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IAI RoboNet User Manual
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CAUTION
If the positive terminal of the ROBONET’
s 2
4-V power supply is grounded, a
teaching pendant or PC cannot be connected
directly to
the GateWayR unit.
If a teaching pendant or PC is c
onnected directly to the Ga
teWayR
unit, the power supply may
be short-circuited, causing the
PC or teaching pendant to suffer damage.
Cannot be connec
ted directly.
PC
GateWay R
unit
This teaching pendant
cannot be used.
24-V power supply
3
5
Table of Contents
Default Chapter
6
Safety Precautions
6
CE Mark
10
Warranty
15
Manual Revision History
16
Related Manuals
16
Table of Contents
17
Part 1 Specification
21
Features
22
Chapter 1 Overview of ROBONET
21
Overview
21
Chapter 2 System Configuration and General Specifications
26
System Configuration
26
List of Component Units
26
General Specifications
29
24-V Power Current Consumption of each Unit
29
Connection Diagram
31
Chapter 3 Gatewayr Unit
32
Overview
32
Gatewayr Unit and Accessories
33
General Specifications
34
CC-Link
34
Devicenet
36
Profibus
37
Rs485 Sio
38
Name/Function of each Part and External Dimensions
39
Name of each Part
39
LED Indicators
40
MODE Switch
42
TP Connector
42
User Setting Switches
42
ROBONET Communication Connector
42
Power-Supply Input Terminal Block
42
FG Terminal (Frame Ground)
43
EMG Connector (Emergency Stop)
43
Field Network Connector
45
External Dimensions
49
Operation Function List
50
Address Configuration
52
Examples of Overall Address Configuration
53
CC-Link
53
Devicenet
56
Profibus
58
Rs485Sio
60
Gateway Control/Status Signals
62
Command Area
64
Position Table
72
Assignments in the Positioner 1 Mode or Simple Direct Mode
79
Assignments in the Direct Numerical Specification Mode
83
Assignment in Positioner 2 Mode
88
Solenoid Valve Mode 1
89
Solenoid Valve Mode 2
91
I/O Signals
93
I/O Signal Timings
93
I/O Signal Functions
94
Basic Operation Timings
105
Other Basic Operations
117
Command Transmission
129
Modbus Gateway Mode of RS485 SIO
130
Overview
130
Modbus/Rtu Protocol Specification
131
Protocol Format
135
Gateway Address Map
135
Query List
137
Read Holding Registers (Query Using FC = 03H)
139
Preset Single Register (Query Using FC = 06H)
150
Preset Multiple Registers (Query Using FC = 10H)
167
Function Block
185
Dedicated ROBONET Function Block
185
What Is a Function Block
196
Chapter 4 Controller Unit
200
Overview
200
Features
200
How to Read the Model Name
200
Basic Specifications
202
Name/Function of each Part and External Dimensions
203
Name of each Part
203
LED Indicators
204
Brake Release Switch
206
User Setting Switches
206
Axis Number Setting Switch
206
ROBONET Communication Connector
207
Simple Absolute R Unit Connector
207
Power-Supply Input Terminal Block
207
Motor Cable Connector
209
Encoder Cable Connector
210
External Dimensions
211
Parameters
212
Parameter List
212
Parameters Relating to Actuator Stroke
214
Parameters Relating to Actuator Operating Characteristics
216
Parameters Relating to External Interface
226
Parameters Relating to Servo Gain Adjustment
227
Notes on ROBO Rotary
230
Notes on ROBO Gripper
232
Chapter 5 Simple Absolute R Unit
234
Overview
234
How to Read the Model Name
235
Specifications
236
General Specifications
236
Backup Battery
237
Name/Function of each Part and External Dimensions
238
Name of each Part
238
Functions
239
External Dimensions
242
Notes
243
Chapter 6 Extension Unit
244
Overview
244
Specifications
245
Product Configuration
246
Name of each Part and External Dimensions
250
Name of each Part
250
External Dimensions
251
Chapter 1 Overview
252
Required Tools
252
Startup Procedure
253
Part 2 Startup
252
Chapter 2 Mounting and Installation
254
Installation
254
Important Information and Items to Note
254
Mounting on a DIN Rail
258
Interconnecting Multiple Units
260
Installing in a Control Panel
262
Wiring
263
Wiring the Power Supply
263
EMG Connector
265
Grounding Wire
265
Motor Cable and Encoder Cable
266
Multi-Stage ROBONET Layout
268
External SIO Link of ROBONET
270
Emergency Stop Circuit
273
CC-Link
276
Network Wiring
276
Devicenet
277
Profibus-Dp
279
Rs485Sio
281
How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power Supply
282
Chapter 3 Controller Address Setting
283
Chapter 4 Absolute Reset
284
Overview of Simple Absolute System
284
Setting the Configuration Switches
285
Connecting the Backup Battery
287
Setting the Parameters
287
Performing an Absolute Reset
287
Performing an Absolute Reset in the PC Software
287
Performing an Absolute Reset from the Host
289
Chapter 5 Network Setup
290
How to Use the ROBONET Gateway Parameter Setting Tool
290
Launching the Setting Tool
290
Operating Environment
290
Explanation of the Main Screen
291
Operating Procedures
296
Setting up the Master
314
CC-Link
314
Devicenet
320
Profibus
333
Rs485Sio
338
Creating a Controller Position Table
353
Address Correlation Diagram
355
Address Correlation Diagram for CC-Link System (Example)
356
Address Correlation Diagram for Devicenet System (Example)
358
Address Correlation Diagram for RS485SIO System (Example)
359
Chapter 6 Setting for External SIO Link and Other
360
SCON/PCON-CF Settings and Signal Assignments
360
Other
361
Chapter 1 Troubleshooting
362
Actions to be Taken Upon Problems
362
Alarms of the Gatewayr Unit
363
Common Alarms
364
Alarms by Field Network Type
365
Examples of Indicator Statuses Corresponding to Representative Alarms
368
Alarms of the Controller Unit and Simple Absolute R Unit
369
Overview of Alarms
369
Alarms, Causes and Actions
372
Messages Displayed During Operation Using the Teaching pendant or PC Software
380
Part 3 Maintenance
362
Chapter2 Maintenance/Inspection
382
Periodic Inspection Items
383
Important Information on Unit Replacement
384
Replacing the Backup Battery
385
Appendix
386
RACON Specification List of Supported Actuators
386
RPCON Specification List of Supported Actuators
387
4
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IAI RoboNet Specifications
General
Brand
IAI
Model
RoboNet
Category
Controller
Language
English
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