Iai-america ROBO Cylinder Series User Manual

PCON, ACON, SCON, ERC2, ERC3 Serial Communication [Modbus Version]Operation Manual, Sixth Edition

2ModbusRequirements for Industrial Robots under Ordinance on Industrial Safety and HealthWork area Work condition Cutoff of drive source Measure Ar

5. Modbus RTU92Modbus(4) Query sampleA sample query that reads the device status (address 9006H) of a controller with axis No. 0 is shown below. z

5. Modbus RTU93Modbus5.3.13 Controller Status Signal Reading 3 <<DSSE>> (1) FunctionThis bit reads internal status (expansion device) of

5. Modbus RTU94Modbus(4) Query sampleA sample query that reads the expansion device status (address 9007H) of a controller of axis No. 0 is shown bel

5. Modbus RTU95Modbus5.3.14 Controller Status Signal Reading 4 <<STAT>> (1) FunctionThis bit reads the internal operation status of the

5. Modbus RTU96Modbus(4) Query sampleA sample query that reads the system status (from address 9008H) of a controller of axis No. 0 is shown below. z

5. Modbus RTU97Modbus5.3.15 Current Speed Reading <<VNOW>> (1) FunctionThe monitored data of actual motor speed is read. The speed may b

5. Modbus RTU98Modbus(4) Query sampleA sample query that reads the current speed monitor (from address 900AH) of a controller of axis No. 0 is shown

5. Modbus RTU99Modbus5.3.16 Current Ampere Reading <<CNOW>> (1) FunctionThis bit reads the monitor data of the motor current (torque cur

5. Modbus RTU100Modbus(4) Query sampleA sample query that read the current ampere monitor (from address 900CH) of a controller of axis No. 0 is shown

5. Modbus RTU101Modbus5.3.17 Deviation Reading <<DEVI>> (1) FunctionThis bit reads the deviation over a 1-ms period between the position

3ModbusApplicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Not

5. Modbus RTU102Modbus(4) Query sampleA sample query that reads the deviation monitor (from address 900EH) of a controller of axis No. 0 is shown bel

5. Modbus RTU103Modbus5.3.18 Total Time after Power On Reading <<STIM>> (1) FunctionThis bit reads the total time since the controller p

5. Modbus RTU104Modbus(4) Query sampleA sample query that reads the system timer value (from address 9010H) of a controller of axis No. 0 is shown be

5. Modbus RTU105Modbus5.3.19 Special Input Port Input Signal Status Reading<<SIPM>> (1) FunctionThis bit reads the status of input ports

5. Modbus RTU106Modbus(4) Query sampleA sample query that reads the special input port (address 9012H) of a controller of axis No. 0 is shown below.

5. Modbus RTU107Modbus5.3.20 Zone Output Signal Status Reading<<ZONS>> (1) FunctionThis bit reads the status of zone output. [Refer to 4

5. Modbus RTU108Modbus(4) Query sampleA sample query that reads the zone output status (address 9013H) of a controller of axis No. 0 is shown below.

5. Modbus RTU109Modbus5.3.21 Position Complete Number Reading<<POSS>> (1) FunctionThis bit reads the position complete number. [Refe

5. Modbus RTU110Modbus(4) Query sampleA sample query that reads the position complete (address 9014H) of a controller of axis No. 0 is shown below. Q

5. Modbus RTU111Modbus5.3.22 Controller Status Signal Reading 5 <<SSSE>> (1) FunctionThis query reads the internal operation status of t

4ModbusSafety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.OperationDescription D

5. Modbus RTU112Modbus(4) Query sampleA sample query that reads the expansion system status register (address 9015H) of a controller of axis No. 0 is

5. Modbus RTU113Modbus5.3.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only (1) FunctionThe monitored data of load cell measurement

5. Modbus RTU114Modbus(4) Query sampleAn example of use is shown, where the current measurement on the load cell connected to controller axis 0 is re

5. Modbus RTU115Modbus5.4 Operation Commands and Data Rewrite (Query Using Code 05) 5.4.1 Writing to Coil (1) FunctionChange (write) the status of

5. Modbus RTU116Modbus5.4.2 Safety Speed Enable/Disable Switching (SFTY) (1) FunctionThis query enables/disables the speed specified by user paramet

5. Modbus RTU117Modbus(4) Query sampleA sample query that enables the safety speed of a controller of axis No. 0 is shown below. Query (silent interv

5. Modbus RTU118Modbus5.4.3 Servo ON/OFF <<SON>> (1) FunctionControl ON/OFF of the servo. When “Servo ON” is specified by the new data

5. Modbus RTU119Modbus(4) Query sampleA sample query that turns on the servo of a controller of axis No. 0 is shown below. Query (silent intervals ar

5. Modbus RTU120Modbus5.4.4 Alarm Reset <<ALRS>> (1) FunctionWhen the alarm reset edge is turned on (the data is first set to FF00H and

5. Modbus RTU121Modbus(4) Query sampleA sample query that resets the alarms of a controller of axis No. 0 is shown below. Query (silent intervals are

5ModbusNo.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipmen

5. Modbus RTU122Modbus5.4.5 Brake Forced Release <<BKRL>> (1) FunctionBrake control is linked to servo ON/OFF. The brake can be forceful

5. Modbus RTU123Modbus(4) Query sampleA sample query that forcefully releases the break of a controller of axis No. 0 is shown below. Query (silent i

5. Modbus RTU124Modbus5.4.6 Pause <<STP>> (1) FunctionIf the pause command is transmitted during movement, the actuator decelerates and

5. Modbus RTU125Modbus(4) Query sampleA sample query that pauses a controller of axis No. 0 is shown below. Query (silent intervals are inserted befo

5. Modbus RTU126Modbus5.4.7 Home Return <<HOME>> (1) FunctionHome return operation will start if a rising edge in the home return comman

5. Modbus RTU127Modbus(4) Query sampleA query example that executes home return operation of a controller of axis No. 0 is shown here. Query (silent

5. Modbus RTU128Modbus5.4.8 Positioning Start Command <<CSTR>> (1) FunctionIf the rising edge of the positioning start command is detect

5. Modbus RTU129Modbus(4) Query sampleA sample query that moves the actuator of a controller of axis No. 0 to the position specified by the position

5. Modbus RTU130Modbus5.4.9 Jog/Inch Switching <<JISL>> (1) FunctionThis bit switches between jogging and inching. If this bit switches

5. Modbus RTU131Modbus(4) Query sampleA sample query that switches the operation of a controller of axis No. 0 to inching is shown below. Query (sile

6ModbusNo.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, an

5. Modbus RTU132Modbus5.4.10 Teaching Mode Command <<MOD>> (1) FunctionThis bit switches between the normal operation mode and teaching

5. Modbus RTU133Modbus(4) Query sampleA sample query that switches the operation mode of a controller of axis No. 0 to teaching mode is shown below.

5. Modbus RTU134Modbus5.4.11 Position Data Load Command <<TEAC>> (1) FunctionThe current position is acquired by writing this command (w

5. Modbus RTU135Modbus(4) Query sampleA sample query that acquires the current position when a controller of axis No. 0 is in the teaching mode is sh

5. Modbus RTU136Modbus5.4.12 Jog+ Command <<JOG+>> (1) Functionx The actuator performs either jog or inching operation. If the jog+ com

5. Modbus RTU137Modbus(4) Query sample[1] A sample query that makes a controller of axis No. 0 jog is shown below. Query (silent intervals are inser

5. Modbus RTU138Modbus5.4.13 Jog- Command <<JOG->> (1) Functionx The actuator performs either jog or inching operation. If the jog- com

5. Modbus RTU139Modbus(4) Query sample[1] A sample query that makes a controller of axis No. 0 jog is shown below. Query (silent intervals are inser

5. Modbus RTU140Modbus5.4.14 Start Positions 0 to 7 <<ST0 to ST7>> Movement Command (Limited to PIO Patterns 4 and 5) (1) FunctionThe

5. Modbus RTU141Modbus(4) Query sampleA sample query that moves a controller of axis No. 0 to start position 2 is shown below. An example of start po

7ModbusNo.OperationDescription Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make

5. Modbus RTU142Modbus5.4.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected. (1) Function --- SCON

5. Modbus RTU143Modbus*1 If the CLBR is turned OFF during this period, calibration will not be performed because the signal is not yet recognized as

5. Modbus RTU144Modbus5.4.16 PIO/Modbus Switching Setting <<PMSL>> (1) FunctionPIO external command signals can be enabled or disabled.

5. Modbus RTU145Modbus(4) Response If the change is successful, the response message will be the same as the query. If invalid data is sent, an excep

5. Modbus RTU146Modbus5.4.17 Deceleration Stop <<STOP>> (1) FunctionThe actuator will start decelerating to a stop when the deceleration

5. Modbus RTU147Modbus(4) Query sampleA sample query that decelerates to a stop of a controller of axis No. 0 is shown below. Query (silent intervals

5. Modbus RTU148Modbus5.5 Direct Writing of Control Information (Queries Using Code 06) 5.5.1 Writing to Registers (1) FunctionThese queries change

5. Modbus RTU149Modbus(3) Query formatSpecify the address and data of the register whose data is to be changed in the query message. Data to be chang

5. Modbus RTU150Modbus(5) Query sampleExamples of different operations are shown in [1] to [3] below. [1] A sample query that turns the servo of a

5. Modbus RTU151ModbusNote As soon as a position number is written to this register, the actuator starts moving. The CSTR (start signal) is not r

8ModbusNo.OperationDescription Description 6 Trial OperationƔ When the work is carried out with 2 or more persons, make it clear who is to be the le

5. Modbus RTU152Modbus5.6 Direct Writing of Positioning Data (Queries Using Code 10) 5.6.1 Numerical Value Movement Command (1) FunctionSpecify the

5. Modbus RTU153Modbus(3) Query format1 register = 2 bytes = 16-bit data Field Number of data items (number of bytes) RTU mode 8-bit data Remarks St

5. Modbus RTU154Modbus(5) Detailed explanation of registers Target position specification register (PCMD) This register specifies the target positi

5. Modbus RTU155Modbus Acceleration/deceleration specification register (ACMD) This register specifies the acceleration or deceleration. The value o

5. Modbus RTU156Modbus Control Flag Specification Register (CTLF) Set the method of operation. If push-motion operation or incremental operation (pi

5. Modbus RTU157ModbusBit 4 (GSL0), 5 (GSL1) = Refer to the table below. (These bits can be set only on SCON-CA controllers.) GSL1 GSL0 Function 0

5. Modbus RTU158Modbus(6) Example of use Examples of different operations are shown in [1] to [7] below. [1] Move by changing the target positio

5. Modbus RTU159Modbus[2] Move by changing the target position. (As well as data other than the target position). Conditions: Want to move the act

5. Modbus RTU160Modbus[3] Change the speed while the actuator is moving. Conditions: Change the target position, speed and acceleration/decelerati

5. Modbus RTU161Modbus(Example 3) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving. Target position [mm]Positioning band[mm]Spe

9ModbusNo.OperationDescription Description 8 Maintenance andInspection Ɣ When the work is carried out with 2 or more persons, make it clear who is t

5. Modbus RTU162Modbus[4] Move in the incremental (pitch feed) mode. Conditions: The operation conditions conform to the default speed, default acce

5. Modbus RTU163Modbus(Example 4) Move in the incremental mode by setting the pitch to 10 mm. Pitch [mm]Positioning band[mm]Speed [mm/s]Accelerat

5. Modbus RTU164Modbus[5] Change the speed during incremental movement (pitch feed). Conditions: Change the target position, speed and acceleratio

5. Modbus RTU165Modbus(Example 5) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving. Pitch [mm]Positioning band[mm]Speed [mm

5. Modbus RTU166Modbus[6] Perform a push-motion operation. (changing pushing force during push-operation) Conditions: Perform push-motion operation b

5. Modbus RTU167Modbus(Example 6) Perform a push-motion operation for 20 mm from the 50-mm position at a current-limiting value of 70%. Target positi

5. Modbus RTU168Modbus(Example 7) Change the push current limit from 70% to 50% during a push-motion operation. Target position [mm]Positioning band[

5. Modbus RTU169Modbus[7] Note (changing positioning band during movement) The positioning band cannot be changed while the actuator is moving.Condit

5. Modbus RTU170Modbus5.6.2 Writing Position Table Data (1) FunctionPosition table data can be changed using this query. Every time an access is m

5. Modbus RTU171Modbus(3) Query format 1 register = 2 bytes = 16-bit data FieldNumber of data items (Number of bytes)RTU mode 8-bit data Remarks Star

10ModbusThe safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described

5. Modbus RTU172Modbus(5) Detailed explanation of registers  Target Position (PCMD) This register specifies the target position using absolute coor

5. Modbus RTU173Modbus Deceleration specification register (DCMD) This register specifies the deceleration during positioning. The value of this reg

5. Modbus RTU174Modbus(6) Sample query A sample query that rewrites all data of position No. 12 of axis No. 0 is shown below. Axis No. 0 Targetpositi

5. Modbus RTU175ModbusContinued from the previous page FieldRTU mode 8-bit data Remarks 0000H All upper bits of the 32-bit data are 0. New data 7, 8

5. Modbus RTU176ModbusShown below are the screens of IAI’s PC software for RC controllers, indicating how position data changes before and after a que

5. Modbus RTU177Modbus

6. Modbus ASCII178Modbus6 Modbus ASCII

6. Modbus ASCII179Modbus6.1 Message Frames (Query and Response) Start Address Function code Data LRC Check End 1 character 2 characters 2 chara

6. Modbus ASCII180Modbus(4) Data Use this field to add data specified by a function code. It is also allowed to omit data if data addition is not spec

6. Modbus ASCII181ModbusCaution x The sizes of send/receive buffers are set to 256 bytes for the RC controllers, respectively. Make sure to keep the m

11ModbusHandling Precautions The explanations provided in this manual are limited to procedures of serial communication. Refer to the operation manu

6. Modbus ASCII182Modbus6.2 ASCII Code Table ASCII Code (numbers and characters enclosed with  are converted and sent.) x NUL: Null character x E

6. Modbus ASCII183Modbus6.3 List of ASCII Mode Queries FC: Function code PIO: Parallel I/O (input/output of an I/O connector) The circle marks in th

6. Modbus ASCII184ModbusFC Function Symbol Function Combination with PIO Broad-castPage03Controller status signal read 2 (device status 2)(Operatio

6. Modbus ASCII185ModbusFC Function Symbol Function Combination with PIOBroad-castPage03 Zone status query ZONS This function reads the following

6. Modbus ASCII186ModbusFC Function Symbol Function Combination with PIO Broad-castPage05Position number specification 0 to 7 ST0 to ST7This functi

6. Modbus ASCII187Modbus6.4. Data and Status Reading (queries Using Code 03) 6.4.1 Reading Consecutive Multiple Registers (1) Function These regist

6. Modbus ASCII188Modbus(3) Query format In a query message, specify the address of the register from which to start reading data, and number of byte

6. Modbus ASCII189Modbus(5) Sample query A sample query that reads addresses 9000H to 9009H in a RC controller of axis No. 0 is shown below: Query: 0

6. Modbus ASCII190Modbus6.4.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> (1) FunctionThis bit reads the alarm codes, alarm de

6. Modbus ASCII191Modbus(4) Query sampleA sample query that reads the contents of last occurred alarm (addresses 0500H to 0505H) of a controller with

Modbus

12Modbus(7) In order to prevent malfunctions due to noise, wire the communication cables such that the communication cables are isolated from power l

6. Modbus ASCII192Modbus6.4.3 Total moving count Reading <<TLMC>> (1) FunctionThis bit reads the total moving count. [Refer to Section

6. Modbus ASCII193Modbus(4) Query sampleA sample query that reads the Total moving count (addresses 8400H to 8401H) of a controller with axis No. 0 i

6. Modbus ASCII194Modbus6.4.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) (1) FunctionThis bit reads the total moving dist

6. Modbus ASCII195Modbus(4) Query sampleA sample query that reads the Total moving distance (addresses 8402H to 8403H) of a controller with axis No.

6. Modbus ASCII196Modbus6.4.5 Present Time Reading <<TIMN>> (1) FunctionThis bit reads the present time.ᴾ[Dedicated for PCON-CA/CFA and

6. Modbus ASCII197Modbusί4ὸᴾConversion of Read Data into TimeThe read data output the current time by the setting on the controller.ᴾ[1] For the mod

6. Modbus ASCII198Modbus(5) Query sampleA sample query that reads the present time of PCON-CA (addresses 8420H to 8421H) of a controller with axis No

6. Modbus ASCII199Modbus6.4.6 Total FAN Driving Time Reading <<TIMN>> (1) FunctionThis bit reads the Total FAN driving time (in 1 sec un

6. Modbus ASCII200Modbus(4) Query sampleA sample query that reads the total FAN driving time (addresses 842EH to 842FH) of a controller with axis No.

6. Modbus ASCII201Modbus6.4.7 Current Position Reading (in 0.01 mm units) Monitor <<PNOW>> (1) Function This query reads the current in

1. Overview13Modbus1 Overview The ROBO Cylinder Controller (hereinafter referred to as RC controller) is equipped with a serial bus interface for asy

6. Modbus ASCII202Modbus(4) Sample query (Axis No. 0) A sample query that reads address 9000H in a controller of axis No. 0 is shown below: Query: 01

6. Modbus ASCII203Modbus6.4.8 Present Alarm Code Query <<ALMC>> (1) Function Whether the controller is normal or any alarm presently det

6. Modbus ASCII204Modbus(4) Sample query (Axis No. 0) A sample query that reads address 9002H in an RC controller of axis No. 0 is shown below: Query

6. Modbus ASCII205Modbus6.4.9 I/O Port Input Signal Status Reading <<DIPM>> (1) Function Port input values of the RC controller are read

6. Modbus ASCII206Modbus(4) Sample query (Axis No. 0) A sample query that reads input ports (address 9003H) in a controller of axis No. 0 is shown be

6. Modbus ASCII207Modbus(5) Port assignment [For details, refer to the operation manual that comes with each RC controller.] Write the port assignmen

6. Modbus ASCII208Modbus ACON-C/CG ACON-PL/PO PortPIO pattern 0 PIO pattern 1 PIO pattern 2PIO pattern 3PIO pattern 4PIO pattern 5PIO pattern 0 PIO

6. Modbus ASCII209Modbus6.4.10 I/O Port Output Signal Status Reading <<DOPM>> (1) Function Port output values of the RC controller are s

6. Modbus ASCII210Modbus(4) Sample query (Axis No. 0) A sample query that reads input ports (address 9004H) in a controller of axis No. 0 is shown be

6. Modbus ASCII211Modbus(5) Port assignment [For details, refer to the operation manual that comes with each RC controller.] Write the port assignmen

1. Overview14Modbus1.1 Operation Manuals Relating to This Product You Find in the DVD No. Name Control No 1Operation Manual for ERC2(PIO) Actuator

6. Modbus ASCII212ModbusNote CA type only ACON-C/CG ACON-PL/PO PortPIOpattern 0 PIO pattern 1 PIO pattern 2PIO pattern 3PIO pattern 4PIO pattern 5

6. Modbus ASCII213Modbus6.4.11 Controller Status Signal Reading <<DSS1>> (1) FunctionThis query reads the internal status of the control

6. Modbus ASCII214Modbus(4) Sample query A sample query that reads the device status (address 9005H) in a controller of axis No. 0 is shown below. Qu

6. Modbus ASCII215Modbus6.4.12 Controller Status Signal Reading 2 <<DSS2>> (1) FunctionThis query reads the internal status 2 of the con

6. Modbus ASCII216Modbus(4) Sample query A sample query that reads the device status 2 (address 9006H) in a controller of axis No. 0 is shown below.

6. Modbus ASCII217Modbus6.4.13 Controller Status Signal Reading 3 <<DSSE>> (1) FunctionInternal statuses (expansion device) of the contr

6. Modbus ASCII218Modbus(4) Sample query A sample query that reads the expansion device status (address 9007H) in a controller of axis No. 0 is shown

6. Modbus ASCII219Modbus6.4.14 Controller Status Signal Reading 4 <<STAT>> (1) FunctionThis query reads the internal operation status of

6. Modbus ASCII220Modbus(4) Sample query A sample query that reads the system status (address 9008H) in a controller of axis No. 0 is shown below. Qu

6. Modbus ASCII221Modbus6.4.15 Current Speed Query <<VNOW>> (1) FunctionThe monitored data of actual motor speed is indicated. The value

2. Specications15Modbus2 Specifications Item Method/condition Interface Conforming to EIA RS485 Communication method Half-duplex communication Ma

6. Modbus ASCII222Modbus(4) Sample query A sample query that reads the speed (address 900AH) of a controller of axis No. 0 is shown below. Query: 01

6. Modbus ASCII223Modbus6.4.16 Current Ampere Reading <<CNOW>> (1) FunctionThe monitored data of motor current is indicated in mA. The

6. Modbus ASCII224Modbus(4) Sample query A sample query that reads the current ampere value (address 900CH) of a controller of axis No. 0 is shown be

6. Modbus ASCII225Modbus6.4.17 Deviation Reading <<DEVI>> (1) FunctionThis query reads the deviation over a 1-ms period between the posi

6. Modbus ASCII226Modbus(4) Sample query A sample query that reads the deviation (address 900EH) of a controller of axis No. 0 is shown below. Query:

6. Modbus ASCII227Modbus6.4.18 Total Time after Power On Reading <<STIM>> (1) FunctionThis query reads the total time since the controll

6. Modbus ASCII228Modbus(4) Sample query A sample query that reads the startup time (address 9010H) of a controller of axis No. 0 is shown below. Que

6. Modbus ASCII229Modbus6.4.19 Special Input Port Input Signal Status Query <<SIPM>> (1) FunctionThis query reads the status of input po

6. Modbus ASCII230Modbus(4) Sample query A sample query that reads the special input port (address 9012H) of a controller of axis No. 0 is shown belo

6. Modbus ASCII231Modbus6.4.20 Zone Output Signal Status Reading <<ZONS>> (1) FunctionThis query reads the status of zone output. [Refer

2. Specications16Modbus2.1 Communication Mode In the Modbus protocol, communication takes place in a single-master/multiple-slave configuration. In

6. Modbus ASCII232Modbus(4) Sample query A sample query that reads the zone status (address 9013H) of a controller of axis No. 0 is shown below. Quer

6. Modbus ASCII233Modbus6.4.21 Position Complete Number Query <<POSS>> (1) FunctionThis query reads the position complete number. [Ref

6. Modbus ASCII234Modbus(4) Sample query A sample query that reads the position complete (address 9014H) of a controller of axis No. 0 is shown below

6. Modbus ASCII235Modbus6.4.22 Controller Status Signal 5 <<SSSE>> (1) FunctionThis query reads the internal operation status of the con

6. Modbus ASCII236Modbus(4) Query sampleA sample query that reads the expansion system status register (address 9015H) of a controller of axis No. 0

6. Modbus ASCII237Modbus6.4.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only (1) FunctionThe monitored data of load cell measurem

6. Modbus ASCII238Modbus(4) Query sample An example of use is shown, where the current measurement on the load cell connected to controller axis 0 is

6. Modbus ASCII239Modbus6.5 Operation Commands and Data Rewrite (Query Using Code 05) 6.5.1 Writing to Coil (1) FunctionChange (write) the status o

6. Modbus ASCII240Modbus6.5.2 Safety Speed Enable/Disable Switching (SFTY) (1) FunctionThis query enables/disables the speed specified by user param

6. Modbus ASCII241Modbus(4) Sample query A sample query that enables the safety speed of a controller of axis No. 0 is shown below. Query: 01 05 04 0

3. Specications17Modbus3 Preparation for Communication 3.1 In Case the Host Uses RS232C Interface (1) System configuration The host must be either

6. Modbus ASCII242Modbus6.5.3 Servo ON/OFF <<SON>> (1) FunctionControl ON/OFF of the servo. When “Servo ON” is specified by the new da

6. Modbus ASCII243Modbus(4) Sample query A sample query that turns the servo of a controller of axis No. 0 on is shown below. Query: 01 05 04 03 FF 0

6. Modbus ASCII244Modbus6.5.4 Alarm Reset <<ALRS>> (1) FunctionWhen the alarm reset edge is turned on (the data is first set to FF00H an

6. Modbus ASCII245Modbus(4) Query sampleA sample query that resets the alarms of a controller of axis No. 0 is shown below. First time 01 05 04 07 F

6. Modbus ASCII246Modbus6.5.5 Brake Forced Release <<BKRL>> (1) FunctionBrake control is linked to servo ON/OFF. The brake can be forcef

6. Modbus ASCII247Modbus(4) Sample query A sample query that forcefully releases the brake of a controller of axis No. 0 is shown below. Query: 01 05

6. Modbus ASCII248Modbus6.5.6 Pause <<STP>> (1) FunctionIf the pause command is transmitted during movement, the actuator decelerates an

6. Modbus ASCII249Modbus(4) Sample query A sample query that pauses a controller of axis No. 0 is shown below. Query: 01 05 04 0A FF 00 ED Field ASC

6. Modbus ASCII250Modbus6.5.7 Home return <<HOME>> (1) FunctionHome return operation will start if a rising edge in the home return comm

6. Modbus ASCII251Modbus(4) Sample query A sample query that executes home return operation of a controller of axis No. 0 is shown below. Query:First

3. Specications18Modbus(2) Wiring Fig. 3.2_1/2 1231271274123412341234TB2TB1SGASGBSGASGBGNDSGASGBGNDCDRDSDERSGRSCSCIDRCDRDSDERSGRSCSCIDRCDRDSDERSGRSC

6. Modbus ASCII252Modbus6.5.8 Positioning Start Command <<CSTR>> (1) FunctionIf the rising edge of the positioning start command is dete

6. Modbus ASCII253Modbus(4) Sample query A sample query that moves the actuator of a controller of axis No. 0 to the position specified by the positi

6. Modbus ASCII254Modbus6.5.9 Jog/Inch Switching <<JISL>> (1) FunctionThis bit switches between jogging and inching. If this bit switche

6. Modbus ASCII255Modbus(4) Sample query A sample query that switches the operation of a controller of axis No. 0 to inching is shown below. Query: 0

6. Modbus ASCII256Modbus6.5.10 Teaching Mode Command <<MOD>> (1) FunctionThis bit switches between the normal operation mode and teachin

6. Modbus ASCII257Modbus(4) Sample query A sample query that switches the operation mode of a controller of axis No. 0 to teaching mode is shown belo

6. Modbus ASCII258Modbus6.5.11 Position Data Load Command <<TEAC>> (1) FunctionThe current position is acquired by writing this command

6. Modbus ASCII259Modbus(4) Sample query A sample query that acquires the current position when a controller of axis No. 0 is in the teaching mode is

6. Modbus ASCII260Modbus6.5.12 Jog+ Command <<JOG+>> (1) Functionx The actuator performs either jog or inching operation. If the jog+ c

6. Modbus ASCII261Modbus(4) Sample query [1] A sample query that makes a controller of axis No. 0 jog is shown below. Query: 01 05 04 16 FF 00 E1 Fie

3. Specications19ModbusFig. 3.2_2/2 123412341234127SGASGBGNDSGASGB+5VGND12341234123412341234ERC2-SESGASGBGND121A1B5B12123412342-pair shielded cables

6. Modbus ASCII262Modbus6.5.13 Jog- Command <<JOG->> (1) Functionx The actuator performs either jog or inching operation. If the jog- c

6. Modbus ASCII263Modbus(4) Sample query [1] A sample query that makes a controller of axis No. 0 jog is shown below. Query: 01 05 04 17 EF 00 E0 Fie

6. Modbus ASCII264Modbus6.5.14 Start Positions 0 to 7 <<ST0 to ST7>> (Limited to PIO Patterns 4 and 5) (1) FunctionThe actuator moves to

6. Modbus ASCII265Modbus(4) Query sampleA sample query that moves a controller of axis No. 0 to start position 2 is shown below. Sample start positio

6. Modbus ASCII266Modbus6.5.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected. (1) Function --- SC

6. Modbus ASCII267Modbus*1 If the CLBR is turned OFF during this period, calibration will not be performed because the signal is not yet recognized a

6. Modbus ASCII268Modbus6.5.16 PIO/Modbus Switching Setting <<PMSL>> (1) FunctionPIO external command signals can be enabled or disabled

6. Modbus ASCII269Modbus(4) Response If the change is successful, the response message will be the same as the query. If invalid data is sent, an exc

6. Modbus ASCII270Modbus6.5.17 Deceleration Stop <<STOP>> (1) FunctionThe actuator will start decelerating to a stop upon detection of t

6. Modbus ASCII271Modbus(4) Sample query A sample query that sends the deceleration stop command to a controller of axis No. 0 is shown below. Query:

3. Specications20Modbus(3) SIO converter (vertical specification: RCB-TU-SIO-A, horizontal specification: RCB-TU-SIO-B)A RS232C  RS485 converter Fi

6. Modbus ASCII272Modbus6.6 Control Information Direct Writing (Queries Using Code 06) 6.6.1 Writing to Registers (1) FunctionThese queries change

6. Modbus ASCII273Modbus(3) Query formatSpecify the address and data of the register whose data is to be changed in the query message. Data to be cha

6. Modbus ASCII274Modbus(5) Query sampleExamples of different operations are shown in [1] to [3] below. [1] A sample query that turns the servo of

6. Modbus ASCII275ModbusNote As soon as a position number is written to this register, the actuator starts moving. The CSTR (start signal) is not r

6. Modbus ASCII276Modbus6.7 Positioning Data Direct Writing (Queries Using Code 10) 6.7.1 Numerical Value Movement Command (1) FunctionSpecify the

6. Modbus ASCII277Modbus(3) Query format1 register = 2 bytes = 16-bit data Field Number of characters (number of bytes) ASCII mode fixed character s

6. Modbus ASCII278Modbus(5) Detailed explanation of registers Target position specification register (PCMD) This register specifies the target posi

6. Modbus ASCII279Modbus Acceleration/deceleration specification register (ACMD) This register specifies the acceleration or deceleration. The value

6. Modbus ASCII280Modbus Control Flag Specification Register (CTLF) Set the method of operation. If push-motion operation or incremental operation (

6. Modbus ASCII281ModbusBit 4 (GSL0), 5 (GSL1) = Refer to the table below. (These bits can be set only on SCON-CA/CFA controllers.) GSL1 GSL0 Functi

3. Specications21ModbusPCON-*ACON-*SCON-*(RS485)3.2 In Case the Host Uses RS485 Interface (1) System configuration Fig. 3.4 Master/hostThe host mus

6. Modbus ASCII282Modbus(6) Example of useExamples of different operations are shown in [1] to [7] below. [1] Move by changing the target position

6. Modbus ASCII283Modbus[2] Move by changing the target position. (as well as data other than the target position). Conditions: Want to move the a

6. Modbus ASCII284Modbus[3] Change the speed while the actuator is moving. Conditions: Change the target position, speed and acceleration/decelera

6. Modbus ASCII285Modbus(Example 3) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving.Target position [mm]Positioning band[mm]Sp

6. Modbus ASCII286Modbus[4] Move in the incremental (pitch feed) mode. Conditions: The operation conditions conform to the default speed, default ac

6. Modbus ASCII287Modbus(Example 4) Move in the incremental mode by setting the pitch to 10 mm.Pitch [mm]Positioning band[mm]Speed [mm/s]Accelera

6. Modbus ASCII288Modbus[5] Change the speed during incremental movement (pitch feed). Conditions: Change the target position, speed and accelerat

6. Modbus ASCII289Modbus(Example 5) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving. Pitch [mm]Positioning band[mm]Speed [

6. Modbus ASCII290Modbus[6] Perform a push-motion operation. (changing pushing force during push-operation) Conditions: Perform push-motion operation

6. Modbus ASCII291Modbus(Example 6) Perform a push-motion operation for 20 mm from the 50-mm position at a current-limiting value of 70%. Target posi

ModbusPlease Read Before Use Thank you for purchasing our product. This Operation Manual explains the serial communication (Modbus), among others, pro

3. Specications22Modbus(2) Wiring Fig. 3.5 Nth slave (N = maximum 16 slaves)SASGASGBGNDSGASGBGNDSGASDASDBPDAPDBSGBGNDB5123412341234123127127412341

6. Modbus ASCII292Modbus(Example 7) Change the push current limit from 70% to 50% during a push-motion operation. Target position [mm]Positioning ban

6. Modbus ASCII293Modbus[7] Note (changing positioning band during movement) The positioning band cannot be changed while the actuator is moving.Cond

6. Modbus ASCII294Modbus6.7.2 Writing Position Table Data (1) FunctionPosition table data can be changed using this query. Every time an access

6. Modbus ASCII295Modbus(3) Query format 1 register = 2 bytes = 16-bit data FieldASCII mode fixed character stringNumber of characters (Number of byt

6. Modbus ASCII296Modbus(5) Detailed explanation of registers  Target Position (PCMD) This register specifies the target position using absolute co

6. Modbus ASCII297Modbus Deceleration specification register (ACMD) This register specifies the deceleration during positioning. The value of this r

6. Modbus ASCII298Modbus(6) Sample query A sample query that rewrites all data of position No. 12 of axis No. 0 is shown below. Axis No. 0 Targetposi

6. Modbus ASCII299ModbusFieldASCII mode fixed character stringConverted ASCII code data [H] Remarks ‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of th

6. Modbus ASCII300ModbusShown below are the screens of IAI’s PC software for RC controller, indicating how position data changes before and after a qu

7. Troubleshooting301Modbus7 Troubleshooting

3. Specications23Modbus3.3 Communication Connector Pin Assignment of PLC and PC (Reference)Fig. 3.6 In case of PLC made by Mitsubishi: QJ71C24 RS232

7. Troubleshooting302Modbus7.1 Responses at Errors (Exception Responses) In each query (command), except for a broadcast query message, the master is

7. Troubleshooting303ModbusExample of exception response generation (Sample query message using Read Input Status) FieldSample value [Hex]ASCII mode

7. Troubleshooting304ModbusExample) Query function code “02H” (00000010b) o Exception response function code “82H” (10000010b)  Exception codes The

7. Troubleshooting305Modbus7.2 Notes x When referencing registers using Modbus functions, registers belonging to multiple categories cannot be read

7. Troubleshooting306Modbus7.3 When Communication Fails Select an applicable item and perform the processing enclosed with .The specific processing

7. Troubleshooting307ModbusContinued from the previous page Continue to the next page Did the problem occur after moving facilities?Occurred after mov

7. Troubleshooting308ModbusContinued from the previous page Cannot communicate with specific controllers.[1] Wrong wiring of communication cables bet

7. Troubleshooting309Modbus*1 Connect a PC to the host following the procedure explained in sections 3.1, 3.2 and 3.3. [1] Start the PC software. [2]

7. Troubleshooting310Modbus[3] Select [Edit/Teach] from the [Position] menu. The Position Data Edit Axis Selection window appears, displaying the con

7. Troubleshooting311Modbus*6 Refer to section 3.6 to check the communication speed setting again. Set the same communication speed for all RC contro

3. Specications24Modbus3.4 Various Setting before Starting Communication Fig. 3.7 If multiple controllers are connected, set the axis numbers [ref

7. Troubleshooting312Modbus

8. Reference Materials313Modbus8 Reference Materials

8. Reference Materials314Modbus8.1 CRC Check Calculation Sample C functions used for CRC calculation are shown below. They are equivalent to the CR

8. Reference Materials315Modbus

8. Reference Materials316Modbus8.2 Configuration of Systems that Use both SIO and PIO It is possible to monitor the current position and other values

8. Reference Materials317ModbusExample 2 of system configuration that uses both SIO and PIOFig. 11.2 Serial unit connection cables Note that the pin a

Change History318ModbusChange History Revision Date Description of Revision May 2010 Released Rev. 4. x Added “Safety Guide.” x Added SCON-CA

319Modbus

Manual No.: ME0162-6A (December 2012)The information contained in this document is subject to change without notice for purposes of product improvemen

3. Specications25ModbusIn case of axis 1 (* set the switch to 0) In case of axis 2 (* set the switch to 1) In case of axis 11 (* set the switch

3. Specications26Modbus3.6 Setting Controller Communication Speed In order to perform communication, the communication speed of the PLC and each RC

3. Specications27Modbus[2] Select the axis number of the controller to be changed. Fig. 3.12 [3] Set parameter No. 16, SIO communication speed. Fig

4. Communicationn28Modbus4 Communication 4.1 Message Transmission Timing Fig. 4.1 The basic transmission control procedure consists of the master se

4. Communication29Modbus4.2 Timeout and Retry After sending a query, the host waits for a response from the controller (except when the query that ha

4. Communicationn30Modbus4.3 Internal Addresses and Data Structure of RC Controller The memory area in your RC controller consists of the Modbus regi

4. Communication31Modbus4.3.2 Details of Modbus Registers Reference page Address[hex] Area name Description SymbolRTU ASCII 0000 to 04FF Reserved

ModbusTable of Contents Safety Guide...

4. Communicationn32ModbusReference page Address[hex] Area name Description Symbol RTU ASCII 901EController monitorinformationcategory Force feedbac

4. Communication33Modbus(1) Data of alarm detail code (Address = 0500H) (ALA0) Bitᴾ Symbolᴾ Nameᴾ Functionᴾ15 - Alarm detail code 3276814 - Alarm

4. Communicationn34Modbusᴾ(3) Data of alarm code (Address = 0503H) (ALA0) Bit Symbol Name Functionᴾ15 - Alarm code 32768 14 - Alarm code 16384

4. Communication35Modbusᴾ(4) Data of alarm occurrence time (Address = 0504H) (ALA0) Bitᴾ Symbolᴾ Name Functionᴾ31-Alarm occurrence time 214720283230

4. Communicationn36Modbus(5) Data of device control register 1 (Address = 0D00H) (DRG1) Bit Symbol Name Function 15 EMG EMG operation specificat

4. Communication37Modbus(6) Data of device control register 2 (Address = 0D01H) (DRG2) Bit Symbol Name Function 15 - Cannot be used 14 JISL

4. Communicationn38Modbus(7) Data of position number specification registers (Address = 0D03H) (POSR)Position movement command register details (Add

4. Communication39Modbus(8) Data of total moving count (Address = 8400H) (TLMC) Bit Symbol Name Function 31-Total moving count 2147202832 30-Total

4. Communicationn40Modbusᴾ(9) Data of total moving distance (Address = 8402H) (ODOM) Bit Symbol Name Function 31-Total moving distance 2147202832

4. Communication41Modbus(10) Data of present time (Address = 841AH(SCON-CA), 8420H(PCON-CA/CFA) (TIMN) Bit Symbol Name Function 31-Present time 21

Modbus4.3.3 Structure of Modbus Status Registers...514.

4. Communicationn42Modbus(11) Data of total FAN driving time (Address = 842EH (TFAN) Bit Symbol Name Function 31 - Total FAN driving time 21472028

4. Communication43Modbus(12) Data of device status register 1 (Address = 9005H) (DSS1) Bit Symbol Name Function 15 EMGS EMG status 0: Emergenc

4. Communicationn44Modbus(13) Data of device status register 2 (Address = 9006H) (DSS2) Bit Symbol Name Function 15 ENBS Enable 0: Disable condi

4. Communication45Modbus(14) Data of expansion device status register (Address = 9007H) (DSSE)Bit Symbol Name Function 15 EMGP Emergency stop sta

4. Communicationn46Modbus(15) Data of system status registers (Address = 9008H) (STAT)Bit Symbol Name Function 31BATL Absolute Battery Voltage Dro

4. Communication47Modbus(16) Data of special port monitor registers (Address = 9012H) (SIPM)Bit Symbol Name Function 15 - Cannot be used 14 NP

4. Communicationn48Modbus(17) Data of zone status register (Address = 9013H) (ZONS)Bit Symbol Name Function 15 - Cannot be used 14 LS2 Limit

4. Communication49Modbus(18) Data of position number status register (Address = 9014H) (POSS)Bit Symbol Name Function 15 - Cannot be used 14 -

4. Communicationn50Modbus(19) Data of expansion system status register (Address = 9015H) (SSSE) Bit Symbol Name Function 15 - Cannot be used ᴾ14

4. Communication51Modbus4.3.3 Structure of Modbus Status Registers The layout of the Modbus status registers is shown below. ᵎᵎᵎᵎᵦᴾᴾ(Reserved for sys

Modbus5.5 Direct Writing of Control Information (Queries Using Code 06)... 1485.5.1 Writing to Register

4. Communicationn52Modbus4.3.4 Data of Modbus Status Registers Reference page Address[HEX] Area name Description SymbolRTU ASCII 0000 to 0CFF Rese

4. Communication53ModbusReference page Address[HEX] Area name Description SymbolRTU ASCII 0130 to 0135 Cannot be used 0136 Position complete

4. Communicationn54ModbusReference page Address[HEX] Area name Description SymbolRTU ASCII 0400 EMG operation specification EMG 0401 Safety spee

5. Modbus RTU55Modbus5 Modbus RTU

5. Modbus RTU56Modbus5.1 Message Frames (Query and Response) Start Address Function code Data CRC Check End Silent interval1 byte 1 byte n by

5. Modbus RTU57Modbus(4) Data Use this field to add data specified by a function code. It is also allowed to omit data if data addition is not specifi

5. Modbus RTU58ModbusCaution The sizes of send/receive buffers are set to 256 bytes for an RC controller, respectively. Make sure to keep the messages

5. Modbus RTU59Modbus5.2 List of RTU Mode Queries FC: Function code PIO: Parallel I/O (input/output of an I/O connector) The circle marks in the Com

5. Modbus RTU60ModbusFC Function Symbol Function Summary Combination with PIO Broad-castPage03Controller status signal read 2 (device status 2)(Ope

5. Modbus RTU61ModbusFC Function Symbol Function Summary Combination with PIO Broad-castPage03Zone output signal readZONSThis function reads the fo

Modbus6.6 Control Information Direct Writing (Queries Using Code 06)... 2726.6.1 Writing to Registe

5. Modbus RTU62ModbusFC Function Symbol Function Summary Combination with PIO Broad-castPage05Start position 0 to 7 <<ST0 to ST7>> move

5. Modbus RTU63Modbus5.3. Data and Status Reading (Queries Using Code 03) 5.3.1 Reading Consecutive Multiple Registers (1) Function These registers

5. Modbus RTU64Modbus(3) Query format In a query message, specify the address of the register from which to start reading data, and number of bytes i

5. Modbus RTU65Modbus(5) Query sampleA sample query that queries addresses 9000H to 9009H of a controller of axis No. 0 is shown below. z Query (sile

5. Modbus RTU66Modbus5.3.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> (1) FunctionThis bit reads the alarm codes, alarm detai

5. Modbus RTU67Modbus(4) Query sampleA sample query that reads the contents of last occurred alarm (addresses 0500H to 0505H) of a controller with ax

5. Modbus RTU68Modbus5.3.3 Total moving count Reading <<TLMC>> (1) FunctionThis bit reads the total moving count. [Refer to Section 4.3

5. Modbus RTU69Modbus(4) Query sampleA sample query that reads the total moving count (addresses 8400H to 8401H) of a controller with axis No. 0 is s

5. Modbus RTU70Modbus5.3.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) (1) FunctionThis bit reads the total moving distanc

5. Modbus RTU71Modbus(4) Query sampleA sample query that reads the total moving distance (addresses 8402H to 8403H) of a controller with axis No. 0 i

Modbus

5. Modbus RTU72Modbus5.3.5 Present Time Reading <<TIMN>> (1) FunctionThis bit reads the present time.ᴾ[Dedicated for PCON-CA/CFA and SCO

5. Modbus RTU73Modbusί4ὸᴾConversion of Read Data into TimeThe read data output the current time by the setting on the controller.ᴾ1) For the models th

5. Modbus RTU74Modbus(5) Query sampleA sample query that reads the present time of PCON-CA (addresses 8420H to 8421H) of a controller with axis No. 0

5. Modbus RTU75Modbus5.3.6 Total FAN Driving Time Reading <<TIMN>> (1) FunctionThis bit reads the Total FAN driving time (in 1 sec units

5. Modbus RTU76Modbus(4) Query sampleA sample query that reads the total FAN driving time (addresses 842EH to 842FH) of a controller with axis No. 0

5. Modbus RTU77Modbus5.3.7 Current Position Reading <<PNOW>> (in 0.01 mm units) (1) FunctionThis bit reads the current position in units

5. Modbus RTU78Modbus(4) Query sampleA sample query that reads the current position (addresses 9000H to 9001H) of a controller with axis No. 0 is sho

5. Modbus RTU79Modbus5.3.8 Present Alarm Code Reading <<ALMC>> (1) FunctionThis query reads the code indicating the normal status or ala

5. Modbus RTU80Modbus(4) Query sampleA sample query that reads the alarm code (address 9002H) of a controller with axis No. 0 is shown below. z Qu

5. Modbus RTU81Modbus5.3.9 I/O Port Input Signal Status Reading <<DIPM>> (1) FunctionThis query reads the port input value of the RC con

1ModbusSafety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the nece

5. Modbus RTU82Modbus(4) Query sampleA sample query that reads the current position (address 9003H) of a controller with axis No. 0 is shown below. z

5. Modbus RTU83Modbus(5) Port assignment [For details, refer to the operation manual that comes with each RC controller] Write the port assignment of

5. Modbus RTU84Modbus ACON-C/CG ACON-PL/PO PortPIO pattern 0 PIO pattern 1 PIO pattern 2PIO pattern 3PIO pattern 4PIO pattern 5PIO pattern 0 PIO pat

5. Modbus RTU85Modbus5.3.10 I/O Port Output Signal Status Reading<<DOPM>> (1) FunctionThis query reads the port output value of the RC c

5. Modbus RTU86Modbus(4) Query sampleA sample query that output port (address 9004H) of a controller of axis No. 0 is shown below. z Query (silent i

5. Modbus RTU87Modbus(5) Port assignment [For details, refer to the operation manual that comes with each RC controller.] Write the port assignment o

5. Modbus RTU88ModbusNote CA type only ACON-C/CG ACON-PL/PO PortPIOpattern 0 PIO pattern 1 PIO pattern 2PIO pattern 3PIO pattern 4PIO pattern 5PIO

5. Modbus RTU89Modbus5.3.11 Controller Status Signal Reading 1 <<DSS1>> (1) FunctionThis bit reads the internal status of the controller

5. Modbus RTU90Modbus(4) Query sampleA sample query that reads the device status (address 9005H) of a controller with axis No. 0 is shown below. z

5. Modbus RTU91Modbus5.3.12 Controller Status Signal Reading 2 <<DSS2>> (1) FunctionThis bit reads the internal status of the controller