IAI电缸控制器PCON-CA的PROFIBUS通讯笔记
以下来自MJ0258手册，对PCON-CA的PROFIBUS-DP通讯的操作说明：
Operation Modes and Functions
PCON-CA/CFA controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected from the following five modes.
Operation Modes and Key Functions
[3] Half direct mode: In this mode, the actuator is operated by specifying the speed,
acceleration/deceleration and push current, in addition to the target position, directly as values. Number of occupied bytes: 16 bytes (8 words)
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control(target position, speed, acceleration/deceleration, etc.) directly as values.Number of occupied bytes: 32 bytes (16 words)
4.3 PROFIBUS-DP (Slave Station) Settings
(1) Name of each part
The name of each part relating to PROFIBUS-DP is shown.
(4) Operation mode selection (setting) 第95页
Set a desired operation mode using a parameter.
Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No.84, “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 4.7,“PROFIBUS-DP.”)
Note Refer to operation manual of RC PC Software for the applicable version.
(5) Node address setting (Refer to 4.7)
Set the node address using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software.(Refer to 4.7, “PROFIBUS-DP Parameters.”) Settable range: 0 to 125 (The parameter has been set to 1 at the factory.)
(Note 1) Pay attention to duplicate node address settings.
(Note 2) PROFIBUS-DP node addresses are set with the master station always having address 0. Accordingly,addresses of slave stations can be set between 1 and 125.
(6) Status LED indications
The board operating condition and network condition can be checked using the two LEDs provided on the front side of the controller.
(Note 1) After the necessary parameters have been set, reconnect the controller power and return the mode selector switch on the front side of the controller to the AUTO position. If the switch remains in the MANU position, PLC operation cannot be performed.
(Note 2) 有关波特率的设置The baud rate is automatically set according to the corresponding setting on the master side and thus need not be set.
The address assignments under each operation mode are shown below.
PLC output →PCON-CA/CFA input (* n indicates the initial output address for each axis.)
(Note) The “occupied area” is occupied according to the operation mode setting.This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
PCON-CA/CFA output →PLC input (* n indicates the initial input address for each axis.)
(Note) The “occupied area” is occupied according to the operation mode setting.This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
4.4.4 Half Direct Mode (Number of Occupied Bytes: 16)第109页
In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC.Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table
below.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)第109页
(Note) Pay attention to use of duplicate addresses.
(2) I/O signal assignments for each axis第110页
An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
①Control signals and status signals are bit ON/OFF signals.
②The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
③Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to +999999 (unit: 0.01 mm) can be handled by the PLC.
④The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or 0.1mm/sec)can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.The setting of unit can be established in Parameter No. 159 FB Half Direct Mode Speed Unit.
⑤The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator.
⑥The push-motion current-limiting value is a 1-word (16-bit) binary data. For the push-motion current-limiting value, the PLC can handle values from 0 (0%) to 255 (100%). Take note, however, that the setting should be inside the allowable specification range of push-motion current-limiting values supported by the applicable actuator (refer to the catalog or operation manual for the actuator).
⑦The command current is a 2-word (32-bit) binary data (unit: 1 mA).
⑧The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving in the direction of home.这个解释应该有问题，单位是有问题的，也有可能解释的是速度。
⑨The alarm code is a 1-word (16-bit) binary data.
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the
applicable bit is “0.”)
4.4.5 Full Direct Mode (Number of Occupied Bytes: 32)
In this mode, the actuator is operated by specifying all values relating to position control (target position, speed,etc.) directly as values from the PLC.Set each value in an I/O address.The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
4.4.7 I/O Signal Controls and Functions对I/O信号的详细解释
ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode, half direct mode and full direct mode. For the I/O signals in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
(1) Controller ready (PWR) PLC input signal
This signal turns ON when the controller has become ready to perform control after the power
was turned on.功能：This signal turns ON when the controller has been initialized successfully following a power on and become ready to perform control, regardless of the alarm condition, servo condition, etc.The PWR signal turns ON as long as the controller is ready to perform control, even when an alarm is present.
(2) Emergency stop (EMGS) PLC input signal
This signal turns ON when the controller has entered an emergency stop mode.功能：This signal turns ON when the control has entered an emergency stop mode (= the motor drive power has become cut off). It will turn OFF once the emergency stop mode is cancelled.
(3) Alarm (ALM) PLC input signal
This signal turns ON when the controller’s protective circuit (function) has detected an abnormality.功能：This signal turns ON when a protective circuit (function) has actuated following a detection of abnormality.When the cause of the alarm is removed and the reset (RES) signal is turned ON, the ALM signal will turn OFF if the applicable alarm is an operation-cancellation alarm. (In the case of a cold-start alarm, the power must be reconnected.)Upon detection of an alarm, the status indicator LED (refer to (6) in 4.3) on the front side of the controller illuminates in red.
(4) Reset (RES) PLC output signal
This signal has two functions: it can be used to reset controller alarms or cancel the remaining travel during a pause.功能：
[1] If the cause of the present alarm is removed and then this signal is turned from OFF to ON, the alarm (ALM) signal will be reset. (In the case of a cold-start alarm, the power must be reconnected.)
[2] When this signal is turned from OFF to ON while the actuator is paused, the remaining travel will be cancelled.
(5) Servo ON command (SON) PLC output signal
Ready (SV) PLC input signal
When the SON signal is turned ON, the servo turns ON.
When the servo turns ON, the status indicator LED (refer to (6) in 4.3) on the front side of the controller illuminates in green.The SV signal is synchronized with this LED.
功能：The controller servo can be turned ON/OFF using the SON signal.The controller servo remains ON to enable operation while the SV signal is ON.The relationship of SON and SV signals
is shown below.
(6) Home return (HOME) PLC output signal
Home return complete (HEND) PLC input signal
Home return in progress (GHMS) PLC input signal
When the HOME signal is turned ON, the command will be processed at the leading (ON) edge of the signal and home return operation will be performed automatically. The GHMS signal turns ON while the home return is in progress.When the home return is completed, the HEND signal turns ON while the GHMS signal turns OFF.Turn the HOME signal OFF when the HEND signal turns ON. Once the HEND signal turns ON, it will not turn OFF until the power is turned OFF or the HOME signal is input again.Even after home return has been completed once, another home return can be performed by turning the HOME signal ON.
注意：In the half direct mode or full direct mode, issuing a positioning command to a given position immediately after the power has been turned on, before home return is performed, will generate an alarm (error code 83: ALARM HOME ABS (absolute position move command when home return is not yet completed) (operation-cancellation alarm)). Exercise caution.
(8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal
This command is processed at the leading (ON) edge of the signal, upon which the actuator
moves to the target position entered as the PLC’s target position (*). If this command is issued immediately after the power has been turned on, before home return is performed (= when the HEND signal is OFF), an alarm (operation-cancellation alarm这是一个可以通过RES取消的报警) will occur.
Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.在PEND变为OFF后将DSTR信号复位。
(9) Moving signal (MOVE) PLC input signal
This signal turns ON while the actuator slider or rod is moving (including cases where the actuator is performing home return operation, push-motion operation or jog operation).The signal turns OFF after the positioning, home return or push-motion operation is completed or while the operation is paused.
(10) Positioning complete signal (PEND) PLC input signal
This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion.
When the servo turns from OFF to ON, positioning is performed based on the current position being the target position. As a result, this signal turns ON and will turn OFF when another positioning operation is started subsequently using the home return (HOME) signal, positioning start (DSTR) signal or positioning command (CSTR) signal.
Caution: If the servo turns OFF or an emergency stop is actuated while the actuator is standing still at the target position, the PEND signal turns OFF.When the servo turns ON again, the signal will turn ON if the actuator is inside the positioning band.
The PEND signal will not turn ON if the CSTR or DSTR signal is ON, even after the positioning is completed.即使定位结束，只要DSTR或者CSTR信号为ON，则PEND信号都
不会ON。
(11) Pause (STP) PLC output signal
When this signal is turned ON, the moving axis will decelerate to a stop. Turning it OFF will resume the axis movement.The acceleration upon resumption of operation, and deceleration at stopping, conform to the acceleration/deceleration set by the specified position number (*) in the position/simple direct mode, or to the value of acceleration/deceleration (*) in the half direct mode. In the full direct mode, the values of acceleration (*) and deceleration (*) are used.
(12) Zone 1 (ZONE1) PLC input signal
Zone 2 (ZONE 2) PLC input signal
Position zone (PZONE) PLC input signal
Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range.
[1] Zones 1, 2 A desired zone is set using user parameters.
The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.”
The ZONE2 signal is set using parameter Nos. 23, “Zone boundary 2+” and 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become valid upon completion of home return, after which they will remain valid even while the servo is turned OFF.
[2] Position zone A desired zone is set using the position table or PLC.
In the position/simple direct mode, set the PZONE signal using the position table.
In the full direct mode, set the PZONE signal using the zone boundaries (refer to 4.4.1).
(*) The PZONE signal is not available in the half direct mode.
The PZONE signal becomes valid upon issuance of a move command after completion of home return, after which it will remain valid even while the servo is turned OFF.
(13) +Jog (JOG+) PLC output signal
-Jog (JOG-) PLC output signal
These signals are used as starting commands for jog operation or inching operation.A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home.
[1] Jog operation
Jog operation can be performed when the jog/inching switching (JISL) signal is OFF.
While JOG+ is ON, the actuator moves in the direction opposite home. When the signal turns OFF, the actuator will decelerate to a stop.
While JOG- is ON, the actuator moves in the direction of home. When the signal turns OFF, the actuator will decelerate to a stop.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the jog speed/inching distance switching (JVEL) signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”
When the JVEL signal is ON, the actuator moves at the value of parameter No. 47, “PIO jog speed 2.”
The actuator moves at the rated acceleration/deceleration (the specific value varies depending on the actuator).
When both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2] Inching operation
Inching operation can be performed when the jog/inching switching (JISL) signal is ON.The actuator moves by the inching distance with every ON input.
While JOG+ is ON, the actuator moves in the direction opposite home.
While JOG- is ON, the actuator moves in the direction of home.
The specific operation conforms to the values set in the following parameters:
The actuator moves at the speed corresponding to the value of the parameter specified by the JVEL signal.
When the JVEL signal is OFF, the actuator moves at the value of parameter No. 26, “PIO jog speed.”