder line.

(3) Set the address of the controller unit (Refer to Chapter 3)

(4) Perform an absolute reset (when the simple absolute R unit is used) (Refer to 4.2 to 4.5)
Perform an absolute reset to establish an absolute system.

Chapter 1 Overview
p

(5) Set up the ROBONET (Refer to 5.2)

Use the ROBONET gateway parameter setting tool to set the station number, baud rate, operation mode of
each axis, etc.

(6) Set up the master in the field network (Refer to 5.3)

Set various items using a dedicated tool appropriate for each field network.

(7) Create a controller position table (Refer to 5.4)

(Positioner mode or simple direct mode)

(8) Create a PLC ladder sequence

(9) Trial operation

(10) Full-scale operation

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Chapter 2 Mounting and Installation

Part 2 Startup Chapter

2.1 Installation
2.1.1 Important Information and Items to Note
To enhance the reliability of your ROBONET and allow it to demonstrate its functions fully, consider the following items before
installing the ROBONET.
(1) Installation location
Do not install the ROBONET in any of the following locations:
[1] Where the ambient temperature drops below 0qC or rises above 40qC
[2] Where the relative humidity exceeds 95%RH
[3] Where condensation may occur due to sudden temperature shift
[4] Exposed to corrosive or flammable gases
[5] Exposed to a large amount of dust, salt or iron powder
[6] Exposed to splashes or mist of water, oil or chemicals
[7] Where the ROBONET may receive direct vibration or impact
[8] Exposed to direct sunlight, or radiant heat from a large heat source such as a heat treatment furnace

If the ROBONET is to be used in any of the following locations, provide sufficient shielding measures:
[1] Where noise generates due to electrostatic, etc.
[2] Where a strong electric or magnetic field generates
Chapter 2 Mounting and Installation

[3] Where power or drive lines are running nearby

(2) Installation location in a panel

Consider factors that affect the environmental resistance of the ROBONET when installing it in a control panel.
[1] Considerations to the ambient temperature
The ambient temperature of the ROBONET is 0qC to 40qC. Accordingly, give consideration to the following items:
x Provide a sufficient ventilation space. (Refer to 2.1.4.)
x Avoid installing the ROBONET directly above any equipment that generates a large amount of heat (such as a
heater, large-capacity resistor or transformer).
x If the ambient temperature exceeds 40qC, install a forced fan or cooler.

[2] Consideration to improvement of noise resistance

x Avoid installing the ROBONET in a panel that also houses high-voltage equipment.
x Install the ROBONET as far away as possible from drive lines
x Properly ground any intermediate plate used for mounting.
x Implement noise elimination measures appropriate for each noise source.
There are many sources that generate noise. When building a system, the noise sources you should pay
particular attention to are solenoid valves, magnet switches and relays. Noise from these devices can be
prevented using the measures described on the following page.

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a. AC solenoid valves, magnet switches and relays

Part 2 Startup Chapter

Measure --- Install a surge killer in parallel with the coils.

Surge killer
Keep the wiring length from each coil to a minimum.
If the surge killer is installed on a terminal block, etc., an
extra distance from the coils will reduce the noise
elimination effect.

b. DC solenoid valves, magnet switches and relays

Measure --- Install a diode in parallel with the coils. Determine an appropriate diode capacity according to the load capacity.

Chapter 2 Mounting and Installation

In a DC system, connecting the diode in reverse polarities may damage the
diode, internal controller parts and DC power supply. Exercise due caution.

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[3] Installation in a panel

x The ROBONET should be installed only in the manner shown below.
Part 2 Startup Chapter

{ Installed correctly

x Never install the ROBONET in the manners shown below.

Chapter 2 Mounting and Installation

X Installed upside down

X Installed sideways

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Part 2 Startup Chapter

X Installed face down

X Installed face up

Chapter 2 Mounting and Installation

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2.1.2 Mounting on a DIN Rail

Part 2 Startup Chapter

Affixing equipment
Install the ROBONET using a 35-mm DIN rail.

35-mm DIN rail

Affixing equipment (2 pieces)

* The DIN rail and affixing equipment are provided by the

customer.

Procedure
(1) “Release” the DIN-rail mounting pin provided at the back of the unit ([1]), hook the tabs on the upper side of the
DIN rail ([2]), and push in the bottom side of the rail ([3]).
Chapter 2 Mounting and Installation

[2]

[3]

[1]

(2) Lock the bottom side with the DIN-rail mounting pin.

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(3) Mount all necessary units on the DIN rail.

Part 2 Startup Chapter

(4) After the necessary units have been installed, be sure to set two affixing equipments on both ends to affix the
units.

Chapter 2 Mounting and Installation

Orient each affixing equipment so that the arrow points upward. Hook the bottom of the end plate on the DIN rail,
hook the top, and then pull down the plate. Tighten the screws to affix the end plate in place.

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2.1.3 Interconnecting Multiple Units

Part 2 Startup Chapter

(1) Connecting 24-V power supply terminal blocks

Connect the power-supply terminal blocks (24 V, 0 V) of adjacent units using power connection plates, as shown below.
All units other than the Gateway R unit come with power connection plates.

Power connection plates

Chapter 2 Mounting and Installation

(2) Connecting ROBONET communication connection boards

Connect the adjacent units using ROBONET communication connection boards as shown below. All units other than the
Gateway R unit come with ROBONET communication connection boards.

Terminal resistor circuit

board
ROBONET communication
connection boards

On the unit installed at the far right, also install the terminal resistor board supplied with the gateway unit.

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Part 2 Startup Chapter

x Unit connection board x Terminal resistor board
Connects adjacent units. Installed in the unit at the far right.

(3) Connecting a simple absolute connection board

As shown below, place the simple absolute unit on the immediate right of the applicable controller unit and connect the
two using a simple absolute connection board (same as the ROBONET communication connection board). The simple

Chapter 2 Mounting and Installation

absolute R unit comes with a simple absolute connection board.

Simple absolute
connection board

Gateway R unit Simple absolute R unit

RPCON unit RACON unit

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2.1.4 Installing in a Control Panel

Part 2 Startup Chapter

The ROBONET must be installed using a DIN rail.

Since the ROBONET adopts natural convection cooling, provide a clearance of 50 mm or more above and below the unit, and
100 mm or more in front of the unit, by following the correct installation method explained in 2.1.1. Take note that the above
dimensions do not include wiring space. Increase the clearances by the required wiring space.
The field network cable and emergency-stop circuit cable will be connected to the top and bottom of the Gateway R unit,
respectively. The motor cable and encoder cable will be connected to the bottom of the RPCON or RACON unit, and the
encoder cable will also be connected to the bottom of the simple absolute R unit.

Direction of
air from the
internal fan
Chapter 2 Mounting and Installation

Ventilation

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2.2 Wiring

Part 2 Startup Chapter

2.2.1 Wiring the Power Supply
Wire the 24-VDC power supply as shown below.

Front view of ROBONET

+ 24V

0V

Chapter 2 Mounting and Installation

Gateway R unit Controller unit

Use the following parts for wiring:

Terminal M3 round terminal of 6 mm or less in width
(Example) V1.25-3 (AWG22 to 16) V2-MS3 (AWG16 to 14) Manufactured by JST
Wire Select a cable that can suit to the terminal.
Temperature rating of isolation sheath: 60oC or above

It is possible to connect up to 2mm2 (AWG14) at maximum when an appropriate solderless terminal is applied, however,
when a lack in current is occurred, apply a power line also to terminal block on the opposite side (terminal).
It is recommended to have the power to be supplied from both ends with the cables of the same thickness so the power
supply can be evenly allocated to each unit if the thickness is 1.25mm2 (AWG16) or more on one end.
Also, use a twisted pair cable and wire it separately from high-power lines such as those of drive circuits, etc. (Do not
bundle them together or place them in the same cable duct.)

The shape of the power-supply terminal block is shown below.

+24V 6.3mm

0V

M3 screw

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Caution
Part 2 Startup Chapter

If multiple units of IAI’ s PS24 are connected in parallel (upto five PS24s can be connected) to supply power to the
ROBONET, wire them as shown below.

[2] Twisted pair

[3]
Chapter 2 Mounting and Installation

[1] Terminal block

ROBONET
GatewayR unit
Twisted pair
[4]

[1] As shown above, connect all PS24s in parallel at the terminal block.
[2] Use a twisted pair cable to wire each power supply to the terminal block.
[3] The twisted pair cables connecting the respective power supplies to the terminal block should be of the same wire size
(recommended: AWG16 to 18) and same length whenever possible.
[4] For the wiring between the terminal block and ROBONET, provide cables in the same thickness, make them a twisted
pair and as short as possible. It is recommended that the power is to be supplied from the units on the sides of
ROBONET.

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2.2.2 Grounding Wire

Part 2 Startup Chapter

Connect the FG terminal of the Gateway R unit to the copper grounding bar inside the control panel, or other appropriate part,
using a grounding wire over the shortest possible distance.
Class D grounding (former class 3 grounding)
2
Wire 2.0 to 5.5 mm
Screw M3

Bottom view of Gateway R unit

EMG
connector

FG terminal

Chapter 2 Mounting and Installation

2.2.3 EMG Connector
Connect the emergency-stop circuit (refer to 3.5.9 in Part 1, “Specifications” ) to the EMG o
c nnector plug (MC1.5/2-STF-3.81,
manufactured by Phoenix Contact) supplied with the Gateway R unit, and insert the plug into the EMG connector receptacle
shown above.
Wire compatible with EMG connector
Wire size Stranded wire AWG28 to 16 (0.14 mm2 to 1.5 mm2)
Wire stripping length 7 mm

EMG-

EMG+

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2.2.4 Motor Cable and Encoder Cable

Part 2 Startup Chapter

(1) When the RPCON controller is of incremental specification

Plug the motor cable and encoder cable into the respective connectors on the RPCON controller, as shown below.

Bottom view of ROBONET

Motor Encoder
cable cable
Chapter 2 Mounting and Installation

(2) When the simple absolute R unit is connected to the RPCON controller
Plug the motor cable into the connector on the RPCON, and encoder cable into the connector on the simple absolute R
unit, as shown below.

Bottom view of ROBONET Simple absolute R unit

Motor Encoder
cable cable

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 Part 2 Startup Chapter

(3) When the RACON controller is of incremental specification

Plug the motor cable and encoder cable into the respective connectors on the RACON controller, as shown below.

Part 2 Startup Chapter

Bottom view of ROBONET

Motor Encoder
cable cable

(4) When the simple absolute R unit is connected to the RACON controller

Chapter 2 Mounting and Installation

Plug the motor cable into the connector on the RACON, and encoder cable into the connector on the simple absolute R
unit, as shown below.

Gateway R Simple absolute R

unit unit

Bottom view of ROBONET

Motor Encoder
cable cable

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2.2.5 Multi-stage ROBONET Layout GatewayR unit Extension unit [1]

Part 2 Startup Chapter

An example of a multi-stage layout

achieved by using REXT extension units
is shown to the right.
(1) The units are installed on DIN rails.
(2) Each extension unit connected to
the downstream side (stage below)
is placed at the far right in each
stage. (Extension units [1] and [3])
(3) Each extension unit connected to
the upstream side (stage above) is
placed at the far left in each stage.
(Extension units [2] and [4])
(4) The extension units on the
upstream side (in the stage above)
and downstream side (in the stage Unit link cable
below) are connected using a unit
link cable (CB-REXT-SIO-), and the
grounding wire with a M3 round
terminal is connected to the FG
Chapter 2 Mounting and Installation

terminal block on each upstream

extension unit. (Extension units [1]
Extension unit [2]
and [3])
Connect the FG terminals on the
downstream extension units ([2],
[4]) to the grounding terminal on the Extension unit [3]
control panel in the same manner
as with the Gateway R unit.
(5) Connect each extension unit to an
adjacent unit using the power
supply connection plate and
communication connection circuit
board supplied with the extension Unit link cable
unit.
(6) Install the terminal resistor circuit
board (supplied with the Gateway R
unit) on the last controller unit.

Extension unit [4]

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(7) Connect the power supply (+24 V, 0 V) to the unit positioned at the far left in each stage using a
twisted pair cable. The power rise timing should be the same for all stages.

Part 2 Startup Chapter

[1] Example of supplying power from one power supply

GatewayR unit Extension unit

24-V power supply

Extension unit

Chapter 2 Mounting and Installation

[2] Example of supplying power from multiple power supplies

24-V power supply

24-V power supply

Caution
1. Use a common 0-V line for the power supply connected to each stage.
2. Be sure to install the RABU unit (simple absolute R unit) paired with each RPCON unit or RACON unit in the same row
(stage) as the applicable controller unit.
3. Keep the total distance of internal SIO communication lines of the ROBONET system (distance from the Gateway R unit
to the terminal resistor of the last controller) to 30 m or less.

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2.2.6 External SIO Link of ROBONET

Part 2 Startup Chapter

An example of implementing an external SIO

link using REXT extension units is shown to GatewayR unit
the right.
In this example, the first stage and second Extension unit
stage comprise a multi-stage layout, while the
last extension unit [3] in the second stage is
linked to a SCON or PCON-CF via SIO link.

(1) The units are installed on DIN rails.

(2) The multi-stage layout of the first stage
and second stage is the same as in 2.2.5.
Refer to 2.2.5.
(3) Connect each extension unit to an
adjacent unit using the power supply
connection plate and communication
connection circuit board supplied with
the extension unit.
(4) Place the extension unit for SIO link at
the end of the lowermost stream (bottom Unit link cable
stage) (extension unit [3]) and connect
the controller connection cable
(CB-REXT-CTL-) to the downstream unit
Chapter 2 Mounting and Installation

connector on the extension unit. Connect

the grounding wire with a M3 round
terminal to the FG terminal block.
(5) Connect the e-CON connector end of the Extension unit [2]
controller connection cable to a 4-way Extension unit [3]
junction.
(6) Connect the SCON or PCON-CF and
4-way junction using an optional
controller link cable (CB-RCB-CTL002). 4-way junction Controller
connection cable
The controller link cable Terminal resistor
CB-RCB-CTL002 comes with the
following accessories. Use them to make
the connection as shown to the right:
Junction
x 4-way junction
interconnection cable
(5-1473574-4 by AMP) x1
x e-CON connector
(4-1473562-4) x1 Controller link cable
x Terminal resistor 220 :
(with e-CON connector) x1
The customer must fabricate a junction Network connection
interconnection cable using the above cable
e-CON connector supplied with the
controller link cable. SCON or PCON-CF
Connect the ERC2-SE and 4-way
junction using the power-supply & I/O Terminal Power-supply &
cable (CB-ERC2-PWBIO) and network I/O cable
connection cable (CB-ERC2-CTL001)
supplied with the ERC2-SE.

24-VDC control power, motor power,

brake signal, ground, shield

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 Part 2 Startup Chapter
(7) The terminal resistor supplied with the Gateway R unit is not used (not installed to the ROBONET controller).
Install the 220-: terminal resistor supplied with the controller link cable to the 4-way junction at the end of the SIO link.
(8) Use twisted pair cables to connect the power supply (+24 V, 0 V) to the unit positioned at the far left in each ROBONET

Part 2 Startup Chapter

stage and also to the controller connected via the external SIO link (ERC2-SE or PCON-CF). The power rise timing
should be the same for each ROBONET stage and the controller connected via the external SIO link.
*1 The SCON power supply is specification single-phase 100 or 200 V.

Example of supplying power from multiple power supplies

Extension unit
GatewayR unit
24-V power supply

Terminal resistor

Chapter 2 Mounting and Installation

24-V power supply (red)
(black)

Caution
1. Use a common 0-V line for the power supply connected to each ROBONET stage and the controller connected via the
external SIO link.
2. Keep the total distance of internal SIO communication lines of the ROBONET system (distance from the Gateway R unit
to the terminal resistor of the last controller) (including the external SIO link) to 30 m or less.

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<Fabrication of Junction Interconnection Cable>

Part 2 Startup Chapter

2-pair shielded cable

e-CON connector Recommended: Taiyo Electric Wire & Cable e-CON connector
(4-1473562-4 by AMP: Green)

e-CON connector
[1] Strip the sheath of the 2-pair shielded cable by 15 to 20
mm. Pressure-welded
[2] Strand the shielded wires and solder them to vinyl wires
of AWG22 or equivalent.
[3] Slide a cable protection tube onto the cable. Vinyl wire
[4] Insert the four core wires into the cable insertion holes in (AWG22)
the connector without stripping the wires. (SDA, SDB,
Soldered
GND, FG)
[5] With the cable inserted, pressure-weld the press-fit Shielded wire Locking tab
cable housing from above.
Cable tube
Chapter 2 Mounting and Installation

[6] Heat and shrink the cable protection tube.

2-pair shielded cable

e-CON connector pin numbers

Locking tab

Be sure to insert a terminal resistor (220 :, 1/4 W) at each end of the main
communication line (between Nos. 1 and 2 on the e-CON connector).

<Controller Link Cable> (CB-RCB-CTL002)

This cable is an option for each controller and must be purchased separately.

Controller end

e-CON connector
3-1473562-4
(Housing color: Orange)

Mini-DIN connector

Signal Signal
yellow
orange

blue

The following parts are supplied.

[1] 4-way junction Model: 5-1473574-4 Manufacturer: AMP Quantity: 1
[2] e-CON connector 4-1473562-4 Manufacturer: AMP Quantity: 1
Outer sheath size of applicable wire 1.35 to 1.6 mm
220 : 1/4 W With e-CON connector Quantity: 1
[3] Terminal resistor

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2.2.7 Emergency Stop Circuit

Part 2 Startup Chapter

(1) An emergency stop circuit for normal layout and multi-stage layout is shown below.

TP connector Gateway R unit Axis controller unit Extension unit

Teaching pendant
ROBONET Communication Connector

TP connection
detection circuit

[1]
Drive-source cutoff signal
EMG connector [2] Unit link cable
(CPU control signal)

Motor drive source

Drive-source cutoff relay

Power-supply input terminal block

Chapter 2 Mounting and Installation

Internal power supply common
GND

Emergency
stop reset Emergency stop

Extension unit Axis controller unit

[1]
[2]

Unit link cable

Motor drive source

Drive-source cutoff relay

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(2) An emergency stop circuit for normal layout when external SIO link is used is shown below.
Part 2 Startup Chapter

TP connector Gateway R unit Axis controller unit Axis controller unit

Teaching pendant
ROBONET Communication Connector
[1]

TP connection
detection circuit

Drive-source cutoff signal

EMG connector (CPU control signal)

Motor drive source Motor drive source

Drive-source cutoff relay Drive-source cutoff relay

Power-supply input terminal block

[2]
Internal power supply common
Chapter 2 Mounting and Installation

GND
[3]

Emergency
stop reset Emergency stop

red
Control power
black

yellow Motor drive power

Extension unit

[1] Controller connection

cable

(orange)
(gray)

Motor

e-CON connector

[2]

Motor
[3]

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 Part 2 Startup Chapter

Caution

Part 2 Startup Chapter

1. For the relay RYA, use a relay with a rated contact capacity of 160 mA or more.
2. Relays that can be connected between the EMG+ and EMG- terminals of the extension unit are subject to limitations in
that the total sum of “10 mA x number of controllers connected to the extension unit” and “coil current of the relay
connected between the EMG+ and EMG- terminals” must not exceed 160 mA.
3. For the drive power source of each connected controller, refer to the first step guide or operation manual of the
controller.
4. Do not short the EMG+ (orange) and EMG- (gray) wires of the controller connection cable.

Chapter 2 Mounting and Installation

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2.2.8 Network Wiring

Part 2 Startup Chapter

(1) CC-Link
Check the operation manual for the master (PLC) for details on CC-Link. The following explains the points to note
regarding network wiring.
An example of network connection is shown below.
Master station Slave station Slave station
(Blue)

Terminal Terminal
resistor (White) resistor

(Yellow)

Dedicated CC-Link cable Dedicated CC-Link cable

[1] An equipment connected via CC-Link is called a “station,” and 1 to 64 can be set as slave station numbers. Both
Chapter 2 Mounting and Installation

master and slave stations can be set in any positions.

[2] Each station is connected based on direct line branching at the station. T-branches using commercial terminal
blocks, etc., are also supported.
[3] Use a dedicated 3-core shielded twisted pair cable for CC-Link.
The details of the dedicated cable are as follows.

Color Signal type

Blue Communication line A (DA)
White Communication line B (DB)
Yellow Communication ground line (DG)
--- Shield (SLD)

[4] A terminal resistor must be installed on both ends of the CC-Link system. Each terminal resistor is connected
between “DA” and “DB.” Take note that the required terminal resistor varies depending on the applicable cable,
as shown below.
Cable name Terminal resistor
Dedicated CC-Link cable (ver. 1.00, ver. 1.10) 110 :, 1/2 W
Dedicated high-performance CC-Link cable (ver. 1.00) 130 :, 1/2 W

[5] The baud rate is limited by the length of the network (total branch line length, maximum network length).

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(2) DeviceNet
Check the operation manual for the master (PLC) for details on DeviceNet. The following explains the points to note

Part 2 Startup Chapter

regarding network wiring.
An example of network connection is shown below.

DeviceNet unit (master)

T-branch tap Trunk line
Node

With terminal Node

With terminal
resistor resistor

Branch
line
Node Node Node Node Node Node Node
Communication
power supply
24 VDC
(1) An equipment connected to a network and having an assigned address is called a “node.” A node may be the master
(DeviceNet unit in the above figure) that manages the DeviceNet network, or a slave that connects external I/Os to the
network. Both master and slave nodes can be set in any positions.
(2) A terminal resistor is required on both ends of a trunk line (bold line in the figure). A cable branching from a trunk line

Chapter 2 Mounting and Installation

(normal line in the figure) is called a “branch line.”
Use a dedicated 5-wire cable for DeviceNet. Select a thick cable or thin cable according to the supplied current.
The dedicated cable is explained on the ODVA website.
The details of the dedicated cable are as follows.
Colors of wires are
also printed on the
dedicated connector.

Color Signal type

Red Power cable + (V+)
White Communication data high (CAN H)
--- Shield
Blue Communication data low (CAN L)
Black Power cable - (V-)

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(3) Nodes can be connected in one of the following two ways. Both methods can be used together in a single network.
[1] T-branch method Use a T-branch tap, etc.
Part 2 Startup Chapter

[2] Multi-drop method Use a multi-drop connector to branch the line directly at the node.
(4) Communication power (24 VDC) must be supplied to each node via a 5-wire cable.
(5) A terminal resistor must be installed on both ends of a trunk line.
The Gateway R unit (RGW-DV) does not come with a terminal resistor.
Connect Omron’s terminal-block terminal resistor (121 : r 1 %, 1/4 W) or T-branch tap with terminal resistor (121 : r
1%, 1/4 W), or other resistor of the same specification, directly between the white and blue wires at the communication
connector.
(6) The baud rate is limited by the length of the network (total branch line length, maximum network length).
Chapter 2 Mounting and Installation

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 Part 2 Startup Chapter

(3) Profibus-DP
For details on Profibus-DP, refer to the operation manual of the master (PLC) and also visit the website of the Japanese

Part 2 Startup Chapter

Profibus Organization. The following explains the points to note regarding network wiring. A network connection example
is shown below

Master (Node address 2)

Terminal resistor
Terminal resistor

Slave Slave Slave Slave

(Node address 3) (Node address 4) (Node address (5) (Node address (6)

[1] A device connected to a network and to which an address is assigned is called a “Node.” A node may be the master or
a slave. Up to 32 nodes can be connected in one segment.
[2] It is recommended that the master be connected to one end of the network. Normally the node address of the master is
2 and each slave has a node address of 3 to 32.
Node address 0 is reserved for a monitoring or diagnostic device, while node address 1 is reserved for a monitoring
device.

Chapter 2 Mounting and Installation

[3] A terminal resistor must be installed at both ends of each segment of the network.
[4] For the Profibus cable, use a Profibus-DP cable of type A conforming to the EN 50170 standard. This cable is a
shielded 2-core twisted pair cable.

Cable Red Line B (positive side)

Green Line A (negative side)

Shield

[5] The network connectors are D-sub, 9-pin connectors conforming to the EN 50170 standard.
As for network bus connectors, screw-type connectors like the one shown below and quick connectors where the
cables are inserted into provided holes are available.

When a connector with terminal resistor is used,

turn on the terminal resistor switch only for the
terminal slave and turn off the switches for all
other slaves.

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 Part 2 Startup Chapter

[6] The RGW-PR connector is a D-Sub, 9-pin Profibus-DP connector (female) recommended in the EN 50170 standard.
Network connectors are not provided.
Part 2 Startup Chapter

Pin number Signal name Explanation

1 NC Not connected
2 NC Not connected
3 B-Line Communication line B (positive side)
4 NC Not connected
5 GND Signal ground
6 +5 V +5-V output
7 NC Not connected
8 A-Line Communication line A (negative side)
9 NC Not connected
Housing Shield Cable shield

Caution
Chapter 2 Mounting and Installation

The RGW-PR does not have terminal resistor setting switches. If the RGW-PR is connected at the end of a network,
connect a terminal resistor to the network connector or use a connector with terminal resistor, as specified below.
z Connecting a terminal resistor

Female connector Male connector on network

on RGW-PR end
end (view from the side
opposite the insertion side)

Network wiring

z Profibus connector (with terminal resistor)

(Example) SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)

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(4) RS485SIO
Using the 2-wire method, connect the Gateway R unit (RGW-SIO) to the RS-422A/485 port on the serial communication unit

Part 2 Startup Chapter

(SCU) of the PLC, as shown below.

Gateway R unit PLC-SCU

RS-422A/485 connector

(D-sub 9-pin male connector as

Cable connector (supplied) viewed from the soldered side)
MC1.5/4-ST-3.5 (manufactured by
Phoenix Contact)

Use a shielded twisted pair cable (AWG28-16) for the communication cable.
Gateway R unit

Chapter 2 Mounting and Installation

Shield

Shell

Caution
1. The polarities of the communication lines may be the other way around depending on the SCU of PLC.
SA (+) on Gateway R SDB (+) on SCU, SB (-) on Gateway R .
SDA (-) on SCU,
2. Connect the shield to ground only on the PLC-SCU end.

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2.2.9 How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power
Part 2 Startup Chapter

Supply
If the positive terminal of the 24-V power supply is grounded (= the +24-V side is grounded), use a SIO converter as shown
below to connect a teaching pendant or PC to the Gateway R unit. At this time, do not connect the FG of the SIO converter.

Teaching pendant PC, etc. Do not connect the FG of the PC to ground.

If the FC may be connected to ground
through other COM port, disconnect the
communication cable from the applicable
COM port.
PC software

RS232 connection type

<Model: RCM-101-MW>
USB connection type
<Model: RCM-101-USB>

* The cable is supplied with the PC software.

SIO converter (optional)

(with built-in terminal resistor)
Chapter 2 Mounting and Installation

Model: RCB-TU-SIO-A (B)

* One e-CON connector, one junction and one

terminal resistor are supplied with one
controller link cable.

e-CON connector (3-1473562-4 by AMP) GateWay

Do not
Junction (5-1473574-4 by AMP) R unit
connect
the FG.
Terminal resistor

Controller link cable

Model: CB-RCB-CTL002
24-V power supply

With the ROBONET, basically the negative terminal of the 24-V power supply is grounded (= the 0-V side is grounded).
Since most teaching pendants and PCs have their communication ground line and FG (frame ground) shorted internally,
grounding the 24-V power supply at the positive terminal (= grounding the +24-V side) will cause the 24-V power supply to
short when a teaching pendant or PC is connected to the Gateway R unit, resulting in damage to the teaching pendant or PC.

Caution
Do not connect the FG of the SIO converter.

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Chapter 3 Controller Address Setting

Part 2 Startup Chapter

The address of each controller unit is set using the address setting switch (hexadecimal rotary switch) provided on the front
face of the unit. The range of settable addresses is 0 to F. After setting the operation mode of each axis using the gateway
parameter setting tool (refer to 5.1), set an applicable address using the checkboxes by making sure no address duplication
occurs.
An example of setting is shown below.
So that you can remember the addresses easily, you may want to assign 0 to F to the respective units sequentially, starting
from the unit on the immediate right of the Gateway R unit.
The addresses of SCON, PCON-CF and ERC2 for external SIO link are set in the same manner.

RPCON
Address: 0 Setting
RACON
Address: 1 Setting

Chapter 3 Controller Address Setting

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 Part 2 Startup Chapter

Chapter 4 Absolute Reset

Part 2 Startup Chapter

4.1 Overview of Simple Absolute System

To combine the RPCON or RACON controller unit with the simple absolute R unit for use as an absolute axis, an absolute
reset must be performed. Once an absolute reset is performed, home return will no longer be required every time the power to
the controller unit is turned off.
An internal block diagram of the simple absolute R unit is shown below.

Controller unit Simple absolute R unit

Incremental Encoder signal

pulses CPU control circuit Encoder (incremental)
receive
Encoder input circuit
connector Absolute data U/D counter
(Serial
communication) Actuator
(Creation of
absolute data)
Backup battery
Chapter 4 Absolute Reset

The startup procedure is as follows:

[1] Set the configuration switches (piano switches)
[2] Connect the backup battery
[3] Perform an absolute reset

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4.2 Setting the Configuration Switches

Part 2 Startup Chapter

The configuration switches are used to change the level of retention function with respect to absolute data.
Disconnect the backup battery before setting the configuration switches (piano switches).
Connect the backup battery after the switch settings have been changed.
(For the location of the switches, refer to 5.4.1, “Nomenclature” in “ROBONET Operation Manual – Specification.” )

Configuration switches (Slide each switch to the left to turn it “ON.” )

These switches are used to set the maximum motor speed at which absolute data can be stored, or change the mode. (The
switches are arranged in the order of 1, 2, 3 and 4, from the top.)
Switch Function
1 Speed setting switch 1
2 Speed setting switch 2
3 Update-mode selector switch (Keep this switch in the “OFF” position.)
4 Model selector switch (Keep this switch in the “ON” position.)

[Speed setting switches]

Chapter 4 Absolute Reset

If the motor speed reaches or exceeds the specified level while the controller power is off, the absolute data will be lost and an
absolute encoder error will generate. A desired motor speed can be set from among the four levels. The lower the motor
speed, the longer the backup battery will last.
Setting Switch Encoder Max. Rotation Speed [rpm]
When the connected Battery Retention Time
When the connected (reference)
1 2 actuator is a model
actuator is RCA2-***N;
other than RCA2-***N;
OFF OFF 100 75 20 days
ON OFF 200 150 15 days
OFF ON 400 300 10 days (Default setting)
ON ON 800 600 5 days

*1 The retention times of the backup battery are reference values in a condition where the original battery is used at normal
temperature with the motor operated intermittently for short periods at speeds within the specified range, or with the
motor not operated at all.
Even though the motor remains within the specified speed range, the retention time will become shorter if the motor is
operated continuously.
*2 The default settings are “OFF” for switch 1 and “400 rpm” for switch 2 (ON).

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[Update-mode selector switch]

Switch
Part 2 Startup Chapter

Function
3
ON Update mode
OFF Normal mode

This switch need not be used in a normal condition of use, and should therefore remain in the “OFF” position. (Do not set the
switch to the “ON” position.)
In the update mode, the RDY/ALM LED blinks in green and red alternately.

[Model selector switch]

Switch
Function
4
ON Keep this switch in the “ON” position (default setting).
OFF ---
Chapter 4 Absolute Reset

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4.3 Connecting the Backup Battery

Part 2 Startup Chapter

After the configuration switches have been set, connect the backup battery to the backup battery connector.

4.4 Setting the Parameters

If the simple absolute R unit is installed later, the setting of a user parameter in the controller unit must be changed.
(If you have purchased your controller unit and simple absolute R unit together, this parameter has already been set at the
factory.)

User parameters are set using the PC software or teaching pendant.

Parameter to be changed: User parameter No. 83, “Absolute unit” [0: Do not use / 1: Use]

If the absolute unit is to be used, set this parameter to [1: Use].

4.5 Performing an Absolute Reset

4.5.1 Performing an Absolute Reset in the PC Software
(1) Connect the PC and Gateway R unit using a dedicated communication cable.
(2) Set the MODE switch on the Gateway R unit to the “MANU” (top) side.
(3) Supply the main power (24 VDC) to the Gateway R unit, controller unit and simple absolute R unit.

Chapter 4 Absolute Reset

(4) Start the RC PC software.

An example where axis No. 1 is a

simple absolute axis is explained.

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(5) Select a desired manual operation mode.

Select teaching mode 1 or teaching mode 2.
Part 2 Startup Chapter

(6) “0EE: Absolute encoder error (2)” generates.

Axis 1 generates this alarm.

(7) Select Yes (Y).

(8) From Position (T) [1], select Edit/Teach (E) [2], select the applicable address [3], and then select OK.
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(9) When the position data dialog box appears, click the servo ON button.

Part 2 Startup Chapter

After the servo has turned on properly, the servo lamp illuminates in blue.

(10) Click the home return button.

Chapter 4 Absolute Reset

After the home return is successfully completed, the home lamp illuminates in blue.

This completes the absolute reset.

4.5.2 Performing an Absolute Reset from the Host

An absolute reset is performed by inputting the home return signal from the host PLC through the Gateway R unit, followed by
home return operation.

(1) Supply the main power (24 VDC) to the Gateway R unit, controller unit and simple absolute R unit.
(2) An absolute encoder error (2) alarm is output.
(3) Input the RES signal to reset the alarm.
(4) Cancel the STP signal (pause).
(5) Input the SON signal (servo ON).
If the signal command has been successful, the SV lamp on the controller unit illuminates in green.
(6) Input the HOME signal (home return) to perform home return operation.
If the signal command has been successful, the SV lamp on the controller unit illuminates in green upon completion of
home return.
(7) The absolute reset is deemed complete when the home return is completed (HEND signal turns ON).

Caution
The network must be already set up before an absolute reset can be performed from the host PLC.

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Chapter 5 Network Setup

Part 2 Startup Chapter

5.1 How to Use the ROBONET Gateway Parameter Setting Tool

This section explains the parameter setting tool of Version 1.0.4.0 or later. To set up the network, use this tool to set the
following items on the ROBONET side:
[1] Station number
[2] Baud rate over the field network
[3] Operation mode of each axis

Before setting the above items, install the “gateway parameter setting tool” software in the PC.
The tool software is provided in the CD-ROM containing PC software. It can also be downloaded from IAI’s website.

5.1.1 Operating Environment

(1) This tool can be used on a PC running any of the following operating systems:
(Set the display resolution to 800 x 600 (SVGA) or higher.)
x Windows98SE x WindowsMe x Windows2000 x WindowsXP
(2) Serial port
RS-232C serial port or USB port
(3) Connection cable
Communication cable for RC PC software

5.1.2 Launching the Setting Tool

Chapter 5 Network Setup

(1) Set the display resolution of the PC to 800 x 600 (SVGA) or higher. If the tool is started when the display resolution is set
to a lower option, a warning message will appear.
(2) Connect the Gateway R unit with the PC using the communication cable that came with the PC software, and set the
operation mode of the Gateway R unit to “MANU.”
(3) From the Start menu, click Programs (P), click IAI, click ROBONET, and select ROBONET Gateway Parameter
Setting Tool to launch the setting tool.
(4) Communication setup (when the tool is launched for the first time)
If the tool was launched for the first time, the communication setup dialog box is displayed before the main screen.
In this dialog box, select the COM port connecting the Gateway R unit and PC, as well as the applicable baud rate.
Select the COM port and baud rate of the PC to which the communication cable was connected in (2).
The tool will communicate with the Gateway R unit according to the “COM port” and “baud rate” set in this dialog box.
[Note] You can also change the settings made here, in the main screen.

Select the port that the

communication cable was
connected in process (2).

Press “OK” after setting the Select the baud rate

port and baud rate. (communication speed).

Communication Setting Screen

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(5) The following main screen is displayed.

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In the main screen, set the station number (address), baud rate, and operation mode of each axis.

Chapter 5 Network Setup

5.1.3 Explanation of the Main Screen
The screen in the setting example is explained by assuming a CC-Link system.
The same screen is used with a DeviceNet, Profibus or RS485SIO system.

[6] [5] [4] [1] [2] [3] [9]

[7]
[8]

[11]
[10] (Check box)

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z Button operations
[1] Tool Communication Setup
Part 2 Startup Chapter

Clicking this button opens the communication setup dialog box.

[2] Load
Clicking this button loads the parameters from the Gateway R unit.
[3] Transfer
Transfer to the Gateway R unit the parameters that have been set.
[4] Save
Save the currently set parameters to a file.
[5] Open
Open the saved parameters.
[6] New
Create new parameters.

z Combo box operations

[7] Address
Select and set the address (station number) of the Gateway R unit to be used by the host.
[8] Baud Rate
Select/set an appropriate baud rate when the network type is CC-Link or RS485.
The baud rate is set automatically for all other network types. (The tool shows “Auto.”)
[9] Setting of number of axis
This setting determines the number of occupied stations (CC-Link) or I/O size (DeviceNet, Profibus, RS485).
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[10] Occupancy Information

The items shown in this area are used to check the current settings. The displayed items vary depending on the network

Part 2 Startup Chapter

type, as shown below.
z Display of occupied port information when the network type is Profibus, DeviceNet or RS485
Out --- Output data size (bytes)
In --- Input data size (bytes)

z Display of occupied station information when the network type is CC-Link

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[11] Editing the operation mode of each axis (checkboxes)

One of four operation modes can be set. Select a desired operation mode for each address using the corresponding
Part 2 Startup Chapter

checkbox.
Left-click the applicable cell to place an asterisk (*) in the cell.
The occupied I/O size per axis in each mode is as follows:
(1) Positioner 1 mode --- 4 words each for input and output
(2) Simple direct mode --- 4 words each for input and output
(3) Direct numerical specification (positioning) mode --- 8 words each for input and output
(4) Positioner 2 mode --- 2 words each for input and output
(5) Solenoid valve mode 1 --- 2 words each for input and output
(6) Solenoid valve mode 2 2 words each for input and output

Caution
1. If the positioner 1 mode, simple direct mode and direct numerical specification (positioning) mode are combined, set
positioner 1 mode and simple direct mode axes sequentially starting from the youngest axis number, and then specify
direct numerical specification (positioning) mode axes.
Setting cannot be made in the reverse order.
2. Modes in the group that contains the positioner 1 mode, simple direct mode and direct numerical specification
(positioning) mode cannot be combined with modes in the group that contains the positioner 2 mode, solenoid valve
mode 1 and solenoid valve mode 2.
(Example) The positioner 1 mode and solenoid valve mode 1 cannot be combined.

Number of connectable axes

x Number of axes in positioner 1 mode or simple direct mode = X
Number of axes in direct numerical specification (positioning) mode = Y
Chapter 5 Network Setup

Under the above conditions, the numbers of connectable axes X and Y should satisfy the following formula:
X + 2Y d 16 (axes)

The number of I/O words is calculated by the formula below:

4 (X + 2Y) + 8 (words)

x If the number of axes in the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2 is 7:
Z d 16 (axes)

The number of I/O words is calculated by the formula below:

2Z + 8 (words)

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Setting Ranges

Part 2 Startup Chapter

RS485SIO
Network type CC-Link DeviceNet Profibus Modbus gateway
SIO through mode
mode
[7] Address Desired value from Desired value from Desired value from
1 to 64 0 to 63 1 to 125
(Normally the (Normally the 63 (fixed) -
master unit has master unit has
address 0.) address 63.)
[8] Baud rate 156 Kbps Auto Auto 9.6 Kbps 38.4 Kbps
635 Kbps 19.2 Kbps 57.6 Kbps
2.5 Mbps 38.4 Kbps 115.2 Kbps
5 Mbps 57.6 Kbps 230.4 Kbps
10 Mbps 115.2 Kbps
230.4 Kbps
Number of (positioner 1/simple direct mode) axes x 8 +
[10] Displayed
Number of direct numerical specification (positioning) mode
occupancy
- axes x 16 + 16 -
information
Or,
I/O size (bytes)
Number of positioner 2 mode axes x 4.

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5.1.4 Operating Procedures

Part 2 Startup Chapter

(1) Loading the parameters

This tool establishes communication with the Gateway R unit when the parameters are loaded. Accordingly, always load
the parameters if the tool or Gateway R unit has been restarted.

[1] Click the Load button. When a message box appears, asking if you want to permit a parameter load, select Yes
to load the parameters.
Chapter 5 Network Setup

[2] When all parameters have been loaded, a message box appears to inform you of the completion of load. Click
OK.

[3] If the tool has failed to load the parameters, the following message appears.

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Caution

Part 2 Startup Chapter

If the firmware of the Gateway R unit does not support the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode
2, the following message will appear:

When the firmware version is 000A or older

Chapter 5 Network Setup

When the firmware version is 000B

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(2) Editing (setting) the parameters

Edit the address, baud rate and enable operation according to the explanations given in 5.1.3.
Part 2 Startup Chapter

(3) Editing (setting) the operation mode of each axis

Set the operation mode of each axis using the checkboxes shown on the right side of the screen.
„ Example of using four axes operating in the simple direct mode/positioner 1 mode and four axes operating in the direct
numerical specification mode (positioning mode)
[1] Setting of number of axis
Set the number of axes in each mode above the check boxes.

Set the number of axes.

When the number of axes is set,

axes numbers are assigned
automatically. *1
Chapter 5 Network Setup

*1 Axes in the direct numerical specification mode (positioning mode) are assigned automatically after the axes in the
simple direct/positioner 1 modes. Axes in the direct numerical specification mode (positioning mode) cannot be
assigned before or between axes in the simple direct/positioner 1 modes.

[2] For axes used in the simple direct/positioner 1 modes, click an applicable cell to the right of each applicable axis
number to specify which mode will be used.
*2 Each time a cell is clicked, the display will cycle as follows: blank (not selected) Æ * (selected) Æ (*) (reserved axis)
Æ blank.
If the simple direct mode is set for axes 0 and 1 and the positioner 1 mode for axes 2 and 3, the screen will look like the
one shown below.

Set the mode to be used. *2

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„ Example of Using in Positioner 2 Mode, Solenoid Valve Mode 1 or Solenoid Valve Mode 2
If a 0 number of axis is set in the simple direct/positioner 1 mode or direct numerical specification mode (positioning
mode), the positioner 2 mode, solenoid valve mode 1 or solenoid valve mode 2 can be set.

Part 2 Startup Chapter

*3 Every time a cell is clicked, its status cycles in the sequence of blank (not selected) Æ * (selected) Æ (*) (reserved
axis) Æ blank.

Can be set when the values in

these fields are 0.

Select a desirable mode.

„ Setting of reserved axes

You can set reserved axes in consideration of future expansion of axis configuration.

Chapter 5 Network Setup

Click the cell of each applicable axis to display the (*) mark.
An example of setting axes 2 to 3 as reserved axes in the positioner 1 mode is shown below.

Set as reserved axes *4

*4 Any axis of axis No. 0 to 15 can be set as a reserved axis.

The data areas of reserved axes are also treated as occupied.

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(4) Transferring the parameters

When all necessary items have been edited (set), transfer the parameters to the Gateway R unit.
Part 2 Startup Chapter

When transferring the parameters, set the operation mode of the Gateway R unit to “MANU.”

[1] Click the Transfer button.

[2] When a message box appears to confirm writing of parameters, click Yes (Y).
Chapter 5 Network Setup

[3] When all parameters have been written, click the OK button.

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Caution

Part 2 Startup Chapter

If one of the following warning messages appears, the parameters contain one or more invalid settings. Correct the
applicable setting or settings, and then transfer the parameters again.
x If not all items have been selected in the editing of operation mode for each axis, the following warning
message will appear and the transfer will stop.

x In a CC-Link system, a warning message will appear if the following condition is not satisfied and the transfer
will stop.
Selected station number + Number of occupied stations determined by the final number of selected axes –
1 (station number of the selected station) d 64

Chapter 5 Network Setup

Caution
If parameters are transferred while the Gateway R unit is operating in the AUTO mode, the following warning message will
appear. Change the operation mode to MANU and then transfer the parameters again.

If OK is clicked four times or more in the AUTO mode despite the warning, transfer will be forcibly terminated.

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z Reference
Part 2 Startup Chapter

Once the data has been transferred, the following screen opens.
You can check on this screen the PIO pattern number of the applicable controller you should set for the specified mode.
If the “Do not show this screen after the transfer” check box is selected in the bottom left-hand corner of the screen, this
screen will no longer appear from the next transfer.
Chapter 5 Network Setup

Caution
If the firmware version of the Gateway R unit does not support any new function you have set by a corresponding
parameter, an attempt to transfer the parameters will cause one of the following messages to appear and the transfer will be
cancelled. In this case, correct the setting of the applicable parameter by referring to (5), “Other settings” on the following
page and transfer the parameters again.
The “2W modes” include the positioner 2 mode, solenoid valve mode 1 and solenoid valve mode 2.

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If the parameter transfer has failed, the following warning messages will appear.

Part 2 Startup Chapter

(5) Other settings (Special parameters)
Perform the settings explained in this section if the following functions are used.
(i) Enable operation: Specify the control method of the controller to be applied when an enable operation is
performed.
(ii) Status latch after servo OFF upon occurrence of ERR_T:
Select whether or not to turn OFF the servo of each controller and disable commands for all axes upon
occurrence of ERR-T.
(iii) Servo OFF upon occurrence of ERR_C:
Select whether or not to turn OFF the servo of each controller upon occurrence of ERR-C.
(iv) Limit of speed (Limited to the direct numerical specification (positioning) mode):
Set either 1.0 mm/sec or 0.1 mm/sec as the unit of speed for axes for which the direct numerical specification
(positioning) mode is set.

[1] Open the special parameter setting screen.

Click [Settings] from the menu bar on the main screen of the ROBONET gateway parameter setting tool and

Chapter 5 Network Setup

select [Special Parameters].

Caution
[Special Parameters] remains grayed out until [Load], [Open] or [New] is selected.

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[2] Set the necessary items.

* Fewer setting items may be available depending on the versions of the ROBONET gateway parameter setting
Part 2 Startup Chapter

tool and firmware.

(i)

(ii)

(iii)

(iv)

(v)

(i) Enable operation --- If the enable function is enabled, you can select the control method of the controller
Chapter 5 Network Setup

to be applied when an enable operation is performed.

(Enable function is enabled = User setting switch (SW1) on the Gateway R unit is ON)
Selected item Operation
Decelerate the actuator to a stop, and then turn OFF
Shutdown control (factory setting)
the servo and shut down the drive source.
Decelerate the actuator to a stop, and then turn OFF
Servo control
the servo.

(iii) Status latch after servo OFF upon occurrence of ERR_T ---
You can select whether to turn OFF the servo of each controller and disable control commands upon
occurrence of ERR-T. The factory setting is to disable this function. (Firmware version 000F or later)

Caution : When starting the system

[While starting, the system is unstable and the likelihood of ERR-T occurring is high. Accordingly, start the system by
setting the control signal bit “RTE” to 1. (Refer to 3.7.2.)
Be sure to reset the “RTE” bit to 0 after confirming that the status signal bit “RUN” has switched to 1.

(iii) Servo OFF upon occurrence of ERR_C ---

You can select whether to turn OFF the servo of each controller upon occurrence of ERR_C. The factory setting
is to enable this function. (Firmware version 000C or later)

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(iv) Unit of speed (Limited to the direct numerical specification (positioning) mode) ---
You can set either 1.0 mm/sec or 0.1 mm/sec as the unit of speed for axes for which the direct numerical

Part 2 Startup Chapter

specification (positioning) mode is set. The factory setting is 1.0 mm/sec. (Firmware version 000C or later)

(v) ROBONET communication retry count --- You can set a desired number from 0 to 6 to specify how many times
ROBONET communication (communication between the ROBONET gateway and RACON or other unit) will be
retried if unsuccessful. The factory setting is 2. (Firmware version 000F or later)

Caution
[The unit of speed (limited to the direct numerical specification (positioning) mode) cannot be changed unless the direct
numerical specification (positioning) mode is set for at least one axis.

[3] When all special parameters have been set, click [Close] to close the screen. The following message appears.

Chapter 5 Network Setup

Click [Yes] to transfer the parameters. If [No] is selected, the parameters will not be transferred and any changes you
have made to the parameters will not become effective.

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(6) Restarting the Gateway R unit

The Gateway R unit must be restarted to make the transferred parameters effective.
Part 2 Startup Chapter

[1] When the parameter transfer is completed, a message box appears and prompts you to restart the unit, as
shown below. Click Yes (Y).

[2] After the unit has been restarted, a message box appears again, prompting you to load the parameters. Click
Yes (Y).
Chapter 5 Network Setup

[3] When the parameter load is completed, click the OK button. Confirm that the displayed parameters are correct.

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(7) Saving parameters

Save the gateway parameters you have set. Click the Save to File button in the top left-hand corner of the window,

Part 2 Startup Chapter

specify the destination and file name, and then click the Save (S) button.

Chapter 5 Network Setup

(8) Opening saved parameters
Click the Open File button in the top left-hand corner of the window, specify the file in which parameters are saved,
and then click the Open (O) button.

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Caution
Part 2 Startup Chapter

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

2. The following error message will appear if an attempt is made to open a parameter file created or saved with the setting
tool of a newer version than the tool currently used. In this case, update the setting tool to the latest version.
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(9) Creating new parameters

Click the Open File button in the top left-hand corner of the window to open the following screen.

Part 2 Startup Chapter

Select the network type and click the OK button. When the main screen for the selected network type appears, set
each parameter.

When CC-Link is selected as the network type

Chapter 5 Network Setup

Caution
The parameters created here can be transferred. If the network type of the Gateway R unit to transfer the parameters to is
different from the network type of the parameters, the following alarm message will appear at the time of transfer

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(10) Monitor Function

You can monitor data received from the master and data sent to the master.
Part 2 Startup Chapter

y
y You can also check how many communication errors (ERR-T, ERR-C) have occurred.

Caution
To use the monitor function, be sure to set the MODE switch on the Gateway R unit to the AUTO position. If this switch is in
the MANU position, invalid data is displayed.

[1] Clicking [Monitor] from the menu bar on the main screen of the ROBONET gateway parameter setting tool
opens the drop-down menu where you can select [I/O Data] or [Diagnostic Information] as shown below.
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[2]-1 Select [I/O Data], and the register monitor screen will appear. (The default display mode is hexadecimal. The
sample screen shown below is in the binary display mode.)

Part 2 Startup Chapter

Received data from master Sent data to master

Chapter 5 Network Setup

Data read cycle can be Display can be switched The contents of sent data and
changed. between binary and received data scroll together if
(100 to 500 ms) hexadecimal number displays. this box is checked.

The farthest left digit of data represents the F bit (bit 15), while the farthest right digit represents bit 0.

Address Data

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[2]-2 Select [Diagnostic Information], and the screen showing the number of occurrences of ERR-T/C will appear.
* Some items may not be displayed depending on the version of the ROBONET gateway parameter setting tool.
Part 2 Startup Chapter

Caution
ERR-T and ERR-C may occur immediately after the power is turned on, but these errors will not affect operations.
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(11) Auxiliary Setting Function

You can check the PIO pattern number of the applicable controller you should set for the mode set with the gateway

Part 2 Startup Chapter

parameter setting tool.

[1] Click [Help] from the menu bar on the main screen of the ROBONET gateway parameter setting tool, and then
select [PIO Pattern for Each Mode].

[2] Adjust the PIO pattern of the applicable controller (set by a parameter) to the mode you have just set.

Chapter 5 Network Setup

This screen also appears after transferring the parameters.
If the “Do not show this screen after the transfer” check box is selected in the bottom left-hand corner of the screen, this
screen will no longer appear after the transfer.

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5.2 Setting Up the Master

Part 2 Startup Chapter

5.2.1 CC-Link
To operate a CC-Link system, the network parameters of the PLC must be set. These parameters are set using Mitsubishi
Electric’s sequencer programming software GX-Developer.
x Network parameters
These parameters are set in the master station and include the number of CC-Link units connected, buffer memory of the
master station (RX, RY, etc.), address of the CPU device to be refreshed automatically, number of retries after failed
communication, and station information.
How each parameter is set is explained below, along with a setting example. For details, refer to the CC-Link operation
manual for your PLC.

PLC

Refer to a separately provided

operation manual for your PLC
when connecting the PLC to a
PC.
ROBONET
[For connection of a PLC with ROBONET,
refer to 2.2.8.]
Chapter 5 Network Setup

Connecting a PC with an USB:

CB-SEL-USB030, RCB-CV-USB and CB-RCA-SI0050
Connecting a PC with RS485:
RCB-CV-MW and CB-RCA-SI0050

(1) Launching GX-Developer

Launch GX-Developer and click New Project from the Project menu. The screen below opens.
Set the series and type of the applicable PC. In this example, “QCPU (Q mode)” and “Q00” are set under “PC Series”
and “ PC Type,” respectively. Click the OK button.

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(2) Setting the parameters

[1] In the project data list, double-click “Network Parameters.” When the network parameter selection dialog box

Part 2 Startup Chapter

appears, click the CC-Link button.

[2] When the CC-Link network parameter setting screen appears, set “1” under “Number of Units.”
(Master station is set for 1 in this operation.)

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[3] Set other parameters as shown below. “Mode Setting” should be set to “Remote Network Version 1 Mode,”
because the master is set as a version 1 remote device station according to the occupancy information
Part 2 Startup Chapter

reflecting the settings of ROBONET gateway parameters (refer to 5.2.2 (3), “Setting the operation mode of each
axis”).
Chapter 5 Network Setup

The system configuration parameters described in 5.2 are set as follows:

x “First I/O No.” --- I/O address of the master unit. Set to “0080.”
x “Total Number of Connected Units” --- Number of remote stations. Set to “1.”
x “Remote Input (RX) Refresh Device” --- X100
x “Remote Output (RY) Refresh Device” --- Y100 Assign the buffer memory of the
x “Remote Register (RWr) Refresh Device” --- D200 master station to the internal devices
x “Remote Register (RWw) Refresh Device” --- D100 of the PLC-CPU.
(Desired assignments can be
x Special Relay (SB) Refresh Device --- SB80
specified.)
x Special Relay (SW) Refresh Device --- SW80

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[4] Click the Station Information button to open the edit screen for station information unit 1, set the remote station
as shown below, and then click the Apply button at the bottom of the screen.

Part 2 Startup Chapter

The settings should conform to the occupancy information reflecting the settings of ROBONET gateway
parameter.
The ROBONET gateway parameter setting screen below applies to the example of system configuration used in
5.2.

Chapter 5 Network Setup

[5] Save the project.

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(3) Writing the parameters

Part 2 Startup Chapter

Write to the PLC the parameters you have set in (2).

[1] Specifying the connection destination

Click Specify Connection Destination (C) from the Online (O) menu. The following connection destination
specification screen appears.
Chapter 5 Network Setup

Confirm that the respective items are set as follows:

PC I/F: Serial USB
PLC I/F: CPU unit
Other Station: Other station not specified
If the settings are correct, click the OK button.

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[2] Writing
Click the PC write tool button to display the PC write dialog box.

Part 2 Startup Chapter

Chapter 5 Network Setup
In the PC write dialog box, click the Parameters + Programs button and then select “MAIN” and “PC/Network”
under “Programs” and “Parameters,” respectively.
Clicking the Write button starts the writing of parameters. When all parameters have been written, a confirmation
message box appears. Click OK and then Close to complete the parameter write.

[3] Resetting the PLC-CPU

The parameters will become effective when the CPU of the PLC is reset.

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5.2.2 DeviceNet
Part 2 Startup Chapter

Slave addresses are assigned using DeviceNet Configurator (addresses can be assigned freely).
This configurator by Omron comes preinstalled with the EDS files for Omron’s DeviceNet products. However, the EDS file for
ROBONET is not preinstalled and must be installed separately. Download the EDS file for ROBONET (robonet_2_1.eds) from
our website at the following address:

Website: http://www.intelligentactuator.com

In this section, the network configuration procedure using CX-Integrator based on free assignment is explained (using the
following system configuration as an example).

ROBONET
PLC

Refer to a separately
provided operation
manual for your PLC
when connecting the
PLC to a PC.
Chapter 5 Network Setup

[For connection of a PLC with

ROBONET, refer to 2.2.8.]

Connecting a PC with an USB:

CB-SEL-USB030, RCB-CV-USB and CB-RCA-SI0050
Connecting a PC with RS485:
RCB-CV-MW and CB-RCA-SI0050

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(1) PLC online connection

[1] Launching CX-Programmer

Part 2 Startup Chapter

x Connect the PLC and PC using a dedicated RS232C cable, and turn the PLC power on.
x Launch CX-Programmer.
x Select [PLC] from the menu bar, select [Automatic Online Connection], and then select [Direct Connection].

[2] Connecting with the PLC

x Select “Serial connection” in the [Direct Connection] screen.
x Select the COM port number to which the PLC is connected in the “PC serial port” field.
x Select the checkbox for “Connect at the communication speed of 115,200.”
x Click [Connect].
* If multiple “PC serial ports” exist, open Window’s Device Manager, and select the same port as the “COM port
number” described under “Ports (COM & LPT).”

Chapter 5 Network Setup

x When the following dialog box appears, click [No].

x When automatic connection is established, confirm that the connection is now online.
* The connection is online if the “ icon” is selected (depressed).

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(2) Creating an I/O table

Part 2 Startup Chapter

[1] Change the PLC operation mode to the “program mode.”

x Select [PLC] from the CX-Programmer menu bar, select [Operation Modes], and then select [Program].

x When the dialog box appears, click [Yes].

* Dialog boxes may not appear depending on the CX-Programmer environment settings. The following explanation
is based on the assumption that the checkbox for “Check all operations that affect the PLC” is selected.
Chapter 5 Network Setup

x Confirm that “Program Mode” is displayed to the right of the PLC model on the CX-Programmer project tree.

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[2] Creating an I/O table

x Select [PLC] from the CX-Programmer menu bar, select [PLC Information], and then select [I/O Table/Unit

Part 2 Startup Chapter

Settings].

x The I/O table window appears.

Chapter 5 Network Setup

x Select [Options] from the menu bar in the I/O table window, and then select [Create I/O Table].

x When the following dialog box appears, click [Yes].

x When the following dialog box appears, click [Yes].

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[3] Transferring an I/O table

Part 2 Startup Chapter

x When the [Transfer [PLC o PC]] dialog box appears, select the checkboxes for [I/O Table] and [High-Function
CPU Unit Settings Data], and click [Transfer].

x When the transfer has been successful, the [Transfer Result] dialog box will appear.
x If the result shows “Transfer successful: 1 unit” and “Transfer failed: 0 unit,” the I/O table has been successfully
created.
x Click [OK] after confirming that the transfer has been successful.
Chapter 5 Network Setup

x Bring CX-Programmer offline. Select [PLC] from the menu bar and then select [Online Connection].
* The connection is offline if the “ icon” is not selected (not depressed).

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(3) Installing the EDS file

Part 2 Startup Chapter

[1] Launching CX-Integrator
x Launch CX-Integrator.
x If the “Compo List window” is not displayed, select [Display] from the menu bar, select [Window] and then select
[Compo List].

Compo List window

Online connection information

[2] Installing the EDS file

x [Tools] from the menu bar, select [EDS File] and then select [Install].

Chapter 5 Network Setup

x Select the EDS file to be installed, “robonet_2_1.eds,” and click [Open].
* For the method of obtaining the EDS file, refer to the “Beginning of this section (5.2.2).”

x When the following dialog box appears, click [No].

x Select the [EDS (DeviceNet)] tab in the Compo List window, and confirm that the compo device that was installed
has been added.

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(4) Creating a network configuration

Part 2 Startup Chapter

[1] Registering the master unit online

x Select [Insert] from the CX-Integrator menu bar, and select [Network].

x When the “Wizard – Network/Compo Setup” dialog box appears, select [DeviceNet] and click [Next].

x Select the checkbox for [Not used] for Network address, and click [Finish].
Chapter 5 Network Setup

x Select [Insert] from the menu bar, and then select [Compo].

x Select the master unit from the Compo list, and click [Finish].

The master unit location will be as follows.

EDS
Ŋ Vender
ŊOMRON Corporation
ŊCommunications Adaptor
Ŋ Model of the master unit to be used

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x When the “Node address setup” dialog box appears, enter the node address and click [OK].

Part 2 Startup Chapter

x Confirm that the master unit has been registered to the Network configuration window.

[2] Registering a controller

x Select [Insert] from the menu bar, and select [Compo].

Chapter 5 Network Setup

x Select the slave unit to be connected from the Compo list, and click [Finish].

The slave unit location will be as follows.

x When the “Node address setup” dialog box appears, enter the node address and click [OK].

x Confirm that the slave unit has been registered to the Network configuration window.

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(5) Setting the configuration device

Part 2 Startup Chapter

[1] Registering the node address of the registration destination

x With the slave unit icon selected, right-click and select [Properties].

x When the dialog box for the connected slave unit appears, select the [I/O Information] tab and click [Edit].
Chapter 5 Network Setup

x When the [Change I/O Size] dialog box appears, select [Poll] for [Default], and enter the [Occupancy Information]
values specified in “ROBONET gateway parameter setting tool” in the [Out size] and [In size] fields under the [Poll]
section.
* The [Occupancy Information] can be checked on the main screen of the “ROBONET gateway parameter setting
tool.”

ROBONET gateway parameter setting tool

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x When the dialog box for the connected slave unit appears, confirm that the [Sizes] of the [Out/In] fields are set to

Part 2 Startup Chapter

the values entered, and click [Close].

x With the slave unit selected in the Network configuration window, right-click and select [Register to Another
Compo], and then select [Master Unit].

Chapter 5 Network Setup

x Confirm that the node address of the registration destination is displayed with the slave unit icon in the Network
configuration window.

x Right-click the master unit icon, and select [Parameters] and then select [Edit].

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x When the [Edit Device Parameters] dialog box appears, confirm that the slave unit has been registered to the [List
Part 2 Startup Chapter

of Registered Devices], and the [Out Size] and the [In Size] fields show the values that were entered, and click
[OK].
* The sizes are set to [24 bytes] in the figure below as the I/O sizes are set to “24 bytes.”
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(5) Transferring the Settings

Part 2 Startup Chapter

Bring the PLC connection online and transfer the settings.
If the CX-Programmer and other connections are online, bring them offline or terminate the connections.
When the settings have been successfully transferred, a remote I/O communication will start automatically.

[1] Transferring the settings to the PLC

x Select [Network] from the menu bar, and then select [Automatic Online Connection].

x Select “Serial Connection” in the [Direct Connection] screen.

x Select the COM port number to which the PLC is connected in the “PC serial port” field.
x Click [Connect].
* If multiple “PC serial ports” exist, open Window’s Device Manager, and select the same port as the “COM port
number” described under “Ports (COM & LPT).”

Chapter 5 Network Setup

x Right-click [DeviceNet] in the “Online Connection Information window” and select [Connect].

x Select [DeviceNet] in the [Network Selection] dialog box, and click [OK].

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x Confirm that [DeviceNet] in the “Online Connection Information window” has been brought to online (set to the
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icon).

Caution: If online connection cannot be established, check the connection status of CX-Programmer and bring it
offline, and perform this procedure again from the beginning after checking the cable connection and
connection configuration settings.

x Select [Network] from the menu bar, and then select [Transfer [PC o Network]].
Chapter 5 Network Setup

x When the dialog box is displayed, click [Yes].

The transfer will start.

x When the transfer is completed, the result will appear in the “Output window.”
The settings have been transferred successfully if the window displays “Error 0, Caution 0.”

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5.2.3 Profibus

Part 2 Startup Chapter

(1) Installing the GSD file
An example of installation using Siemens’s STEP7 HardWare Configuration (hereinafter referred to as “HW Config”) is
explained. To define a gateway, a GSD file for the gateway must be downloaded in advance. The GSD file you need is
“IAIOB2F.gsd,” which can be downloaded from our website.
In this section, the procedure is explained using the following system configuration as an example.

PLC

Refer to a separately
provided operation manual
for your PLC when
connecting the PLC to a
PC. ROBONET
[For connection of a PLC with ROBONET,
refer to 2.2.8.]

Connecting a PC with an USB:

CB-SEL-USB030, RCB-CV-USB and CB-RCA-SI0050
Connecting a PC with RS485:
RCB-CV-MW and CB-RCA-SI0050

Chapter 5 Network Setup

Launch the HW Config software and install the downloaded GSD file. Select Options from the menu bar and left-click
Install New GSD in the pull-down menu.

<Importing the GSD file>

When the GSD file has been successfully imported, a new “ANYBUS-PDP” level is created in the catalog window of HW
Config, as shown below.

<Catalog window after importing the GSD file>

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(2) Inserting the Profibus-DP master system

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Select Insert from the menu bar, select Master System in the pull-down menu, and left-click DP.
The Profibus-DP master system is inserted.
Chapter 5 Network Setup

<Inserting the master system>

When the insertion has been successful, the master system is displayed as shown below.

<Inserted Profibus-DP master system>

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(3) Inserting the gateway rack into the network

Part 2 Startup Chapter

Insert the rack module by dragging “ANYBUS-S PDP” in the catalog window and dropping it over the master system, as
shown below.
The address is set automatically. To change the address, do so in the Properties dialog box. The address of the gateway
rack must correspond to the address switch setting of the gateway.

Chapter 5 Network Setup

<Inserting the rack into the network>

(4) Setting I/O assignments – Inserting the universal module

Insert the universal module into the rack described in the preceding step, as shown below. Since the universal module
provides only up to 64 input bytes and 64 output bytes, another universal module must be inserted if 10 or more axes are
used.

<Inserting the universal module into the rack>

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Double-clicking the inserted universal module opens the Properties dialog box shown below.
Set “Out-input” under “I/O Type,” and set the output length and input length according to the occupancy information set
Part 2 Startup Chapter

by the ROBONET gateway parameter setting tool. In the example below, four numerical axes are connected. Since the
addresses are set automatically, change them if necessary.

<Setting the I/O lengths of the universal module>

Chapter 5 Network Setup

When the OK button is left-clicked, the settings are reflected in the universal module, as shown below.

<Universal module after the I/O lengths have been set>

All settings are now completed. Download the settings to the PLC.

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(5) Setting the I/O data consistency

Part 2 Startup Chapter

Under the normal settings, consistency of I/O data is assured in units of words or bytes for in the case of a Profibus
system. It is important that the command area be read and written in a manner maintaining consistency between the
command codes and parameters.
To access data consistently, consistency parameters must be set in HW Config and SFC14 or SFC15 must be used to
access data.
With command-related FBs, SFC14 or 15 is used to access the first five words in the command area.
Accordingly, consistency parameters must be set for the I/O area data corresponding to these five words, as explained in
the example below.

Chapter 5 Network Setup

Double-click or select Object Set “Total length,” not a unit (Byte or
Properties in the pull-down Word), under “Consistent over.”
menu.

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5.2.4 RS485SIO
Part 2 Startup Chapter

1. Modbus gageway mode

The procedures for setting and starting the master are explained below. If function blocks are to be used, download the
following file in advance from our website.
Dedicated ROBONET function block file: RBNET_RW
Website: http://www.iai-robot.co.jp

1. Set up the PLC

(1) Set the switches on the serial communication unit (SCU)
(2) Create an I/O table
(3) Set up the PLC system
(4) Set up the serial communication unit (SCU) software

p
2. Import the function block definitions
Download the dedicated ROBONET function block file (RBNET_RW) from the website to the PC.

p
3. Assign the function block definitions (Generate an instance) *
Insert a function block in the ladder section window.

p
Chapter 5 Network Setup

4. Set parameters for the function block *

Set parameters for the function block instance and assign I/Os for communication with external devices.

p
5. Create a ladder sequence

The above procedure applies to the Modbus gateway mode. Accordingly, set DIP switch 2 on the RS485SIO gateway unit to
the “OFF” (left) position. Function blocks can be used in the Modbus gateway mode.
* Steps 3 to 5 in the above flow are required when function blocks are used. If function blocks are not used, these steps can
be omitted.

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(1) Setting up the PLC

[1] Setting the switches on the serial communication unit (SCU)

Part 2 Startup Chapter

For details, refer to the operation manual for your PLC.
The following explains an example with the serial communication unit CJ1W-SCU41-V1.

Model number: CJ1W-SCU41-V1

LED indicators
Terminal resistor ON/OFF switch
Unit-number setting switch Setting switches
2/4-wire mode selector switch
Port 1
RS-422A/485
Port 1 is used.

Port 2
RS-233C

Chapter 5 Network Setup

„ Setting the unit number
Set a desired unit number between 0 and F to assign I/Os for communication with high-function CPU units.
High-function CPU units are units that mainly provide communication functions and include serial communication units,
DeviceNet master units and controller link units. If two or more of these units are used, set a unique number for each unit.
According to the unit number settings, 25 channels of internal assignment area are allocated for each unit.

„ Turning the terminal resistor on/off

The terminal resistor should be turned on. Accordingly, set this switch to the right position (TERM/ON).

„ 2/4-wire mode selection

The 2-wire mode is used. Accordingly, set this switch to the left position (WIRE/2).

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[2] Creating an I/O table

[a] Launch CX-Programmer (Version 7.0).
Part 2 Startup Chapter

[b] Connect CX-Programmer to the PLC.

You can connect CX-Programmer to the PLC by setting the network type, baud rate and other necessary
items in an offline state, or by selecting a connection port to automatically bring the connection online.
[c] Set the PLC operation mode to “Program.”
[d] Double-clicking “I/O Table/Unit Settings” in the workspace window opens the I/O table dialog box. From the
Options (O) menu, select Create I/O Table (R) and manually create an I/O table.

z The CJ series PLC has been shipped with the “Automatic generation upon power ON” setting enabled.
Accordingly, channel numbers (I/Os) are assigned automatically to the basic I/O units that are mounted when
the power is turned on, even when an I/O table is not yet registered. Take note that unit numbers must be set in
advance for high-function CPU units and high-function units such as serial communication units.

[3] Setting up the PLC system

Set the CPU operation.
[a] Bring the CX-Programmer and PLC connection online and set the PLC operation mode to “Program.”
[b] Double-click “PLC System Settings” in the workspace window to open the PLC System Settings dialog box.
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[c] Double-click the CPU Unit Settings tab in the PLC System Settings dialog box, and set the necessary items
in the “Communication Command Settings in FB” area as follows:

Part 2 Startup Chapter

x Number of Resends: Set the number of times the data will be resent if the PLC has experienced a
communication error while communicating with the gateway unit.
(Example) 5
x Response Monitoring Time/Communication Commands in FB:
Response monitoring time per communication cycle.
Set this monitoring time to 5 seconds or longer.

Chapter 5 Network Setup

[d] When the above items have been set, transfer the settings to the PLC.
Click Options (O), and click Transfer [PC Æ PLC] (P).

When a dialog box appears and asks if you want to transfer the settings to the PLC, click Yes.

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[4] Setting up the serial communication unit (SCU) software

In the same condition as in the previous step (online, program mode), set the operation of the serial
Part 2 Startup Chapter

communication unit.

[a] Double-click “I/O Table/Unit Settings” in the workspace window to open the I/O table. Double-click the serial
communication unit.
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[b] When the parameter edit dialog box for the serial communication unit appears, set the communication
parameters separately for the applicable port.

Part 2 Startup Chapter

The gateway unit and serial communication unit (CJ1W-SCU41-V1) are connected via the RS485 protocol.
Accordingly, the port to be used is “1” and each item is set as follows:
x Port 1 optional setting: Optional setting
x Port 1 serial communication mode: Serial gateway
x Port 1 data length: 8 bits
x Port 1 stop bit: 1 bit
x Port 1 parity: None
x Port 1 baud rate: Set the same baud rate specified for the
gateway unit.
(Example) 115200bps
x Monitoring time for serial gateway response timeout: 0 (default value)
x Monitoring time for serial gateway send start timeout: 0 (default value)

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[c] Once all necessary items have been set, click the Transfer [PC o Unit] (T) tab. When the transfer is
completed, the program prompts you to restart the unit. Click Yes.

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(2) Importing the function block definitions

[1] Before importing the definitions, download from our website the CXF file for dedicated ROBONET function

Part 2 Startup Chapter

block (file name: RBNET_RW).
[2] Launch CX-Programmer and keep it offline.
[3] Select File (F) from the menu bar and click New (N). The following screen appears.

[4] In the above screen, right-click the “Function Blocks” icon, click Insert Function Block (I), and click Library

Chapter 5 Network Setup

File (F).

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[5] When the function block library selection dialog box appears, specify the CXF function block file
(RBNET_RW) and opens the file from the location where it is saved.
Part 2 Startup Chapter

[6] When the import of function block definitions is completed, click OK.
Chapter 5 Network Setup

One more function block (J_SerialGateway_Cyclic) is imported. Be careful not to delete this function block.

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[7] If the import of function block definitions has been successful, the RBNET_RW.cxf file is now added to the
function block tree. (J_SerialGateway_Cyclic is also added simultaneously.)

Part 2 Startup Chapter

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(3) Generating an instance

Generate an instance of function block definitions in the ladder section window.
Part 2 Startup Chapter

[1] In the same condition as in (2) (PLC is offline), move the cursor to the location in the ladder section window
where you want to generate an instance, and press the “F” key. The window to call a new function block opens.

Bring the cursor to the

location where you want to
generate an instance.

[2] Perform the following operations in the function block call window:
„ In “FB Instance (I),” enter the name you want to assign to the FB (any
Chapter 5 Network Setup

name).
„ In “FB Definitions (D),” select the function block definitions (RBNET_RW)
that have been imported.
„ Click OK.

[3] An instance is created as follows.

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(4) Setting function block parameters

Set parameters for the function block instance generated in (3) to assign I/Os for communication with external devices.

Part 2 Startup Chapter

[1] Bring the cursor to the location where you want to set a parameter, and press the “P” key. When the parameter
edit window opens, set a value or address appropriate for the data type.

Chapter 5 Network Setup

Bring the cursor to the
location where you want to
set a parameter.

A red line is displayed along the left edge of the window until all parameters are set.

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[2] When all parameters have been set, the window should look like the one shown below.
Part 2 Startup Chapter
Chapter 5 Network Setup

Red line

z EN (the FB operates when this parameter is “ON”) and ENO (this parameter turns “ON” while the FB is
operating) at the top of the FB are connected using contact points and lines just like you do in a normal ladder
sequence.
z Each pair of variables shown on the right and left and connected by a horizontal line in the lower section of the
instance are I/O variables that can be directly read and written in the FB. Accordingly, these variables are used
for both input and output. With these I/O variables, setting a parameter for the left variable (input) automatically
sets the same address for the right variable (output).

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[3] When the cursor is moved to the next line in the function block, the red line in (2) disappears and the window
looks like the one shown below.

Part 2 Startup Chapter

The red line

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disappears.

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2. SIO Through Mode

Part 2 Startup Chapter

If the SIO through mode is to be used, refer to the operation manual on serial communication (Modbus version).
In this mode, the Gateway R unit exchanges data with the host master in units of bytes (at the specified baud rate). It
also exchanges data with the controller unit at the baud rage of 230.4 kbps. In other words, communication data is
passed to the host and subordinate devices through the Gateway R unit at different baud rates (according to the settings).
The communication mode of the host (Modbus/RTU or ASCII) is automatically detected by the controller unit.

Caution
1. The baud rates of 9600 bps and 19200 bps cannot be set in this mode.
2. If this mode is to be used, set the user setting switch SW2 on the Gateway R unit to the ON (right) position.
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5.3 Creating a Controller Position Table

Part 2 Startup Chapter

If the ROBONET system is to be used in the positioner mode or simple direct mode, a position table must be registered in the
controller beforehand. The items that must be set are summarized in the table below.

Positioner mode Simple direct mode

Position { X*
Speed { {
Acceleration { {
Deceleration { {
Positioning band { {

* In the simple direct mode, position data commands are specified directly by the PLC as numerical values.

For details, refer to Chapter 4, “Controller Unit” in “ROBONET Operation Manual – Specification” and the operation manual for
your PC software or teaching pendant.

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5.4 Address Correlation Diagram

Part 2 Startup Chapter

The correlation between the PLC’s I/O addresses (internal addresses) and the ROBONET addresses (gateway addresses)
over the network that has been set up is explained for CC-Link, DeviceNet and RS485SIO systems.
5.2 and 5.3 explained an example of network configuration and the configuration procedure. The descriptions in this section
assume the settings used in this example.
A PLC sequence for ROBONET operation can be created based on the applicable settings.

Chapter 5 Network Setup

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5.4.1 Address Correlation Diagram for CC-Link System (Example)

Part 2 Startup Chapter

Gateway R unit (RGW-CC) (station number 1)

Buffer memory of master station
(station number 0)

Input register Upper byte Lower byte

Gateway status signal 0
Gateway status signal 1
Response command
Data 0
Data 1
Refreshed Data 2
automatically.
Data 3
(Cannot be used)
Chapter 5 Network Setup

Output register Upper byte Lower byte

Gateway control signal 0
Gateway control signal 1
Request command
Data 0
Refreshed
Data 1
automatically.
Data 2
Data 3
(Cannot be used)

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Output register Upper byte Lower byte

(Axis 0) Position data specification (L)

(Axis 0) Position data specification (H)

(Axis 0) Position number

(Axis 0) Control signal
(Axis 1) Position data specification (L)

(Axis 1) Position data specification (H)

Refreshed
automatically. (Axis 1) Positioning band specification (L)

(Axis 1) Positioning band specification (L)

(Axis 1) Speed specification

(Axis 1) Acceleration/deceleration spec.

Chapter 5 Network Setup

(Axis 1) Push current limiting value

(Axis 1) Control signal

Input register Upper byte Lower byte

(Axis 0) Current position data (L)

(Axis 0) Current position data (H)

(Axis 0) Position number

(Axis 0) Status signal
(Axis 1) Current position data (L)

(Axis 1) rrent position data (H)

Refreshed
automatically. (Axis 1) Current ampere value (L)

(Axis 1) Current ampere value (H)

(Axis 1) Current speed

(Axis 1) (Cannot be used)
(Axis 1) Alarm
(Axis 1) Status signal

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5.4.2 Address Correlation Diagram for DeviceNet System (Example)

Part 2 Startup Chapter

Master station (station number 63) Gateway R unit (RGW-DV) (station number 0)

PLC address Gateway register (PLC output) Corresponding channel

(channel number) Upper byte Lower byte (node address)
Gateway control signal 0
Gateway control signal 1
Request command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Position data specification (L)
(Axis 0) Position data specification (H)
(Axis 0) Position number
Refreshed
automatically.
(Axis 0) Control signal
(Axis 1) Position data specification (L)
(Axis 1) Position data specification (H)
(Axis 1) Positioning band specification (L)
(Axis 1) Positioning band specification (H)
(Axis 1) Speed specification
(Axis 1) Acceleration/deceleration spec.
(Axis 1) Push current limiting value
(Axis 1) Control signal
Chapter 5 Network Setup

PLC address Gateway register (PLC input) Corresponding channel

(channel number) Upper byte Lower byte (node address)
Gateway status signal 0
Gateway status signal 1
Response command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Current position data (L)
(Axis 0) Current position data (H)
(Axis 0) Completed position number
Refreshed
automatically.
(Axis 0) Status signal
(Axis 1) Current position data (L)
(Axis 1) Current position data (H)
(Axis 1) Current ampere value (L)
(Axis 1) Current ampere value (H)
(Axis 1) Current speed data
(Cannot be used)
(Axis 1) Alarm
(Axis 1) Status signal

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5.4.3 Address Correlation Diagram for RS485SIO System (Example)

Part 2 Startup Chapter

The following diagram assumes the Modbus gateway mode and use of a function block.

PLC Gateway R unit (RGW-SIO)

Address assignments
Function block Gateway register (PLC output)
Variable name Set address Address
Upper byte Lower byte
Gateway control signal 0

Gateway control signal 1

Request command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Position data specification (L)
(Axis 0) Position data specification (H)
(Axis 0) Position number
(Axis 0) Control signal
(Axis 1) Position data specification (L)
(Axis 1) Position data specification (H)
(Axis 1) Positioning band specification (L)

Chapter 5 Network Setup

(Axis 1) Positioning band specification (H)
(Axis 1) Speed specification
(Axis 1) Acceleration/deceleration spec.
(Axis 1) Push current limiting value
(Axis 1) Control signal

Address assignments
Function block Gateway register (PLC input)
Address
Variable name Set address Upper byte Lower byte
Gateway status signal 0

Gateway status signal 1

Response command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Current position data (L)
(Axis 0) Current position data (H)
(Axis 0) Completed position number
(Axis 0) Status signal
(Axis 1) Position data specification (L)
(Axis 1) Position data specification (H)
(Axis 1) Current ampere value (L)
(Axis 1) Current ampere value (H)
(Axis 1) Current speed data
(Cannot be used)
(Axis 1) Alarm
(Axis 1) Status signal

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Chapter 6 Setting for External SIO Link and Other

Part 2 Startup Chapter

6.1 SCON/PCON-CF Settings and Signal Assignments

SCON controllers can be operated only in the positioner mode. They cannot be operated in the pulse-train input mode. For
SCON controllers, set the parameters as follows.

(1) User parameters

: Applicable X: Not applicable
No. Name Description of setting (change) SCON PCON-CF
SIO baud rate 38400 bps (Default)
16
Change to 230400 bps.
Minimum delay for slave 5 msec (Default)
17
transmitter activation Change to 2 msec.
PIO pattern selection Default: 0 (Standard type)
18
Set a value between 0 and 5. *
PIO power monitoring Default: 0 (Enable)
19 X
Change to 1 (Disable).

* The maximum positions that can be registered varies depending on the mode.

(2) Piano switches (Limited to SCON controllers)

Set piano switch 1 on the front panel of the SCON to the OFF position to change to the positioner mode.
(3) Mode selector switch
Set the mode selector switch on the front panel of the SCON/PCON-CF to MANU.
(4) Signal assignment
The assignment of each signal for the SCON/PCON-CF is the same as with the RPCON/RACON. Refer to “ROBONET
Specification.”
Chapter 6 Setting for External SIO Link and Other

(5) Set the axis number using the rotary switches.

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6.2 Other

Part 2 Startup Chapter

Items to note regarding the condition of user setting switch SW1 on the Gateway R unit are given below.
(1) When SW1 = OFF (TP enable switch signal disabled)
The TP enable switch signal of each connected RPCON, RACON, PCON-CF or SCON controller becomes ineffective
regardless of the enable operation parameter set by the gateway parameter tool.
(2) When SW1 = ON (TP enable switch signal enabled)
[1] When the enable operation parameter is set to “Shutdown control”
When the TP enable switch is disabled, each connected RPCON, RACON, PCON-CF or SCON controller stops (the
axis decelerates to a stop o the servo turns off o the drive source is cut off).
[2] When the enable operation parameter is set to “Servo control”
When the TP enable switch is disabled, each connected RPCON or RACON controller stops (the axis decelerates to
a stop o the servo turns off), but each PCON-CF or SCON controller corresponding to an external link axis does not
stop and continues to operate.

The table below summarizes the above information.

Operations when the TP enable switch is enabled

Enable operation set by the parameter setting tool

Shutdown (default) Servo control
Axis operation RACON or The axis decelerates to a stop Æ the servo The axis decelerates to a stop o the
when the TP RPCON turns off o the drive source is cut off servo turns off
enable switch (Same as when an emergency stop is
is disabled actuated.)
External link The axis decelerates to a stop Æ the servo The axis does not stop (operation
axis turns off o the drive source is cut off continues). *
(Same as when an emergency stop is
actuated.)

Chapter 6 Setting for External SIO Link and Other

Processing by the Gateway x Drive-source cutoff signal ON o RY2 x Drive-source cutoff signal OFF o RY2
R unit when the TP enable contacts “Open” contacts “Closed”
switch is disabled x Enable signal (disabled state) passed to x Enable signal (disabled state) passed
the RACON or RPCON controller o to the RACON or RPCON controller o
(The controller causes the actuator to (The controller causes the actuator to
decelerate to a stop and then the servo decelerate to a stop and then the servo
turns off). The enable signal is not output turns off). The enable signal is not
to external link axes. output to external link axes.

* The drive-source cutoff signal of the Gateway R unit remains OFF and the TP enable signal is not output to external link
axes. Accordingly, the operation does not stop even when the TP enable switch is disabled.

Caution
To enable the TP enable operation when external SIO link axes are used, set the enable operation to “Shutdown (default).”
The emergency stop line signal (EMG+, EMG-) is output to external SIO link axes, but the TP enable signal is not output to
these axes.

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Part 3 Maintenance
Chapter 1 Troubleshooting
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1.1 Actions to Be Taken upon Problems

If you encountered a problem, follow the procedure below for speedy recovery and to prevent the same problem from
occurring again:
a. Check the LED indicators on the Gateway R unit
RUN/ALM, ERROR-T, ERROR-C, STATUS-0, STATUS-1, EMG
b. Check the host controller (PLC master station) for abnormality
c. Check the LED indicators on the controller unit
SV/ALM, TX/RX, STATUS0 to STATUS3
(If the ALM LED is illuminating in red, the STATUS0 to STATUS3 LEDs indicate an applicable simple alarm
code.)
d. Check the LED indicators on the simple absolute R unit
RDY/ALM, STATUS0 to STATUS1
e. Check if the power-supply voltage is within a range of 24 V r 10%
With a DeviceNet system, check the communication power supply (24 V).
f. Check the wiring of the ROBONET communication connection board, simple absolute connection board, motor
cable and encoder cable
Chapter 1 Troubleshooting

g. Check the network cable connection

(In particular, pay attention to the connection points on the terminal block and connector.)
h. Check the installation condition of network terminal resistor and their resistance values
i. Conduct operation check using the teaching pendant or PC software
Connect the teaching pendant or PC software to the Gateway R unit and set the MODE switch to “MANU.” In
this condition, operate each axis and check if an alarm generates.
j. Check the I/O signals transmitted between the PLC and controller unit
[1] On the PLC side, check the I/O signals using the monitor function of a dedicated tool (Mitsubishi GX
Developer, Omron CX Programmer, etc.)
[2] On the control unit side, check the I/O signals using the status monitor function of the teaching pendant or
PC software.
[3] Confirm that the I/O signals checked in steps [1] and [2] above are consistent.
k. Identify the background leading to the problem as well as the operating condition when the problem occurred
l. Analyze the cause of problem
m. Take appropriate actions

If the problem cannot be resolved, contact IAI after conducting the checks in a to k.

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1.2 Alarms of the Gateway R unit

The Gateway R unit indicates various alarms using the LED indicators provided on the front face of the unit.
The four LEDs of RUN/ALM, EMG, ERR-T and ERR-C indicate the same conditions regardless of the gateway type (common
alarm indicators).

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The STATUS0 and STATUS1 LEDs are status (alarm) indicators and what they indicate varies depending on the gateway
type.
Two or more common alarm indicators and status indicators are actuated for each alarm depending on the nature of the
alarm.

Common alarm indicators

LED indicators
(Indicated conditions are the same
with all Gateway types.)

Status (alarm) indicators

(Indicated conditions vary
MODE switch depending on the Gateway type.)

TP connector

Chapter 1 Troubleshooting
Front view of
Gateway R unit

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1.2.1 Common Alarms

The table below lists the alarms and their descriptions.
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Displayed
LED name Condition Action
color
RUN/ALM Green Normal -
Orange An alarm is present (applicable to all Check the ERROR-T/C and STATUS-0/1
alarms). LEDs.
EMG Red An emergency stop is actuated. Check the emergency-stop pushbutton and
emergency-stop circuit.
Unlit An emergency stop is not actuated. -
ERROR-T Unlit Normal -
Orange ROBONET communication error
[1] The axis configuration parameters do [1] Review the parameter settings and
not match the actual axis configuration address setting.
(address).
[2] Internal bus communication with the [2] Check the status of the SV/ALM and
controller experienced an error. TX/RX LEDs on the controller unit to
identify the axis that generated the
error.
Turn off the power and then turn it
Chapter 1 Troubleshooting

back on.
Check the ROBONET communication
connection board for proper insertion.
[3] Not all controllers are ready. [3] The ROBONET link is operating
normally, but the CRDY signal of a
specific axis is turned OFF. Monitor
each axis to identify and replace the
problem axis.
ERROR-C Unlit Normal -
Orange Fieldbus communication error Check the details using the STATUS0 and
1 LEDs.

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1.2.2 Alarms by Field Network Type

The alarms indicated by the STATUS0 and STATUS1 LEDs vary depending on the field network type, as shown below.

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(1) CC-Link

Displayed
LED name Condition Action
color
STATUS-1 Unlit [1] Normal -
[2] Reset process is in progress. -
Orange [1] CRC error (*1) [1] Noise in the communication line or
disconnected communication cable is
suspected, among others. Check the
applicable items and take an
appropriate action.
[2] Review the station number setting.
[2] A station number setting error
occurred after a reset. (*2) [3] Set the MODE switch on the master
[3] A baud rate setting error occurred side to 4 or smaller.
after a reset. (*3)
Blinking The station number or baud rate changed -
orange from the specified value after a reset.

Chapter 1 Troubleshooting
(0.4 sec)
STATUS-0 Green [1] Refresh or polling data was received -
successfully after joining the network.
[2] Refresh data was received
successfully.
Unlit [1] The unit is yet to join the network. This condition indicates that the unit is
[2] Channel carrier waves were detected. offline, meaning that it is not linked to the
[3] A timeout occurred. host master.
[4] Reset process is in progress. Check the power supplies of the master
and gateway unit, communication cable,
station number and baud rate settings of
the gateway unit, and network parameter
settings of the master.

(*1) CRC: Cyclic Redundancy Check

A data error detection method widely used in synchronous transmission.
(*2) Since the station number of the master is normally set to 0, the setting range is 1 to 64. The number of stations, including
occupied stations, must not exceed 64.
(*3) The Gateway R unit and master communicate with each other when the master is in the online mode. In the online mode,
the MODE switch on the master is set to any one of 0 to 4 (when QJ61BT11N is used).

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(2) DeviceNet
Displayed
LED name Condition Action
color
STATUS-1 Unlit Offline/no power Communication with the master is not yet
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established. Check the DeviceNet

communication power supply (+24 V),
power supply of the gateway unit,
communication cable, etc.
Green The unit is online and connection has been
-
established (normal).
Blinking The unit is online but connection has not The occupancy information or station
green been established yet. number of the master is inconsistent with
(1 Hz) the corresponding information of the
gateway unit. Review these settings.
Orange Fatal error Replace the gateway unit.
Blinking Connection timeout The master cannot be recognized.
orange Check the condition of the master and
(1 Hz) communication cable.
Alternating Self-diagnosis is being performed.
-
red/green
STATUS-0 Unlit No power Check the power supply of the gateway
unit.
Chapter 1 Troubleshooting

Green Normal operation (normal) -

Blinking Configuration information is not available or Check the configuration settings again.
green (1 Hz) incomplete.
Orange Irrecoverable failure Replace the gateway unit.
Blinking Recoverable failure Reconnect the power.
orange (1 Hz)
Alternating Self-diagnosis is being performed.
-
orange/green

(3) Profibus
Displayed
LED name Condition Action
color
STATUS-1 Unlit Offline/no power Communication with the master is not yet
established. Check the station number
setting, power supply, communication
cable, etc.
Green Online (data exchanged) (normal) -
Blinking Online (data cleared) A clear command is being received from
green the master following a network error. Reset
the master.
Orange Parameter error Check the network parameters again.
Blinking Configuration error The occupancy information of the master is
orange different from that of the gateway unit. The
coverage of the gateway unit may be
smaller. Check the settings again.
STATUS-0 Unlit No power, or initialization not yet Check the power supply.
performed
Green Initialization has completed (normal). -
Blinking Initialization has completed (diagnosis Reconnect the power.
green event triggered).
Orange Exceptional error Replace the gateway unit.

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(4) RS485SIO
Displayed
LED name Condition Action
color
STATUS-1 Unlit Data send stopped -

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Green Sending data -
STATUS-0 Unlit Data receive stopped -
Green Receiving data -
* These are not alarm signals.

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1.2.3 Examples of Indicator Statuses Corresponding to Representative Alarms

Examples of indicator statuses corresponding to representative alarms are shown for CC-Link and DeviceNet systems.
(1) CC-Link
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z: Lit {: Unlit ~: Blinking

Gateway unit Master
ERROR-T ERROR-C STATUS-1 STATUS-0 ERR Operation/condition
(Orange) (Orange) (Orange) (Orange) (Red)
{ { { z { Normal
{ { { { z The 24-V power supply of the gateway unit is turned off.
{ z { { { The power supply of the master is turned off.
{ z { { The network cable is disconnected.
The ROBONET communication connection board is
z { { z {
detached.
The station number setting of the gateway unit is different
{ z { { z
from the station number registered to the master.
The baud speed setting of the master is different from the
{ z { { z
corresponding setting of the gateway unit.
The axis configuration (occupancy information) of the
z z { z {
gateway unit is different from the actual configuration.
The master network parameter for number of connected
{ { { z ~
Chapter 1 Troubleshooting

units is different from the actual number of units.

{ z { { z The master network parameter for station type is wrong.
The master network parameter for number of occupied
{ z { { z
station is wrong.

(2) DeviceNet
z: Lit {: Unlit ~: Blinking
Gateway unit Master
ERROR-T ERROR-C Operation/condition
STATUS-1 STATUS-0 NS
(Orange) (Orange)
{ { z Green z Green z Green Normal
{ z z Green z Green ~ Red The 24-V power supply of the gateway unit is turned off.
{ z ~ Orange z Green { The power supply of the master is turned off.
{ z { z Green ~ Red The network cable is disconnected.
The ROBONET communication connection board is
z { z Green z Green z Green
detached.
The station number setting of the gateway unit is different
{ ~ ~ Green z Green ~ Red
from the station number registered to the master.
The axis configuration (occupancy information) of the
{ ~ ~ Green z Green ~ Red
gateway unit is different from the actual configuration.
{ ~ ~ Green z Green ~ Red The I/O size setting in the master scan list is wrong.
The station number setting (switch) of the master unit has
{ z ~ Orange z Green ~ Red
been changed after the network was set up.

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1.3 Alarms of the Controller Unit and Simple Absolute R Unit

1.3.1 Overview of Alarms

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(1) The status monitor LEDs shown below are provided on the front face of the RACON and RPCON units. When an alarm
generates, the nature of the alarm can be checked using these LEDs.
Symbol Explanation
Front face of unit This LED illuminates in red when an alarm is present or emergency stop
is actuated (if an emergency stop is actuated, STATUS0 to 3 remain
SV/ALM unlit).
The LED illuminates in green when the servo is ON, and remains unlit
when the servo is OFF.
Communication line status (This LED illuminates in green when data is
TX/RX
being sent, and in yellow when data is being received.)
STATUS3
When an alarm occurs, these LEDs indicate the applicable simple alarm
STATUS2
code.
STATUS1
(When the servo is ON, these LEDs are used to monitor current.)
STATUS0
This LED illuminates in yellow while the brake is released, and remains
BK (RLS)
unlit while the brake is actuated.

Chapter 1 Troubleshooting
When an alarm occurs, the applicable simple alarm code is indicated as a binary code by the STATUS0 to STATUS3 LEDs.
To be able to check the nature of alarms in more details, connect the PC software or teaching pendant to the Gateway R unit,
select the target axis, and monitor alarms.
When the gateway unit is operating in the positioner mode or simple direct mode, a simple alarm code is output, only if an
alarm has occurred, in the completed position number area (PM1 to PM512) of the gateway unit. Accordingly, alarms can be
monitored by the host PLC through monitoring of this area. The host PLC can also read alarm codes (not simple alarm codes)
using commands.
If the gateway unit is operating in the direct numerical specification mode, alarm codes (not simple alarm codes) are output in
the alarm code area of the gateway unit. Accordingly, alarms can be monitored by the host PLC through monitoring of this
area.

(2) Three status monitor LEDs are provided on the front face of the simple absolute R unit. When an alarm has generated or
other problem has occurred, check the status of these LEDs.
The details are described in 5.4.2 of “ROBONET Operation Manual – Specification.” The tables below provide an
overview.

RDY/ALM RDY/ALM
Operation Operation
Steady green Steady red Blinking green Blinking red
{ - System normal { { Update mode *
- { System abnormal

STATUS1 STATUS0
Operation Operation
Steady green Steady red Steady green Steady orange Steady red
Absolute reset completed Battery fully
{ - { - -
(RDY illuminating in green) charged
Absolute reset not yet
Battery
- { completed (RDY illuminating - { -
in green) charging
FPGA notification error Battery not
- { (RDY illuminating in red)
- - {
connected
* The unit is in the update mode. Disconnect the battery and set piano switch 3 to the “OFF” position. For information on how
to set the piano switches, refer to 4.2, “Setting the Configuration Switches.”

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Alarms are classified into two levels based on the symptoms associated.

Alarm level ALM lamp ALM signal logic Condition of generation Reset method
Input the alarm reset signal
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Operation After deceleration stop (RES) from the PLC.

Lit “1”
cancellation Servo OFF Perform a reset action from
the PC/teaching pendant.
After deceleration stop
Cold start Lit “1” Reconnect the power.
Servo OFF

* The ALM signal uses the positive logic.

After the power is turned on, this signal remains “0” while the system is normal, and turns “1” if an alarm has occurred.
(Since the signal becomes “0” when the power is cut off, it cannot be used as an interlock signal.)

„ How to reset operation-cancellation alarms

Input the alarm reset (RES) signal for 6 msec or longer.
The ALM signal will return to “0” after the above period. Confirm the “0” status and then set the RES signal to “0” (OFF).
6 msec or longer
Chapter 1 Troubleshooting

Alarm reset (RES)

Alarm (ALM)
Alarm status Alarm reset

Caution
Reset each alarm after identifying and removing its cause.
If the cause of the alarm cannot be removed, or the alarm cannot be reset even after its cause has been removed, contact
IAI.
If the same alarm generates again after a reset, the cause of the alarm has not been removed. In this case, repeating the
reset action may result in a burned motor or other undesired condition. Be sure to identify the cause and remove it before
resetting the alarm.

An alarm list for RACON and RPCON is provided on the next page.

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Alarm List *
STATUS Simple Alarm Reset
Alarm name RPCON RACON
3 2 1 0 code code method
90 Software reset command with servo ON { {

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91 Position number error during teaching { {
{ { z { 2
92 PWRT signal detection during movement { {
93 PWRT signal detection before home return { {
80 Movement command with servo OFF { {
Absolute position movement command before home
83 { {
return
{ { z z 3
84 Movement command during home return { {
85 Position number error during movement { {
A7 Command deceleration error { {
{ z { { 4 F4 Unmatched PCB error z { {
A1 Parameter data error { {
{ z z { 6 A2 Position data error { {
A3 Position-command information data error { {
B6 Phase-Z detection timeout x {
B7 Indeterminable magnetic pole z x {
{ z z z 7 B8 Excitation detection error z { x
BA Home sensor not detected { {

Chapter 1 Troubleshooting
BE Home return timeout { {
z { { { 8 C0 Excessive actual speed { {
C8 Overcurrent z x {
C9 Overvoltage { {
CA Overheat { {
z { { z 9
CB Current-sensor offset adjustment error z x {
CC Control power-supply voltage error { {
CE Control power-supply voltage low { {
D8 Deviation overflow { {
z { z z B D9 Software stroke limit over error { {
DC Push & hold operation out-of-range error { {
C1 Servo error { {
D2 Excessive motor power-supply voltage { x
z z { { C
E0 Overload z x {
F0 Driver logic error z x {
E5 Encoder receive error z x {
E8 Phase A/B open z { {
E9 Phase A open z { {
z z { z D EA Phase B open z { x
ED Absolute encoder error (1) z { x
EE Absolute encoder error (2) { {
EF Absolute encoder error (3) { {
z z z { E FA CPU error z { {
F5 Nonvolatile memory write verification error { {
z z z z F F6 Nonvolatile memory write timeout { {
F8 Damaged nonvolatile memory data z { {
{: Unlit z: Lit {: Available X: Not available
* Alarms denoted by z in the “Reset method” field are cold-start alarms. These alarms cannot be reset unless the power is
turned off once. Other alarms can be reset by inputting the reset signal.

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1.3.2 Alarms, Causes and Actions

(1) Operation-cancellation alarms (These alarms can be reset with the reset signal.)
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Code Alarm name Cause/action

080 Movement Cause: A movement command was issued as a numerical command when the servo
command with was OFF.
servo OFF Action: Confirm that the servo is ON (SV or PEND is “1”) before issuing a movement
command.
083 Numerical Cause: A numerical command involving an absolute position was issued before home
command before return was completed. (Simple direct or direct numerical command mode)
home return Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
084 Movement Cause: A movement command was issued as a numerical command while home return
command during was in progress.
home return Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
085 Position number Cause: A position number not yet registered in the position table was specified in the
error during positioner mode.
movement Action: Check the position table again.
090 Software reset Cause: A software reset command was received when the servo was ON.
with servo ON Action: Send a software reset command to the controller after confirming that the servo
Chapter 1 Troubleshooting

is OFF (SV is “0”).

091 Position number Cause: An invalid position number was specified when writing the current position via
error during teaching operation.
teaching Action: 768 position numbers from 0 to 767 can be used with the RACON and RPCON.
Use position numbers within this range.
092 PWRT signal Cause: The current position write signal (PWRT) was input during jogging when
detection during teaching operation was performed in the positioner mode.
movement Action: Input the PWRT signal after confirming that no jog button is pressed and that
the axis is stopped (MOVE signal is “0”).
093 PWRT signal Cause: The current position write signal (PWRT) was input before home return was
detection before completed when teaching operation was performed in the positioner mode.
home return Action: Input the HOME signal first to perform home return and confirm the completion
of home return (HEND signal is “1”) before inputting the PWRT signal.

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Code Alarm name Cause/action

0A2 Position data Cause: [1] A movement command was input when a target position was not set in the
error “Position” field.
[2] The target position in the “Position” field exceeds the specified soft limits.
Action: [1] Set a target position first.

Part 3 Maintenance
[2] Change the target position to a value within the specified soft limits.
0A3 Position Cause: The speed or acceleration/deceleration in the numerical command exceeds the
command data maximum setting.
error Action: Change the speed or acceleration/deceleration to an appropriate value.
0A7 Command When the target position is near a soft limit and the deceleration is set low, issuing a
deceleration error command with the applicable position number while the actuator is moving may cause the
actuator to exceed the soft limit.

Deceleration starting position not

resulting in soft limit overshoot If a command is issued at this position,
the soft limit will be exceeded.

Soft limit

Chapter 1 Troubleshooting
Cause: The next movement command was not issued quick enough after a speed
change implemented while the actuator was moving.
Action: Change the speed quickly so that the actuator will not overshoot by exceeding
the soft limit.
0B5 Phase Z position The position at which phase Z was detected during the home return was outside the
error specified range, or phase Z was not detected.
Cause : Defective encoder
Action : Contact IAI.
0B6 Phase-Z This controller performs magnetic-pole phase detection (pole sensing) when the servo is
detection timeout turned on for the first time after the power ON. This alarm indicates that the encoder
(RACON only) phase-Z signal could not be recognized within the specified time.
x When the detail code is H’0001:
Pole sensing operation + Magnetic pole check
x When the detail code is H’0002:
Operation after reversing upon push & hold action following a home return
Cause: [1] Loose or disconnected encoder-relay or motor-extension cable connector
[2] Brake cannot be released on an actuator equipped with brake.
[3] Large motor load due to application of external force
[4] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the extension cables.
[2] Check the wiring condition of the brake cable. Also, turn on/off the brake
release switch and check if the brake makes “click” sounds.
[3] Check for abnormality in the assembly condition of mechanical parts.
[4] If the payload is normal, cut off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected, such as when a faulty encoder is a likely
cause, please contact IAI.

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Code Alarm name Cause/action

0BA Home sensor not This alarm indicates that the actuator equipped with the home check sensor has not yet
detected successfully completed the home return operation.
Cause: [1] The work part contacted a surrounding equipment or structure during home
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return.
[2] The slide resistance of the actuator is high in some location.
[3] The home check sensor is not properly installed, faulty or open.
Action: If the work part is not contacting any surrounding equipment or structure, [2] or
[3] is suspected. Please contact IAI.
0BE Home return Cause: Home return does not complete after elapse of the time set by the applicable
timeout manufacturer’s parameter following the start of home return operation. (This
alarm does not generate in normal operations.)
Action: The controller and actuator combination may be wrong, among others.
Please contact IAI.
0C0 Excessive actual Cause: The motor speed exceeded the maximum speed set by the applicable
speed manufacturer’s parameter. Although this alarm does not generate in normal
operations, it may occur if the load decreased before a servo error was detected
and the actuator moved quickly as a result, which can be caused by various
reasons including the following:
[1] The slide resistance of the actuator is high in some location.
[2] The load increased due to momentary application of external force.
Action: Check the assembly condition of mechanical parts for any abnormality.
Chapter 1 Troubleshooting

If the actuator itself is suspected as the cause, please contact IAI.

0C1 Servo error This alarm indicates that the motor could not be operated for 2 seconds or more after the
(RPCON only) movement command was accepted and before the target position was reached.
Cause: [1] The motor-extension cable connector is loose or open.
[2] If the actuator is equipped with a brake, the brake cannot be released.
[3] The load increased due to application of external force.
[4] The slide resistance of the actuator itself is high.
Action: [1] Check the wiring condition of the motor-extension cable.
[2] Check the wiring condition of the brake cable. Also, turn on/off the brake
release switch and check if the brake makes “click” sounds.
[3] Check the assembly condition of mechanical parts for any abnormality.
[4] If the payload is normal, turn off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected as the cause, please contact IAI.
0C9 Motor This alarm indicates that the motor power-supply voltage is excessively high (24 V + 20%:
power-supply 28.8 V or above).
overvoltage Cause: [1] The 24-V input power-supply voltage is high.
[2] A faulty part inside the controller
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.

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Code Alarm name Cause/action

0CC Control This alarm indicates that the 24-V input power-supply voltage is excessively high (24 V +
power-supply 20%: 28.8 V or above).
overvoltage Cause: [1] The 24-V input power-supply voltage is high.
[2] A faulty part inside the controller

Part 3 Maintenance
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
0CE Control This alarm indicates that the 24-V input power-supply voltage is low (24 V - 20%: 19.2 V
power-supply or below).
voltage low Cause: [1] The 24-V input power-supply voltage is low.
[2] A faulty part inside the controller
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
0D2 Motor Cause: [1] The input power-supply voltage of the motor is high.
power-supply [2] A faulty part inside the controller
overvoltage Action: Check the input power-supply voltage of the motor.
(RACON only) If the voltage is normal, please contact IAI.
0D8 Deviation The position deviation counter has overflowed.
overflow Cause: [1] The speed dropped during movement due to the effect of an external force,
etc.
[2] The acceleration is set too high for the loading mass.
Action: [1] Check the load conditions—such as whether the work part is contacting a

Chapter 1 Troubleshooting
surrounding object or the brake is released—and then correct the
abnormality, if any.
[2] An overload condition is suspected, so review the payload.
0D9 Soft limit over Cause: The current position of the actuator is outside the software stroke limits
error following the completion of home return.
Action: Move the actuator to a position within the software stroke limits.
0DC Push & hold This alarm generates when the actuator was pushed back to the target position due to an
operation excessive push force after completion of push & hold operation.
out-of-range error Review the entire system.
0ED Absolute encoder Cause: [1] When the power was reconnected following the completion of an
error (1) absolute reset, the current position changed due to an external factor or other cause
occurring while the controller was communicating with the absolute unit.
[2] When an absolute reset was performed, the current position changed due to an
external factor or other cause occurring while the controller was communicating with the
absolute unit.
Action: [1] When the detail code is H’0001:
Turn off the power and make sure the actuator is not receiving vibration, etc., and then
turn the power back on.
[2] When the detail code is H’0002:
Perform the home return operation after making sure the actuator is not receiving
vibration, etc.

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Code Alarm name Cause/action

0EE Absolute encoder Cause: [1] The power was turned on for the first time after the battery connection.
error (2) [2] When the detail code is H’0001:
The battery voltage dropped to a level where the encoder counter in the
Part 3 Maintenance

absolute unit could no longer be retained.

[3] When the detail code is H’0002:
The encoder connector was unplugged during a power outage, or the
encoder cable was disconnected.
[4] When the detail code is H’0003:
A relevant parameter was changed.
[5] When the detail code is H’0004:
The battery voltage dropped to 3.1 V.
[6] When the detail code is H’0005:
No battery is connected.
Action: If [1], [2] or [4] is suspected, perform an absolute reset by following the specified
procedure. (Refer to the absolute reset method in 4.5.)
[3] or [5]: Supply power for at least 48 hours to fully charge the battery, and then
perform an absolute reset.
* It takes 72 hours to fully charge the discharged battery.
[6] Check the battery connection.
0EF Absolute encoder Cause: The current value changed at a speed equal to or greater than the specified
error (3) speed due to an external factor or other cause occurring when the power was
Chapter 1 Troubleshooting

cut off.
Action: Change the applicable settings in the simple absolute unit and take other
measures to prevent the actuator from moving at or above the specified speed
while the power is cut off.
If the battery retention time has an ample allowance, increase the specified
motor speed.
(Refer to 4.2 in “Startup”)
If this error has occurred, perform an absolute reset according to the specified
procedure.

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(2) Cold start level

Code Alarm name Cause/action

0A1 Parameter error Cause: The input range of data in the parameter area is not appropriate.
(Example) This alarm generates when the magnitude relationship of a pair of

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input values is clearly inappropriate, such as when the values of
soft limit + and soft limit – were input wrongly as 200.3 mm and 300
mm, respectively.
Action: Change the input data to appropriate values.
0A8 Unsupported Cause: The motor type or encoder type set by a parameter is not supported.
motor/encoder Action: If the alarm generates again after reconnecting the power, contact IAI.
type

0B4 Inconsistent Cause: The position deviation counter has overflowed.

electrical angle Action: Check the load conditions such as whether the work part is contacting any
nearby object and whether the brake is released.
If this alarm generated before confirmation of electrical angles (while phase Z
was not yet detected), a deviation overflow may be a possibility. If this is the
case, the motor wire may be broken or output from the encoder wire may be
abnormal. Check the cable connections.
0B7 Indeterminable This controller performs magnetic-pole phase detection (pole sensing) when the servo is
magnetic pole turned on for the first time after the power ON. This alarm indicates that the magnetic-pole

Chapter 1 Troubleshooting
(RACON only) phase could not be recognized within the specified time.
Cause: [1] Loose or disconnected motor-extension cable connector
[2] Brake cannot be released on an actuator equipped with brake.
[3] Large motor load due to application of external force
[4] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the motor-extension cable.
0B8 Excitation [2] Check the wiring condition of the brake cable. Also, turn on/off the brake
detection error release switch and check if the brake makes “click” sounds.
(RPCON only) [3] Check for abnormality in the assembly condition of mechanical parts.
[4] If the payload is normal, cut off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected as the cause, please contact IAI.
0C8 Overcurrent Cause: The output current from the power-supply circuit became abnormally high.
(RACON only) This alarm should not generate in normal conditions of use. If it does,
deterioration of motor coil isolation is suspected.
Action: Measure the line resistances between motor connection wires U, V and W, and
the isolation resistance with respect to the ground, to check for deterioration of
isolation.
If you require the above measurements, please contact IAI.
0CA Overheat This alarm indicates that the temperature around the power transistor or regenerative
resistor in the controller is excessively high (95qC or above).
Cause: [1] The ambient temperature is high.
[2] The regenerative energy is excessive. (In the case of an actuator installed
vertically, the deceleration setting for downward movement is too high.)
[3] A faulty part inside the controller
Action: [1] Lower the ambient temperature of the controller.
[2] Review the settings and decrease the deceleration.
If [1] and [2] do not apply, please contact IAI.

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Code Alarm name Cause/action

0CB Current-sensor When the controller is started, the condition of the current detection sensor in the
offset adjustment controller is checked as part of the initialization process. This alarm indicates that an error
error (RACON was found in this sensor during the check.
Part 3 Maintenance

only) Cause: [1] Faulty current detection sensor or surrounding part

[2] Inappropriate offset adjustment.
Action: The board must be replaced or the offset must be adjusted.
Please contact IAI.
0E0 Overload Cause: [1] The load increased due to application of external force.
(RACON only) [2] If the actuator is equipped with a brake, the brake cannot be released.
[3] The slide resistance of the actuator is high in some location.
Action: [1] Review the condition around the work part. If the work part is receiving any
abnormally high external force, make the necessary corrections.
[2] Turn on the brake release switch to see if the brake is released. If the brake
is not released, a faulty brake, cable disconnection or defective brake-circuit
component in the controller is suspected, among others.
[3] If the work part can be moved by hand, do so to check for locations where
the slide resistance increases.
If [2] or [3] is the case, please contact IAI.

Note: Be sure to remove the cause of the alarm before resuming the operation. If the
power was cut off, wait for at least 30 minutes before turning on the power again
Chapter 1 Troubleshooting

to prevent the motor coil from burning.

0E5 Encoder receive Cause: [1] The controller power was turned on before the simple absolute unit when
error the 24-V power was input.
[2] When the detail code is H’0001:
The controller is unable to communicate with the absolute unit properly due
to noise, etc.
[3] When the detail code is H’0002:
The controller is unable to communicate with the absolute unit properly due
to a disconnected communication wire in the encoder cable, etc.
Action: [1] Turn on the power to the simple absolute unit before (or simultaneously
with) the controller power.
[2] Change the installation location of the controller. Implement noise
elimination measures such as providing a FG, noise filter, clamp filter, etc.
[3] Check the encoder-extension cable between the controller and simple
absolute unit for looseness. If necessary, replace the cable.

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Code Alarm name Cause/action

0E8 Phase-A/B open Encoder signals cannot be detected correctly.
detection Cause: [1] Loose or disconnected encoder-extension cable connector
0E9 Phase-A open [2] Piano switch 4 of the simple absolute R unit is set incorrectly.
detection [3] If a RA10C actuator is combined with other actuator, the combination of

Part 3 Maintenance
(RPCON only) encoder cables is wrong.
0EA Phase-B open Action: [1] Check the connector for looseness or disconnection.
detection [2] Check the piano switch setting by referring to 4.2.
(RPCON only) [3] Check the model number of the encoder cable (cable between the simple
absolute unit and actuator).
Note) The following model numbers apply only to the RCP2 series:
Cable model number for RA10C actuator: CB-RFA-*
For other actuator: CB-RCP2-*
0F0 Driver logic error Cause: An excessive load, unmatched parameter (motor type), noise and faulty
(RACON only) controller are suspected, among others.
Action: Please contact IAI.
0F4 Unmatched PCB This controller uses a different motor drive circuit depending on the motor capacity, and
thus adopts a different printed circuit board (PCB) appropriate for each motor capacity.
For this reason, whether the motor type set by the applicable manufacturer’s parameter
matches the circuit board is checked in the initialization process after startup.
This alarm indicates that the two do not match.
Cause: The parameter was not input correctly or the correct circuit board was not

Chapter 1 Troubleshooting
assembled.
Action: Should this error occur, please contact IAI.
0F5 Nonvolatile When data has been written to the nonvolatile memory, the written data is read again to
memory write check (verify) if it matches the original data.
verification error This alarm indicates that the two data do not match.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(As a guide, the nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please contact IAI.
0F6 Nonvolatile This error indicates that response was not received within the specified time after data
memory write was written to the nonvolatile memory.
timeout Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(As a guide, the nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please contact IAI.
0F8 Damaged Abnormal data was detected during the nonvolatile memory check after startup.
nonvolatile Cause: [1] Faulty nonvolatile memory
memory [2] The memory has been rewritten more than 100,000 times.
(As a guide, the nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please contact IAI.
0FA CPU error The CPU is not operating properly.
Cause: [1] Faulty CPU
[2] Malfunction due to noise
Action: If the alarm generates again after reconnecting the power, please contact IAI.

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1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software
This section explains the warning messages that may be displayed during operation using the teaching pendant or PC
software.
Part 3 Maintenance

Code Message Description

112 Invalid data An invalid value was input in a parameter.
(Example) 9601 was input as the serial communication speed by mistake.
Input an appropriate value again.
113 Value too small The input value is smaller than the setting range.
114 Value too large The input value is larger than the setting range.
Refer to the actuator specifications or parameter table and input an appropriate value
again.
115 Home return not The current position was written when home return was not yet completed.
completed Execute home return again.
117 No movement Target position is not set under the selected position number.
data Input the target position first.
11E Unmatched The values indicating the magnitude relationship of a pair of data are inappropriate.
paired data (Example) The same value was input in both the parameters for soft limits + and –.
Input appropriate values again.
11F Absolute position The minimum movement toward the target position is determined by the lead length of the
too small drive system and resolution of the encoder.
Chapter 1 Troubleshooting

This message indicates that the input target value is smaller than the minimum
movement.
(Example) If the lead length is 20 mm, the encoder’s resolution is 800 pulses and
accordingly the minimum movement becomes 20 y 800 = 0.025 mm/pulse.
In this case, this message will be displayed if 0.02 mm is input as the target
position.
121 Push & hold The final position in push & hold operation exceeds the soft limit.
search end over This has no negative effect if the actuator contacts the work part. If the actuator misses
the work part, however, the soft limit will be reached and thus this message is displayed.
Change either the target position or positioning band.
122 Multiple axes An address was assigned when multiple axes were connected.
connected at Assign each address only when one axis is connected.
assignment
180 Address change These messages are displayed to confirm operation.
OK (They do not indicate an operation error or other abnormality.)
181 Controller
initialization OK
182 Home change all
clear
183 I/O function
changed
202 Emergency stop This message indicates that an emergency stop has been actuated. (It does not indicate
an error.)
20A Servo off during This message indicates that the servo ON signal (SON) was turned OFF by the PLC while
operation the actuator was moving, and that the servo turned off and the movement was disabled as
a result.

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Code Message Description

20C CSTR-ON during This message indicates that a start command signal (CSTR) was changed to “1”
operation by the PLC while the actuator was moving, and that duplicate movement
commands occurred as a result.

Part 3 Maintenance
20E Soft limit over This message indicates that a soft limit was reached.
210 HOME-ON during This message indicates that the home return signal (HOME) was changed to “1” by
operation the PLC while the actuator was moving, and that duplicate movement commands
occurred as a result.
221 Write prohibited in This message indicates that an attempt was made to write position table data or
monitor mode parameter in the monitor mode.
223 Operation prohibited n This message indicates that an attempt was made to move the actuator in the
monitor mode monitor mode.
301 Overrun error (M) These messages indicate that an error occurred during serial communication with
302 Framing error (M) the controller.
Cause: [1] Garbage data due to the effect of noise
304 SCIR-QUE OV (M) [2] Duplicate slave station numbers when multiple controllers are
305 SCIS-QUE OV (M) controlled by serial communication
Action: [1] Adjust the wiring in a manner eliminating the effect of noise and
306 R-BF OV
review the installation of equipment, etc.
308 Response timeout (M) [2] Change the slave station numbers to avoid duplication.
30A Packet R-QUE OV If the message is still displayed after taking the above actions, please contact IAI.

Chapter 1 Troubleshooting
30B Packet S-QUE OV
307 Memory command This message indicates that a command was denied during serial communication
denied with the controller.
309 Write address error This message indicates that an indeterminate WRITE address error occurred
during serial communication with the controller.
These conditions do not occur in normal operations. Should they occur, record the
entire error list before cutting off the power for use in the cause investigation.
Also contact IAI.
30C No connected axis This message indicates that no controller address is recognized.
Cause: [1] The controller is not operating properly. (power supply error, failure,
etc.)
[2] Only the supplied communication cable (SGA/SGB) is disconnected.
[3] If a SIO converter is used, 24V is supplied to the converter but the
link cable is not connected.
[4] The ADRS switch settings are duplicated by mistake when multiple
controllers are linked.
Action: [1] Check if the RDY lamp on the controller is lit. If the lamp is not lit, the
controller is faulty.
[2] If a spare teaching pendant is available, replace the current pendant
with the spare unit, or with a PC, and see if the message disappears.
[3] Supply the power after connecting the link cable between the
converter and controller.
[4] Make sure the ADRS switch settings are not duplicated.
If the message is still displayed after taking the above actions, please contact IAI.

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 Part 3 Maintenance

Chapter 2 Maintenance/Inspection
Carry out daily or periodic inspection to make sure your ROBONET continues to demonstrate its functions fully.
Part 3 Maintenance

Danger Do not touch the terminals while the power is supplied. Doing so may result in
electric shock.
Connect the backup battery correctly. Do not charge, disassemble, heat, throw
into fire, short-circuit or solder the backup battery.
Incorrect handling of the backup battery may cause heat generation, explosion
or ignition, resulting in injury or fire.
Always turn off the ROBONET power before cleaning the parts or tightening
the terminal screws and unit lock screws (screws on the end plates).
If the power remains supplied, electric shock may result.
Loose terminal screws can cause malfunction.
On the other hand, excessive tightening may damage the screws or units,
causing parts or units to detach, short-circuit or malfunction.
Chapter 2 Maintenance/Inspection

Caution Do not disassemble or modify each unit.

Doing so may result in failure, malfunction, injury or fire.
Always turn off the ROBONET power before connecting/disconnecting the
units and motor/encoder cables. Failure to do so may cause unit failure or
malfunction.
Do not drop the backup battery or otherwise apply impact on it.
The impact of drop, etc., may damage the backup battery and cause battery
fluid to leak inside the battery.
If the backup battery was dropped or otherwise received impact, do not use the
battery but dispose of it properly.
Before touching any unit, always touch a grounded metal, etc., to discharge the
electrostatic charges in your body.
Failure to do so may cause unit failure or malfunction.
Use cellular phones, PHSs and other wireless devices as far away as possible
from the ROBONET.
Using wireless devices nearby may cause the ROBONET to malfunction.

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2.1 Periodic Inspection Items

The ROBONET may suffer deterioration of electronic parts or exhibit other undesirable conditions depending on the
environment. To prevent these problems, periodic inspection is necessary.

Part 3 Maintenance
The standard inspection interval is six months to one year. Shorten the interval depending on the surrounding environment.

No. Inspection item Description Judgment criterion Action

1 Supply voltage Measure the voltage at the Voltage fluctuation Change the settings so that the supply
power-supply terminal is within the voltage meets the judgment criterion.
block to check if the voltage specified range of
fluctuation meets the 24 V r 10%.
judgment criterion.
2 Surrounding Ambient temperature 0 to 40qC Measure the ambient temperature
environment (If a panel is used, the using a temperature gauge and adjust
temperature inside the the surrounding environment so that
panel represents the the measured value falls within the
ambient temperature.) ambient operating temperature range.
Ambient humidity 95% RH or below, Measure the ambient humidity using a
(If a panel is used, the non-condensing. hygrometer and adjust the surrounding
humidity inside the panel environment so that the measured
represents the surrounding value falls within the ambient operating
humidity.) humidity range.

Chapter 2 Maintenance/Inspection
Ambience Free from corrosive Check by smell or using a gas sensor,
or flammable gases. etc.
Not exposed to Remove, and shield the ROBONET
splashes or mist of from, sources of splashes/mist
water, oil and
chemicals.
Free from deposits Remove, and shield the ROBONET
of dust particles, from, sources of powder dust.
salt, iron powder or
other powder dust.
Direct exposure to sunlight Not exposed to Shield the ROBONET from direct
direct sunlight. sunlight.
Direct transmission of Meeting the Install cushions or other means for
vibration or impact to the vibration resistance withstanding vibration and impact.
body and impact
resistance
specifications.
Nearby noise sources Absence of noise Move noise sources away from the
sources nearby. ROBONET or shield the ROBONET
from noise sources.
3 Installation Installation condition of No loosening of unit Install the unit again and lock it firmly.
condition each unit on the DIN rail mounting parts.
4 Connection Firm connection of each Connection plate Retighten the screws to eliminate any
condition power-supply connection screws are looseness.
plate between units tightened firmly.
Firm insertion of each Inserted completely. Insert the board again.
communication connection
board between units
Firm insertion of the Inserted completely. Insert the board again.
connection board between
the simple absolute R unit
and controller unit

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No. Inspection item Description Judgment criterion Action

4 Connection Loose wiring connectors Not loose. Insert the connector again until it is
condition (motor cable, encoder cable, locked.
field network cable, Note) The encoder cable connector is
Part 3 Maintenance

emergency-stop circuit) not locked, so insert the cable

again all the way until it stops.
Broken wiring cables No exterior Visually check each cable and replace it
abnormality. if necessary.
5 Air-cooling fan Operation of the internal Operating. Replace the controller unit.
air-cooling fan in the upper
section of the controller unit
(visual check)
6 Backup battery Expiration or consumption of The battery lasts for Replace the backup battery if the
the backup battery (AB-7) for three years. The expiration date has passed, even when
simple absolute R unit expiration date the battery is not faulty.
specified on the
expiration date label
attached on the
battery has not
passed.

2.2 Important Information on Unit Replacement

Chapter 2 Maintenance/Inspection

If any of the units comprising the ROBONET system exhibits abnormality and the unit must be replaced, take heed of the
following points:

x Replace the unit with the power turned off.

x After the replacement, check the new unit for abnormality.
x When sending the defective unit to IAI for repair, attach a piece of paper to the unit describing the abnormal condition as
specifically as possible.
x Back up the position data, parameters, PLC data and other necessary data in case the data is lost.

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2.3 Replacing the Backup Battery

The backup battery for simple absolute R unit lasts for three years. The expiration date label is attached on the front face of
the battery, as shown below. Replace the backup battery if the expiration date has passed, even when the battery is not faulty.

Part 3 Maintenance
Expiration date label

AB-7
Backup battery To be replaced by: February 2010 (Example of
description)

Chapter 2 Maintenance/Inspection
[Items to Prepare]Front view of simple absolute R unit
Backup battery for replacement
(cover open)AB-7 (IAI model code)
<Replacement procedure for backup battery>
[Replacement Process]
(1) To
To ensure safety,stop
ensure safety, stopallallaxis
axis operations
operations andand
turn turn offpower.
off the the power.
(2) Open up the covers on the units (RACON and RPCON)from
(2) Unplug the backup battery connector and pull out the battery that the unit. Absolute R Unit and Absolute Unit are
Simple
(3) connected
Set a new battery in the unit and plug in the battery connector.
to and pull the connector of the backup battery to front to disconnect the connector.
(4) Turn on the power.
(5) Perform an absolute reset of each applicable axis.
The absolute reset procedure is the same as the method used at startup. Refer to 4.5 Startup in Part 2.

Backup Battery
Connector

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 Part 3 Maintenance

(3) Pull the ROBONET communication PCBs (2 pieces) to front to detach them, and then take out the backup
battery.
Part 3 Maintenance

ROBONET communication PCB

Removed Backup Battery

(4) Attached the backup battery for replacement and then put the ROBONET communication PCBs (2 pieces)
Chapter 2 Maintenance/Inspection

back on.
(5) Plug the connector on the backup battery to the connector on Simple Absolute R Unit.

(6) Turn the power on and have an absolute reset on the axes connected to Simple Absolute R Unit.
[Refer to Part 2 Startup Chapter, Section 4.5 for the details.]

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 Appendix

* Appendix
List of Specifications of Connectable Actuators
The specifications included in this specification list are limited to those needed to set operating conditions and
parameters. For other detailed specifications, refer to the catalog or operation manual for your actuator.

* Appendix
Caution
x The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline.
x Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize.
x Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.
x If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the
push speed will become the set speed and the specified push force will not generate.

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Lead Mounting Maximum speed acceleration/ push
Type push force push force
series screw resolution [mm] direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Ball Horizontal/
RA2C 800 1 25 0.05 50 100 3
screw vertical
Horizontal/
5 187 21 73.5
Ball vertical
RA3C 800 0.2 20
screw Horizontal/
2.5 114 50 156.8
vertical
Horizontal/
5 187 21 73.5
Ball vertical
RGD3C 800 0.2 20
screw Horizontal 114
2.5 50 156.8
Vertical 93
Horizontal/ 458 (at ~250 st)
10 30 150
vertical 350 (at 300 st)
RCP2 250 (at 50 ~200 st)
(rod Horizontal/
5 237 (at 250 st) 75 284
Ball vertical
type) RA4C 800 175 (at 300 st) 0.2 20
screw
125 (at 50 ~200 st)
Horizontal 118 (at 250 st)
2.5 87 (at 300 st) 150 358
Vertical 114
Horizontal/ 458 (at ~250 st)
10 30 150
vertical 350 (at 300 st)
250 (at 50 ~200 st)
Horizontal/
5 237 (at 250 st) 75 284
Ball vertical
RGS4C 800 175 (at 300 st) 0.2 20
screw
125 (at 50 ~200 st)
Horizontal 118 (at 250 st)
2.5 87 (at 300 st) 150 358
Vertical 114

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Rated
Maximum Minimum Maximum
Actuator Feed Encoder Lead Mounting Maximum speed push
Type acceleration/ push force push force
series screw resolution [mm] direction [mm/s] speed
deceleration [G] [N] [N]
[mm/s]
Horizontal/ 458 (at ~250 st)
10 30 150
vertical 350 (at 300 st)
250 (at 50 ~200 st)
* Appendix

Horizontal/
5 237 (at 250 st) 75 284
Ball vertical
RGD4C 800 175 (at 300 st) 0.2 20
screw
125 (at 50 ~200 st)
Horizontal 118 (at 250 st)
2.5 87 (at 300 st) 150 258
Vertical 114
Horizontal 450
16 75 240
vertical 400
Ball Horizontal/
RA6C 800 8 210 0.2 130 470 20
screw vertical
Horizontal/
4 130 300 800
vertical
Horizontal 450
16 75 240
Vertical 400
Ball Horizontal/
RGS6C 800 8 210 0.2 130 470 20
screw vertical
Horizontal/
4 130 300 800
RCP2 vertical
(rod Horizontal 450
type) 16 75 240
Vertical 400
Ball Horizontal/
RGD6C 800 8 210 0.2 130 470 20
screw vertical
Horizontal/
4 130 300 800
vertical
Horizontal/
5 250 0.3 26 90
vertical
Ball
SRA4R 800 Horizontal 124 20
screw
2.5 0.2 50 170
Vertical 125
Horizontal/
5 250 0.3 26 90
vertical
Ball
SRGS4R 800 Horizontal 124 20
screw
2.5 0.2 50 170
Vertical 125
Horizontal/
5 250 0.3 26 90
vertical
Ball
SRGD4R 800 Horizontal 124 20
screw
2.5 0.2 50 170
Vertical 125

Horizontal 0.7
12 600 40 120
Vertical 0.3
RCP2 Horizontal 0.7
Ball
(slider SA5C 800 6 300 75 220 20
screw
type) Vertical 0.3

Horizontal 0.7
3 150 140 350
Vertical 0.3

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 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Lead Mounting Maximum speed acceleration/ push
Type push force push force
series screw resolution [mm] direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Horizontal 0.3
12 600 - - -
Vertical 0.2
Ball Horizontal 0.3
SA5R 800 6 300 - - -

* Appendix
screw Vertical 0.2
Horizontal 0.2
3 150 - - -
Vertical 0.2
Horizontal 600 (at 50 ~550 st) 0.7
12 540 (at 600 st)
40 120
Vertical 0.3
Ball Horizontal 300 (at 50 ~550 st) 0.7
SA6C 800 6 75 220 20
screw Vertical 270 (at 600 st) 0.3
Horizontal 150 (at 50 ~550 st) 0.7
3 135 (at 600 st)
140 350
Vertical 0.3
Horizontal 600 (at 50 ~550 st) 0.3
12 540 (at 600 st)
- - -
Vertical 0.2
Ball Horizontal 300 (at 50 ~550 st) 0.3
SA6R 800 6 - - -
screw Vertical 270 (at 600 st) 0.2
Horizontal 150 (at 50 ~550 st) 0.2
3 135 (at 600 st)
- - -
Vertical 0.2
533 (at 50 ~700 st)
Horizontal 480 (at 800 st)
0.3
16 90 250
400 (at 50 ~ 700 st)
Vertical 400 (at 800 st)
0.2
Ball
SA7C 800 Horizontal 266 (at 50 ~ 700 st) 0.3 20
screw 8 150 500
RCP2 240 (at 800 st)
Vertical 0.2
(slider
type) Horizontal 133 (at 50 ~ 700 st) 0.2
4 120 (at 800 st)
280 800
Vertical 0.2
Horizontal 533 (at 50 ~ 700 st) 0.3
16 480 (at 800 st) - - -
Vertical 400 (at 50 ~ 700 st) 0.2
400 (at 800 st)
Ball
SA7R 800 Horizontal 266 (at 50 ~ 700 st) 0.3
screw 8 - - -
Vertical 240 (at 800 st) 0.2
Horizontal 133 (at 50 ~ 700 st) 0.2
4 120 (at 800 st)
- - -
Vertical 0.2
600 (at 50 ~ 500 st)
Horizontal 470 (at 600 st)
0.3
12 40 120
400 (at 50 ~ 700 st)
Vertical 400 (at 800 st)
0.2
Ball
SS7C 800 Horizontal 300 (at 50 ~ 500 st) 0.3 20
screw 6 75 220
Vertical 230 (at 600 st) 0.2
Horizontal 150 (at 50 ~ 500 st) 0.2
3 115 (at 600 st)
140 350
Vertical 0.2
600 (at 50 ~ 500 st)
Horizontal 470 (at 600 st)
0.3
12 - -
440 (at 50 ~ 700 st)
Vertical 440 (at 800 st)
0.2
Ball
SS7R 800 Horizontal 250 (at 50 ~ 500 st) 0.3 -
screw 6 - -
Vertical 230 (at 600 st) 0.2
Horizontal 105 (at 50 ~ 500 st) 0.2
3 105 (at 600 st)
- -
Vertical 0.2

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 Appendix

Rated
Maximum Minimum Maximum
Actuator Feed Encoder Lead Mounting Maximum speed push
Type acceleration/ push force push force
series screw resolution [mm] direction [mm/s] speed
deceleration [G] [N] [N]
[mm/s]
666 (at 50 ~800 st)
Horizontal 625 (at ~ 900 st) 0.3
515 (at ~ 1000 st)
20 50 180
* Appendix

600 (at 50 ~800 st)

Vertical 600 (at ~ 900 st) 0.2
515 (at ~ 1000 st)
333 (at 50 ~800 st)
Horizontal 310 (at ~ 900 st) 0.3
Ball 255 (at ~ 1000 st)
SS8C 800 10 95 320 20
screw 300 (at 50 ~800 st)
Vertical 300 (at ~ 900 st) 0.2
255 (at ~ 1000 st)
165 (at 50 ~800 st)
Horizontal 155 (at ~ 900 st) 0.2
125 (at ~ 1000 st)
5 180 630
150 (at 50 ~800 st)
Vertical 150 (at ~ 900 st) 0.2
125 (at ~ 1000 st)
600 (at 50 ~800 st)
Horizontal 600(at ~ 900 st) 0.3
515 (at ~ 1000 st)
20 - - -
333 (at 50 ~800 st)
RCP2 Vertical 333 (at ~ 900 st) 0.2
333 (at ~ 1000 st)
(slider
type) 300 (at 50 ~800 st)
Horizontal 300 (at ~ 900 st) 0.3
Ball 255 (at ~ 1000 st)
SS8R 800 10 - - -
screw 250 (at 50 ~800 st)
Vertical 250 (at ~ 900 st) 0.2
250 (at ~ 1000 st)
160 (at 50 ~800 st)
Horizontal 155 (at ~ 900 st) 0.2
125 (at ~ 1000 st)
5 - - -
140 (at 50 ~800 st)
Vertical 140 (at ~ 900 st) 0.2
140 (at ~ 1000 st)
1200 (at 50 ~800 st)
Horizontal 1000(at ~ 900 st) 0.3
Ball 800 (at ~ 1000 st)
HS8C 800 30 - - -
screw 750 (at 50 ~800 st)
Vertical 750 (at ~ 900 st) 0.2
750 (at ~ 1000 st)
1200 (at 50 ~ 800 st)
Horizontal 1000(at ~ 900 st) 0.3
Ball 800 (at ~ 1000 st)
HS8R 800 30 - - -
screw 750 (at 50 ~ 800 st)
Vertical 750 (at ~ 900 st) 0.2
750 (at ~ 1000 st)

BA6/ Equivalent
RCP2 Belt 800 Horizontal 1000 0.5 - - -
BA6U to 54
(belt
type BA7/ Equivalent
Belt 800 Horizontal 1500 0.5 - - -
BA7U to 54

377
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 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Mounting Maximum speed acceleration/ push
Type Lead [mm] push force push force
series screw resolution direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Gear ratio:
GRSS - 800 1/30
- 78 - 4 14 20

Gear ratio:

* Appendix
GRLS - 800 1/30
- 600q/s - 1.8 6.4 5q/s

GRS - 800 Gear ratio: 1 - 33.3 - 9 21 5

GRM - 800 Gear ratio: 1 - 36.7 - 23 80 5

1.05
- 800 - 34 - 15 40 5
(standard)
RCP2 GRST
(gripper 2.27 (high
type) - 800 - 75 - 7.5 20 5
speed)

Gear ratio:
GR3LS - 800 - 200 - 5 18 5q/s
1/30

Gear ratio:
GR3LM - 800 - 200 - 15 51 5q/s
1/30

Gear ratio:
GR3SS - 800 - 40 - 7 22 5
1/30

Gear ratio:
GR3SM - 800 - 50 - 30 102 5
1/30

Gear ratio:
- 400q/s - - - -
1/30
RTBS - 800
Gear ratio:
- 266q/s - - - -
1/45

Gear ratio:
- 400q/s - - - -
1/30
RTBSL - 800
Gear ratio:
- 266q/s - - - -
1/45

Gear ratio:
- 400q/s - - - -
1/30
RTCS - 800
Gear ratio:
- 266q/s - - - -
1/45

Gear ratio:
RCP2 - 400q/s - - - -
1/30
(rotary RTCSL - 800
type) Gear ratio:
- 266q/s - - - -
1/45

Gear ratio:
- 600q/s - - - -
1/20
RTB - 800
Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
- 600q/s - - - -
1/20
RTBL - 800
Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
- 600q/s - - - -
1/20
RTC - 800
Gear ratio:
- 400q/s - - - -
1/30

378
381
 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Mounting Maximum speed acceleration/ push
Type Lead [mm] push force push force
series screw resolution direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Gear ratio:
- 600q/s - - - -
1/20
RTCL - 800
* Appendix

Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
- 600q/s - - - -
1/20
RTBB - 800
Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
RCP2 - 600q/s - - - -
1/20
(rotary RTBBL - 800
type) Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
- 600q/s - - - -
1/20
RTCB - 800
Gear ratio:
- 400q/s - - - -
1/30

Gear ratio:
- 600q/s - - - -
1/20
RTCBL - 800
Gear ratio:
- 400q/s - - - -
1/30
180 (at 25 st)
4 0.9 16.1
200 (at 50 ~ 100 st)
Lead Horizontal/
RA2AC 800 2 100
0.2
1.9 28.3
5
screw vertical
1 50 3.8 39.5
180 (at 25 st)
6 280 (at 50 st) 0.6 11.9
300 (at 75 ~ 150 st)
Lead Horizontal/
RA2BC 800 0.2 5
screw vertical 180 (at 25 st)
4 0.9 16.1
200 (at 50 ~ 100 st)
RCP3 2 100 1.9 28.3
(rod
type) 180 (at 25 st)
4 0.9 16.1
200 (at 50 ~ 100 st)
Lead Horizontal/
RA2AR 800 0.2 5
screw 2 vertical 100 1.9 28.3
1 50 3.8 39.5
180 (at 25 st)
6 280 (at 50 st) 0.6 11.9
Lead Horizontal/ 300 (at 75 ~ 150 st)
RA2BR 800 0.2 5
screw vertical 180 (at 25 st)
4 0.9 16.1
200 (at 50 ~ 100 st)
2 100 1.9 28.3
180 (at 25 st)
4
Lead 200 (at 50 ~ 100 st)
SA2AC 800 Horizontal 0.2 - - -
screw 2 100
1 50
RCP3
(slider 180 (at 25 st)
type) 6 280 (at 50 st)
Lead 300 (at 75 ~ 150 st)
SA2BC 800 Horizontal 0.2 - - -
screw 180 (at 25 st)
4
200 (at 50 ~ 100 st)
2 100

379
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 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Mounting Maximum speed acceleration/ push
Type Lead [mm] push force push force
series screw resolution direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
180 (at 25 st)
4
Lead 200 (at 50 ~ 100 st)
SA2AR 800 Horizontal 0.2 - - -
screw 2 100

* Appendix
1 50
180 (at 25 st)
6 280 (at 50 st)
300 (at 75 ~ 150 st)
Lead
SA2BR 800 Horizontal 0.2 - - -
screw 180 (at 25 st)
4
200 (at 50 ~ 100 st)

2 100
Horizontal 0.3
6 300 9 15
Vertical 0.2
Ball Horizontal 0.3
SA3C 800 4 200 14 22 20
screw Vertical 0.2
Horizontal 0.2
2 100 27 44
Vertical 0.2
Horizontal 0.3
6 300 9 15
Vertical 0.2
Ball Horizontal 0.3
SA3R 800 4 200 14 22 -
screw Vertical 0.2
Horizontal 0.2
2 100 27 44
Vertical 0.2
RCP3 Horizontal 0.7
10 500 20 34
(slider Vertical 0.3
type)
Ball Horizontal 0.7
SA4C 800 5 250 40 68 20
screw Vertical 0.3
Horizontal 0.7
2.5 125 82 136
Vertical 0.3
Horizontal 0.3
10 500 20 34
Vertical 0.2
Ball Horizontal 0.3
SA4R 800 5 250 40 68 -
screw Vertical 0.2
Horizontal 0.2
2.5 125 82 136
Vertical 0.2
Horizontal 0.7
12 600 30 47
Vertical 0.3
Ball Horizontal 0.7
SA5C 800 6 300 58 95 20
screw Vertical 0.3
Horizontal 0.7
3 150 112 189
Vertical 0.3
Horizontal 0.3
12 600 30 47
Vertical 0.2
Ball Horizontal 0.3
SA5R 800 6 300 58 95 20
screw Vertical 0.2
Horizontal 0.2
3 150 112 189
Vertical 0.2

380
383
 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Mounting Maximum speed acceleration/ push
Type Lead [mm] push force push force
series screw resolution direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Horizontal 600 (at 50 ~ 550 st) 0.7
12 30 47
Vertical 540 (at ~ 600 st) 0.3
* Appendix

Ball Horizontal 300 (at 50 ~ 550 st) 0.7

SA6C 800 6
270 (at ~ 600 st)
58 95 20
screw Vertical 0.3
Horizontal 150 (at 50 ~ 550 st) 0.7
RCP3 3 112 189
Vertical 135 (at ~ 600 st) 0.3
(slider
type) Horizontal 600 (at 50 ~ 550 st) 0.3
12 540 (at ~ 600 st)
30 47
Vertical 0.2
Ball Horizontal 300 (at 50 ~ 550 st) 0.3
SA6R 800 6 58 95 20
screw Vertical 270 (at ~ 600 st) 0.2
Horizontal 150 (at 50 ~ 550 st) 0.2
3
135 (at ~ 600 st)
112 189
Vertical 0.2
Horizontal 300 0.3
6 5.4 9
Vertical 200 0.2
Ball Horizontal 200 0.3
TA3C 800 4 8.4 14 20
screw Vertical 133 0.2
Horizontal 100 0.2
2 16.8 28
Vertical 67 0.2
Horizontal 300 0.3
6 5.4 9
Vertical 200 0.2
Ball Horizontal 200 0.3
TA3R 800 4 8.4 14 20
screw Vertical 133 0.2
Horizontal 100 0.2
2 16.8 28
Vertical 67 0.2
Horizontal 0.3
6 300 9 15
Vertical 0.2
Ball Horizontal 0.3
TA4C 800 4 200 13.2 22 20
screw Vertical 0.2
Horizontal 0.2
RCP3 2 100 26.4 44
(table Vertical 0.2
type) Horizontal 0.3
6 300 9 15
Vertical 0.2
Ball Horizontal 0.3
TA4R 800 4 200 13.2 22 20
screw Vertical 0.2
Horizontal 0.2
2 100 26.4 44
Vertical 0.2
Horizontal 465 0.3
10 20 34
Vertical 400 0.2
Ball Horizontal 0.3
TA5C 800 5 250 40 68 20
screw Vertical 0.2
Horizontal 0.2
2.5 125 82 136
Vertical 0.2
Horizontal 465 0.3
10 20 34
Vertical 400 0.2
Ball Horizontal 0.3
TA5R 800 5 250 40 68 20
screw Vertical 0.2
Horizontal 0.2
2.5 125 82 136
Vertical 0.2

381
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 Appendix

Maximum Rated
Minimum Maximum
Actuator Feed Encoder Mounting Maximum speed acceleration/ push
Type Lead [mm] push force push force
series screw resolution direction [mm/s] deceleration speed
[N] [N]
[G] [mm/s]
Horizontal 560 0.3
12 30 47
Vertical 500 0.2
Ball Horizontal 0.3
TA6C 800 6 300 58 95

* Appendix
20
screw Vertical 0.2
Horizontal 0.2
3 150 112 189
Vertical 0.2
Horizontal 560 0.3
12 30 47
Vertical 500 0.2
Ball Horizontal 0.3
TA6R 800 6 300 58 95 20
screw Vertical 0.2
Horizontal 0.2
RCP3 3 150 112 189
Vertical 0.2
(table
type) Horizontal 600 0.3
12 30 47
Vertical 580 0.2
Ball Horizontal 0.3
TA7C 800 6 300 58 95 20
screw Vertical 0.2
Horizontal 0.2
3 150 112 189
Vertical 0.2
Horizontal 600 0.3
12 30 47
Vertical 580 0.2
Ball Horizontal 0.3
TA7R 800 6 300 58 95 20
screw Vertical 0.2
Horizontal 0.2
3 150 112 189
Vertical 0.2

382
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 Appendix

[RACON]
Maximum Minimum Maximum Rated push
Actuator Feed Motor Encoder Lead Maximum
Type Mounting direction acceleration/ push force push force speed
series screw output [W] resolution [mm] stroke [mm]
deceleration [G] [N] [N] [mm/s]
Energy-saving
- - -
mode: 0.3
10 Horizontal/vertical 500
High-acceleration/
- - -
deceleration mode: 1.0
Energy-saving
* Appendix

- - -
Ball mode: 0.3
RA3C screw
20 800 5 Horizontal/vertical 250
High-acceleration/
- - -
deceleration mode: 1.0
Energy-saving
- - -
mode: 0.2
2.5 Horizontal/vertical 125
High-acceleration/
- - -
deceleration mode: 0.2
Energy-saving
- - -
mode: 0.3
10 Horizontal/vertical 500
High-acceleration/dec
- - -
eleration mode: 1.0
Energy-saving
Ball - - -
mode: 0.3
RGS3C screw
20 800 5 Horizontal/vertical 250
High-acceleration/
- - -
deceleration mode: 1.0
Energy-saving
- - -
mode: 0.2
2.5 Horizontal/vertical 125
High-acceleration/
- - -
deceleration mode: 0.2
Energy-saving
- - -
mode: 0.3
10 Horizontal/vertical 500
High-acceleration/
- - -
deceleration mode: 1.0
Energy-saving
- - -
Ball mode: 0.3
RGD3C screw
20 800 5 Horizontal/vertical 250
High-acceleration/
- - -
deceleration mode: 1.0
RCA Energy-saving
- - -
(rod type) mode: 0.2
2.5 Horizontal/vertical 125
High-acceleration/
- - -
deceleration mode: 0.2
- - -
10 Horizontal/vertical 500 0.3
- - -
Ball - - -
RA3D screw
20 800 5 Horizontal/vertical 250 0.3
- - -
- - -
2.5 Horizontal/vertical 125 0.2
- - -
- - -
10 Horizontal/vertical 500 0.3
- - -
Ball - - -
RGS3D screw
20 800 5 Horizontal/vertical 250 0.3
- - -
- - -
2.5 Horizontal/vertical 125 0.2
- - -
- - -
10 Horizontal/vertical 500 0.3
- - -
Ball - - -
RGD3D screw
20 800 5 Horizontal/vertical 250 0.3
- - -
- - -
2.5 Horizontal/vertical 125 0.2
- - -
- - -
10 Horizontal/vertical 500 0.3
- - -
Ball - - -
RA3R screw
20 800 5 Horizontal/vertical 250 0.3
- - -
- - -
2.5 Horizontal/vertical 125 0.2
- - -
- - -
10 Horizontal/vertical 500 0.3
- - -
Ball - - -
RGD3R screw
20 800 5 Horizontal/vertical 250 0.3
- - -
- - -
2.5 Horizontal/vertical 125 0.2
- - -

383
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 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Maximum
Type Mounting direction acceleration/decele push force push force speed
series screw output [W] resolution [mm] stroke [mm]
ration [G] [N] [N] [mm/s]
Energy-saving mode:
Horizontal/ 0.3 - - -
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
20 800 6 300 High-acceleration/
vertical - - -
deceleration mode: 1.0

* Appendix
Energy-saving mode:
Horizontal/ 0.2 - - -
3 150 High-acceleration/
vertical - - -
Ball deceleration mode: 0.2
RA4C Energy-saving mode:
screw Horizontal/ 0.3 - - -
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
30 800 6 300 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.2 - - -
3 150 High-acceleration/
vertical - - -
deceleration mode: 0.2
Energy-saving mode:
Horizontal/ 0.3 - - -
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
20 800 6 300 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.2 - - -
3 150 High-acceleration/
vertical - - -
Ball deceleration mode: 0.2
RGS4C
screw Energy-saving mode:
- - -
Horizontal/ 0.3
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
30 800 6 300 High-acceleration/
vertical - - -
RCA deceleration mode: 1.0
Energy-saving mode:
(rod Horizontal/ 0.2 - - -
type) 3 150 High-acceleration/
vertical - - -
deceleration mode: 0.2
Energy-saving mode:
Horizontal/ 0.3 - - -
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
20 800 6 300 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.2 - - -
3 150 High-acceleration/
vertical - - -
Ball deceleration mode: 0.2
RGD4C
screw Energy-saving mode:
- - -
Horizontal/ 0.3
12 600 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.3 - - -
30 800 6 300 High-acceleration/
vertical - - -
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.2 - - -
3 150 High-acceleration/
vertical - - -
deceleration mode: 0.2
Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
20 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
Ball vertical - - -
RA4D
screw Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
30 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
vertical - - -

384
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 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Maximum
Type Mounting direction acceleration/ push force push force speed
series screw output [W] resolution [mm] stroke [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
20 800 6 300 0.3
* Appendix

vertical - - -
Horizontal/ - - -
3 150 0.2
Ball vertical - - -
RGS4D
screw Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
30 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
vertical - - -
Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
20 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
Ball vertical - - -
RGD4D
screw Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
30 800 6 300 0.3
vertical - - -
Horizontal/ - - -
RCA 3 150 0.2
vertical - - -
(rod
type) Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
20 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
Ball vertical - - -
RA4R
screw Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
30 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
vertical - - -
Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
20 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
Ball vertical - - -
RGD4R
screw Horizontal/ - - -
12 600 0.3
vertical - - -
Horizontal/ - - -
30 800 6 300 0.3
vertical - - -
Horizontal/ - - -
3 150 0.2
vertical - - -

385
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 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Maximum
Type Mounting direction acceleration/ push force push force speed
series screw output [W] resolution [mm] stroke [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal 0.3 - - -
5 250
Ball Vertical 0.2 - - -
SRA4R 20 800
screw Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Horizontal 0.3 - - -
RCA 5 250
Ball Vertical 0.2 - - -

* Appendix
(rod SRGS4R 20 800
screw Horizontal 0.2 - - -
type) 2.5 125
Vertical 0.2 - - -
Horizontal 0.3 - - -
5 250
Ball Vertical 0.2 - - -
SRGD4R 20 800
screw Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Energy-saving mode:
Horizontal/ 0.3
10 665 High-acceleration/ - - -
vertical
deceleration mode: 1.0
Energy-saving mode:
Ball Horizontal/ 0.3
SA4C 20 800 5 330 High-acceleration/ - - -
screw vertical
deceleration mode: 1.0
Energy-saving mode:
Horizontal/ 0.2
2.5 165 High-acceleration/ - - -
vertical
deceleration mode: 0.2
Horizontal/
10 665 0.3 - - -
vertical
Ball Horizontal/
SA4D 20 800 5 330 0.3 - - -
screw vertical
Horizontal/
2.5 165 0.2 - - -
vertical
Horizontal/
10 665 0.3 - - -
vertical
Ball Horizontal/
SA4R 20 800 5 330 0.3 - - -
screw vertical
Horizontal/
2.5 165 0.2 - - -
vertical
Energy-saving mode:
Horizontal/ 800 (at 50~450 st) 0.3
12 760 (at 500 st) High-acceleration/ - - -
vertical
deceleration mode: 0.8
RCA Energy-saving mode:
Ball Horizontal/ 400 (at 50~450 st) 0.3
(slider SA5C 20 800 6 380 (at 500 st) High-acceleration/ - - -
screw vertical
type) deceleration mode: 0.8
Energy-saving mode:
Horizontal/ 200 (at 50~450 st) 0.2
3 190 (at 500 st) High-acceleration/ - - -
vertical
deceleration mode: 0.2
Horizontal/ 800 (at 50~450 st)
12 760 (at 500 st) 0.3 - - -
vertical
Ball Horizontal/ 400 (at 50~450 st)
SA5D 20 800 6 380 (at 500 st) 0.3 - - -
screw vertical
Horizontal/ 200 (at 50~450 st)
3 190 (at 500 st) 0.2 - - -
vertical
Horizontal/ 800 (at 50~450 st)
12 760 (at 500 st) 0.3 - - -
vertical
Ball Horizontal/ 400 (at 50~450 st)
SA5R 20 800 6 380 (at 500 st) 0.3 - - -
screw vertical
Horizontal/ 200 (at 50~450 st)
3 190 (at 500 st) 0.2 - - -
vertical
800 (at 50~450 st) Energy-saving mode:
Horizontal/ 760 (at 500 st) 0.3
12 640 (at 550 st) High-acceleration/ - - -
vertical
540 (at 600 st) deceleration mode: 1.0
400 (at 50~450 st) Energy-saving mode:
Ball Horizontal/ 380 (at 500 st) 0.3
SA6C 30 800 6 320 (at 550 st) High-acceleration/ - - -
screw vertical
270 (at 600 st) deceleration mode: 1.0
200 (at 50~450 st) Energy-saving mode:
Horizontal/ 190 (at 500 st) 0.2
3 160 (at 550 st) High-acceleration/ - - -
vertical
135 (at 600 st) deceleration mode: 0.2

386
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 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction stroke [mm]
deceleration [G] [N] [N] [mm/s]
800 (at 50~450 st)
Horizontal/ 760 (at 500 st)
12 640 (at 550 st) 0.3 - - -
vertical
540 (at 600 st)
400 (at 50~450 st)
Ball Horizontal/ 380 (at 500 st)
SA6D 30 800 6 0.3 - - -
* Appendix

screw vertical 320 (at 550 st)

270 (at 600 st)
200 (at 50~450 st)
Horizontal/ 190 (at 500 st)
3 160 (at 550 st) 0.2 - - -
vertical
135 (at 600 st)
800 (at 50~450 st)
Horizontal/ 760 (at 500 st)
12 640 (at 550 st) 0.3 - - -
vertical
540 (at 600 st)
400 (at 50~450 st)
Ball Horizontal/ 380 (at 500 st)
SA6R 30 800 6 0.3 - - -
screw vertical 320 (at 550 st)
270 (at 600 st)
200 (at 50~450 st)
Horizontal/ 190 (at 500 st)
3 160 (at 550 st) 0.2 - - -
vertical
135 (at 600 st)

RCA2 Horizontal/
10 665 0.3 - - -
(slider vertical
type) Ball Horizontal/
SS4D 20 800 5 330 0.3 - - -
screw vertical
Horizontal/
2.5 165 0.2 - - -
vertical
Horizontal/ 800 (at 50~450 st)
12 760 (at 500 st) 0.3 - - -
vertical
Ball Horizontal/ 400 (at 50~450 st)
SS5D 20 800 6 0.3 - - -
screw vertical 380 (at 500 st)

Horizontal/ 200 (at 50~450 st)

3 190 (at 500 st) 0.2 - - -
vertical
800 (at 50~450 st)
Horizontal/ 760 (at 500 st)
12 640 (at 550 st) 0.3 - - -
vertical
540 (at 600 st)
400 (at 50~450 st)
Ball Horizontal/ 380 (at 500 st)
SS6D 30 800 6 0.3 - - -
screw vertical 320 (at 550 st)
270 (at 600 st)
200 (at 50~450 st)
Horizontal/ 190 (at 500 st)
3 160 (at 550 st) 0.2 - - -
vertical
135 (at 600 st)

10 665 0.3 - - -
Ball Horizontal/
SA4R 20 800 5 330 0.3 - - -
screw vertical
2.5 165 0.2 - - -
800 (at 50~450 st)
12 760 (at 500 st) 0.3 - - -
Ball Horizontal/ 400 (at 50~450 st)
SA5R 20 800 6 0.3 - - -
screw vertical 380 (at 500 st)
200 (at 50~450 st)
RCA 3 190 (at 500 st) 0.2 - - -
(arm 800 (at 50~450 st)
type) 760 (at 500 st)
12 640 (at 550 st) 0.3 - - -
540 (at 600 st)
400 (at 50~450 st)
Ball Horizontal/ 380 (at 500 st)
SA6R 30 800 6 0.3 - - -
screw vertical 320 (at 550 st)
270 (at 600 st)
200 (at 50~450 st)
190 (at 500 st)
3 160 (at 550 st) 0.2 - - -
135 (at 600 st)

387
390
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction stroke [mm]
deceleration [G] [N] [N] [mm/s]
4 200
Lead Horizontal/
RN3N 10 1048 2 100 0.2 - - -
screw vertical
1 50
4 200
Lead Horizontal/

* Appendix
RP3N 10 1048 2 100 0.2 - - -
screw vertical
1 50
4 200
Lead Horizontal/
GS3N 10 1048 2 100 0.2 - - -
screw vertical
1 50
4 200
Lead Horizontal/
GD3N 10 1048 2 100 0.2 - - -
screw vertical
1 50
4 200
Lead Horizontal/
SD3N 10 1048 2 100 0.2 - - -
screw vertical
1 50
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
RCA2
(rod Horizontal 0.2 - - -
type) 2 100
Vertical 0.2 - - -
RN4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
RP4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -

388
391
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction stroke [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
* Appendix

Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
GS4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
RCA2 Vertical 0.2 - - -
GD4N 20 1048
(rod Horizontal 0.2 - - -
type) 6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
240 (at 25 st)
Horizontal 300 (at 50~75 st) 0.3 - - -
6
200 (at 25 st)
Vertical 300 (at 50~75 st) 0.2 - - -
Ball Horizontal 0.3 - - -
screw 4 200
Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
SD4N 20 1048 Vertical 0.2 - - -
Horizontal 200 (at 25 st) 0.2 - - -
6 300 (at 50~75 st)
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 0.3 - - -
6 300
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA3C 10 800 4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
RCA2 2 100
Vertical 0.2 - - -
(slider
type) Horizontal 0.3 - - -
6 300
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA3R 10 800 4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -

389
392
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum stroke
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal 0.3 - - -
10 500
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA4C 20 800 5 250
screw Vertical 0.2 - - -

* Appendix
Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Horizontal 0.3 - - -
10 500
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA4R 20 800 5 250
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Horizontal 0.3 - - -
12 600
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA5C 20 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
RCA2 3 150
Vertical 0.2 - - -
(slider
type) Horizontal 0.3 - - -
12 600
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
SA5R 20 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
3 150
Vertical 0.2 - - -
Horizontal 600 (at 50~550 st) 0.3 - - -
12 540 (at 600 st)
Vertical 0.2 - - -
Ball Horizontal 300 (at 50~550 st) 0.3 - - -
SA6C 30 800 6
screw Vertical
270 (at 600 st)
0.2 - - -
Horizontal 150 (at 50~550 st) 0.2 - - -
3 135 (at 600 st)
Vertical 0.2 - - -
Horizontal 600 (at 50~550 st) 0.3 - - -
12 540 (at 600 st)
Vertical 0.2 - - -
Ball Horizontal 300 (at 50~550 st) 0.3 - - -
SA6R 30 800 6
screw Vertical
270 (at 600 st)
0.2 - - -
Horizontal 150 (at 50~550 st) 0.2 - - -
3 135 (at 600 st)
Vertical 0.2 - - -
4 200
Lead Horizontal/
TC3N 20 1048 2 100 0.2 - - -
screw vertical
1 50
RCA2 4 200
Lead Horizontal/
(table TW3N 20 1048 2 100 0.2 - - -
screw vertical
type)
1 50
4 200
Lead Horizontal/
TF3N 20 1048 2 100 0.2 - - -
screw vertical
1 50

390
393
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum stroke
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
* Appendix

Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
TC4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
TW4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
RCA2 2 100
Vertical 0.2 - - -
(table
type) Horizontal 270 0.3 - - -
6
Vertical 220 0.2 - - -
Ball Horizontal 0.3 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
TF4N 20 1048
Horizontal 0.2 - - -
6 220
Vertical 0.2 - - -
Lead Horizontal 0.2 - - -
4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 0.3 - - -
6 300
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
TA4C 10 800 4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -
Horizontal 0.3 - - -
6 300
Vertical 0.2 - - -
Ball Horizontal 0.3 - - -
TA4R 10 800 4 200
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2 100
Vertical 0.2 - - -

391
394
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum stroke
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal 465 0.3 - - -
10
Vertical 400 0.2 - - -
Ball Horizontal 0.3 - - -
TA5C 20 800 5 250

* Appendix
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Horizontal 465 0.3 - - -
10
Vertical 400 0.2 - - -
Ball Horizontal 0.3 - - -
TA5R 20 800 5 250
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
2.5 125
Vertical 0.2 - - -
Horizontal 560 0.3 - - -
12
Vertical 500 0.2 - - -
Ball Horizontal 0.3 - - -
TA6C 20 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
RCA2 3 150
Vertical 0.2 - - -
(table
type) Horizontal 560 0.3 - - -
12
Vertical 500 0.2 - - -
Ball Horizontal 0.3 - - -
TA6R 20 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
3 150
Vertical 0.2 - - -
Horizontal 600 0.3 - - -
12
Vertical 580 0.2 - - -
Ball Horizontal 0.3 - - -
TA7C 30 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
3 150
Vertical 0.2 - - -
Horizontal 600 0.3 - - -
12
Vertical 580 0.2 - - -
Ball Horizontal 0.3 - - -
TA7R 30 800 6 300
screw Vertical 0.2 - - -
Horizontal 0.2 - - -
3 150
Vertical 0.2 - - -

392
395
 Appendix

Maximum Minimum Maximum Rated push

Actuator Feed Motor Encoder Lead Mounting Maximum stroke
Type acceleration/ push force push force speed
series screw output [W] resolution [mm] direction [mm]
deceleration [G] [N] [N] [mm/s]
Horizontal/
RA1L 715 300 2 0.75 2 2
vertical
Horizontal/
RA2L 855 340 2 1.5 4 4
vertical
* Appendix

Horizontal/
RA3L 1145 450 2 3 8 8
vertical
SA1L 715 Horizontal 420 2 - - -

RCL SA2L Linear - 855 - Horizontal 460 2 - - -

SA3L 1145 Horizontal 600 2 - - -
SA4L 715 Horizontal 1200 2 - - -
SM4L 715 Horizontal 1200 2 - - -
SA5L 855 Horizontal 1400 2 - - -
SM5L 855 Horizontal 1400 2 - - -
SA6L 1145 Horizontal 1600 2 - - -
SM6L 1145 Horizontal 1600 2 - - -

393
396
 Appendix

Correlation diagram of speed and payload capacity for the slider type (motor-straight
type)
Horizontal installation Vertical installation

* Appendix
High-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Medium-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)
Payload capacity (kg)
Low-speed type

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.

394
397
 Appendix

Correlation diagram of speed and payload capacity for the slider type
(motor-reversing type)
Horizontal installation Vertical installation
* Appendix

High-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Medium-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)
Payload capacity (kg)
Low-speed type

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.

395
398
 Appendix

Correlation diagram of speed and payload capacity for the standard rod type
Horizontal installation (Note 1) Vertical installation

* Appendix
High-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Medium-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)
Payload capacity (kg)
Low-speed type

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide.

396
399
 Appendix

Correlation diagram of speed and payload capacity for the single-guide type
Horizontal installation Vertical installation
* Appendix

High-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Medium-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)
Payload capacity (kg)
Low-speed type

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.

397
400
 Appendix

Correlation diagram of speed and payload capacity for the double-guide type
Horizontal installation Vertical installation

* Appendix
High-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Medium-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Low-speed type

Payload capacity (kg)

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.

398
401
 Appendix

Correlation diagram of speed and payload capacity for the dustproof/splash-proof type
Horizontal installation (Note 1) Vertical installation (Note 2)
* Appendix

Payload capacity (kg)

High-speed type

Payload capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)

Payload capacity (kg)
Medium-speed type

Speed (mm/sec) Speed (mm/sec)

Payload capacity (kg)
Payload capacity (kg)
Low-speed type

Speed (mm/sec) Speed (mm/sec)

(Note) In the above graphs, the number after the type code indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide.
(Note 2) Use of the actuator at the maximum payload capacity corresponding to the applicable speed may cause
vibration/overshooting. Select an appropriate model that provides an allowance of approx. 70%.

399
402
 Appendix

Push Force and Current-limiting Value

Caution
x The relationship of push force and current-limiting value is based on the rated push speed (factory setting) and
provides only a guideline.
x Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not
stabilize.

* Appendix
x Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.
x If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed,
the push speed will become the set speed and the specified push force will not generate.

RCP2 Series Rod Type

RA2C Type
Push force (N)

Current-limiting value (ratio, %)

High-speed type

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

Medium-speed type

Push force (N)

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %)

Low-speed type

Push force (N)

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %)

400
403
 Appendix

RCP2 Series Short Type

* Appendix

Push force (N)

Lead 2.5

Lead 5

Current-limiting value (ratio, %)

RCP2 Series Slider Type

SA5C/SA6C/SS7C Type SA7C Type

Push force (N)
Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

SS8C Type
Push force (N)

Current-limiting value (ratio, %)

401
404
 Appendix

RCP2 Series Gripper

* Appendix
Gripping force (N)

Gripping force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)
Gripping force (N)

Gripping force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

Standard type
Push force (N)

High-speed type

Current-limiting value (ratio, %)

402
405
 Appendix

RCP2 Series 3-finger Gripper

* Appendix

Gripping force (N)

Gripping force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)
Gripping force (N)

Gripping force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

403
406
 Appendix

RCP3 Series Slim, Compact Rod Type

RA2AC/RA2AR Lead 1 RA2BC/RA2BR Lead 2

* Appendix
Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

RA2AC/RA2AR Lead 2 RA2BC/RA2BR Lead 4

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

RA2AC/RA2AR Lead 4 RA2BC/RA2BR Lead 6

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

404
407
 Appendix

RCP3 Series Slider Type

SA3C Type SA4C Type

* Appendix

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

SA5C/SA6C Type
Push force (N)

Current-limiting value (ratio, %)

RCP3 Series Slim, Compact Table Type

TA3C/TA3R Type TA4C/TA4R Type

Lead 2 Lead 2
Push force (N)
Push force (N)

Lead 4 Lead 4
Lead 6 Lead 6

Current-limiting value (ratio, %)

Current-limiting value (ratio, %)

RCP3 Series Table Type

TA5C Type TA6C/TA7C Type

Push force (N)

Push force (N)

Current-limiting value (ratio, %) Current-limiting value (ratio, %)

405
408
 Appendix

RCL Series Micro-cylinder

* Appendix
Push force (N)

Current-limiting value (ratio, %)

406
409
 Appendix

Change History
Revision Date Description of Revision

August 2008 First edition

• Maintenance at Startup Section and Specifications Section integrated
Change History

January 2009 Second edition

• Addition of UL standards application page

June 2009 Third edition

• Electromagnetic valve mode 1 and 2 added, velocity unit switchover
function added, corresponded to parameter create tool version update

October 2009 Fourth edition

• Transportation notes in Caution for Safety changed, RTE Signal
table revised, Error Codes 0B5, 0A8 and 0B4 added, Error Code
0A1 moved to cold start

February 2010 Fifth edition

• Descriptions corresponding to Pollution Degree 2 added in
Environment for Use

March 2010 Sixth edition

• High-Acceleration Transportation Type added to applicable actuators

May 2010 Seventh edition

• Caution for Safety swapped with Safety Guide, applicable actuator
specifications and the values for pressing force and current control
added

December 2010 Eighth edition

• System diagrams added to CC-LINK (Pg. 302) and PROFIBUS
(Pg. 321), made OMRON tool instruction correspond to integrator

February 2011 Ninth edition

• Statement in PROFIBUS specifications changed, RMOD and ECE
signals added to Gateway control signals, LOAD and TRQS signals
added (Pg. 69 and 92), correction made to explanation regarding
response (Pg. 138)

April 2011 Tenth edition

• Explanation for CE Marking moved to Overseas Specifications Manual

November 2011 Eleventh edition

• MEND signal added to Direct Indication Mode, encoder rotation setting
of absolute unit set for each actuator

April 2012 Twelfth edition

• Contents changed in Safety Guide
Caution notes added for when working with two or more persons
• Wiring the Power Supply revise (Pg. 251)
• Process revised for battery replacement in maintenance (Pg. 373)
• Statement of motor current actual value corrected to motor command
current value
• Contents added in UL section
• Usage Environment added to Specifications Table

410
 Appendix

Revision Date Description of Revision

July 2012 Thirteenth edition

• Contents changed in UL

March 2013 Edition 13B

Change History
• MEND signal deleted

May 2014 Fourteenth edition

• Battery supplier changed and nominal capacity added

411
Manual No.: ME0208-14B (October 2014)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
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Technical Support available in USA, Europe and China

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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
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Copyright © 2014. Oct. IAI Corporation. All rights reserved.
14.10.000