DeviceNet

Operation Manual, Tenth Edition

Describes Model
ACON C/CG/CA/CB/CGB
C/CG/CA/CFA
PCON CB/CFB/CGB/CGFB
DCON CA/CB/CGB
SCON CA/CAL/CGAL/
CB/CGB (Servo Press)
 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 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: The following functions are described in the separate operation manual.

Title of operation manual/Overview Control number

DeviceNet Operation Manual
Refer to this operation manual if you are using an
1 ME0124
XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C
E-Con controller(s).
Construction of Instruction Manual for Each Controller Model
and This Manual
ACON-CB/CGB
ACON-CA
ACON-C/CG
DCON-CB/CGB
DCON-CA
●Operation Patterns
・Remote I/O Control Operation DeviceNet (This Manual) ME0256
・Direct Number Indication Operation
ACON-CB/CGB ME0343
◎Basic Specifications DCON-CB/CGB ME0343
and Functions ACON-CA, DCON-CA ME0326
ACON-C/CG ME0176
■TeachingTool
・PC Software PC Software ME0155
・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

PCON-CB/CFB/CGB/CGFB
PCON-CA/CFA
PCON-C/CG
●Operation Patterns
・Remote I/O Control Operation DeviceNet (This Manual) ME0256
・Direct Number Indication Operation
◎Basic Specifications PCON-CB/CFB/CGB/CGFB ME0342
and Functions PCON-CA/CFA ME0289
PCON-C/CG ME0170
■TeachingTool
・PC Software PC Software ME0155
・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324

SCON-CB/CGB
SCON-CA
SCON-CAL/CGAL
●Operation Patterns
・Remote I/O Control Operation DeviceNet (This Manual) ME0256
・Direct Number Indication Operation
◎Basic Specifications SCON-CB/CGB ME0340
and Functions SCON-CB (Servo Press Type) ME0345
SCON-CA/CAL/CGAL ME0243
■TeachingTool
・PC Software PC Software ME0155
・Teachiong BOX ( i ) TB-01 Touch Panel Teaching ME0324
 Chapter Contents

1. Overview 9

2. Specifications 10
・PCON-CA/CB/CFA/CFB/CGB/CGFB
3. ・ACON-CA/CB/CGB ・DCON-CA/CB/CGB 83

4. ・SCON-CA/CB/CGB ・SCON-CAL/CGAL 158

5. Servo Press Type SCON-CB/CGB 258

6. Troubleshooting 299

7. EDS File 300

 Table of Contents
Safety Guide ............................................................................................................................ 1
Handling Precautions............................................................................................................... 8

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

2. ACON-C/CG, PCON-C/CG ..............................................................................................10

2.1 Operation Modes and Functions.................................................................................................. 10
2.2 Model Numbers............................................................................................................................ 13
2.3 Interface Specifications................................................................................................................ 14
2.4 DeviceNet Interface ..................................................................................................................... 15
2.4.1 Name of Each Part.......................................................................................................... 15
2.4.2 Monitor LED Indicators.................................................................................................... 16
2.5 Selecting (Setting) the Operation Mode....................................................................................... 17
2.6 Setting the Node Address ............................................................................................................ 17
2.7 Communicating with the Master Station ...................................................................................... 18
2.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 18
2.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 20
2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) .................................. 26
2.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................... 31
2.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................... 38
2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)................................................ 47
2.7.7 I/O Signal Controls and Functions .................................................................................. 51
2.8 I/O Signal Timings........................................................................................................................ 67
2.9 Operation ..................................................................................................................................... 68
2.10 DeviceNet Parameters................................................................................................................. 76
2.11 Troubleshooting ........................................................................................................................... 81
2.12 CE Mark ....................................................................................................................................... 82

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

3.1 Operation Modes and Functions.................................................................................................. 83
3.2 Model Numbers............................................................................................................................ 86
3.3 Interface Specifications................................................................................................................ 87
3.4 DeviceNet Interface ..................................................................................................................... 88
3.4.1 Name of Each Part.......................................................................................................... 88
3.4.2 Monitor LED Indicators.................................................................................................... 89
3.5 Selecting (Setting) the Operation Mode....................................................................................... 90
3.6 Setting the Node Address ............................................................................................................ 90
3.7 Communicating with the Master Station ...................................................................................... 91
3.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 91
3.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 93
3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) .................................. 97
3.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 102
 3.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................. 109
3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 121
3.7.7 I/O Signal Controls and Functions ................................................................................ 125
3.8 I/O Signal Timings...................................................................................................................... 142
3.9 Operation ................................................................................................................................... 143
3.10 DeviceNet Parameters............................................................................................................... 151
3.11 Troubleshooting ......................................................................................................................... 156
3.12 CE Mark ..................................................................................................................................... 157

4. SCON-CA/CB/CGB/CAL/CGAL .....................................................................................158
4.1 Operation Modes and Functions................................................................................................ 158
4.2 Model Numbers.......................................................................................................................... 162
4.3 Interface Specifications.............................................................................................................. 163
4.4 DeviceNet Interface ................................................................................................................... 164
4.4.1 Name of Each Part........................................................................................................ 164
4.4.2 Monitor LED Indicators.................................................................................................. 165
4.5 Selecting (Setting) the Operation Mode..................................................................................... 166
4.6 Setting the Node Address .......................................................................................................... 166
4.7 Communicating with the Master Station .................................................................................... 167
4.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................. 167
4.7.2 Remote I/O Mode (Number of Occupied Channel: 1)................................................... 171
4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) ................................ 176
4.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 181
4.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................. 188
4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 199
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4)............................. 203
4.7.8 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 208
4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6).............................................. 215
4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) ............................................... 219
4.7.11 I/O Signal Controls and Functions ................................................................................ 226
4.8 I/O Signal Timings...................................................................................................................... 243
4.9 Operation ................................................................................................................................... 244
4.10 DeviceNet Parameters............................................................................................................... 252
4.11 Troubleshooting ......................................................................................................................... 257

5. Servo Press Type SCON-CB/CGB.................................................................................258

5.1 Operation Modes and Functions................................................................................................ 258
5.2 Model Numbers.......................................................................................................................... 259
5.3 Interface Specifications.............................................................................................................. 259
5.4 DeviceNet Interface ................................................................................................................... 260
5.4.1 Name of Each Part........................................................................................................ 260
4.4.2 Monitor LED Indicators.................................................................................................. 261
5.5 Setting ........................................................................................................................................ 262
5.5.1 Operation Mode Selecting............................................................................................. 262
 5.5.2 Setting the Baud Rate................................................................................................................ 262
5.5.3 Setting the Station Number........................................................................................................ 262
5.6 Communicating with the Master Station...................................................................................... 263
5.6.1 Operation Modes and Corresponding PLC I/O Areas .................................................. 263
5.6.2 Remote I/O Mode (Number of Occupied Channel: 1)................................................... 264
5.6.3 Full Function Mode (Number of Occupied Channel: 16) .............................................. 266
5.6.4 I/O Signal Controls and Function .................................................................................. 277
5.7 I/O Signal Timings...................................................................................................................... 286
5.8 Operation ................................................................................................................................... 287
5.9 DeviceNet Related Parameters ................................................................................................. 293
5.10 Troubleshooting ......................................................................................................................... 298

6. Troubleshooting..............................................................................................................299

7. EDS File .........................................................................................................................300

8. Change History...............................................................................................................301
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

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

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

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

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

3
 Operation
No. Description
Description
4 Installation and (4) Safety Measures
Start ● When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
● When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure or
emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

4
 Operation
No. Description
Description
6 Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
● When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected motion
caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic ● Check before starting the automatic operation or rebooting after operation
Operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
● Make sure to operate automatic operation start from outside of the safety
protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF
the power switch. Failure to do so may result in a fire or damage to the
product.
● When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.

5
 Operation
No. Description
Description
8 Maintenance ● When the work is carried out with 2 or more persons, make it clear who is
and Inspection to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification ● Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person who
requires a support of medical devices such as a pacemaker. Doing so may
affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.

6
 Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level,
as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger
product is not handled correctly, will result in death or serious injury.
Danger

This indicates a potentially hazardous situation which, if the product

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

This indicates a potentially hazardous situation which, if the product

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

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

7
Handling Precautions
1. Please see in the table below for the products explained in this instruction manual (and the
chapter number explained in this manual).

{ : Applied, × : N/A, Slash : No applicable model (**) : Chapter number to describe in this manual
Type CA/CB/CFA/CFB Servo Press
C/CG CAL/CGAL SE/PL/PO/CY
Series /CGB/CGFB (Note 1) Type
{ {
ACON ×
(Chapter 2) (Chapter 3)
{ {
PCON ×
(Chapter 2) (Chapter 3)
{ { {
SCON ×
(Chapter 4) (Chapter 4) (Chapter 5)
{
DCON
(Chapter 3)
Note 1 CFA, CFB, CGFB Type is set to only PCON.

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

8
1. Overview
The open field network DeviceNet is a multi-bit, multi-vendor network for communication of both control and data

1. Overview
signals of the machine/line control level.
A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ASEL, PSEL, SSEL, SCON,
ACON, PCON and DCON controllers (hereinafter collectively and individually referred to as “Each Controller or
IAI Controller” described) to a DeviceNet network.

Each controller is treated as a slave station in DeviceNet and can be used to exchange I/O data.
This Operation Manual covers the ACON, PCON, SCON (C type is excluded), and DCON series.

* For details on DeviceNet, refer to the operation manual for the programmable controller (hereinafter referred to
as “PLC”) in which the master unit is installed.
This operation manual should be used in conjunction with the operation manual for each controller.
You should also assume that any usage not specifically permitted in this operation manual is prohibited.

System configuration example

Master CPU
unit unit

(Node)
Remote I/O function

Remote I/O
terminal
(Node)
(Node) (Node)

(Node) (Node) (Node) (Node) (Node) (Node)

P SCON
C (C type is DCON
excluded)
O
N (Node) (Node)

(Node) (Node) (Node)

9
 2. ACON-C/CG, PCON-C/CG
2.1 Operation Modes and Functions
ACON and PCON controllers supporting DeviceNet can be operated in a desired operation mode selected from
2. ACON-C/CG, PCON-C/CG

the following five modes.

Operation Modes and Key Functions

Remote I/O Position/simple Remote I/O
Key function Half direct mode Full direct mode
mode direct mode mode 2
Number of occupied
1CH 4CH 8CH 16CH CH
bytes
Operation by position
x { (*1) { { x
data specification
Direct
speed/acceleration x x { { x
specification
Push-motion
{ { { { {
operation
Current position read x { { { {
Current speed read x x { { x
Operation by position
{ { x x {
number specification
Completed position
{ { x x {
number read
Maximum position
512 768 Not used Not used 512
table size
(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication.
Number of occupied bytes: 1CH

ACON/PCON supporting
ACON/PCON not DeviceNet
PLC supporting DeviceNet PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

10
[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
You can select whether to specify the target position directly as a value, or use
a value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.

2. ACON-C/CG, PCON-C/CG
Number of occupied bytes: 4CH

Target position: 100.00 mm

+ Speed Acceleration Deceleration Push
PLC Position No. 0

ACON/PCON supporting
DeviceNet Actuator

[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: 8CH

Target position: 100.00 mm

Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec
PLC Acceleration/deceleration:
0.30 G
Push current: 50%

ACON/PCON supporting
DeviceNet Actuator

11
 [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: 16CH

Target position: 100.00 mm

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

Positioning band: 0.10 mm

Speed specification:
100.0 mm/sec
Acceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
PLC Zone+: 50.00 mm
Zone-: 30.00 mm

ACON/PCON supporting
DeviceNet Actuator

[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 6CH

ACON/PCON supporting
ACON/PCON not DeviceNet
supporting DeviceNet PLC
PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

12
2.2 Model Numbers
The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively:

z ACON-C/CG- -DV-
z PCON-C/CG- -DV-

2. ACON-C/CG, PCON-C/CG
Printed series name
z ACON
Front panel color
z PCON
z ACON: Dark blue
z PCON: Dark green

13
 2.3 Interface Specifications

Item Specification
Communication protocol DeviceNet 2.0
2. ACON-C/CG, PCON-C/CG

Group 2 only server

Network-powered isolation node
Communication specification Master-slave connection Bit strobe
Polling
Baud rate Automatically set to the same value as the band rate set in the master
Communication cable length Baud rate Maximum network length Maximum branch Total branch
line length line length
500 kbps 100 m 39 m
250 kbps 250 m 6m 78 m
125 kbps 500 m 156 m
Note) When a large-size DeviceNet cable is used.
Communication power supply 24 VDC (supplied from DeviceNet)
Consumption current of
60 mA
communication power supply
Number of occupied nodes 1 node

14
2.4 DeviceNet Interface

2.4.1 Name of Each Part

The name of each part relating to DeviceNet is shown.

2. ACON-C/CG, PCON-C/CG
Status LEDs

Monitor LEDs

Red
White

DeviceNet communication connector

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

15
 2.4.2 Monitor LED Indicators
The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller)
condition and network condition.
The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below
based on the illumination status and color of each LED.
2. ACON-C/CG, PCON-C/CG

MS (Module Status) LED: Condition of the node (controller)

NS (Network Status) LED: Condition of the network
{ : Steady light, X : Off, ☆ : Blinking
Illumination
LED Color Description (meaning)
status
{ The board is operating normally.
Green A hardware error occurred. The error may be reset by
☆
reconnecting the power.
MS { A hardware error occurred. The board must be replaced.
Orange A user setting error, configuration error or other minor error is
☆ present. These errors can be reset by setting the applicable item
again, etc.
- X DeviceNet is initializing or the power is not supplied.
Network connection has been established and the board is
{
communicating normally.
Green
The board is online, but network connection is not yet established.
☆
Communication is stopped. (The network is normal.)
NS Node address duplication or bus-off state was detected.
{
Communication is not possible.
Orange
A communication error occurred (communication time-out
☆
occurred).
The board is not online.
- X
DeviceNet power is not supplied.

Self test is performed when the power is turned on.

During the test, the monitor LEDs cycle in the following sequence:
[1] NS turns off.
[2] MS illuminates in steady green (approx. 0.25 second).
[3] MS illuminates in steady orange (approx. 0.25 second).
[4] MS illuminates in steady green.
[5] NS illuminates in steady green (approx. 0.25 second).
[6] NS illuminates in steady orange (approx. 0.25 second).
[7] NS turns off.
When the self test is finished and the board starts communicating normally, both the MS and NS LEDs
change to steady green.

16
2.5 Selecting (Setting) the Operation Mode
The operation mode is set using a parameter.
Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84,
“FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 2.10, “DeviceNet
Parameters.”)

2. ACON-C/CG, PCON-C/CG
Number of occupied
Set value Operation mode
stations
0 (Factory setting) Remote I/O mode 1CH
1 Position/simple direct mode 4CH
2 Half direct mode 8CH
3 Full direct mode 16CH
4 Remote I/O mode 2 6CH
* If any other value is entered, an excessive input error will occur.

2.6 Setting the Node Address

The node address is set using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 2.10, “DeviceNet
Parameters.”)

Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.)

(Note) Exercise caution to avoid node address duplication.

The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of
the PLC. (This is when the mount assignment mode is selected. A different rule applies when a
configurator is used.)
For details, refer to the operation manuals of the master unit and PLC installed in the master unit.

(Note) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you
need not set the baud rate.

(Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on
the front panel of the controller to the AUTO position. If the switch remains in the MANU position,
operation by the PLC cannot be performed.

17
 2.7 Communicating with the Master Station

2.7.1 Operation Modes and Corresponding PLC I/O Areas

The channel assignments in each mode are shown below.
• PLC output → ACON or PCON input (* n indicates the node address of each axis.)
2. ACON-C/CG, PCON-C/CG

ACON,PCON DI and input data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode
PLC output area direct mode 2
(channel) Number of Number of Number of Number of Number of
occupied occupied occupied occupied occupied
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
n
15 Target position Target position Target position 15
n+1
Specified position
n+2
number Positioning band Positioning band
n+3 Control signal Occupied area
n+4 Speed
Speed
Acceleration/
n+5 specification
deceleration
Push-motion
n+6 current-limiting value Zone boundary+
n+7 Control signal
n+8
Zone boundary-
n+9
n+10 Acceleration
n+11 Deceleration
Push-motion
n+12 current-limiting value
Occupied
ACON
area
Load
n+13 PCON current
threshold
n+14 Control signal 1
n+15 Control signal 2

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

18
• ACON or PCON output → PLC input side (* n indicates the node address of each axis.)

ACON or PCON DO and output data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode
PLC input area direct mode 2
(channel) Number of Number of Number of Number of Number of

2. ACON-C/CG, PCON-C/CG
occupied occupied occupied occupied occupied
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
n
15 Current position Current position Current position 15
n+1 Occupied area
n+2 Completed
position number
n+3 Command current Command current Current position
(simple alarm ID)
n+4 Status signal
n+5
Current speed Current speed Command current
n+6
n+7 Alarm code Alarm code
n+8 Status signal
n+9
n+10
n+11 Occupied area
n+12
n+13
n+14
n+15 Status signal

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

19
 2.7.2 Remote I/O Mode (Number of Occupied Channel: 1)
In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are
used.
Set position data using the RC PC software or teaching pendant.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
The I/O specifications for each PIO pattern are shown below. (For details, refer to the operation manual for the
2. ACON-C/CG, PCON-C/CG

controller.)
Value set in
Operation mode I/O specification
parameter No. 25
0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position
number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and
intermediate position commands.
A position complete signal is output separately for the front end,
rear end and intermediate position.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Supported / X: Not supported
PIO patterns
0: 1: 2: 3: 4: 5:
ROBO Cylinder function
Positioning Teaching 256-point 512-point Solenoid Solenoid
mode mode mode mode mode 1 mode 2
Home-return operation { { { { { X
Positioning operation { { { { { {
Speed and
{ { { { { {
acceleration/deceleration setting
Pitch feed (inching) { { { { { {
Push-motion operation { { { { { X
Speed change during movement { { { { { {
Operation at different
{ { { { { {
acceleration and deceleration
Pause { { { { { { (*1)
Zone signal output { { { X { {
PIO pattern selection (set by a
{ { { { { {
parameter)

(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

20
(1) PLC channel configuration (* n indicates the node address of each axis.)

Parameter No. ACON or PCON DI ACON or PCON DO

PLC output channel PLC input channel
84 (port number) (port number)
0 0~15 n+0 0~15 n+0

2. ACON-C/CG, PCON-C/CG
(Note) Exercise caution to avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
z Each channel is controlled by ON/OFF bit signals.

PLC output
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
input port
number

PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
output port
number

21
 (3) I/O signal assignments
The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)
ACON
2. ACON-C/CG, PCON-C/CG

Setting of Parameter No. 25

Positioning mode Teaching mode 256-point mode
0 1 2
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 Command position PC4 Command position PC4
3 PC8 number PC8 number PC8
Command position
4 PC16 PC16 PC16
number
5 PC32 PC32 PC32
Teaching mode
6 - MODE PC64
command
Not available.
PLC 7 - JISL Jog/inch switching PC128
output → 8 - JOG+ +Jog - Not available.
ACON Forced brake Forced brake
9 BKRL JOG- -Jog BKRL
input release release
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return HOME Home return
12 *STP Pause *STP Pause *STP Pause
Positioning
CSTR/
13 CSTR Positioning start start/position-data CSTR Positioning start
PWRT
read command
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 Completed position PM4 Completed position PM4
3 PM8 number PM8 number PM8
Completed position
4 PM16 PM16 PM16
number
5 PM32 PM32 PM32
6 MOVE Moving signal MOVE Moving signal PM64
Teaching mode
7 ZONE1 Zone 1 MODES PM128
signal
ACON 8 PZONE Position zone PZONE Position zone PZONE Position zone
output → Operation mode Operation mode Operation mode
PLC input 9 RMDS RMDS RMDS
status status status
Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete
Position complete PEND/ Position complete
11 PEND signal/position-data PEND
signal WEND signal
read complete
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
15 - Not available. - Not available. - Not available.
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

22
 ACON
Setting of Parameter No. 25
512-point mode Solenoid mode 1 Solenoid mode 2
3 4 5

2. ACON-C/CG, PCON-C/CG
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 ST0 Start position 0 ST0 Start position 0
1 PC2 ST1 Start position 1 ST1 Start position 1
2 PC4 ST2 Start position 2 ST2 Start position 2
3 PC8 ST3 Start position 3 -
Command position
4 PC16 ST4 Start position 4 -
number
5 PC32 ST5 Start position 5 -
Not available.
6 PC64 ST6 Start position 6 -
PLC
7 PC128 - -
output  Not available.
8 PC256 - -
ACON
input Forced brake Forced brake Forced brake
9 BKRL BKRT BKRL
release release release
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return -
12 *STP Pause *STP Pause - Not available.
13 CSTR Positioning start - Not available. -
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete LS0 Limit Switch Output 0
1 PM2 PE1 Position 1 complete LS1 Limit Switch Output 1
2 PM4 PE2 Position 2 complete LS2 Limit Switch Output 2
3 PM8 PE3 Position 3 complete -
Completed position
4 PM16 PE4 Position 4 complete -
number Not available.
5 PM32 PE5 Position 5 complete -
6 PM64 PE6 Position 6 complete -
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
ACON 8 PM256 PZONE Position zone PZONE Position zone
output  Operation mode Operation mode Operation mode
9 RMDS RMDS RMDS
PLC input status status status
Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete Position complete Position complete
11 PEND PEND -
signal signal signal
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
15 - Not available. - Not available. - Not available.
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

23
 PCON
Setting of Parameter No. 25
Teaching mode 256-point mode
Positioning mode (standard)
(teaching type) (256-point type)
2. ACON-C/CG, PCON-C/CG

0 1 2
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 Command position PC4 Command position PC4
3 PC8 number PC8 number PC8
4 PC16 PC16 PC16 Command position
5 PC32 PC32 PC32 number
Teaching mode
6 - MODE command (operation PC64
Not available. mode)
PLC
7 - JISL Jog/inch switching PC128
output →
8 - JOG+ +Jog - Not available.
PCON
Forced brake Forced brake
input 9 BKRL JOG- -Jog BKRL
release release
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return HOME Home return
12 *STP Pause *STP Pause *STP Pause
Positioning
CSTR/
13 CSTR Positioning start start/position-data CSTR Positioning start
PWRT
read command
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 Completed position PM4 Completed position PM4
3 PM8 number PM8 number PM8
Completed position
4 PM16 PM16 PM16
number
5 PM32 PM32 PM32
6 MOVE Moving signal MOVE Moving signal PM64
Teaching mode
7 ZONE1 Zone 1 MODES PM128
signal
8 PZONE Position zone PZONE Position zone PZONE Position zone
PCON Operation mode Operation mode Operation mode
9 RMDS RMDS RMDS
output → status status status
PLC input Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete
Position complete PEND/ Position complete
11 PEND signal/position-data PEND
signal WEND signal
read complete
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
Load output Load output
LOAD/ LOAD/
15 judgment/torque - Not available. judgment/torque
TRQS TRQS
level level
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

24
 PCON
Setting of Parameter No. 25
512-point mode Solenoid mode 1 Solenoid mode 2
3 4 5

2. ACON-C/CG, PCON-C/CG
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 ST0 Start position 0 ST0 Start position 0
1 PC2 ST1 Start position 1 ST1 Start position 1
2 PC4 ST2 Start position 2 ST2 Start position 2
3 PC8 ST3 Start position 3 -
Command position
4 PC16 ST4 Start position 4 -
number
5 PC32 ST5 Start position 5 -
Not available.
6 PC64 ST6 Start position 6 -
PLC
7 PC128 - -
output  Not available.
8 PC256 - -
PCON
input Forced brake Forced brake Forced brake
9 BKRL BKRT BKRL
release release release
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return -
12 *STP Pause *STP Pause - Not available.
13 CSTR Positioning start - Not available. -
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete LS0 Limit Switch Output 0
1 PM2 PE1 Position 1 complete LS1 Limit Switch Output 1
2 PM4 PE2 Position 2 complete LS2 Limit Switch Output 2
3 PM8 PE3 Position 3 complete -
Completed position
4 PM16 PE4 Position 4 complete -
number Not available.
5 PM32 PE5 Position 5 complete -
6 PM64 PE6 Position 6 complete -
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
8 PM256 PZONE Position zone PZONE Position zone
PCON Operation mode Operation mode Operation mode
9 RMDS RMDS RMDS
output  status status status
PLC input Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete Position complete Position complete
11 PEND PEND -
signal signal signal
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
Load output Load output
LOAD/ LOAD/
15 judgment/torque judgment/torque - Not available.
TRQS TRQS
level level
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

25
 2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4)
In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD)
to select whether to specify the target position directly and numerically or by using a value registered in the
position data table.
Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using
values in the position table stored in the controller. Set position data by referring to the operation manual for the
2. ACON-C/CG, PCON-C/CG

controller.
Up to 768 sets of positioning data can be specified.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

{: Direct control
ROBO Cylinder function U: Indirect control Remarks
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting U These items must be
Pitch feed (inching) U set in the position data
Push-motion operation U table.
Speed change during movement U
Operation at different acceleration and deceleration U
Pause {
U Zones are set using
Zone signal output
parameters.
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. ACON or PCON ACON or PCON
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
Completed position
1 Specified position
n+2 number (simple n+2
number
alarm code)
Control signal n+3 Status signal n+3
(Note) Exercise caution to avoid node address duplication.

26
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke

2. ACON-C/CG, PCON-C/CG
range (0 to the effective stroke) of the applicable actuator.
z The specified position number and completed position number are 1-word (16-bit) binary data. Although
values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to
specify position numbers associated with predefined operating conditions.

PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Specified
position
number

Control signal

27
 PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

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

Current
position (lower
word)

Current
position
(upper word)

If the current position is a negative value, it is indicated by a 2’s complement.

Completed
position
number
ZONE2

ZONE1

Status signal

28
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.

2. ACON-C/CG, PCON-C/CG
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.40 mm,” specify “2540.” 2.9 (1)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
16-bit integer.
To operate the actuator, you must set position data associated
with predefined operating conditions using the PC software or
teaching pendant.
Specified
PC1 ~ Use one of these registers to specify the position number for
position 16-bit data 2.9 (1)
PC512 which the desired data has been input.
number
The allowable specification range is 0 to 767.
If the specified value is outside the above range or corresponds
to a position not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when this signal
b15 BKRL 2.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 2.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
PLC output

- Not available. -
b12
Position/simple-direct switching: The position mode is selected
b11 PMOD when this signal is OFF, and the simple direct mode is selected 2.7.7 (20)
when the signal is ON.
Teaching mode command: The normal mode is selected when
b10 MODE this signal is OFF, and the teaching mode is selected when the 2.7.7 (16)
signal is ON.
Position-data read command: Position data is read when this
b9 PWRT 2.7.7 (17)
signal is ON.
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 2.7.7 (13)
this signal is ON.
Control
-Jog: The actuator moves in the direction of home when this
signal b7 JOG- 2.7.7 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 2.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 2.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 2.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 2.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 2.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 2.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 CSTR 2.7.7 (7)
turns ON.

29
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32 bits - 2.9 (1)
position = 10.23 mm
2. ACON-C/CG, PCON-C/CG

* If current positions are read as hexadecimals, negative values

are indicated by 2’s complements.
16-bit integer.
When the actuator has moved to the target position and entered
Completed
the positioning band, the position number corresponding to the
position
completed position is output.
number PM 1 ~
16 bits “0” is output when no position movement has been performed 2.9 (1)
(simple PM512
yet or while the actuator is moving.
alarm
If an alarm occurs (the status signal ALM turns ON), a
code)
corresponding simple alarm code (refer to the operation manual
for the controller) will be output.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 2.7.7 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 2.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 2.7.7 (12)
PLC input

the specified zone.

Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 2.7.7 (12)
the specified zone.
Position zone: This signal turns ON when the current position is
b11 PZONE 2.7.7 (12)
inside the specified position zone.
Teaching mode signal: This signal is ON while the teaching
b10 MODES 2.7.7 (16)
mode is selected.
Position data read complete: This signal turns ON when reading
b9 WEND 2.7.7 (17)
Status is complete.
signal Operation mode status: This signal is OFF when the current
b8 RMDS 2.7.7 (19)
mode is AUTO, or ON when the current mode is MANU.
b7
- Not available. -
b6
Load missed in push motion: This signal turns ON when the
b5 PSFL 2.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 2.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 2.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 2.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 2.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 2.7.7 (10)
is completed.

30
2.7.4 Half Direct Mode (Number of Occupied Channels: 8)
In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are
specified directly and numerically from the PLC.
Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and
24.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

2. ACON-C/CG, PCON-C/CG
{: Direct control
ROBO Cylinder function U: Indirect control Remarks
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration X
Pause {
U Parameters must be
Zone signal output
set
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. ACON or PCON ACON or PCON
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
Speed n+4 n+4
2
Acceleration/ Current speed
n+5 n+5
deceleration
Push-motion
n+6 Alarm code n+6
current-limiting value
Control signal n+7 Status signal n+7
(Note) Exercise caution to avoid node address duplication.

31
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
2. ACON-C/CG, PCON-C/CG

+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke
range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm).
z The speed is a 1-word (16-bit) binary data. For the specified speed, the PLC can handle values from 0 to
+65535 (unit: 1.0 mm/sec). Take note, however, that the set value should not exceed the maximum speed
supported by the applicable actuator.
z The 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.
z The 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).

Set value

Push-motion
current-limiting value

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

32
PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

2. ACON-C/CG, PCON-C/CG
Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed

Acceleration/
deceleration

Push-motion
current-limiting
value

Control signal

33
 PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits
2. ACON-C/CG, PCON-C/CG

Current
position (lower
word)

Current
position (upper
word)

If the current position is a negative value, it is indicated by a 2’s complement.

Command
current (lower
word)

Command
current (upper
word)

Current speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Status signal

34
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.

2. ACON-C/CG, PCON-C/CG
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 2.9 (2)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The setting unit is 0.01 mm and the allowable specification range
is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 2.9 (2)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
PLC output

deemed to have completed.

[2] In push-motion operation, this register defines the
push-motion band. Whether to perform normal operation or
push-motion operation is set using the control signal PUSH.
16-bit integer.
Specify the speed at which to move the actuator.
The setting unit is 1.0 mm/sec and the allowable specification
range is 0 to 65535.
Speed 16-bit data - Deceleration stop if and to specify in motion 0. It under 2.9 (2)
suspension, it will remain stopped on the spot.
(Example) To set “254.0 mm/sec,” specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator (the acceleration and deceleration will be the same
value).
Acceleration/ The setting unit is 0.01 G and the allowable specification range is
16-bit data - 2.9 (2)
deceleration 1 to 300.
(Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.

35
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value
2. ACON-C/CG, PCON-C/CG

16-bit data - The actual allowable specification range varies from one 2.9 (2)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
Forced brake release: The brake is released when this signal
b15 BKRL 2.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 2.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b13 DIR positioning band from the target position. 2.7.7 (22)
When the signal is ON, push-motion operation is performed in
the direction of the position determined by adding the positioning
band to the target position.
Push-motion specification: Positioning operation is performed
PLC output

b12 PUSH when this signal is OFF, and push-motion operation is performed 2.7.7 (21)
when the signal is ON.
b11
b10 - Not available. -
b9
Control +Jog: The actuator moves in the direction opposite home when
b8 JOG+ 2.7.7 (13)
signal this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 2.7.7 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 2.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 2.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 2.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 2.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 2.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 2.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 2.7.7 (8)
turns ON.

36
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 2.9 (2)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values

2. ACON-C/CG, PCON-C/CG
are indicated by 2’s complements.
32-bit integer.
The electrical current presently specified by a command is
Command indicated.
32-bit data - 2.9 (2)
current The setting unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA
32-bit signed integer.
Indicate the current speed.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of home.
Current 32-bit integer.
32-bit data - 2.9 (2)
speed The current speed is indicated.
The setting unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal, a negative value is
indicated as a 2’s complement.
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
PLC input

Alarm
16-bit data - If no alarm is present, “0H” is set. 2.9 (2)
code
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 2.7.7 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 2.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 2.7.7 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 2.7.7 (12)
the specified zone.
b11
b10 - Not available. -
b9
Operation mode status: This signal is OFF when the current
Status b8 RMDS 2.7.7 (19)
mode is AUTO, or ON when the current mode is MANU.
signal
b7
- Not available. -
b6
Load missed in push motion: This signal turns ON when the
b5 PSFL 2.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 2.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 2.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 2.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 2.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 2.7.7 (10)
is completed.

37
 2.7.5 Full Direct Mode (Number of Occupied Channels: 16)
In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed,
etc.) directly from the PLC.
Set each value in the I/O area.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
2. ACON-C/CG, PCON-C/CG

{: Direct control
ROBO Cylinder function
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration {
Pause {
Zone signal output {
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. ACON or PCON ACON or PCON
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
n+4 n+4
Speed Current speed
n+5 n+5
n+6 Alarm code n+6
Zone boundary+
n+7 n+7
n+8 n+8
Zone boundary-
3 n+9 n+9
Acceleration n+10 n+10
Deceleration n+11 n+11
Push-motion Occupied area
n+12 n+12
current-limiting value
Occupied
ACON n+13
area n+13
Load current
PCON threshold
Control signal 1 n+14 n+14
Control signal 2 n+15 Status signal n+15

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

38
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the
I/O areas.
z Control signals 1 and 2 and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke

2. ACON-C/CG, PCON-C/CG
range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm).
z The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to
+999999 (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed
supported by the applicable actuator.
z The 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.
z The 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).

Set value

Push-motion
current-limiting value

z Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current
threshold, the PLC can handle values from 0 (0%) to 255 (100%). (Refer to the graph of push-motion
current-limiting value (above graph).)
z The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone
boundary-, the PLC can handle values from -999999 to +999999 (unit: 0.01 mm). Take note, however, that the
value of zone boundary- must be smaller than the value of zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

39
 PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits
2. ACON-C/CG, PCON-C/CG

Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed (lower
word)

Speed (upper
word)

Zone
boundary+
(lower word)

Zone
boundary+
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.

40
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Zone
boundary-

2. ACON-C/CG, PCON-C/CG
(lower word)

Zone
boundary-
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.

Acceleration

Deceleration

Push-motion
current-limiting
value

Load current
threshold (*3)
ASO1

ASO0

Control signal
1

Control signal
2

(*1) Signal assignment for b10 of n+14 (*2) Signal assignments for b7 and b6 of n+14
Symbol Symbol
Controller ACON PCON Controller ACON PCON
b10 - SMOD b7 MOD1 -
b6 MOD0 -
(*3) This is a dedicated function for PCON controllers. It is not available with ACON controllers.

41
 PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
2. ACON-C/CG, PCON-C/CG

position
(lower word)

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

Current
speed
(lower word)

Current
speed (upper
word)
If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Not available.

Status signal

(*1) Signal assignments for b10 and b9 of n+15

Symbol
Controller ACON PCON
b10 - LOAD
b9 - TRQS

42
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.

2. ACON-C/CG, PCON-C/CG
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 2.9 (3)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The setting unit is 0.01 mm and the allowable specification range
is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 2.9 (3)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
deemed to have completed.
[2] In push-motion operation, this register defines the
push-motion band. Whether to perform normal operation or
PLC output

push-motion operation is set using the control signal PUSH.

32-bit integer.
Specify the speed at which to move the actuator.
The setting unit is 1.0 mm/sec and the allowable specification
range is 0 to 999999.
Speed 32-bit data - Deceleration stop if and to specify in motion 0. It under 2.9 (3)
suspension, it will remain stopped on the spot.
(Example) To set “25.41 mm/sec,” specify “2541.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
32-bit signed integer.
After completion of home return, an effective zone signal can be
output separately from the zone boundaries specified by
parameters.
The status signal PZONE turns ON when the current position is
inside these +/- boundaries.
Zone
(Example) To set “+25.40 mm,” specify “2540.”
boundary+
32-bit data - The setting unit is 0.01 mm and the specification range is 2.9 (3)
/zone
-999999 to 999999.
boundary-
Enter a value that satisfies the relationship of “Zone boundary+ >
Zone boundary-.”
If this function is not used, enter the same value for both the
positive and negative boundaries.
* If the boundaries are entered as hexadecimals, enter negative
values using 2’s complements.

43
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
16-bit integer.
Acceleration 16-bit data - Specify the acceleration and deceleration at which to move the
actuator.
The setting unit is 0.01 G and the allowable specification range is
Deceleration
2. ACON-C/CG, PCON-C/CG

1 to 300. 2.9 (3)

16-bit data - (Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value

16-bit data - The actual allowable specification range varies from one 2.9 (3)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
16-bit integer.
Load current

If you want the controller to determine whether or not the load

threshold

current has exceeded the set value, specify the current threshold
16-bit data - 2.9 (3)
using this register.
The allowable specification range is 0 (0%) to 255 (100%).
If threshold judgment is not required, enter “0.”
b15
b14
b13 - Not available. -
b12
PLC output

b11
PCON ACON

- Not available. -
b10
Stopping control mode: When this signal is ON, servo control is
SMOD 2.7.7 (28)
performed during stopping.
Select stop mode while standing by
Stop ASO1 ASO0 Functions
b9 ASO1 Disable
Mode 1 OFF OFF (Servo is ON at all times)
Sever turns OFF in time set
OFF ON 2.7.7 (30)
in Parameter No. 36
Control Sever turns OFF in time set
signal 1 Stop ON OFF in Parameter No. 37
b8 ASO0
Mode 0 Sever turns OFF in time set
ON ON in Parameter No. 38

Acceleration/deceleration mode:
b7 MOD1 MOD1 MOD0 Function
ACON

OFF OFF Trapezoid pattern 2.7.7 (29)

OFF ON S-motion
b6 MOD0
ON OFF Primary delay filter
b7
PCON

- Not avalable. -
b6
b5
- Not available. -
b4
Incremental specification: Absolute position commands are
b3 INC issued when this signal is OFF, and incremental position 2.7.7 (24)
commands are issued when the signal is ON.

44
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b2 DIR positioning band from the target position. 2.7.7 (22)
When the signal is ON, push-motion operation is performed in

2. ACON-C/CG, PCON-C/CG
Control
the direction of the position determined by adding the positioning
signal 1
band to the target position.
Push-motion specification: Positioning operation is performed
b1 PUSH when this signal is OFF, and push-motion operation is performed 2.7.7 (21)
when the signal is ON.
b0 - Not available. -
Forced brake release: The brake is released when this signal
b15 BKRL 2.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 2.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
b12
b11 - Not available. -
PLC output

b10
b9
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 2.7.7 (13)
this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 2.7.7 (13)
signal is ON.
Control Jog-speed/inch-distance switching: The values set in parameter
signal 2 No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 2.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 2.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 2.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 2.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 2.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 2.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 2.7.7 (8)
turns ON.

45
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 2.9 (3)
position = 10.23 mm
2. ACON-C/CG, PCON-C/CG

* If current positions are read as hexadecimals, negative values

are indicated by 2’s complements.
32-bit integer.
The electrical current presently specified by a command is
Command indicated.
32-bit data - 2.9 (3)
current The setting unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA
32-bit integer.
The current speed is indicated.
Current
32-bit data - The setting unit is 0.01 mm/sec. 2.9 (3)
speed
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
16-bit data - If no alarm is present, “0” is set. 2.9 (3)
code
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 2.7.7 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 2.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 2.7.7 (12)
the specified zone.
PLC input

Zone 1: This signal turns ON when the current position is inside

b12 ZONE1 2.7.7 (12)
the specified zone.
Position zone: This signal turns on when the current position is
b11 PZONE 2.7.7 (12)
inside the position zone.
ACON - Not available (ON/OFF status is indeterminable). -
Load output judgment:
b10 When this signal is ON, the specified load has been reached.
PCON LOAD 2.7.7 (26)
When the signal is OFF, the load has not been reached yet.
(For details, refer to the operation manual for the controller.)
ACON - Not available (ON/OFF status is indeterminable). -
Torque level: When this signal is ON, the specified torque has
Status b9 been reached. When the signal is OFF, the torque has not been
PCON TRQS 2.7.7 (27)
signal reached yet.
(For details, refer to the operation manual for the controller.)
Operation mode status: This signal is OFF when the current
b8 RMDS 2.7.7 (19)
mode is AUTO, or ON when the mode is MANU.
Home return in progress: This signal remains ON while home
b7 GHMS 2.7.7 (6)
return is in progress.
Push motion in progress: This signal remains ON while
b6 PUSHS 2.7.7 (25)
push-motion operation is in progress.
Load missed in push motion: This signal turns ON when the
b5 PSFL 2.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 2.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 2.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 2.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 2.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 2.7.7 (10)
is completed.

46
2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)
In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are
used.
Set position data using the RC PC software or teaching pendant.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
This mode is the same as the remote I/O mode, but the current-position read function and command-current read

2. ACON-C/CG, PCON-C/CG
function are also available.
The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.)
Value set in
Operation mode I/O specification
parameter No. 25
0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position
number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and
intermediate position commands.
A position complete signal is output separately for the front end,
rear end and intermediate position.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Supported / X: Not supported
PIO patterns
0: 1: 2: 3: 4: 5:
ROBO Cylinder function
Positioning Teaching 256-point 512-point Solenoid Solenoid
mode mode mode mode mode 1 mode 2
Home-return operation { { { { { X
Positioning operation { { { { { {
Speed and
{ { { { { {
acceleration/deceleration setting
Pitch feed (inching) { { { { { {
Push-motion operation { { { { { X
Speed change during movement { { { { { {
Operation at different
{ { { { { {
acceleration and deceleration
Pause { { { { { { (*1)
Zone signal output { { { X { {
PIO pattern selection (set by a
{ { { { { {
parameter)

(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

47
 (1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. ACON or PCON DI ACON or PCON DO
PLC output channel PLC input channel
84 and input register and output register
Port number 0 to 15 n+0 Current position n+0
n+1 Occupied area n+1
2. ACON-C/CG, PCON-C/CG

n+2 n+2
4 Current position
Occupied area n+3 n+3
n+4 n+4
Command current
n+5 n+5

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O
areas.
z The channels controlled by port number are controlled using ON/OFF bit signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

PLC output (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
input port
number

48
PLC input (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

2. ACON-C/CG, PCON-C/CG
Controller
output port
number

Not available.

Current
position (lower
word)

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

49
 (3) I/O signal assignments
For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote
I/O mode explained in 2.7.2 (3).

Signal assignments under the command-current read function and current-position read function are shown
2. ACON-C/CG, PCON-C/CG

below.
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - -
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
PLC input

are indicated by 2’s complements.

32-bit integer.
Indicate the value of electrical current specified by the current
Command command.
32-bit data - -
current The setting unit is 1 mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA

50
2.7.7 I/O Signal Controls and Functions
* ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.”
How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled,
as well as the functions provided by these signals, are explained below. For the I/O signals used in the remote I/O
mode and remote I/O mode 2, refer to the operation manual for the controller.

2. ACON-C/CG, PCON-C/CG
(1) Controller ready (PWR) [PLC input signal]
This signal turns ON when the controller has become ready to perform control following the power on.
„ Function
The PWR signal turns ON when the controller has been initialized successfully and become ready to perform
control following the power on, regardless of the alarm status, servo status or any other condition.
Even when an alarm is present, the PWR signal turns ON as long as the controller is ready.

(2) Emergency stop (EMGS) [PLC input signal]

This signal turns ON when the controller has entered the emergency stop mode.
„ Function
The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has
been cut off). The signal will turn OFF once the emergency stop is cancelled.

(3) Alarm (ALM) [PLC input signal]

This signal turns ON when the controller’s protective circuit (function) has detected an error.
„ Function
The ALM signal turns ON when the controller’s protective circuit (function) has actuated following an error
detection.
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-reset alarm. (To reset cold-start alarms, the power must be reconnected.)
When an alarm is detected, the status indicator LED (refer to 2.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in red.

(4) Reset (RES) [PLC output signal]

This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel
while the actuator is paused.
„ Function
[1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm
(ALM) signal. (To reset cold-start alarms, the power must be reconnected.)
[2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel.

51
 (5) Servo ON command (SON) [PLC output signal]
Ready (SV) [PLC input signal]
When the SON signal is turned ON, the servo will turn on.
When the servo turns on, the status indicator LED (refer to 2.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in green.
2. ACON-C/CG, PCON-C/CG

The SV signal is synchronized with this LED.

„ Function
The controller servo can be turned on/off using the SON signal.
While the SV signal is ON, the controller servo remains on and the actuator can be operated.
The relationship of the SON signal and SV signal is shown below.

52
(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 HOME 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

2. ACON-C/CG, PCON-C/CG
return is in progress.
Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF.
Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned
ON, the HEND signal will not turn OFF until the power is turned off or a HOME signal is input again.
After a home return has been performed once, another home return can be performed by turning ON the HOME
signal.

Actuator operation

Mechanical end Stopped at the

home position

Caution: In the remote I/O mode, remote I/O mode 2 or position/simple direct mode, issuing a
positioning command to a given position following the power on, without performing a
home return first, will cause the actuator to automatically return home and then perform the
positioning. Take note that this applies only to the first positioning command following the
power on.
Exercise caution that in the half direct mode or full direct mode, issuing a positioning
command to a given position following the power on, without performing a home return
first, will generate an alarm (“Error Code 83: Alarm home ABS (absolute position move
command when home return is not yet completed)” (operation-reset alarm).

53
 (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal]
The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the position set by the target position corresponding to the specified position number or by the target position
channel of the PLC.
Whether to use the target position corresponding to the specified position number or the target position channel of
2. ACON-C/CG, PCON-C/CG

the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal).
• PMOD = OFF: Use the target position data corresponding to the specified position number
• PMOD = ON: Use the value set to the target position channel of the PLC.

If this command is issued when no home-return operation has been performed yet after the power on (= while the
HEND signal is OFF), the actuator will automatically return home and then move to the target position.
Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns
OFF.
Target position

(8) Positioning command (DSTR): Used in the half direct mode and full direct mode
[PLC output signal]
The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the target position input to the target position channel of the PLC. If this command is issued when no home-return
operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset
alarm) will occur.
Program the controller so that this signal will be turned OFF after the position complete (PEND) signal turns OFF.

Target position

(9) Moving signal (MOVE) [PLC input signal]

This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion
operation or jog operation is in progress).
The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the
actuator is paused.

54
(10) Position complete signal (PEND) [PLC input signal]
This signal turns ON after the actuator has moved to the target position and entered the positioning band or
completed the push-motion operation.

Timing at which the position

2. ACON-C/CG, PCON-C/CG
complete signal turns ON
Speed
Target position

Travel
Time
Positioning band

When the servo turns on, positioning is performed based on the current position set as the target position.
Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with
the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal.

Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the
target position, the PEND signal will turn OFF.
When the servo subsequently turns on, the PEND signal will turn ON if the current position
is inside the positioning band.
Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains
ON.

(11) Pause (STP) [PLC output signal]

When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the
axis movement will resume.
The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops,
conform to the acceleration/deceleration value corresponding to the position number set by the specified position
number channel in the position/simple direct mode, or to the value of the acceleration/deceleration channel in the
half direct mode.
In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and
deceleration channel.

55
 (12) Zone 1 (ZONE1) [PLC input signal]
Zone 2 (ZONE2) [PLC input signal]
Position zone (PZONE) [PLC input signal]
Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when
the current position is outside the zone.
2. ACON-C/CG, PCON-C/CG

[1] Zone 1, zone 2

Each zone is set by user parameters.
The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No. 2, “Zone boundary 1-.”
The ZONE2 signal is set by parameter No. 23, “Zone boundary 2+” and No. 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will
remain effective even while the servo is turned off.
[2] Position zone
Each zone is set in the position table or using the zone boundary channels.
In the position/simple direct mode, the PZONE signal is set in the position table.
In the full direct mode, the PZONE signal is set using the zone boundary channels.
(*) The PZONE signal is not available in the half direct mode.
The PZONE signal becomes effective when a move command is issued following a completion of home return,
after which it will remain effective even while the servo is turned off.

Zone signal

Actuator operation + direction

Home
Zone setting- Zone setting+

56
(13) +Jog (JOG+) [PLC output signal]
-Jog (JOG-) [PLC output signal]
These signals are used as starting commands for jog operation or inch operation.
If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued,
the actuator will operate in the direction of home.

2. ACON-C/CG, PCON-C/CG
[1] Jog operation
Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once
the signal turns OFF.
The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the
signal turns OFF.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL)
signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).
• If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2] Inch operation
Inch operation can be performed when the JISL signal is ON.
The actuator moves by the inch distance every time this signal turns ON.
The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home
when the JOG- is ON.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The travel conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance.”
If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).

While performing a normal operation, the actuator will continue with the normal operation even after the +jog or
-jog signal is turned ON (the jog signal will be ignored).
While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate.

(Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide
with the mechanical end. Exercise caution.

57
 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal]
This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch
distance parameter when inch operation is selected.

JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON

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

Parameter No. 26, “Jog speed”

OFF Parameter No. 26, “Jog speed”
Parameter No. 48, “Inch distance”
Parameter No. 47, “Jog speed 2”
ON Parameter No. 47, “Jog speed 2”
Parameter No. 49, “Inch distance 2”

(15) Jog/inch switching (JISL) [PLC output signal]

This signal is used to switch between jog operation and inch operation.
JISL = OFF: Jog operation
JISL = ON: Inch operation
If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and
then switch to the inch function.
If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement
and then switch to the jog function.
The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and
jog-speed/inch-distance switching (JVEL) signal.

Jog operation Inch operation

JISL OFF ON
Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”
Travel - Parameter No. 48, “Inch distance”
JVEL=OFF
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”
Travel - Parameter No. 49, “Inch distance 2”
JVEL=ON
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Upon detection of the leading (ON)
Operation When the JOG+/JOG- signal is ON
edge of the JOG+/JOG- signal

58
(16) Teaching command (MODE) [PLC output signal]
Teaching mode signal (MODES) [PLC input signal]
When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching.
Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON.
Program the PLC so that teaching operation will be performed after the MODES signal turns ON.

2. ACON-C/CG, PCON-C/CG
(Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be
satisfied:
• The actuator (motor) is stopped.
• The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF.
• The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF.
(Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF.

(17) Position-data read command (PWRT) [PLC output signal]

Position-data read complete (WEND) [PLC input signal]
The PWRT signal is effective when the teaching mode (MODES) signal is ON.
Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the
position number set to the specified position number channel of the PLC. (*2)
The WEND signal will turn ON once reading is complete.
Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
When the PWRT signal is turned OFF, the WEND signal will turn OFF.
(*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position
may not be written.
(2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be
written. (refer to the operation manual for the controller.)

At least 20 msec

(18) Forced brake release (BKRL) [PLC output signal]

The brake can be forcibly released by turning this signal ON.

59
 (19) Operation mode (RMOD) [PLC output signal]
Operation mode status (RMDS) [PLC input signal]
The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front
panel of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
2. ACON-C/CG, PCON-C/CG

The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown
below.

Controller MODE switch = AUTO Controller MODE switch = MANU

RMOD signal = OFF AUTO mode MANU mode
(AUTO mode is specified) (RMDS=OFF) (RMDS=ON)
RMOD signal = ON MANU mode MANU mode
(MANU mode is specified) (RMDS=ON) (RMDS=ON)

(Note) In the MANU mode, operation from the PLC cannot be performed.

(20) Position/simple-direct switching (PMOD) [PLC output signal]

This signal is used to switch between the mode where the target position is set using a value registered in the
position table stored in the controller, and the mode where a value specified by the target position channel of the
PLC is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the target position channel

(21) Push-motion specification (PUSH) [PLC output signal]

Push-motion operation can be performed when a move command is issued after turning this signal ON.
Normal positioning operation is performed if this signal is set to OFF.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 2.9, “Operation.”)

(22) Push direction specification (DIR) [PLC output signal]

This signal specifies the direction in which the actuator pushes the load.
When the DIR signal is turned OFF, the actuator will push the load in the direction of the value determined by
subtracting the positioning band from the target position.
When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by
adding the positioning band to the target position.
The DIR signal is invalid during normal positioning operation.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 2.9, “Operation.”)

Speed

Travel

Positioning band Positioning band Positioning band

DIR = OFF Target position DIR = ON

60
(23) Load missed in push motion (PSFL) [PLC input signal]
This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved
the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning
band channel of the PLC.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 2.9, “Operation.”)

2. ACON-C/CG, PCON-C/CG
(24) Incremental specification (INC) [PLC output signal]
If a move command is issued while this signal is ON, the actuator will move from the current position by the value
input to the target position channel of the PLC. (Incremental move)
If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position
channel of the PLC.

(25) Push motion in progress (PUSHS) [PLC input signal]

This signal turns ON while push-motion operation is in progress.
Speed
Target position

Travel

Positioning band

The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command
or the next move command is issued, or the servo turns off.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 2.9, “Operation.”)

61
 (26) Load output judgment (LOAD) [PLC input signal] [Dedicated PCON function]
This signal is effective only during push-motion operation.
To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold
has been reached during push-motion operation.
The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command
2. ACON-C/CG, PCON-C/CG

torque (motor current) exceeds the threshold inside the check range.
Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold
for the specified time cumulatively.
The processing procedure is the same as the procedure applicable to push judgment. The time of load output
judgment can be changed freely using parameter No. 50, “Load output judgment time.”
The status of this signal will be retained until the next move command is received.

The LOAD signal turns ON when the The position complete signal turns ON upon
command torque exceeds the threshold judgment of completion of push-motion operation
inside the torque check range. after the actuator contacted the load.

Speed
Check range

Travel

Positioning band (maximum push distance)

Target position

• The push speed is set by parameter No. 34, “Push speed.”

The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• Set parameter No. 51, “Torque check range” to “0 [Enable].”
• The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the
PLC.
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: • If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
• The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

62
(27) Torque level (TRQS) [PLC input signal] [Dedicated PCON function]
This signal is effective only during push-motion operation.
If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving
within the positioning band), the TRQS signal will turn ON.
Since the level of current is monitored, the ON/OFF status of this signal will also change when the current
changes.

2. ACON-C/CG, PCON-C/CG
The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired
speed, therefore, the applicable parameters must be adjusted.
The position complete signal turns ON upon
judgment of completion of push-motion
operation after the actuator contacted the load.

Speed

Range where the TRQS signal is

Travel output

Positioning band (maximum push dimension)

Target position
• The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• Set parameter No. 51, “Torque check range” to “1 [Invalid].”
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: • If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
• The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

63
 (28) Stopping control mode (SMOD) [PLC output signal] [Dedicated PCON function]
One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC
servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a
standstill state in applications where the actuator remains stationary for a long period at standby positions.
SMOD = ON: Use the full-servo control mode while standing by
2. ACON-C/CG, PCON-C/CG

SMOD = OFF: Do not use the full-servo control mode while standing by

• Full-servo control mode

The pulse motor is servo-controlled to reduce the holding current.
Although the specific level of current reduction varies depending on the actuator model, load condition, etc.,
the holding current generally drops to approx. 1/2 to 1/4.
The actual holding current can be checked on the current monitor screen of the PC software.
(Note) Micro-vibration or noise may generate in conditions where an external force is applied and also
depending on the position at which the actuator is stopped.

Use this mode after confirming that it will not negatively affect any part of the whole system.

64
(29) Acceleration/deceleration mode (MOD1, MOD0)
[PLC output signal] [Dedicated ACON function]
These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode
before issuing an actuator move command.

2. ACON-C/CG, PCON-C/CG
MOD1 MOD0 Pattern name Remarks
OFF OFF Trapezoid pattern Factory setting
OFF ON S-motion
ON OFF Primary delay filter
ON ON Not available.

Trapezoid pattern
Speed

Acceleration Deceleration

Time

* The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the
position data table.
S-motion
The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the
middle.
Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the
actuator to accelerate/decelerate gradually at start of movement and immediately before stopping.
Speed

Time
* The S-motion level is set by parameter No. 56, “S-motion ratio setting.” The setting unit is % and the
setting range is 0 to 100.
(The above graph assumes a S-motion ratio of 100 %.)
If “0” is set, the S-motion mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.

Primary delay filter

The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration
(trapezoid pattern). Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Speed

Time
* The primary delay level is set by parameter No. 55, “Primary filter time constant for position
command.” The minimum input unit is 0.1 msec and the setting range is 0.0 to 100.0.
If “0” is set, the primary delay mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.

65
 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal]
Select the stop mode for the duration before the movement to the next position after a positioning is completed.
If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption.
Refer to the instruction manual for the controller for more information.
2. ACON-C/CG, PCON-C/CG

ASO1 ASO0 Functions Reference

OFF OFF Disabled Set in delivery
Automatic Servo OFF Method
OFF ON
Parameter No. 36 is valid for T
Automatic Servo OFF Method
ON OFF
Parameter No. 37 is valid for T
Automatic Servo OFF Method
ON ON
Parameter No. 38 is valid for T

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

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

66
2.8 I/O Signal Timings
The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC
sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the
formula below:

2. ACON-C/CG, PCON-C/CG
Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.)
Yt: Master station → node transmission delay
Field network transmission delay
Xt: Node → master station transmission delay

For the master station → node transmission delay (Yt) and node → master station transmission delay (Xt),
refer to the operation manuals for the DeviceNet master unit and PLC installed in the master unit.

PLC sequence program

Control signal

Status signal

Master station → node Node → master station

transmission delay (Yt) transmission delay (Xt)

ACON, PCON
Control signal

Status signal

Command processing time

67
 2.9 Operation
This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full
direct mode by using examples.
For the operation timings in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the
controller.
2. ACON-C/CG, PCON-C/CG

(In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as
deemed appropriate.)

(1) Operation in the position/simple direct mode

The actuator is operated by writing the position data to the target position channel of the PLC and specifying the
speed, acceleration/deceleration, positioning band, push-motion current-limiting value, etc., using the position
table.
 Example of operation (normal positioning operation)
(Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning
band, etc.) in the position table.
Turn the position/simple-direct switching (PMOD) signal ON.
[1] Set the target position data to the target position channel.
[2] Set the position number under which the position, acceleration/deceleration, etc., were set, to the specified
position number channel.
[3] Turn the positioning start (CSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal.
[4] The PEND turns OFF upon an elapse of tdpf after the CSTR signal has turned ON.
[5] Turn the CSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of the target position channel until the CSTR signal is turned OFF.
[6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[7] The current position data is constantly updated. Once the remaining travel has fallen within the positioning
band set by the position data, the PEND signal turns ON if the CSTR signal is OFF, and the completed
position number is output to the completed position number channel.
If the completed position number channel is to be read upon completion of positioning, therefore, wait for an
appropriate period (= until the actuator moves by the remaining travel) after the PEND signal has turned ON.
Also take note that the current position data may change slightly due to vibration, etc., even while the
actuator is stopped.
[8] The target position data can be changed while the actuator is moving.
To change the target position, change the target position data, wait for at least the scan time of the PLC, and
then turn the CSTR signal ON.
Change the CSTR signal after an elapse of at least the scan time of the PLC.

 Example of operation (push-motion operation)

In the case of push-motion operation, the current-limiting value is set in the “Push” field of the position data table
in the preparation stage.
Perform positioning to the position number under which the value was set in the “Push” field, and the actuator will
perform push-motion operation.

68
 [1]
Set value of target
position data

2. ACON-C/CG, PCON-C/CG
[2]

Specified position
number

Positioning start
[3]

[4]
[5]
Position complete

[7]

Current position
[6]

Moving

Positioning band

Actuator movement

*T1: Make sure “T1 ≥ 0 ms” is

satisfied by considering the scan
time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

69
 (2) Operation in the half direct mode
The actuator is operated by specifying the data to the target position channel, positioning band channel, specified
speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC.
 Example of operation (push-motion operation)
[1] Set the target position data to the target position channel.
2. ACON-C/CG, PCON-C/CG

[2] Set the positioning band data to the positioning band channel.
[3] Set the speed data to the speed channel.
[4] Set the acceleration/deceleration data to the acceleration/deceleration channel.
[5] Set the push-motion current-limiting data to the push-motion current-limiting value channel.
[6] Turn the push direction (PUSH) signal ON.
[7] Specify the push direction using the push direction specification (DIR) signal. (Refer to 2.7.7 (22).)
[8] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal.
[9] The PEND turns OFF upon an elapse of tdpf after the DSTR signal has turned ON.
[10] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of each channel until the DSTR signal is turned OFF.
[11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[12] The current position data is constantly updated.
[13] The PEND signal turns ON when the motor current has reached the current-limiting value set in [5] while the
DSTR signal is OFF. (Completion of push-motion operation)
Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal
does not turn ON if the motor current has yet to reach the current-limiting value set in [5]. In this case, the
PEND signal does not turn ON. (The actuator missed the load in push-motion operation.)
[14] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

For normal positioning operation, set the signal in [6] to OFF.
Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns
ON if the DSTR signal is OFF.

70
 [1]
Set value of target
position data

[2]
Set value of positioning

2. ACON-C/CG, PCON-C/CG
band data

[3]
Set value of
speed data

[4]
Set value of acceleration/
deceleration data

[5]
Set value of push-motion
current-limiting value

[6]

Push-motion specification

[7]

Push direction specification

Positioning command [14]

[8]

Position complete/load [9] [10]

missed in push motion
[13]

Current position

[12]
[11]
Moving

Actuator operation Push

(push motion)
Positioning
band
Actuator operation
(Normal positioning)

*T1: Make sure “T1 ≥ 0 ms” is satisfied by

considering the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)
71
 (3) Operation in the full direct mode
The actuator is operated by specifying all conditions required for positioning to channels such as the target
position channel and positioning band channel of the PLC.
 Example of operation (push-motion operation)
[1] Set the target position data to the target position channel.
2. ACON-C/CG, PCON-C/CG

[2] Set the positioning band data to the positioning band channel.
[3] Set the speed data to the speed channel.
[4] Set the boundary data for position zone output to the zone boundary+ channel and zone boundary- channel.
[5] Set the acceleration data to the acceleration channel.
[6] Set the deceleration data to the deceleration channel.
[7] Set the push-motion current-limiting data to the push-motion current-limiting value channel.
[8] Set the load current threshold data to the specification channel for load current threshold.
[9] Turn the push direction (PUSH) signal ON.
[10] Specify the push direction using the push direction specification (DIR) signal. (Refer to 2.7.7 (22).)
[11] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal.
[12] The PEND turns OFF upon an elapse of tdpf after the DSTR signal has turned ON.
[13] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of each channel until the DSTR signal is turned OFF.
[14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[15] The current position data is constantly updated.
[16] The PEND signal turns ON when the motor current has reached the current-limiting value set in [7] while the
DSTR signal is OFF. (Completion of push-motion operation)
Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal
does not turn ON if the motor current has yet to reach the current-limiting value set in [7]. In this case, the
PEND signal does not turn ON. (The actuator missed the load in push-motion operation.)
[17] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

For normal positioning operation, set the signal in [9] to OFF.
Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns
ON if the DSTR signal is OFF.

72
 [1]
Set value of target
position data

2. ACON-C/CG, PCON-C/CG
[2]

Set value of positioning

band data

[3]

Set value of
speed data

[4]

Set value of position

zone boundary data

[5]

Set value of
acceleration data

[6]

Set value of
deceleration data

[7]

Set value of push-motion

current-limiting value

[8]

Set value of load current

threshold data

73
 [9]

Push-motion specification
2. ACON-C/CG, PCON-C/CG

[10]

Push direction specification

Positioning command [17]

[11]

Position complete/load [12] [13]

missed in push motion
[16]

Current position

[15]
[14]

Moving

Push
Actuator operation
(push motion)
Positioning
band

Actuator operation
(Normal positioning)
*T1: Make sure “T1 ≥ 0 ms” is satisfied by considering
the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

74
 (4) Data change during movement
In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target
position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value,
can be changed while the actuator is moving.
After a desired data has been changed, keep the positioning command (DSTR) signal “ON” for at least tdpf.
Also make sure that after the DSTR is turned “OFF,” the signal will not be turned “ON” again until at least a time

2. ACON-C/CG, PCON-C/CG
corresponding to “twcsON + twcsOFF” elapses.
An example of changing the speed or acceleration/deceleration is shown in the figure below.

[1]
Set value of speed or
acceleration/deceleration

[2]
[3]

Speed n3

Speed n2

Actuator speed

twcsON  Yt + Xt + 3 (msec)
twcsOFF  Yt + Xt + 3 (msec)
*Yt + Xt  tdpf  Yt + Xt + 3 (msec)

Caution
1. If the speed is not set or “0” speed is set, the actuator will remain stationary and no alarm will
generate.
2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and
no alarm will generate.
3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is
moving, the target position data must also be set.
4. Even when the target position alone is changed while the actuator is moving, the
acceleration/deceleration and speed data must also be set.

75
 2.10 DeviceNet Parameters
Parameters relating to DeviceNet are Nos. 84 to 87 and 90.
Category: C: External interface parameter
No. Category Symbol Name Factory-set default
1
2. ACON-C/CG, PCON-C/CG

For parameter Nos. 1 to 83, refer to the

~

operation manual for the controller.

83
84 C FMOD Fieldbus operation mode 0
85 C NADR Fieldbus node address 63
86 C FBRS Field bus baud rate 0
87 C NTYP Network type 2
90 C FMIO Fieldbus I/O format 3

z Fieldbus operation mode (No. 84, FMOD)

Specify the operation mode in parameter No. 84 using a value between 0 and 4.
Value set in Number of
Mode Description
parameter No. 84 occupied channels
Operation using PIOs (24-V I/Os) is performed
0 (Factory setting) Remote I/O mode 1CH
via DeviceNet.
The actuator can be operated by specifying the
target position directly and numerically or
Position/simple
1 4CH based on a value in the position data table.
direct mode
Other values required for operation are set in
the position data table.
The actuator is operated by specifying all data
other than the target position, such as speed,
2 Half direct mode 8CH
acceleration/deceleration, push-motion current,
directly and numerically.
The actuator is operated by directly specifying
3 Full direct mode 16CH
all values relating to position control.
The functions available in the remote I/O mode
Remote I/O mode
4 6CH are combined with the current-position read
2
mode and current-speed read mode.

z Fieldbus node address (No. 85, NADR)

Specify the node address of the remote station in parameter No. 85.

Setting range: 0 to 63 (The factory setting is “63.”)

z Fieldbus baud rate (No. 86, FBRS)

The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you need not
set the baud rate.

76
z Network type (No. 87, NTYP)
The network module type is specified in parameter No. 87. Do not change the default setting.

z Fieldbus I/O format (No. 90, FMIO)

Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the
controller and number of occupied channels in each operation mode.

2. ACON-C/CG, PCON-C/CG
By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or
less in units of bytes during communication using the I/O areas of the PLC.

Value set in
Description
parameter No. 90
0 Data is not swapped. The data is sent directly to the PLC. (Refer to Example i.)
The upper byte and lower byte comprising the upper word are swapped, and the
1 upper byte and lower byte comprising the lower word are also swapped. (Refer to
Example ii.)
The upper word and lower word are swapped for word registers. (Refer to Example
2
iii.)
The upper byte and lower byte comprising the upper word are swapped, and the
upper byte and lower byte comprising the lower word are also swapped. In addition,
3 (factory setting)
the upper word and lower word are swapped for word registers. (Refer to Example
iv.)

(Example i) Set value = “0” z indicates ON, while O indicates OFF.

Input
register

Hexa
decimal data

Output
channel

Hexa
decimal data

Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

77
 (Example ii) Set value = “1” z indicates ON, while O indicates OFF.

Input
register
2. ACON-C/CG, PCON-C/CG

Hexa
decimal data

Output
channel

Hexa
decimal data

Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

78
(Example iii) Set value = “2” z indicates ON, while O indicates OFF.

Input
register

2. ACON-C/CG, PCON-C/CG
Hexa
decimal data

Output
channel

Hexa
decimal data

Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

79
 (Example iv) Set value = “3” z indicates ON, while O indicates OFF.

Input
register
2. ACON-C/CG, PCON-C/CG

Hexa
decimal data

Output
channel

Hexa
decimal data

Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

80
2.11 Troubleshooting
z Alarm messages, causes and remedial actions
If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four
bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 2.
In the position/simple direct mode, this simple alarm code is output to the (n+2) channel.

2. ACON-C/CG, PCON-C/CG
In the half direct mode and full direct mode, this simple alarm code is output to the (n+6) channel.
[1] Check the generated alarm code using the monitor function of the PLC, etc., or connect the RC PC software
or teaching pendant and check the code on the status monitor screen.
[2] Look up the applicable alarm code in the alarm list provided in the operation manual for the controller.
[3] Take appropriate actions according to the explanation given for the applicable code.
For the alarm codes listed in the table below, take the specified action.

ID RES
Code Error name Cause/action
(*1) (*2)
Cause: A fieldbus module error has been detected.
0F2 Fieldbus module error 05 X
Action: Check the parameter.
Cause: The module could not be detected.
Fieldbus module not
0F3 04 X Action: Reconnect the power. If the error persists,
detected
contact IAI.
(*1) ID → Simple alarm code
(*2) RES → Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset

81
 2.12 CE Mark
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
2. ACON-C/CG, PCON-C/CG

82
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB,
DCON-CA/CB/CGB
3.1 Operation Modes and Functions
ACON, PCON, DCON controllers (hereinafter referred to as “IAI controllers”) supporting DeviceNet can be
operated in a desired operation mode selected from the following five modes.

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

Operation Modes and Key Functions
Remote I/O Position/simple Remote I/O
Key function Half direct mode Full direct mode
mode direct mode mode 2
Number of occupied
1CH 4CH 8CH 16CH CH
bytes
Operation by position
x { (*1) { { x
data specification
Direct
speed/acceleration x x { { x
specification
Push-motion { { { { {
operation
Current position read x { { { {
Current speed read x x { { x
Operation by position { { x x {
number specification
Completed position { { x x {
number read
Maximum position
512 768 Not used Not used 512
table size
(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication.
Number of occupied bytes: 1CH

ACON, PCON, DCON

ACON, PCON, DCON supporting DeviceNet
not supporting DeviceNet
PLC PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

83
 [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
You can select whether to specify the target position directly as a value, or use
a value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.
Number of occupied bytes: 4CH
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target position: 100.00 mm

+ Speed Acceleration Deceleration Push
PLC Position No. 0

ACON, PCON, DCON

supporting DeviceNet Actuator

[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: 8CH

Target position: 100.00 mm

Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec
PLC Acceleration/deceleration:
0.30 G
Push current: 50%

ACON, PCON, DCON

supporting DeviceNet Actuator

84
[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: 16CH

Target position: 100.00 mm

Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration: 0.30 G

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

Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
PLC Zone+: 50.00 mm
Zone-: 30.00 mm

ACON, PCON, DCON

supporting DeviceNet Actuator

[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 6CH
ACON, PCON, DCON
ACON, PCON, DCON supporting DeviceNet
not supporting DeviceNet
PLC PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

85
 3.2 Model Numbers
The model numbers of IAI controllers controller supporting DeviceNet are indicated as follows, respectively:

z ACON-CA/CB- -DV-
z PCON-CA/CB/CGB- -DV-
z PCON-CFA/CFB/CGFB- -DV-
z DCON-CA/CB- -DV-
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Printed series name

z ACON, PCON or DCON
Front panel color
z ACON-CA/CB : Dark blue
z PCON-CA/CB/CGB : Dark green
z PCON-CFA/CFB/CGFB : Light green
z DCON-CA/CB : Dark orange

86
3.3 Interface Specifications

Item Specification
Communication protocol DeviceNet 2.0
Group 2 only server
Network-powered isolation node
Communication specification Master-slave connection Bit strobe

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

Polling
Baud rate Automatically set to the same value as the band rate set in the master
Communication cable length Baud rate Maximum network length Maximum branch Total branch
line length line length
500 kbps 100 m 39 m
250 kbps 250 m 6m 78 m
125 kbps 500 m 156 m
Note) When a large-size DeviceNet cable is used.
Communication power supply 24 VDC (supplied from DeviceNet)
Consumption current of
60 mA
communication power supply
Number of occupied nodes 1 node

87
 3.4 DeviceNet Interface

3.4.1 Name of Each Part

The name of each part relating to DeviceNet is shown.

SV/ALM Status Indicator LEDs

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

Red
NS
White │Monitor LED
MS
DeviceNet communication connector
Blue PCB side : MSTB2.5/5-GF-5.08AU
(PHOENIX CONTACT)
Black Cable side: MSTB2.5/5-STF-5.08AUM
(PHOENIX CONTACT)

88
3.4.2 Monitor LED Indicators
The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller)
condition and network condition.
The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below
based on the illumination status and color of each LED.

MS (Module Status) LED: Condition of the node (controller)

NS (Network Status) LED: Condition of the network

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

{ : Steady light, X : Off, ☆ : Blinking
Illumination
LED Color Description (meaning)
status
{ The board is operating normally.
Green A hardware error occurred. The error may be reset by
☆
reconnecting the power.
MS { A hardware error occurred. The board must be replaced.
Orange A user setting error, configuration error or other minor error is
☆ present. These errors can be reset by setting the applicable item
again, etc.
- X DeviceNet is initializing or the power is not supplied.
Network connection has been established and the board is
{
communicating normally.
Green
The board is online, but network connection is not yet established.
☆
Communication is stopped. (The network is normal.)
NS Node address duplication or bus-off state was detected.
{
Communication is not possible.
Orange
A communication error occurred (communication time-out
☆
occurred).
The board is not online.
- X
DeviceNet power is not supplied.

Self test is performed when the power is turned on.

During the test, the monitor LEDs cycle in the following sequence:
[1] NS turns off.
[2] MS illuminates in steady green (approx. 0.25 second).
[3] MS illuminates in steady orange (approx. 0.25 second).
[4] MS illuminates in steady green.
[5] NS illuminates in steady green (approx. 0.25 second).
[6] NS illuminates in steady orange (approx. 0.25 second).
[7] NS turns off.
When the self test is finished and the board starts communicating normally, both the MS and NS LEDs
change to steady green.

89
 3.5 Selecting (Setting) the Operation Mode
The operation mode is set using a parameter.
Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84,
“FMOD: Fieldbus operation mode” using the RC PC software(Note 1) (V6.00.05.00 or later). (Refer to 3.10,
“DeviceNet Parameters.”)
(Note 1) Refer to operation manual of RC PC Software for the applicable version.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Number of occupied
Set value Operation mode
stations
0 (Factory setting) Remote I/O mode 1CH
1 Position/simple direct mode 4CH
2 Half direct mode 8CH
3 Full direct mode 16CH
4 Remote I/O mode 2 6CH
* If any other value is entered, an excessive input error will occur.

3.6 Setting the Node Address

The node address is set using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 3.10, “DeviceNet
Parameters.”)

Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.)

(Note) Exercise caution to avoid node address duplication.

The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of
the PLC. (This is when the mount assignment mode is selected. A different rule applies when a
configurator is used.)
For details, refer to the operation manuals of the master unit and PLC installed in the master unit.

(Note) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you
need not set the baud rate.

(Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on
the front panel of the controller to the AUTO position. If the switch remains in the MANU position,
operation by the PLC cannot be performed.

90
3.7 Communicating with the Master Station

3.7.1 Operation Modes and Corresponding PLC I/O Areas

The channel assignments in each mode are shown below.
• PLC output → IAI controllers input (* n indicates the node address of each axis.)

ACON, PCON, DCON DI and input data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode

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

PLC output area direct mode 2
(channel) Number of Number of Number of Number of Number of
occupied occupied occupied occupied occupied
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
n
15 Target position Target position Target position 15
n+1
Specified position
n+2
number Positioning band Positioning band
n+3 Control signal Occupied area
n+4 Speed
Speed
Acceleration/
n+5 specification
deceleration
Push-motion
n+6 current-limiting value Zone boundary+
n+7 Control signal
n+8
Zone boundary-
n+9
n+10 Acceleration
n+11 Deceleration
Push-motion
n+12 current-limiting value
Load current
n+13
threshold
n+14 Control signal 1
n+15 Control signal 2

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

91
 • IAI controllers output → PLC input side (* n indicates the node address of each axis.)

ACON, PCON, DCON DO and output data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode
PLC input area direct mode 2
(channel) Number of Number of Number of Number of Number of
occupied occupied occupied occupied occupied
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

n
15 Current position Current position Current position 15
n+1 Occupied area
n+2 Completed
position number
n+3 Command current Command current Current position
(simple alarm ID)
n+4 Status signal
n+5
Current speed Current speed Command current
n+6
n+7 Alarm code Alarm code
n+8 Status signal
Occupied area
n+9
n+10 Total moving
n+11 count
n+12 Total moving
n+13 distance
n+14 Status Signal 1
n+15 Status Signal 2

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

92
3.7.2 Remote I/O Mode (Number of Occupied Channel: 1)
In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are
used.
Set position data using the RC PC software or teaching pendant.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
The I/O specifications for each PIO pattern are shown below. (For details, refer to the operation manual for the
controller.)
Value set in
Operation mode I/O specification
parameter No. 25

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

0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position
number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and
intermediate position commands.
A position complete signal is output separately for the front end,
rear end and intermediate position.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Supported / X: Not supported
PIO patterns
0: 1: 2: 3: 4: 5:
ROBO Cylinder function
Positioning Teaching 256-point 512-point Solenoid Solenoid
mode mode mode mode mode 1 mode 2
Home-return operation { { { { { X
Positioning operation { { { { { {
Speed and
{ { { { { {
acceleration/deceleration setting
Pitch feed (inching) { { { { { {
Push-motion operation { { { { { X
Speed change during movement { { { { { {
Operation at different
{ { { { { {
acceleration and deceleration
Pause { { { { { { (*1)
Zone signal output { { { X { {
PIO pattern selection (set by a
{ { { { { {
parameter)

(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

93
 (1) PLC channel configuration (* n indicates the node address of each axis.)

Parameter No. IAI controllers DI IAI controllers DO

PLC output channel PLC input channel
84 (port number) (port number)
0 0~15 n+0 0~15 n+0
(Note) Exercise caution to avoid node address duplication.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
z Each channel is controlled by ON/OFF bit signals.

PLC output
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
input port
number

PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
output port
number

94
(3) I/O signal assignments
The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)

Setting of Parameter No. 25

Teaching mode 256-point mode
Positioning mode (standard)
(teaching type) (256-point type)
0 1 2

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

Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 Command position PC4 Command position PC4
3 PC8 number PC8 number PC8
4 PC16 PC16 PC16 Command position
5 PC32 PC32 PC32 number
Teaching mode
PLC
6 - MODE command (operation PC64
output
Not available. mode)
→
7 - JISL Jog/inch switching PC128
ACON,
8 - JOG+ +Jog - Not available.
PCON,
DCON 9 BKRL Forced brake release JOG- -Jog BKRL Forced brake release
input 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return HOME Home return
12 *STP Pause *STP Pause *STP Pause
Positioning
CSTR/
13 CSTR Positioning start start/position-data CSTR Positioning start
PWRT
read command
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 Completed position PM4 Completed position PM4
3 PM8 number PM8 number PM8 Completed position
4 PM16 PM16 PM16 number
5 PM32 PM32 PM32
6 MOVE Moving signal MOVE Moving signal PM64
7 ZONE1 Zone 1 MODES Teaching mode signal PM128
PZONE/Z Position zone/ PZONE/Z Position zone/ PZONE/Z Position zone/
ACON, 8
ONE2 Zone 2 ONE1 Zone 1 ONE1 Zone 1
PCON, Operation mode Operation mode Operation mode
DCON 9 RMDS RMDS RMDS
status status status
Output Home return Home return
→ 10 HEND Home return complete HEND HEND
complete complete
PLC input Position complete
Position complete PEND/ Position complete
11 PEND signal/position-data PEND
signal WEND signal
read complete
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
Load output Load output
LOAD/ LOAD/
judgment/ judgment/
15 (Note 1) TRQS/ *ALML Light error status TRQS/
torque level/ torque level/
*ALML *ALML
Light error status Light error status
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).
Note 1 For ACON and DCON, the signals change as explained below;
ACON : *BALM (Battery Alarm) / *ALML (Light error status)
DCON : *ALML(Light error status)

95
 Setting of Parameter No. 25
512-point mode Solenoid mode 1 Solenoid mode 2
3 4 5
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 ST0 Start position 0 ST0 Start position 0
1 PC2 ST1 Start position 1 ST1 Start position 1
2 PC4 ST2 Start position 2 ST2 Start position 2
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

3 PC8 ST3 Start position 3 -

Command position
4 PC16 ST4 Start position 4 -
number
PLC 5 PC32 ST5 Start position 5 -
Not available.
output 6 PC64 ST6 Start position 6 -
 7 PC128 - -
Not available.
ACON, 8 PC256 - -
PCON, Forced brake Forced brake Forced brake
DCON 9 BKRL BKRT BKRL
release release release
input 10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return -
12 *STP Pause *STP Pause - Not available.
13 CSTR Positioning start - Not available. -
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete LS0 Limit Switch Output 0
1 PM2 PE1 Position 1 complete LS1 Limit Switch Output 1
2 PM4 PE2 Position 2 complete LS2 Limit Switch Output 2
3 PM8 PE3 Position 3 complete -
4 PM16 Completed position PE4 Position 4 complete -
Not available.
5 PM32 number PE5 Position 5 complete -
6 PM64 PE6 Position 6 complete -
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
ACON, PZONE/ Position zone/ PZONE/ Position zone/
8 PM256
PCON, ZONE2 Zone 2 ZONE2 Zone 2
DCON Operation mode Operation mode Operation mode
output 9 RMDS RMDS RMDS
status status status
 Home return Home return Home return
PLC 10 HEND HEND HEND
complete complete complete
input Position complete Position complete Position complete
11 PEND PEND -
signal signal signal
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
Load output Load output
LOAD/ LOAD/
judgment/ judgment/
15 (Note 1) TRQS/ TRQS/ *ALML Light error status
torque level/ torque level/
*ALML *ALML
Light error status Light error status
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).
Note 1 For ACON and DCON, the signals change as explained below;
ACON : *BALM (Battery Alarm) / *ALML (Light error status)
DCON : *ALML(Light error status)

96
3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4)
In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD)
to select whether to specify the target position directly and numerically or by using a value registered in the
position data table.
Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using
values in the position table stored in the controller. Set position data by referring to the operation manual for the
controller.
Up to 768 sets of positioning data can be specified.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

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

{: Direct control
ROBO Cylinder function U: Indirect control Remarks
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting U These items must be
Pitch feed (inching) U set in the position data
Push-motion operation U table.
Speed change during movement U
Operation at different acceleration and deceleration U
Pause {
U Zones are set using
Zone signal output
parameters.
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. IAI controllers IAI controllers
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
Completed position
1 Specified position
n+2 number (simple n+2
number
alarm code)
Control signal n+3 Status signal n+3
(Note) Exercise caution to avoid node address duplication.

97
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke
range (0 to the effective stroke) of the applicable actuator.
z The specified position number and completed position number are 1-word (16-bit) binary data. Although
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to
specify position numbers associated with predefined operating conditions.

PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Specified
position
number

Control signal

98
PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Current
position (lower

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

word)

Current
position
(upper word)

If the current position is a negative value, it is indicated by a 2’s complement.

Completed
position
number
ZONE1
ZONE2

Status signal
ALML
(Note 1)

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

99
 (3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

32-bit data - (Example) To set “+25.40 mm,” specify “2540.” 3.9 (1)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
16-bit integer.
To operate the actuator, you must set position data associated
with predefined operating conditions using the PC software or
teaching pendant.
Specified
PC1 ~ Use one of these registers to specify the position number for
position 16-bit data 3.9 (1)
PC512 which the desired data has been input.
number
The allowable specification range is 0 to 767.
If the specified value is outside the above range or corresponds
to a position not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when this signal
b15 BKRL 3.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 3.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
PLC output

- Not available. -
b12
Position/simple-direct switching: The position mode is selected
b11 PMOD when this signal is OFF, and the simple direct mode is selected 3.7.7 (20)
when the signal is ON.
Teaching mode command: The normal mode is selected when
b10 MODE this signal is OFF, and the teaching mode is selected when the 3.7.7 (16)
signal is ON.
Position-data read command: Position data is read when this
b9 PWRT 3.7.7 (17)
signal is ON.
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 3.7.7 (13)
this signal is ON.
Control
-Jog: The actuator moves in the direction of home when this
signal b7 JOG- 3.7.7 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 3.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 3.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 3.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 3.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 3.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 3.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 CSTR 3.7.7 (7)
turns ON.

100
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32 bits - 3.9 (1)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
16-bit integer.

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

When the actuator has moved to the target position and entered
Completed
the positioning band, the position number corresponding to the
position
completed position is output.
number PM 1 ~
16 bits “0” is output when no position movement has been performed 3.9 (1)
(simple PM512
yet or while the actuator is moving.
alarm
If an alarm occurs (the status signal ALM turns ON), a
code)
corresponding simple alarm code (refer to the operation manual
for the controller) will be output.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 3.7.7 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 3.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 3.7.7 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 3.7.7 (12)
the specified zone.
PLC input

Position zone: This signal turns ON when the current position is

b11 PZONE 3.7.7 (12)
inside the specified position zone.
Teaching mode signal: This signal is ON while the teaching
b10 MODES 3.7.7 (16)
mode is selected.
Position data read complete: This signal turns ON when reading
b9 WEND 3.7.7 (17)
is complete.
Operation mode status: This signal is OFF when the current
b8 RMDS 3.7.7 (19)
mode is AUTO, or ON when the current mode is MANU.
Status Light error status:
signal Turns ON when light alarm (threshold exceeded for number of
ALML movement, etc.) that the operation can be continued with is 3.7.7 (31)
b7 issued.
Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute battery
BALM 3.7.7 (32)
voltage drop warning turns ON when the voltage is dropped.
b6 - Not available. -
Load missed in push motion: This signal turns ON when the
b5 PSFL 3.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 3.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 3.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 3.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 3.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 3.7.7 (10)
is completed.

101
 3.7.4 Half Direct Mode (Number of Occupied Channels: 8)
In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are
specified directly and numerically from the PLC.
Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and
24.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Direct control
ROBO Cylinder function U: Indirect control Remarks
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration X
Pause {
U Parameters must be
Zone signal output
set
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. IAI controllers IAI controllers
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
Speed n+4 n+4
2
Acceleration/ Current speed
n+5 n+5
deceleration
Push-motion
n+6 Alarm code n+6
current-limiting value
Control signal n+7 Status signal n+7
(Note) Exercise caution to avoid node address duplication.

102
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke
range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,

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

the PLC can handle values from 1 to +999999 (unit: 0.01 mm).
z The speed is a 1-word (16-bit) binary data. For the specified speed, the PLC can handle values from 0 to
+65535 (unit: 1.0 mm/sec or 0.1 mm/sec). Take note, however, that the set value should not exceed the
maximum speed supported by the applicable actuator.
The setting of unit can be established in Parameter No. 159 FB Half Direct Mode Speed Unit.
Parameter No.159 Setting Value Indicated Speed Unit
0 1.0mm/sec
1 0.1mm/sec
z The acceleration/deceleration is 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.
z The 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).

Set Value 0 128 255

Push-motion
0% 50% 100%
current-limiting value

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

103
 PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed

Acceleration/
deceleration

Push-motion
current-limiting
value

Control signal

104
PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position (lower
word)

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

Current
position (upper
word)

If the current position is a negative value, it is indicated by a 2’s complement.

Command
current (lower
word)

Command
current (upper
word)

Current speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code
ALML
(Note 1)

Status signal

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

105
 (3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 3.9 (2)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The setting unit is 0.01 mm and the allowable specification range
is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 3.9 (2)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
deemed to have completed.
PLC output

[2] In push-motion operation, this register defines the

push-motion band. Whether to perform normal operation or
push-motion operation is set using the control signal PUSH.
16-bit integer.
Specify the speed at which to move the actuator.
The setting unit is 1.0 mm/sec or 0.1 mm/sec and the allowable
specification range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
Speed 16-bit data - suspension, it will remain stopped on the spot. 3.9 (2)
The change of unit is to be conducted in Parameter No. 159 FB
Half Direct Mode Speed Unit.
(Example) To set “254.0 mm/sec,” specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator (the acceleration and deceleration will be the same
value).
Acceleration/ The setting unit is 0.01 G and the allowable specification range is
16-bit data - 3.9 (2)
deceleration 1 to 300.
(Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.

106
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value

16-bit data - The actual allowable specification range varies from one 3.9 (2)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)

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

If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
Forced brake release: The brake is released when this signal
b15 BKRL 3.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 3.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b13 DIR positioning band from the target position. 3.7.7 (22)
When the signal is ON, push-motion operation is performed in
the direction of the position determined by adding the positioning
band to the target position.
Push-motion specification: Positioning operation is performed
PLC output

b12 PUSH when this signal is OFF, and push-motion operation is performed 3.7.7 (21)
when the signal is ON.
b11
b10 - Not available. -
b9
Control +Jog: The actuator moves in the direction opposite home when
b8 JOG+ 3.7.7 (13)
signal this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 3.7.7 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 3.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 3.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 3.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 3.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 3.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 3.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 3.7.7 (8)
turns ON.

107
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current
32-bit data - (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm 3.9 (2)
position
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
32-bit integer.
The electrical current presently specified by a command is
Command indicated.
32-bit data - 3.9 (2)
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

current The setting unit is mA.

(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA
32-bit signed integer.
Indicate the current speed.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of home.
Current 32-bit integer.
32-bit data - 3.9 (2)
speed The current speed is indicated.
The setting unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal, a negative value is
indicated as a 2’s complement.
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
16-bit data - If no alarm is present, “0H” is set. 3.9 (2)
code
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is actuated when this
PLC input

b15 EMGS 3.7.7 (2)

signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 3.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 3.7.7 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 3.7.7 (12)
the specified zone.
b11
b10 - Not available. -
b9
Operation mode status: This signal is OFF when the current
b8 RMDS 3.7.7 (19)
mode is AUTO, or ON when the current mode is MANU.
Light error status:
Turns ON when light alarm (threshold exceeded for number of
Status ALML movement, etc.) that the operation can be continued with is 3.7.7 (31)
signal issued.
b7
Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute battery
BALM 3.7.7 (32)
voltage drop warning turns ON when the voltage is dropped.
b6 - Not available. -
Load missed in push motion: This signal turns ON when the
b5 PSFL 3.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 3.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 3.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 3.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 3.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 3.7.7 (10)
is completed.

108
3.7.5 Full Direct Mode (Number of Occupied Channels: 16)
In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed,
etc.) directly from the PLC.
Set each value in the I/O area.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

{: Direct control
ROBO Cylinder function
X: Invalid

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

Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration {
Pause {
Zone signal output {
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. IAI controllers IAI controllers
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
n+4 n+4
Speed Current speed
n+5 n+5
n+6 Alarm code n+6
Zone boundary+
n+7 n+7
n+8 Occupied area n+8
3 Zone boundary-
n+9 n+9
Acceleration n+10 n+10
Total moving count
Deceleration n+11 n+11
Push-motion
n+12 n+12
current-limiting value Total moving
Load current distance
n+13 n+13
threshold
Control signal 1 n+14 Status signal 1 n+14
Control signal 2 n+15 Status signal 2 n+15

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

109
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the
I/O areas.
z Control signals 1 and 2 and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke
range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

the PLC can handle values from 1 to +999999 (unit: 0.01 mm).
z The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to
+999999 (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed
supported by the applicable actuator.
z The 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.
z The 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).

Set value

Push-motion
current-limiting value

z Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current
threshold, the PLC can handle values from 0 (0%) to 255 (100%). (Refer to the graph of push-motion
current-limiting value (above graph).)
z The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone
boundary-, the PLC can handle values from -999999 to +999999 (unit: 0.01 mm). Take note, however, that the
value of zone boundary- must be smaller than the value of zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.
z The total moving count is a 2-word (32-bit) binary data (Unit: times).
z The total moving distance is a 2-word (32-bit) binary data (Unit: m).

110
PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

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

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed (lower
word)

Speed (upper
word)

Zone
boundary+
(lower word)

Zone
boundary+
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.

111
 Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Zone
boundary-
(lower word)
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Zone
boundary-
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.

Acceleration

Deceleration

Push-motion
current-limiting
value

Load current
threshold(Note 1)
SMOD

MOD1

MOD2
ASO1

ASO0
NTC1

NTC0

GSL1

GSL0
(Note 2)

(Note 2)

(Note 1)

(Note 2)

(Note 2)

Control signal
1

Control signal
2

Note 1 It can be used only in PCON.

Note 2 It can be used only in ACON.

112
PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position
(lower word)

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

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

Current
speed
(lower word)

Current
speed (upper
word)
If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Not available.
TRQS
LOAD

Status signal

113
 Address (* “n” shows the head register address per each axis).
one word = 16 bits
n+10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Total 32,768

16,384
moving

8,192

4,096

2,048

1,024

512

256

128

64

32

16

1
count
(Slave Word)
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

n+11 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total

524,288

262,144

131,072

65,536
moving
⎯

⎯
count
(Host Word)

n+12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total
32,768

16,384

moving
8,192

4,096

2,048

1,024

512

256

128

64

32

16

1
distance
(Slave Word)

n+13 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total

524,288

262,144

131,072

65,536
moving
⎯

⎯
distance
(Host Word)

n+14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

ALML
Status

(Note 2)
⎯

⎯
Signal 1

n+15 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PZONE
ZONE2

ZONE1

GHMS
EMGS

MOVE
RMDS

HEND

PEND
TRQS

PUSH
LOAD

PSFL

Status
(Note 1)

(Note 1)
PWR

ALM
SV

Signal 2

Note 1 It can be used only in PCON.

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

114
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The setting unit is 0.01 mm and the allowable specification range
is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 3.9 (3)

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

position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The setting unit is 0.01 mm and the allowable specification range
is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 3.9 (3)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
deemed to have completed.
[2] In push-motion operation, this register defines the
push-motion band. Whether to perform normal operation or
PLC output

push-motion operation is set using the control signal PUSH.

32-bit integer.
Specify the speed at which to move the actuator.
The setting unit is 1.0 mm/sec and the allowable specification
range is 0 to 999999.
Speed 32-bit data - Deceleration stop if and to specify in motion 0. It under 3.9 (3)
suspension, it will remain stopped on the spot.
(Example) To set “25.41 mm/sec,” specify “2541.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
32-bit signed integer.
After completion of home return, an effective zone signal can be
output separately from the zone boundaries specified by
parameters.
The status signal PZONE turns ON when the current position is
inside these +/- boundaries.
Zone
(Example) To set “+25.40 mm,” specify “2540.”
boundary+
32-bit data - The setting unit is 0.01 mm and the specification range is 3.9 (3)
/zone
-999999 to 999999.
boundary-
Enter a value that satisfies the relationship of “Zone boundary+ >
Zone boundary-.”
If this function is not used, enter the same value for both the
positive and negative boundaries.
* If the boundaries are entered as hexadecimals, enter negative
values using 2’s complements.

115
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
16-bit integer.
Acceleration 16-bit data - Specify the acceleration and deceleration at which to move the
actuator.
The setting unit is 0.01 G and the allowable specification range is
Deceleration

1 to 300. 3.9 (3)

16-bit data - (Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

exceeding the maximum acceleration or deceleration, an alarm

will occur.
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value

16-bit data - The actual allowable specification range varies from one 3.9 (3)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
16-bit integer.
(PCON only)
Load current

If you want the controller to determine whether or not the load

threshold

current has exceeded the set value, specify the current threshold
16-bit data - 3.9 (3)
using this register.
The allowable specification range is 0 (0%) to 255 (100%).
If threshold judgment is not required, enter “0.”
b15
PLC output

- Not available.
b14
Vibration
damping Select the servo gain parameter set to be
NTC1 used.
b13 control
(ACON only)
mode NTC1 NTC0 Function
selection 1 OFF OFF Do not use vibration damping 3.7.7 (33)
Vibration control.
damping OFF ON Select parameter set 1.
NTC0
b12 control ON OFF Select parameter set 2.
(ACON only)
mode ON ON Select parameter set 3.
selection 0
b11 - Not available.
Control
signal 1 SMOD Stopping control mode: When this signal is ON, servo control is
b10 3.7.7 (28)
(PCON only) performed during stopping.

Select stop mode while standing by

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

116
 Address Bits Symbol Function Details
Acceleration/deceleration mode:
b7 MOD1
MOD1 MOD0 Function
OFF OFF Trapezoid pattern 3.7.7 (29)
OFF ON S-motion
b6 MOD0 ON OFF Primary delay filter
Servo gain Select the servo gain parameter set to be used.
PLC output

Control b5 parameter

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

GSL1 set GSL1 GSL0 Function
signal 1 (ACON only)
selection 1 OFF OFF Select parameter set 0.
3.7.7 (34)
Servo gain OFF ON Select parameter set 1.
b4 parameter ON OFF Select parameter set 2.
GSL0 set
(ACON only) ON ON Select parameter set 3.
selection 0
Incremental specification: Absolute position commands are
b3 INC issued when this signal is OFF, and incremental position 3.7.7 (24)
commands are issued when the signal is ON.

117
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b2 DIR positioning band from the target position. 3.7.7 (22)
When the signal is ON, push-motion operation is performed in
Control
the direction of the position determined by adding the positioning
signal 1
band to the target position.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Push-motion specification: Positioning operation is performed

b1 PUSH when this signal is OFF, and push-motion operation is performed 3.7.7 (21)
when the signal is ON.
b0 - Not available. -
Forced brake release: The brake is released when this signal
b15 BKRL 3.7.7 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 3.7.7 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
b12
b11 - Not available. -
PLC output

b10
b9
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 3.7.7 (13)
this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 3.7.7 (13)
signal is ON.
Control Jog-speed/inch-distance switching: The values set in parameter
signal 2 No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 3.7.7 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 3.7.7 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 3.7.7 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 3.7.7 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 3.7.7 (11)
Home return: A home-return command is issued when this signal
b1 HOME 3.7.7 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 3.7.7 (8)
turns ON.

118
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The setting unit is 0.01 mm.
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 3.9 (3)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
32-bit integer.

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

The electrical current presently specified by a command is
Command indicated.
32-bit data - 3.9 (3)
current The setting unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA
32-bit integer.
The current speed is indicated.
Current
32-bit data - The setting unit is 0.01 mm/sec. 3.9 (3)
speed
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
16-bit data - If no alarm is present, “0” is set. 3.9 (3)
code
For details on alarms, refer to the operation manual for the
controller.
Total moving 32-bits 32-bit integer
- -
count data (unit: times)
Total moving 32-bits 32-bit integer
- -
distance data (unit: m)
PLC input

b15
b14
b13
b12
b11
b10
b9
b8 - Unavailable -
b7
Status b6
Signal 1 b5
b4
b3
b2
b1
Light error status:
Turns ON when light alarm (threshold exceeded for number of
ALML movement, etc.) that the operation can be continued with is 3.7.7 (31)
b0 issued.
Note: ALM LED would not turn ON with a light error.
☆When Parameter No. 151 is set to 1 in ACON, absolute battery
BALM 3.7.7 (32)
voltage drop warning turns ON when the voltage is dropped.

119
 Signal type Bits Symbol Description Details
Emergency stop: An emergency stop is actuated when this
b15 EMGS 3.7.7 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 3.7.7 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 3.7.7 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 3.7.7 (12)
the specified zone.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Position zone: This signal turns on when the current position is

b11 PZONE 3.7.7 (12)
inside the position zone.
Load Output Judgment:
LOAD “ON” for Reached “OFF” for Not reached
b10 (Note 1) 3.7.7 (26)
[Refer to the instruction manual for the controller main body for
more information.]
Torque Level:
TRQS “ON” for Reached “OFF” for Not Reached
b9 3.7.7 (27)
PLC input

(Note 1)
Status [Refer to the instruction manual for the controller main body for
signal 2 more information.]
Operation mode status: This signal is OFF when the current
b8 RMDS 3.7.7 (19)
mode is AUTO, or ON when the mode is MANU.
Home return in progress: This signal remains ON while home
b7 GHMS 3.7.7 (6)
return is in progress.
Push motion in progress: This signal remains ON while
b6 PUSHS 3.7.7 (25)
push-motion operation is in progress.
Load missed in push motion: This signal turns ON when the
b5 PSFL 3.7.7 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 3.7.7 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 3.7.7 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 3.7.7 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 3.7.7 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 3.7.7 (10)
is completed.

Note 1 It can be used only in PCON.

120
3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)
In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are
used.
Set position data using the RC PC software or teaching pendant.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
This mode is the same as the remote I/O mode, but the current-position read function and command-current read
function are also available.
The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.)
Value set in

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

Operation mode I/O specification
parameter No. 25
0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position
number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and
intermediate position commands.
A position complete signal is output separately for the front end,
rear end and intermediate position.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Supported / X: Not supported
PIO patterns
0: 1: 2: 3: 4: 5:
ROBO Cylinder function
Positioning Teaching 256-point 512-point Solenoid Solenoid
mode mode mode mode mode 1 mode 2
Home-return operation { { { { { X
Positioning operation { { { { { {
Speed and
{ { { { { {
acceleration/deceleration setting
Pitch feed (inching) { { { { { {
Push-motion operation { { { { { X
Speed change during movement { { { { { {
Operation at different
{ { { { { {
acceleration and deceleration
Pause { { { { { { (*1)
Zone signal output { { { X { {
PIO pattern selection (set by a
{ { { { { {
parameter)

(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

121
 (1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. IAI controllers DI and IAI controllers DO
PLC output channel PLC input channel
84 input register and output register
Port number 0 to 15 n+0 Current position n+0
n+1 Occupied area n+1
n+2 n+2
4 Current position
Occupied area n+3 n+3
n+4 n+4
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Command current
n+5 n+5

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O
areas.
z The channels controlled by port number are controlled using ON/OFF bit signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

PLC output (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
input port
number

122
PLC input (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
output port
number

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

Not available.

Current
position (lower
word)

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

123
 (3) I/O signal assignments
For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote
I/O mode explained in 3.7.2 (3).

Signal assignments under the command-current read function and current-position read function are shown
below.
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The setting unit is 0.01 mm.

Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - -
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
PLC input

are indicated by 2’s complements.

32-bit integer.
Indicate the value of electrical current specified by the current
Command command.
32-bit data - -
current The setting unit is 1 mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA

124
3.7.7 I/O Signal Controls and Functions
* ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.”
How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled,
as well as the functions provided by these signals, are explained below. For the I/O signals used 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 following the power on.

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

„ Function
The PWR signal turns ON when the controller has been initialized successfully and become ready to perform
control following the power on, regardless of the alarm status, servo status or any other condition.
Even when an alarm is present, the PWR signal turns ON as long as the controller is ready.

(2) Emergency stop (EMGS) [PLC input signal]

This signal turns ON when the controller has entered the emergency stop mode.
„ Function
The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has
been cut off). The signal will turn OFF once the emergency stop is cancelled.

(3) Alarm (ALM) [PLC input signal]

This signal turns ON when the controller’s protective circuit (function) has detected an error.
„ Function
The ALM signal turns ON when the controller’s protective circuit (function) has actuated following an error
detection.
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-reset alarm. (To reset cold-start alarms, the power must be reconnected.)
When an alarm is detected, the status indicator LED (refer to 3.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in red.

(4) Reset (RES) [PLC output signal]

This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel
while the actuator is paused.
„ Function
[1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm
(ALM) signal. (To reset cold-start alarms, the power must be reconnected.)
[2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel.

125
 (5) Servo ON command (SON) [PLC output signal]
Ready (SV) [PLC input signal]
When the SON signal is turned ON, the servo will turn on.
When the servo turns on, the status indicator LED (refer to 3.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in green.
The SV signal is synchronized with this LED.
„ Function
The controller servo can be turned on/off using the SON signal.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

While the SV signal is ON, the controller servo remains on and the actuator can be operated.
The relationship of the SON signal and SV signal is shown below.

SON
(PLC→IAI controllers)

SV
(IAI controllers→PLC)

126
(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 HOME 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.
Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF.
Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned

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

ON, the HEND signal will not turn OFF until the power is turned off or a HOME signal is input again.
After a home return has been performed once, another home return can be performed by turning ON the HOME
signal.

HOME
(PLC→IAI controllers)

GHMS
(IAI controllers→PLC)

HEND
(IAI controllers→PLC)

PEND
(IAI controllers→PLC)

MOVE
(IAI controllers→PLC)

Actuator operation

Mechanical end Stopped at the

home position

Caution: In the remote I/O mode, remote I/O mode 2 or position/simple direct mode, issuing a
positioning command to a given position following the power on, without performing a
home return first, will cause the actuator to automatically return home and then perform the
positioning. Take note that this applies only to the first positioning command following the
power on.
Exercise caution that in the half direct mode or full direct mode, issuing a positioning
command to a given position following the power on, without performing a home return
first, will generate an alarm (“Error Code 83: Alarm home ABS (absolute position move
command when home return is not yet completed)” (operation-reset alarm).

127
 (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal]
The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the position set by the target position corresponding to the specified position number or by the target position
channel of the PLC.
Whether to use the target position corresponding to the specified position number or the target position channel of
the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal).
• PMOD = OFF: Use the target position data corresponding to the specified position number
• PMOD = ON: Use the value set to the target position channel of the PLC.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

If this command is issued when no home-return operation has been performed yet after the power on (= while the
HEND signal is OFF), the actuator will automatically return home and then move to the target position.
Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns
OFF.

Target position
(PLC→IAI controllers)

CSTR
(PLC→IAI controllers)

PEND
(IAI controllers→PLC)

(8) Positioning command (DSTR): Used in the half direct mode and full direct mode
[PLC output signal]
The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the target position input to the target position channel of the PLC. If this command is issued when no home-return
operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset
alarm) will occur.
Program the controller so that this signal will be turned OFF after the position complete (PEND) signal turns OFF.

Target position
(PLC→IAI controllers)

CSTR
(PLC→IAI controllers)

PEND
(IAI controllers→PLC)

(9) Moving signal (MOVE) [PLC input signal]

This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion
operation or jog operation is in progress).
The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the
actuator is paused.

128
(10) Position complete signal (PEND) [PLC input signal]
This signal turns ON after the actuator has moved to the target position and entered the positioning band or
completed the push-motion operation.

Timing at which the position

complete signal turns ON
Speed
Target position

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

Travel
Time
Positioning band

When the servo turns on, positioning is performed based on the current position set as the target position.
Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with
the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal.

Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the
target position, the PEND signal will turn OFF.
When the servo subsequently turns on, the PEND signal will turn ON if the current position
is inside the positioning band.
Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains
ON.

(11) Pause (STP) [PLC output signal]

When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the
axis movement will resume.
The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops,
conform to the acceleration/deceleration value corresponding to the position number set by the specified position
number channel in the position/simple direct mode, or to the value of the acceleration/deceleration channel in the
half direct mode.
In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and
deceleration channel.

129
 (12) Zone 1 (ZONE1) [PLC input signal]
Zone 2 (ZONE2) [PLC input signal]
Position zone (PZONE) [PLC input signal]
Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when
the current position is outside the zone.
[1] Zone 1, zone 2
Each zone is set by user parameters.
The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No. 2, “Zone boundary 1-.”
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The ZONE2 signal is set by parameter No. 23, “Zone boundary 2+” and No. 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will
remain effective even while the servo is turned off.
[2] Position zone
Each zone is set in the position table or using the zone boundary channels.
In the position/simple direct mode, the PZONE signal is set in the position table.
In the full direct mode, the PZONE signal is set using the zone boundary channels.
(*) The PZONE signal is not available in the half direct mode.
The PZONE signal becomes effective when a move command is issued following a completion of home return,
after which it will remain effective even while the servo is turned off.

Zone signal

Actuator operation + direction

Home
Zone setting- Zone setting+

130
(13) +Jog (JOG+) [PLC output signal]
-Jog (JOG-) [PLC output signal]
These signals are used as starting commands for jog operation or inch operation.
If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued,
the actuator will operate in the direction of home.

[1] Jog operation

Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.

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

The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once
the signal turns OFF.
The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the
signal turns OFF.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL)
signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).
• If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2] Inch operation
Inch operation can be performed when the JISL signal is ON.
The actuator moves by the inch distance every time this signal turns ON.
The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home
when the JOG- is ON.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The travel conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance.”
If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).

While performing a normal operation, the actuator will continue with the normal operation even after the +jog or
-jog signal is turned ON (the jog signal will be ignored).
While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate.

(Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide
with the mechanical end. Exercise caution.

131
 (14) Jog-speed/inch-distance switching (JVEL) [PLC output signal]
This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch
distance parameter when inch operation is selected.

JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON

Parameter No. 26, “Jog speed”
OFF Parameter No. 26, “Jog speed”
Parameter No. 48, “Inch distance”
Parameter No. 47, “Jog speed 2”
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

ON Parameter No. 47, “Jog speed 2”

Parameter No. 49, “Inch distance 2”

(15) Jog/inch switching (JISL) [PLC output signal]

This signal is used to switch between jog operation and inch operation.
JISL = OFF: Jog operation
JISL = ON: Inch operation
If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and
then switch to the inch function.
If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement
and then switch to the jog function.
The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and
jog-speed/inch-distance switching (JVEL) signal.

Jog operation Inch operation

JISL OFF ON
Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”
Travel - Parameter No. 48, “Inch distance”
JVEL=OFF
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”
Travel - Parameter No. 49, “Inch distance 2”
JVEL=ON
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Upon detection of the leading (ON)
Operation When the JOG+/JOG- signal is ON
edge of the JOG+/JOG- signal

132
(16) Teaching command (MODE) [PLC output signal]
Teaching mode signal (MODES) [PLC input signal]
When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching.
Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON.
Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
(Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be
satisfied:
• The actuator (motor) is stopped.

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

• The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF.
• The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF.
(Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF.

(17) Position-data read command (PWRT) [PLC output signal]

Position-data read complete (WEND) [PLC input signal]
The PWRT signal is effective when the teaching mode (MODES) signal is ON.
Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the
position number set to the specified position number channel of the PLC. (*2)
The WEND signal will turn ON once reading is complete.
Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
When the PWRT signal is turned OFF, the WEND signal will turn OFF.
(*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position
may not be written.
(2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be
written. (refer to the operation manual for the controller.)

MODES
(IAI controllers→PLC) At least 20 msec

PWRT
(PLC→IAI controllers)

WEND
(IAI controllers→PLC)

(18) Forced brake release (BKRL) [PLC output signal]

The brake can be forcibly released by turning this signal ON.

133
 (19) Operation mode (RMOD) [PLC output signal]
Operation mode status (RMDS) [PLC input signal]
The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front
panel of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown
below.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Controller MODE switch = AUTO Controller MODE switch = MANU

RMOD signal = OFF AUTO mode MANU mode
(AUTO mode is specified) (RMDS=OFF) (RMDS=ON)
RMOD signal = ON MANU mode MANU mode
(MANU mode is specified) (RMDS=ON) (RMDS=ON)

(Note) In the MANU mode, operation from the PLC cannot be performed.

(20) Position/simple-direct switching (PMOD) [PLC output signal]

This signal is used to switch between the mode where the target position is set using a value registered in the
position table stored in the controller, and the mode where a value specified by the target position channel of the
PLC is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the target position channel

(21) Push-motion specification (PUSH) [PLC output signal]

Push-motion operation can be performed when a move command is issued after turning this signal ON.
Normal positioning operation is performed if this signal is set to OFF.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 3.9, “Operation.”)

(22) Push direction specification (DIR) [PLC output signal]

This signal specifies the direction in which the actuator pushes the load.
When the DIR signal is turned OFF, the actuator will push the load in the direction of the value determined by
subtracting the positioning band from the target position.
When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by
adding the positioning band to the target position.
The DIR signal is invalid during normal positioning operation.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 3.9, “Operation.”)

Speed

Travel

Positioning band Positioning band Positioning band

DIR = OFF Target position DIR = ON

134
(23) Load missed in push motion (PSFL) [PLC input signal]
This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved
the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning
band channel of the PLC.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 3.9, “Operation.”)

(24) Incremental specification (INC) [PLC output signal]

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

If a move command is issued while this signal is ON, the actuator will move from the current position by the value
input to the target position channel of the PLC. (Incremental move)
If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position
channel of the PLC.

(25) Push motion in progress (PUSHS) [PLC input signal]

This signal turns ON while push-motion operation is in progress.
Speed
Target position

Travel

Positioning band

The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command
or the next move command is issued, or the servo turns off.
[Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this signal.]

135
 (26) Load output judgment (LOAD) [PLC input signal] [PCON only]
This signal is effective only during push-motion operation.
To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold
has been reached during push-motion operation.
The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command
torque (motor current) exceeds the threshold inside the check range.
Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold
for the specified time cumulatively.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

The processing procedure is the same as the procedure applicable to push judgment. The time of load output
judgment can be changed freely using parameter No. 50, “Load output judgment time.”
The status of this signal will be retained until the next move command is received.

The LOAD signal turns ON when the The position complete signal turns ON upon
command torque exceeds the threshold judgment of completion of push-motion operation
inside the torque check range. after the actuator contacted the load.

Speed
Check range

Travel

Positioning band (maximum push distance)

Target position

• The push speed is set by parameter No. 34, “Push speed.”

The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• Set parameter No. 51, “Torque check range” to “0 [Enable].”
• The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the
PLC.
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: • If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
• The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

136
(27) Torque level (TRQS) [PLC input signal] [PCON only]
This signal is effective only during push-motion operation.
If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving
within the positioning band), the TRQS signal will turn ON.
Since the level of current is monitored, the ON/OFF status of this signal will also change when the current
changes.
The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired
speed, therefore, the applicable parameters must be adjusted.

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

The position complete signal turns ON upon
judgment of completion of push-motion
operation after the actuator contacted the load.

Speed

Range where the TRQS signal is

Travel output

Positioning band (maximum push dimension)

Target position
• The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• Set parameter No. 51, “Torque check range” to “1 [Invalid].”
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: • If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
• The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

137
 (28) Stopping control mode (SMOD) [PLC output signal] [PCON only]
One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC
servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a
standstill state in applications where the actuator remains stationary for a long period at standby positions.
SMOD = ON: Use the full-servo control mode while standing by
SMOD = OFF: Do not use the full-servo control mode while standing by

• Full-servo control mode

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

The pulse motor is servo-controlled to reduce the holding current.

Although the specific level of current reduction varies depending on the actuator model, load condition, etc.,
the holding current generally drops to approx. 1/2 to 1/4.
The actual holding current can be checked on the current monitor screen of the PC software.
(Note) Micro-vibration or noise may generate in conditions where an external force is applied and also
depending on the position at which the actuator is stopped.

Use this mode after confirming that it will not negatively affect any part of the whole system.

138
(29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal]
These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode
before issuing an actuator move command.

MOD1 MOD0 Pattern name Remarks

OFF OFF Trapezoid pattern Factory setting
OFF ON S-motion
ON OFF Primary delay filter

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

ON ON Not available.

Trapezoid pattern
Speed

Acceleration Deceleration

Time

* The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the
position data table.
S-motion
The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the
middle.
Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the
actuator to accelerate/decelerate gradually at start of movement and immediately before stopping.
Speed

Time
* The S-motion level is set by parameter No. 56, “S-motion ratio setting.” The setting unit is % and the
setting range is 0 to 100.
(The above graph assumes a S-motion ratio of 100 %.)
If “0” is set, the S-motion mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.
Primary delay filter
The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration
(trapezoid pattern). Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Speed

Time
* The primary delay level is set by parameter No. 55, “Primary filter time constant for position
command.” The minimum input unit is 0.1 msec and the setting range is 0.0 to 100.0.
If “0” is set, the primary delay mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.

139
 (30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal]
Select the stop mode for the duration before the movement to the next position after a positioning is completed.
If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption.
Refer to the instruction manual for the controller for more information.

ASO1 ASO0 Functions Reference

OFF OFF Disabled Set in delivery
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Automatic Servo OFF Method

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

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

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

(31) Light error status (ALML) [PLC Input Signal]

This becomes 1 when a message level (light alarm that the operation can be kept on) is generated.
This signal is not linked with ALM_LED on the front panel of the controller.
[Refer to the instruction manual for the controller main body for the details of the alarms.]

(32) Absolute Battery Voltage Low Warning (BALM) [PLC Input Signal] [ACON only]
With an serial absolute system, this signal is OFF when the absolute battery voltage is normal. It remains
OFF with an incremental system.
This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated
continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
(If you are using an absolute system and this signal turns ON, replace the battery at the earliest
opportunity.)

140
(33) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) [PLC Output Signal] [ACON only]
The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure
the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate
option based on a combination of these signals.
For details, refer to the operation manual for your controller.

NTC1 NTC0 Function Remarks

OFF OFF Do not use vibration damping control. Factory setting

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

OFF ON Select parameter set 1
ON OFF Select parameter set 2
ON ON Select parameter set 3

Input timing
An input timing chart of NTC0/NTC1 signals is shown below.

Target position

NTC0

NTC1
*

DSTR
* T1: 0 ms or greater

Caution: Since the statuses of NTC0/NTC1 signals are loaded when a movement command (DSTR) is
recognized, nothing happens when the NTC0/NTC1 signals are turned ON/OFF while the
actuator is moving.

(34) Servo Gain Parameter Set Selection (GSL0, GSL1) [PLC Output Signal] [ACON only]
The actuator can be operated by selecting, for each position movement, any one of the following four pre-defined
sets of servo gain parameters (six different parameters).
For details, refer to the operation manual for your controller.

GSL1 GSL0 Function Remarks

OFF OFF Select parameter set 0 Factory setting
OFF ON Select parameter set 1
ON OFF Select parameter set 2
ON ON Select parameter set 3

141
 3.8 I/O Signal Timings
The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC
sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the
formula below:

Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.)
Yt: Master station → node transmission delay
Field network transmission delay
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Xt: Node → master station transmission delay

For the master station → node transmission delay (Yt) and node → master station transmission delay (Xt),
refer to the operation manuals for the DeviceNet master unit and PLC installed in the master unit.

PLC sequence program

Control signal

Status signal

Master station → node Node → master station

transmission delay (Yt) transmission delay (Xt)

ACON, PCON, DCON

Control signal

Status signal

Command processing time

142
3.9 Operation
This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full
direct mode by using examples.
For the Remote I/O Mode and Remote I/O Mode 2, refer to the operation manual for the controller main body.
(In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as
deemed appropriate.)

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

(1) Operation in the position/simple direct mode
The actuator is operated by writing the position data to the target position channel of the PLC and specifying the
speed, acceleration/deceleration, positioning band, push-motion current-limiting value, etc., using the position
table.
 Example of operation (normal positioning operation)
(Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning
band, etc.) in the position table.
Turn the position/simple-direct switching (PMOD) signal ON.
[1] Set the target position data to the target position channel.
[2] Set the position number under which the position, acceleration/deceleration, etc., were set, to the specified
position number channel.
[3] Turn the positioning start (CSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal.
[4] The PEND turns OFF upon an elapse of tdpf after the CSTR signal has turned ON.
[5] Turn the CSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of the target position channel until the CSTR signal is turned OFF.
[6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[7] The current position data is constantly updated. Once the remaining travel has fallen within the positioning
band set by the position data, the PEND signal turns ON if the CSTR signal is OFF, and the completed
position number is output to the completed position number channel.
If the completed position number channel is to be read upon completion of positioning, therefore, wait for an
appropriate period (= until the actuator moves by the remaining travel) after the PEND signal has turned ON.
Also take note that the current position data may change slightly due to vibration, etc., even while the
actuator is stopped.
[8] The target position data can be changed while the actuator is moving.
To change the target position, change the target position data, wait for at least the scan time of the PLC, and
then turn the CSTR signal ON.
Change the CSTR signal after an elapse of at least the scan time of the PLC.

 Example of operation (push-motion operation)

In the case of push-motion operation, the current-limiting value is set in the “Push” field of the position data table
in the preparation stage.
Perform positioning to the position number under which the value was set in the “Push” field, and the actuator will
perform push-motion operation.

143
 [1]
Set value of target
position data
(PLC→ACON, (PLC→PCON)
PCON, DCON)
[2]
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Specified position
number
(PLC→ACON,
PCON, DCON)

Positioning start
CSTR [3]
(PLC→ACON,
PCON, DCON)
[4]
[5]
Position complete
PEND
(ACON, PCON,
DCON→PLC) [7]

Current position
(ACON, PCON, [6]
DCON→PLC)

Moving MOVE
(ACON, PCON,
DCON→PLC)
Positioning band

Actuator movement

*T1: Make sure “T1 ≥ 0 ms” is

satisfied by considering the scan
time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

144
(2) Operation in the half direct mode
The actuator is operated by specifying the data to the target position channel, positioning band channel, specified
speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC.
 Example of operation (push-motion operation)
[1] Set the target position data to the target position channel.
[2] Set the positioning band data to the positioning band channel.
[3] Set the speed data to the speed channel.
[4] Set the acceleration/deceleration data to the acceleration/deceleration channel.

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

[5] Set the push-motion current-limiting data to the push-motion current-limiting value channel.
[6] Turn the push direction (PUSH) signal ON.
[7] Specify the push direction using the push direction specification (DIR) signal. (Refer to 3.7.7 (22).)
[8] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal.
[9] The PEND turns OFF upon an elapse of tdpf after the DSTR signal has turned ON.
[10] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of each channel until the DSTR signal is turned OFF.
[11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[12] The current position data is constantly updated.
[13] The PEND signal turns ON when the motor current has reached the current-limiting value set in [5] while the
DSTR signal is OFF. (Completion of push-motion operation)
Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal
does not turn ON if the motor current has yet to reach the current-limiting value set in [5]. In this case, the
PEND signal does not turn ON. (The actuator missed the load in push-motion operation.)
[14] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

For normal positioning operation, set the signal in [6] to OFF.
Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns
ON if the DSTR signal is OFF.

145
 [1]
Set value of target
position data
(PLC→ACON, PCON,
DCON)
[2]
Set value of positioning
band data
(PLC→ACON, PCON,
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

DCON)
[3]

Set value of
speed data
(PLC→ACON, PCON,
DCON)
[4]
Set value of acceleration/
deceleration data
(PLC→ACON, PCON,
DCON) [5]
Set value of push-motion
current-limiting value
(PLC→ACON, PCON,
DCON)
[6]
Push-motion
specification PUSH
(PLC→ACON, PCON,
DCON)
[7]

Push direction
specification DIR
(PLC→ACON, PCON,
DCON)

Positioning command DSTR [14]

(PLC→ACON, PCON, DCON) [8]

[9] [10]
Position complete/load missed
in push motion
PEND/PSFL [13]
(ACON, PCON, DCON→PLC)

Current position
(ACON, PCON, DCON→PLC)
[12]
[11]
Moving
MOVE
(ACON, PCON,
DCON→PLC)
Actuator operation Push
(push motion)
Positioning
band
Actuator operation
(Normal positioning)

*T1: Make sure “T1 ≥ 0 ms” is satisfied by

considering the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)
146
(3) Operation in the full direct mode
The actuator is operated by specifying all conditions required for positioning to channels such as the target
position channel and positioning band channel of the PLC.
 Example of operation (push-motion operation)
[1] Set the target position data to the target position channel.
[2] Set the positioning band data to the positioning band channel.
[3] Set the speed data to the speed channel.
[4] Set the boundary data for position zone output to the zone boundary+ channel and zone boundary- channel.

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

[5] Set the acceleration data to the acceleration channel.
[6] Set the deceleration data to the deceleration channel.
[7] Set the push-motion current-limiting data to the push-motion current-limiting value channel.
[8] Set the load current threshold data to the specification channel for load current threshold.
[9] Turn the push direction (PUSH) signal ON.
[10] Specify the push direction using the push direction specification (DIR) signal. (Refer to 3.7.7 (22).)
[11] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal.
[12] The PEND turns OFF upon an elapse of tdpf after the DSTR signal has turned ON.
[13] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of each channel until the DSTR signal is turned OFF.
[14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[15] The current position data is constantly updated.
[16] The PEND signal turns ON when the motor current has reached the current-limiting value set in [7] while the
DSTR signal is OFF. (Completion of push-motion operation)
Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal
does not turn ON if the motor current has yet to reach the current-limiting value set in [7]. In this case, the
PEND signal does not turn ON. (The actuator missed the load in push-motion operation.)
[17] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

For normal positioning operation, set the signal in [9] to OFF.
Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns
ON if the DSTR signal is OFF.

147
 [1]
Set value of target
position data
(PLC→ACON, PCON,
DCON)
[2]
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Set value of positioning

band data
(PLC→ACON, PCON,
DCON)

[3]

Set value of
speed data
(PLC→ACON, PCON,
DCON)
[4]

Set value of position

zone boundary data
(PLC→ACON, PCON,
DCON)
[5]

Set value of
acceleration data
(PLC→ACON, PCON,
DCON)
[6]
Set value of
deceleration data
(PLC→ACON, PCON,
DCON)
[7]

Set value of push-motion

current-limiting value
(PLC→ACON, PCON,
DCON)
[8]

Set value of load current

threshold data
(PLC→ACON, PCON,
DCON)

148
 [9]

Push-motion specification
PUSH
(PLC→ACON, PCON,
DCON)
[10]

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

Push direction specification
DIR
(PLC→ACON, PCON,
DCON
Positioning command [17]
DSTR
(PLC→ACON, PCON, [11]
DCON) [12] [13]
Position complete/load
missed in push motion
PEND/PSFL [16]
(ACON, PCON, DCON→PLC)
Current position
(ACON, PCON,
DCON→PLC)
[15]
[14]

Moving
MOVE
(ACON, PCON, DCON→PLC)

Push
Actuator operation
(push motion)
Positioning
band
Actuator operation
(Normal positioning)

*T1: Make sure “T1 ≥ 0 ms” is satisfied by considering

the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

149
 (4) Data change during movement
In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target
position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value,
can be changed while the actuator is moving.
After a desired data has been changed, keep the positioning command (DSTR) signal “ON” for at least tdpf.
Also make sure that after the DSTR is turned “OFF,” the signal will not be turned “ON” again until at least a time
corresponding to “twcsON + twcsOFF” elapses.
An example of changing the speed or acceleration/deceleration is shown in the figure below.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

[1]
Set value of speed or
acceleration/deceleration
(PLC→ACON, PCON,
DCON)
[2]
[3]

DSTR
(PLC→ACON,
PCON, DCON)

PEND
(ACON, PCON,
DCON→PLC)

MOVE
(ACON, PCON, Speed n3
DCON→PLC)
Speed n2

Actuator speed

twcsON  Yt + Xt + 3 (msec)
twcsOFF  Yt + Xt + 3 (msec)
*Yt + Xt  tdpf  Yt + Xt + 3 (msec)

Caution
1. If the speed is not set or “0” speed is set, the actuator will remain stationary and no alarm will
generate.
2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and
no alarm will generate.
3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is
moving, the target position data must also be set.
4. Even when the target position alone is changed while the actuator is moving, the
acceleration/deceleration and speed data must also be set.

150
3.10 DeviceNet Parameters
Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159.
Category: C: External interface parameter
No. Category Symbol Name Factory-set default
1
For parameter Nos. 1 to 83, refer to the
~

operation manual for the controller.

83

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

84 C FMOD Fieldbus operation mode 0
85 C NADR Fieldbus node address 63
86 C FBRS Field bus baud rate 0
87 C NTYP Network type 2
90 C FMIO Fieldbus I/O format 3
159 C FBVS FB half direct mode speed unit 0

z Fieldbus operation mode (No. 84, FMOD)

Specify the operation mode in parameter No. 84 using a value between 0 and 4.
Value set in Number of
Mode Description
parameter No. 84 occupied channels
Operation using PIOs (24-V I/Os) is performed
0 (Factory setting) Remote I/O mode 1CH
via DeviceNet.
The actuator can be operated by specifying the
target position directly and numerically or
Position/simple
1 4CH based on a value in the position data table.
direct mode
Other values required for operation are set in
the position data table.
The actuator is operated by specifying all data
other than the target position, such as speed,
2 Half direct mode 8CH
acceleration/deceleration, push-motion current,
directly and numerically.
The actuator is operated by directly specifying
3 Full direct mode 16CH
all values relating to position control.
The functions available in the remote I/O mode
Remote I/O mode
4 6CH are combined with the current-position read
2
mode and current-speed read mode.

z Fieldbus node address (No. 85, NADR)

Specify the node address of the remote station in parameter No. 85.

Setting range: 0 to 63 (The factory setting is “63.”)

z Fieldbus baud rate (No. 86, FBRS)

The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you need not
set the baud rate.

151
 z Network type (No. 87, NTYP)
The network module type is specified in parameter No. 87. Do not change the default setting.

z Fieldbus I/O format (No. 90, FMIO)

Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the
controller and number of occupied channels in each operation mode.
By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or
less in units of bytes during communication using the I/O areas of the PLC.
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Value set in
Description
parameter No. 90
0 Data is not swapped. The data is sent directly to the PLC. (Refer to Example i.)
The upper byte and lower byte comprising the upper word are swapped, and the
1 upper byte and lower byte comprising the lower word are also swapped. (Refer to
Example ii.)
The upper word and lower word are swapped for word registers. (Refer to Example
2
iii.)
The upper byte and lower byte comprising the upper word are swapped, and the
upper byte and lower byte comprising the lower word are also swapped. In addition,
3 (factory setting)
the upper word and lower word are swapped for word registers. (Refer to Example
iv.)

(Example i) Set value = “0” z indicates ON, while O indicates OFF.

PCON
Input
register

Hexa
decimal data

Output
channel

Hexa
decimal data

PCON
Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

152
(Example ii) Set value = “1” z indicates ON, while O indicates OFF.
PCON
Input
register

Hexa
decimal data

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

Output
channel

Hexa
decimal data

PCON
Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

153
 (Example iii) Set value = “2” z indicates ON, while O indicates OFF.

PCON
Input
register

Hexa
decimal data
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

Output
channel

Hexa
decimal data

PCON
Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

154
(Example iv) Set value = “3” z indicates ON, while O indicates OFF.

PCON
Input
register

Hexa
decimal data

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

Output
channel

Hexa
decimal data

PCON
Output
register

Hexa
decimal data

Input
channel

Hexa
decimal data

z FB Half Direct Mode Speed Unit (No.159 FBVS)

Determines the unit of measure when operating the unit in Half Direct Mode.

Parameter No. 159 Setting Value Speed Setting Unit

0 (Set in delivery) 1mm/sec
1 0.1mm/sec

155
 3.11 Troubleshooting
z Alarm messages, causes and remedial actions
If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four
bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 2.
In the position/simple direct mode, this simple alarm code is output to the (n+2) channel.
In the half direct mode and full direct mode, this simple alarm code is output to the (n+6) channel.
[1] Check the generated alarm code using the monitor function of the PLC, etc., or connect the RC PC software
3. ACON-CA/CB/CGB, PCON-CA/CB/CFA/CFB/CGB/CGFB, DCON-CA/CB/CGB

or teaching pendant and check the code on the status monitor screen.
[2] Look up the applicable alarm code in the alarm list provided in the operation manual for the controller.
[3] Take appropriate actions according to the explanation given for the applicable code.
For the alarm codes listed in the table below, take the specified action.

ID RES
Code Error name Cause/action
(*1) (*2)
Cause: A fieldbus module error has been detected.
0F2 Fieldbus module error 05 X
Action: Check the parameter.
Cause: The module could not be detected.
Fieldbus module not
0F3 04 X Action: Reconnect the power. If the error persists,
detected
contact IAI.
(*1) ID → Simple alarm code
(*2) RES → Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset

156
3.12 CE Mark
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

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

157
 4. SCON-CA/CB/CGB/CAL/CGAL
4.1 Operation Modes and Functions
All of the operation modes described in the table below for SCON-CA/CB Type applicable for DeviceNet and
those except for the ones in the shaded area for CAL Type are available to choose from for operation.

Position/
Remote I/O Position/simple Half direct Full direct Remote I/O Half direct Remote I/O Half direct
Key function mode direct mode mode mode mode 2
simple direct
mode 2 mode 3 mode 3
mode 2
Number of occupied
channels
1CH 4CH 8CH 16CH 6CH 4CH 8CH 6CH 8CH
4. SCON-CA/CB/CGB/CAL/CGAL

Operation by
position data x {(*1) { { x {(*1) { x {
specification
Direct
speed/acceleration x x { { x x { x {
specification
Push-motion
{ { { { { { { { {
operation
Current position
x { { { { { { { {
read
Current speed read x x { { x x { x {
Operation by
position number { { x x { { x { x
specification
Completed position
{ { x x { { x { x
number read
Maximum position Not
512 768 Not used 512 768 Not used 512 Not used
table size used
Force control ∆ (*2) x x { ∆ (*2) { { { x
Vibration damping
{ { x { { { x { {
control
Servo gain
{ { { { { { x { {
switching
(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.
(*2) These functions can be used when the PIO pattern is set to 6 or 7.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication.
Number of occupied channels: 1 channel

SCON-CA/CB/CAL
SCON-CA/CB/CAL supporting DeviceNet
not supporting DeviceNet
PLC PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

158
[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
You can select whether to specify the target position directly as a value, or use a
value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.
Number of occupied channels: 4CH

Target position: 100.00 mm

+

4. SCON-CA/CB/CGB/CAL/CGAL
Speed Acceleration Deceleration Push
Position No. 0

SCON-CA/CB/CAL
Actuator
supporting DeviceNet

[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 channels: 8CH

SCON-CA/CB/CAL
supporting DeviceNet

159
 [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 channels: 16CH
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
Zone+: 50.00 mm
4. SCON-CA/CB/CGB/CAL/CGAL

Zone-: 30.00 mm

SCON-CA/CB/CAL Actuator
supporting DeviceNet

[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied channels: 6CH

SCON-CA/CB/CAL SCON-CA/CB/CAL
not supporting DeviceNet supporting DeviceNet

Communication
Flat cable cable

PIO connection DeviceNet connection

[6] Position/simple direct mode 2: In this mode, the actuator is operated by specifying position numbers.
(Not applicable for CAL Type) In this mode, the force control function is available instead of the teaching
function and zone function available in mode [2].
Number of occupied channels: 4CH

Target position: 100.00 mm

+ Speed Acceleration Deceleration
Push

Position No. 0

SCON-CA/CB
supporting DeviceNet Actuator

160
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed,
(Not applicable for CAL Type) acceleration/deceleration and push current, in addition to the target position,
directly as values.
Unlike in mode [3], command current cannot be read in this mode. However, load
cell data can be read instead. This mode also supports force control.
Number of occupied channels: 8CH

Target position: 100.00 mm

Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration/deceleration:

4. SCON-CA/CB/CGB/CAL/CGAL
0.30 G
Push current: 50%

SCON-CA supporting
SCON-CA/CB
DeviceNet
Actuator
supporting DeviceNet

[8] Remote I/O mode 3: In this mode, the actuator is operated by DeviceNet instead of PIO (24 V I/O).
(Not applicable for CAL Type) This mode provides all functions available in mode [1], plus the current position
read function and load cell data read function.
Number of occupied channels: 6CH

SCON-CA/CB
SCON-CA/CB
supporting DeviceNet
not supporting DeviceNet

Communication
Flat cable cable

PIO connection DeviceNet connection

[9] Half direct mode 3: 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.
In this mode, the vibration damping control function is supported instead of the jog
function available in mode [3].
Number of occupied channels: 8CH

Target position: 100.00 mm

Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration/deceleration:
0.30 G
Push current: 50%

SCON-CA/CAL
SCON-CA/CB/CAL
supporting DeviceNet
Actuator
supporting DeviceNet

161
 4.2 Model Numbers
The model numbers of SCON-CA/CB/CAL controller supporting DeviceNet are indicated as follows, respectively:

 SCON-CA/CB--DV-  SCON-CAL--DV-
4. SCON-CA/CB/CGB/CAL/CGAL

162
4.3 Interface Specifications

Item Specification
Communication protocol DeviceNet 2.0
Group 2 only server
Network-powered isolation node
Communication specification Master-slave connection Bit strobe
Polling

4. SCON-CA/CB/CGB/CAL/CGAL
Baud rate Automatically set to the same value as the band rate set in the master
Communication cable length Baud rate Maximum network length Maximum branch Total branch
line length line length
500 kbps 100 m 39 m
250 kbps 250 m 6m 78 m
125 kbps 500 m 156 m
Note) When a large-size DeviceNet cable is used.
Communication power supply 24 V DC (supplied from DeviceNet)
Consumption current of
60 mA
communication power supply
Number of occupied nodes 1 node

163
 4.4 DeviceNet Interface

4.4.1 Name of Each Part

The name of each part relating to DeviceNet is shown.

 SCON-CA

Monitor LEDs
4. SCON-CA/CB/CGB/CAL/CGAL

Red
White

DeviceNet communication connector

Light blue PCB side : MSTBA2.5/5-G-5.08AU
(PHOENIX CONTACT)
Black Cable side : SMSTB2.5/5-ST-5.08AUM
(PHOENIX CONTACT)

 SCON-CAL/CB

Monitor LEDs

Red
White

DeviceNet communication connector

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

164
4.4.2 Monitor LED Indicators
The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller)
condition and network condition.
The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below
based on the illumination status and color of each LED.

MS (Module Status) LED: Condition of the node (controller)

NS (Network Status) LED: Condition of the network
{ : Steady light, X : Off, ☆ : Blinking
Illumination
LED Color Description (meaning)
status

4. SCON-CA/CB/CGB/CAL/CGAL
{ The board is operating normally.
Green A hardware error occurred. The error may be reset by
☆
reconnecting the power.
MS { A hardware error occurred. The board must be replaced.
Orange A user setting error, configuration error or other minor error is
☆ present. These errors can be reset by setting the applicable item
again, etc.
- X DeviceNet is initializing or the power is not supplied.
Network connection has been established and the board is
{
communicating normally.
Green
The board is online, but network connection is not yet established.
☆
Communication is stopped. (The network is normal.)
NS Node address duplication or bus-off state was detected.
{
Communication is not possible.
Orange
A communication error occurred (communication time-out
☆
occurred).
The board is not online.
- X
DeviceNet power is not supplied.

Self test is performed when the power is turned on.

During the test, the monitor LEDs cycle in the following sequence:
[1] NS turns off.
[2] MS illuminates in steady green (approx. 0.25 second).
[3] MS illuminates in steady orange (approx. 0.25 second).
[4] MS illuminates in steady green.
[5] NS illuminates in steady green (approx. 0.25 second).
[6] NS illuminates in steady orange (approx. 0.25 second).
[7] NS turns off.
When the self test is finished and the board starts communicating normally, both the MS and NS LEDs
change to steady green.

165
 4.5 Selecting (Setting) the Operation Mode
The operation mode is set using a parameter.
Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84,
“FMOD: Fieldbus operation mode” using the RC PC software (V8.00.00.00 or later). (Refer to 4.10, “DeviceNet
Parameters.”)

Number of occupied
Set value Operation mode
stations
0 (Factory setting) Remote I/O mode 1CH
1 Position/simple direct mode 4CH
4. SCON-CA/CB/CGB/CAL/CGAL

2 Half direct mode 8CH

3 Full direct mode 16CH
4 Remote I/O mode 2 6CH
5 Position/simple direct mode 2 4CH
6 Half direct mode 2 8CH
7 Remote I/O mode 3 6CH
8 Half direct mode 3 8CH
* If any other value is entered, an excessive input error will occur.
The modes in the shaded area are not available for SCON-CAL.

4.6 Setting the Node Address

The node address is set using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 4.10, “DeviceNet
Parameters.”)

Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.)

(Note) Exercise caution to avoid node address duplication.

The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of
the PLC. (This is when the mount assignment mode is selected. A different rule applies when a
configurator is used.)
For details, refer to the operation manuals of the master unit and PLC installed in the master unit.

(Note) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you
need not set the baud rate.

(Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on
the front panel of the controller to the AUTO position. If the switch remains in the MANU position,
operation by the PLC cannot be performed.

166
4.7 Communicating with the Master Station

4.7.1 Operation Modes and Corresponding PLC I/O Areas

The channel assignments in each mode are shown below.
• PLC output → SCON-CA/CB/CAL input (* n indicates the node address of each axis.)

SCON-CA/CB/CAL DI and input data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode
PLC output area direct mode 2
(channel) Number of Number of Number of Number of Number of
occupied occupied occupied occupied occupied

4. SCON-CA/CB/CGB/CAL/CGAL
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
n
15 Target position Target position Target position 15
n+1
Specified position
n+2
number Positioning band Positioning band
n+3 Control signal Occupied area
n+4 Speed
Speed
Acceleration/
n+5 specification
deceleration
Push-motion
n+6 current-limiting value Zone boundary+
n+7 Control signal
n+8
Zone boundary-
n+9
n+10 Acceleration
n+11 Deceleration
Push-motion
n+12 current-limiting value
Load current
n+13
threshold
n+14 Control signal 1
n+15 Control signal 2

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

167
 • PLC output → SCON-CA/CB/CAL input side (* n indicates the node address of each axis.)

SCON-CA/CB/CAL DI and input data register

Position/simple
Half direct mode 2 Remote I/O mode 3 Half direct mode 3
PLC output area direct mode 2
(channel) Number of Number of
Number of occupied Number of occupied
occupied occupied
channels: 6CH channels: 8CH
channels: 4CH channels: 8CH
n Port number 0 to 15
Target position Target position Target position
n+1
Specified position
n+2
4. SCON-CA/CB/CGB/CAL/CGAL

number Positioning band Positioning band

n+3 Control signal Occupied area
n+4 Speed Speed
Acceleration/ Acceleration/
n+5
deceleration deceleration
Push-motion Push-motion
n+6 current-limiting value current-limiting value
n+7 Control signal Control signal
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.
(Note) Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not
available for SCON-CAL.

168
• SCON-CA/CB/CAL output → PLC input side (* n indicates the node address of each axis.)

SCON-CA/CB/CAL DO and output data register

Position/simple Remote I/O mode
Remote I/O mode Half direct mode Full direct mode
PLC input area direct mode 2
(channel) Number of Number of Number of Number of Number of
occupied occupied occupied occupied occupied
channels: 1CH channels: 4CH channels: 8CH channels: 16CH channels: 6CH
Port number 0 to Port number 0 to
n
15 Current position Current position Current position 15
n+1 Occupied area
n+2 Completed

4. SCON-CA/CB/CGB/CAL/CGAL
position number
n+3 Command current Command current Current position
(simple alarm ID)
n+4 Status signal
n+5
Current speed Current speed Command current
n+6
n+7 Alarm code Alarm code
n+8 Status signal Occupied area
n+9 Current load
n+10 Total moving
n+11 count
n+12 Total moving
n+13 distance
n+14 Status signal 1
n+15 Status signal 2

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.

169
 • SCON-CA/CB/CAL output → PLC input side (* n indicates the node address of each axis.)

SCON-CA/CB/CAL DO and input data register

Position/simple
Half direct mode 2 Remote I/O mode 3 Half direct mode 3
PLC output area direct mode 2
(channel) Number of Number of
Number of occupied Number of occupied
occupied occupied
channels: 6CH channels: 8CH
channels: 4CH channels: 8CH
n Port number 0 to 15
Current position Current position Current position
n+1 Occupied area
Completed
4. SCON-CA/CB/CGB/CAL/CGAL

n+2 position number

Current load Current position Command current
(simple alarm ID)
n+3 Status signal
n+4
Current speed Current load Current speed
n+5
n+6 Alarm code Alarm code
n+7 Status signal Status signal
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.
(Note) Position / Simplified Direct Value Mode 2, Half Direct Value Mode 2 and Remote I/O Mode 3 are not
available for SCON-CAL.

170
4.7.2 Remote I/O Mode (Number of Occupied Channel: 1)

In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used.
Set desired position data using the RC PC software or teaching pendant.
The number of positions to which the actuator can be operated varies according to the setting of parameter No.
25, “PIO pattern.”
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)
(Note) Force control mode 1 and 2 are not available for SCON-CAL.
Setting of parameter No. 25 Operation mode I/O specification
0 Positioning mode 64 positioning points, 2 zone outputs

4. SCON-CA/CB/CGB/CAL/CGAL
1 Teaching mode 64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
2 256-point mode 256 positioning points, 1 zone output
3 512-point mode 512 positioning points, no zone output
4 Solenoid valve mode 1 7 positioning points, 2 zone outputs
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
5 Solenoid valve mode 2 3 positioning points, 2 zone outputs
Operation using forward, reverse and interim position commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
6 Force control mode 1 32 positioning points, 1 zone output
(a dedicated load cell is
used)
7 Force control mode 2 5 positioning points, 1 zone output
(a dedicated load cell is A direct operation command can be issued for each position
used) number.
A position complete signal is output for each position number.

The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
PIO pattern
4: 5: 6. 7.
ROBO Cylinder function 0: 1: 2: 3:
Solenoid Solenoid Force Force
Positioning Teaching 256-point 512-point
valve mode valve mode control control
mode mode mode mode
1 2 mode 1 mode 2
Home return operation { { { { { X { {
Positioning operation { { { { { { { {
Speed &
acceleration/deceleratio { { { { { { { {
n setting
Pitch feed (inching) { { { { { { { {
Push-motion operation { { { { { X { {
Speed change during
movement
{ { { { { { { X
Operation at different
acceleration and { { { { { { { {
deceleration
Pause { { { { { { (*1) { {
Zone signal output { { { X { { { {
PIO pattern selection
(set by parameter)
{ { { { { { { {
{: Supported, X: Not supported

(*1) This operation is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

171
 (1) PLC channel configuration (* n indicates the node address of each axis.)

Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL

PLC output channel PLC input channel
84 DI (port number) DO (port number)
0 0~15 n+0 0~15 n+0
(Note) Exercise caution to avoid node address duplication.

(2) I/O signal assignments for each axis

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

The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas.
z Each channel is controlled by ON/OFF bit signals.

PLC output
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
input port
number

PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Controller
output port
number

172
(3) I/O signal assignments
The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)

Setting of Parameter No. 25

Positioning mode Teaching mode 256-point mode
0 1 2
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 PC1 PC1
1 PC2 PC2 PC2

4. SCON-CA/CB/CGB/CAL/CGAL
2 PC4 Command position PC4 Command position PC4
3 PC8 number PC8 number PC8
Command position
4 PC16 PC16 PC16
number
5 PC32 PC32 PC32
Teaching mode
6 - MODE PC64
command
PLC Not available.
7 - JISL Jog/inch switching PC128
output →
8 - JOG+ +Jog - Not available.
SCON-CA
Forced brake Forced brake
/CB/CAL 9 BKRL JOG- -Jog BKRL
release release
input
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return HOME Home return
12 *STP Pause *STP Pause *STP Pause
Positioning
CSTR/
13 CSTR Positioning start start/position-data CSTR Positioning start
PWRT
read command
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 Completed position PM4 Completed position PM4
3 PM8 number PM8 number PM8
Completed position
4 PM16 PM16 PM16
number
5 PM32 PM32 PM32
6 MOVE Moving signal MOVE Moving signal PM64
Teaching mode
7 ZONE1 Zone 1 MODES PM128
signal
SCON-CA PZONE Position zone/ PZONE Position zone/ PZONE Position zone/
8
/CB/CAL ZONE2 Zone 2 ZONE1 Zone 1 ZONE1 Zone 1
output → Operation mode Operation mode Operation mode
9 RMDS RMDS RMDS
PLC input status status status
Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete
Position complete PEND/ Position complete
11 PEND signal/position-data PEND
signal WEND signal
read complete
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
15 *BALM Battery alarm *BALM Battery alarm *BALM Battery alarm
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

173
 Setting of Parameter No. 25
512-point mode Solenoid mode 1 Solenoid mode 2
3 4 5
Port
Category Symbol Signal name Symbol Signal name Symbol Signal name
No.
0 PC1 ST0 Start position 0 ST0 Start position 0
1 PC2 ST1 Start position 1 ST1 Start position 1
2 PC4 ST2 Start position 2 ST2 Start position 2
3 PC8 ST3 Start position 3 -
Command position
4 PC16 ST4 Start position 4 -
number
5 PC32 ST5 Start position 5 -
Not available.
4. SCON-CA/CB/CGB/CAL/CGAL

PLC 6 PC64 ST6 Start position 6 -

output  7 PC128 - -
Not available.
SCON-CA 8 PC256 - -
/CB/CAL Forced brake Forced brake
input 9 BKRL BKRT BKRL Forced brake release
release release
10 RMOD Operation mode RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return -
12 *STP Pause *STP Pause - Not available.
13 CSTR Positioning start - Not available. -
14 RES Reset RES Reset RES Reset
15 SON Servo ON command SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete LS0 Limit Switch Output 0
1 PM2 PE1 Position 1 complete LS1 Limit Switch Output 1
2 PM4 PE2 Position 2 complete LS2 Limit Switch Output 2
3 PM8 PE3 Position 3 complete -
4 PM16 Completed position PE4 Position 4 complete -
Not available.
5 PM32 number PE5 Position 5 complete -
6 PM64 PE6 Position 6 complete -
7 PM128 ZONE1 Zone 1 ZONE1 Zone 1
SCON-CA PZONE Position zone/ PZONE Position zone/
8 PM256
/CB/CAL ZONE2 Zone 2 ZONE2 Zone 2
output  Operation mode Operation mode Operation mode
9 RMDS RMDS RMDS
PLC input status status status
Home return Home return Home return
10 HEND HEND HEND
complete complete complete
Position complete Position complete Position complete
11 PEND PEND -
signal signal signal
12 SV Ready SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm *ALM Alarm
15 *BALM Battery alarm. *BALM Battery alarm. *BALM Battery alarm.
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).

174
 Setting of Parameter No. 25
Force control mode 1 Force control mode 2
6 7
Port
Category Symbol Signal name Symbol Signal name
No.
0 PC1 ST0 Start position 0
1 PC2 ST1 Start position 1
Command position
2 PC4 ST2 Start position 2
number
3 PC8 ST3 Start position 3
4 PC16 ST4 Start position 4
5 - -

4. SCON-CA/CB/CGB/CAL/CGAL
PLC 6 - Not available. - Not available
output 7 - -
→ Load cell calibration Load cell calibration
8 CLBR CLBR
SCON- command command
CA/CB Forced brake Forced brake
9 BKRL BKRT
input release release
10 RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return
12 *STP Pause *STP Pause
13 CSTR Positioning start - Not available.
14 RES Reset RES Reset
15 SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete
1 PM2 PE1 Position 1 complete
Completed position
2 PM4 PE2 Position 2 complete
number
3 PM8 PE3 Position 3 complete
4 PM16 PE4 Position 4 complete
5 TRQS Torque level status TRQS Torque level status
Load output Load output
6 LOAD LOAD
judgment judgment
SCON- Load cell calibration Load cell calibration
7 CEND CEND
CA/CB complete complete
output PZONE Position zone/ PZONE Position zone/
8
→ ZONE1 Zone 1 ZONE1 Zone 1
PLC Operation mode Operation mode
9 RMDS RMDS
input status status
Home return Home return
10 HEND HEND
complete complete
Position complete Position complete
11 PEND PEND
signal signal
12 SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm
15 *BALM Battery alarm *BALM Battery alarm
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).
(Note) Force control mode 1 and 2 are not available for SCON-CAL.

175
 4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4)
In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD)
to select whether to specify the target position directly and numerically or by using a value registered in the
position data table.
Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using
values in the position table stored in the controller. Set position data by referring to the operation manual for the
controller.
Up to 768 sets of positioning data can be specified.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

{: Direct control
4. SCON-CA/CB/CGB/CAL/CGAL

Actuator function U: Indirect control Remarks

X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting U These items must be
Pitch feed (inching) U set in the position data
Push-motion operation U table.
Speed change during movement U
Operation at different acceleration and deceleration U
Pause {
U Zones are set using
Zone signal output position data or
parameters.
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
Completed position
1 Specified position
n+2 number (simple n+2
number
alarm code)
Control signal n+3 Status signal n+3
(Note) Exercise caution to avoid node address duplication.

176
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z The specified position number and completed position number are 1-word (16-bit) binary data. Although
values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to
specify position numbers associated with predefined operating conditions.

4. SCON-CA/CB/CGB/CAL/CGAL
PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Specified
position
number

Control signal

177
 PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Current
position (lower
word)
4. SCON-CA/CB/CGB/CAL/CGAL

Current
position
(upper word)

If the current position is a negative value, it is indicated by a 2’s complement.

Completed
position
number

Status signal

178
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.40 mm,” specify “2540.” 4.9 (1)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement

4. SCON-CA/CB/CGB/CAL/CGAL
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
16-bit integer.
To operate the actuator, you must set position data associated
with predefined operating conditions using the PC software or
teaching pendant.
Specified
PC1 ~ Use one of these registers to specify the position number for
position 16-bit data 4.9 (1)
PC512 which the desired data has been input.
number
The allowable specification range is 0 to 767.
If the specified value is outside the above range or corresponds
to a position not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when this signal
b15 BKRL 4.7.11 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 4.7.11 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
PLC output

- Not available. -
b12
Position/simple-direct switching: The position mode is selected
b11 PMOD when this signal is OFF, and the simple direct mode is selected 4.7.11 (20)
when the signal is ON.
Teaching mode command: The normal mode is selected when
b10 MODE this signal is OFF, and the teaching mode is selected when the 4.7.11 (16)
signal is ON.
Position-data read command: Position data is read when this
b9 PWRT 4.7.11 (17)
signal is ON.
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 4.7.11 (13)
this signal is ON.
Control
-Jog: The actuator moves in the direction of home when this
signal b7 JOG- 4.7.11 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 4.7.11 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 4.7.11 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 4.7.11 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 4.7.11 (11)
Home return: A home-return command is issued when this signal
b1 HOME 4.7.11 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 CSTR 4.7.11 (7)
turns ON.

179
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current
32 bits - (Example) Reading: 000003FFH = 1023 (decimal) 4.9 (1)
position
= 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
16-bit integer.
When the actuator has moved to the target position and entered
Completed
the positioning band, the position number corresponding to the
4. SCON-CA/CB/CGB/CAL/CGAL

position
completed position is output.
number PM 1 ~
16 bits “0” is output when no position movement has been performed 4.9 (1)
(simple PM512
yet or while the actuator is moving.
alarm
If an alarm occurs (the status signal ALM turns ON), a
code)
corresponding simple alarm code (refer to the operation manual
for the controller) will be output.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 4.7.11 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 4.7.11 (12)
PLC input

the specified zone.

Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 4.7.11 (12)
the specified zone.
Position zone: This signal turns ON when the current position is
b11 PZONE 4.7.11 (12)
inside the specified position zone.
Teaching mode signal: This signal is ON while the teaching
b10 MODES 4.7.11 (16)
mode is selected.
Position data read complete: This signal turns ON when reading
b9 WEND 4.7.11 (17)
is complete.
Status Operation mode status: This signal is OFF when the current
signal b8 RMDS 4.7.11 (19)
mode is AUTO, or ON when the current mode is MANU.
Absolute battery voltage low alarm: This signal turns ON
b7 BALM 4.7.11 (28)
when the battery voltage drops.
b6 - Not available.
Load missed in push motion: This signal turns ON when the
b5 PSFL 4.7.11 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 4.7.11 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 4.7.11 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 4.7.11 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 4.7.11 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 4.7.11 (10)
is completed.

180
4.7.4 Half Direct Mode (Number of Occupied Channels: 8)
In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are
specified directly and numerically from the PLC.
Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and
24.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Direct control
Actuator function U: Indirect control Remarks
X: Invalid
Home-return operation {
Positioning operation {

4. SCON-CA/CB/CGB/CAL/CGAL
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration X
Pause {
U Parameters must be
Zone signal output
set
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
Speed n+4 n+4
2
Acceleration/ Current speed
n+5 n+5
deceleration
Push-motion
n+6 Alarm code n+6
current-limiting value
Control signal n+7 Status signal n+7
(Note) Exercise caution to avoid node address duplication.

181
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)).
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or 0.1
4. SCON-CA/CB/CGB/CAL/CGAL

mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can
handle values from 1 to 999 (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.
z The 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 510 (200%). 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).

Set value

Push-motion
current-limiting value

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

182
PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

4. SCON-CA/CB/CGB/CAL/CGAL
Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed

Acceleration/
1,024

512

deceleration

Push-motion
current-limiting
value

Control signal

183
 PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position (lower
word)
4. SCON-CA/CB/CGB/CAL/CGAL

Current
position (upper
word)

If the current position is a negative value, it is indicated by a 2’s complement.

Command
current (lower
word)

Command
current (upper
word)

Current speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Status signal

184
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor),
while the specifiable range is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 4.9 (2)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement

4. SCON-CA/CB/CGB/CAL/CGAL
will be limited to the soft limit (0.2 mm inside the limit).
* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor),
while the specifiable range is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 4.9 (2)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
deemed to have completed.
[2] In push-motion operation, this register defines the
PLC output

push-motion band. Whether to perform normal operation or

push-motion operation is set using the control signal PUSH.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
suspension, it will remain stopped on the spot.
Speed 16-bit data - 4.9 (2)
Unit of measure is selected by Parameter No. 159 FB Half Direct
Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator (the acceleration and deceleration will be the same
value).
Acceleration/ The setting unit is 0.01 G and the allowable specification range is
16-bit data - 4.9 (2)
deceleration 1 to 999.
(Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.

185
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value

16-bit data - The actual allowable specification range varies from one 4.9 (2)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
Forced brake release: The brake is released when this signal
4. SCON-CA/CB/CGB/CAL/CGAL

b15 BKRL 4.7.11 (18)

turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 4.7.11 (19)
OFF, and the MANU mode is selected when the signal is ON.
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b13 DIR positioning band from the target position. 4.7.11 (22)
When the signal is ON, push-motion operation is performed in
the direction of the position determined by adding the positioning
band to the target position.
Push-motion specification: Positioning operation is performed
b12 PUSH when this signal is OFF, and push-motion operation is performed 4.7.11 (21)
when the signal is ON.
Servo gain Select the servo gain parameter set to be used.
PLC output

parameter
b11 GSL1
set selection GSL1 GSL0 Function
1
OFF OFF Select parameter set 0.
4.7.11 (33)
Servo gain OFF ON Select parameter set 1.
parameter ON OFF Select parameter set 2.
b10 GSL0 ON ON Select parameter set 3.
Control set selection
signal 0
b9 - Not available. -
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 4.7.11 (13)
this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 4.7.11 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 4.7.11 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 4.7.11 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 4.7.11 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 4.7.11 (11)
Home return: A home-return command is issued when this signal
b1 HOME 4.7.11 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 4.7.11 (8)
turns ON.

186
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 4.9 (2)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
32-bit integer.
The electrical current presently specified by a command is
Command indicated.
32-bit data - 4.9 (2)
current The setting unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal)

4. SCON-CA/CB/CGB/CAL/CGAL
= 1023 mA
32-bit signed integer.
Indicate the current speed.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of home.
Current 32-bit integer.
32-bit data - 4.9 (2)
speed The current speed is indicated.
The setting unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal, a negative value is
indicated as a 2’s complement.
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
PLC input

16-bit data - If no alarm is present, “0H” is set. 4.9 (2)

code
For details on alarms, refer to the operation manual for the
controller.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 4.7.11 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 4.7.11 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 4.7.11 (12)
the specified zone.
b11
b10 - Not available. -
b9
Operation mode status: This signal is OFF when the current
b8 RMDS 4.7.11 (19)
Status mode is AUTO, or ON when the current mode is MANU.
signal Absolute battery voltage low alarm: This signal turns ON when
b7 BALM
the battery voltage drops.
b6 - Not available. -
Load missed in push motion: This signal turns ON when the
b5 PSFL 4.7.11 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 4.7.11 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 4.7.11 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 4.7.11 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 4.7.11 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 4.7.11 (10)
is completed.

187
 4.7.5 Full Direct Mode (Number of Occupied Channels: 16)
In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed,
etc.) directly from the PLC.
Set each value in the I/O area.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

{: Direct control
Actuator function
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
4. SCON-CA/CB/CGB/CAL/CGAL

Pitch feed (inching) {

Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration {
Pause {
Zone signal output {
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
n+4 n+4
Speed Current speed
n+5 n+5
n+6 Alarm code n+6
Zone boundary+
n+7 Occupied area n+7
3 n+8 n+8
Zone boundary- Current load
n+9 n+9
Acceleration n+10 n+10
Total moving count
Deceleration n+11 n+11
Push-motion
n+12 Total moving n+12
current-limiting value
distance
Load current threshold n+13 n+13
Control signal 1 n+14 Status signal 1 n+14
Control signal 2 n+15 Status signal 2 n+15

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

188
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) in the
I/O areas.
z Control signals 1 and 2 and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)).
z The speed is a 2-word (32-bit) binary data. For the specified speed, the PLC can handle values from 0 to

4. SCON-CA/CB/CGB/CAL/CGAL
+999999 (unit: 0.01 mm/sec). Take note, however, that the set value should not exceed the maximum speed
supported by the applicable actuator.
z The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can
handle values from 1 to 999 (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.
z The 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 510 (200%). 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).

Set value

Push-motion
current-limiting value

z Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current
threshold, the PLC can handle values from 0 (0%) to 510 (200%). (Refer to the graph of push-motion
current-limiting value (above graph).)
z The zone boundary+ and zone boundary- are 2-word (32-bit) binary data. For the zone boundary+ and zone
boundary-, the PLC can handle values from -999999 to +999999 (unit: 0.01 mm (other than DD motor) and
0.001° (DD motor)). Take note, however, that the value of zone boundary- must be smaller than the value of
zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.
z The current load is 2-word (32-bit) binary data (unit: 0.01 N).
z The total moving count is a 2-word (32 bits) binary data (unit: times).
z The total moving distance is a 2-word (32 bits) binary data (unit: m).

189
 PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)
4. SCON-CA/CB/CGB/CAL/CGAL

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed (lower
word)

Speed (upper
word)

Zone
boundary+
(lower word)

Zone
boundary+
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.

190
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Zone
boundary-
(lower word)

Zone

4. SCON-CA/CB/CGB/CAL/CGAL
boundary-
(upper word)
If the zone boundary is a negative value, it is indicated by a 2’s complement.
1,024

Acceleration
512
1,024

Deceleration
512

Push-motion
current-limiting
value

Load current
threshold

Control signal
1

Control signal *
2

* Applicable only for SCON-CA/CB

191
 PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position
(lower word)

Current
4. SCON-CA/CB/CGB/CAL/CGAL

position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

Current
speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

192
 n+7 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Not available.

n+8 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Current load
(lower word)
(Dedicated for
SCON-CA/CB)

4. SCON-CA/CB/CGB/CAL/CGAL
n+9 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Current load
(lower word)
(Dedicated for
SCON-CA/CB)

If the current load is a negative value, it is indicate by a 2’s complement.

n+10 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128
count

64

32

16

1
(lower word)

n+11 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving

524,288

262,144

131,072

65,536
count
─

(upper word) ─

n+12 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
32,768

16,384

8,192

4,096

2,048

1,024

512

256

128

distance
64

32

16

1
(lower word)

n+13 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Total moving
524,288

262,144

131,072

65,536

distance
─

(upper word)

n+14 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

*
BALM
CEND

Status signal 1
─

n+15 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

PUSHS
PZONE
ZONE1

ZONE2

RMDS

MOVE

HEND
TRQS

PEND
EMGS

LOAD

GHMS

PSFL
PWR

ALM
SV

Status signal 2

* Applicable only for SCON-CA/CB

193
 (3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor),
while the specifiable range is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 4.9 (3)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
4. SCON-CA/CB/CGB/CAL/CGAL

will be limited to the soft limit (0.2 mm inside the limit).

* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
32-bit integer.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor),
while the specifiable range is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 4.9 (3)
band [1] In positioning operation, this register defines the permissible
range from the target position in which positioning will be
deemed to have completed.
[2] In push-motion operation, this register defines the
push-motion band. Whether to perform normal operation or
PLC output

push-motion operation is set using the control signal PUSH.

32-bit integer.
Specify the speed at which to move the actuator.
The setting unit is 1.0 mm/sec and the allowable specification
range is 0 to 999999.
Speed 32-bit data - Deceleration stop if and to specify in motion 0. It under 4.9 (3)
suspension, it will remain stopped on the spot.
(Example) To set “25.41 mm/sec,” specify “2541.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
32-bit signed integer.
After completion of home return, an effective zone signal can be
output separately from the zone boundaries specified by
parameters.
The status signal PZONE turns ON when the current position is
inside these +/- boundaries.
Zone
(Example) To set “+25.40 mm,” specify “2540.”
boundary+
32-bit data - The specified unit is 0.01 mm (other than DD motor) and 0.001° 4.9 (3)
/zone
(DD motor), while the specifiable range is -999999 to 999999.
boundary-
Enter a value that satisfies the relationship of “Zone boundary+ >
Zone boundary-.”
If this function is not used, enter the same value for both the
positive and negative boundaries.
* If the boundaries are entered as hexadecimals, enter negative
values using 2’s complements.

194
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
16-bit integer.
Acceleration 16-bit data - Specify the acceleration and deceleration at which to move the
actuator.
The setting unit is 0.01 G and the allowable specification range is
1 to 999. 4.9 (3)
Deceleration 16-bit data - (Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.
16-bit integer.

4. SCON-CA/CB/CGB/CAL/CGAL
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 510 (200%).

value

16-bit data - The actual allowable specification range varies from one 4.9 (3)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
16-bit integer.
If you want the controller to determine whether or not the load
Load
current has exceeded the set value, specify the current threshold
current 16-bit data - 4.9 (3)
using this register.
threshold
The allowable specification range is 0 (0%) to 255 (100%).
If threshold judgment is not required, enter “0.”
PLC output

b15
- Not available. -
b14
Vibration
damping Select the servo gain parameter set to be
b13 NTC1 control used.
mode NTC1 NTC0 Function
selection 1 OFF OFF Do not use vibration damping
4.7.11 (33)
Vibration control.
damping OFF ON Select parameter set 1.
b12 NTC0 control ON OFF Select parameter set 2.
mode ON ON Select parameter set 3.
selection 0
b11
Control - Not available. -
b10
signal 1
Select the stop mode to be applied while on
b9 ASO1 Stop mode 1 standby.
ASO1 ASO0 Function
OFF OFF Invalid (the servo is always
on).
OFF ON The servo turns off after the 4.7.11 (31)
time set in parameter No. 36.
ON OFF The servo turns off after the
b8 ASO0 Stop mode 0 time set in parameter No. 37.
ON ON The servo turns off after the
time set in parameter No. 38.

195
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Address Bits Symbol Function Details
b7 MOD1 Acceleration/deceleration mode: 4.7.11
Trapezoid pattern when both signals are OFF, S-motion when
b6 MOD0 MOD1 is OFF and MOD0 is ON, or primary delay filter when 4.7.11 (14)
MOD1 is ON and MOD0 is OFF.
Servo gain Select the servo gain parameter set to be used.
b5 GSL1 parameter set
selection 1 GSL1 GSL0 Function
OFF OFF Select parameter set 0.
4.7.11 (33)
Servo gain OFF ON Select parameter set 1.
b4 GSL0 parameter set ON OFF Select parameter set 2.
4. SCON-CA/CB/CGB/CAL/CGAL

selection 0 ON ON Select parameter set 3.

Control
signal 1 Incremental specification:
b3 INC Absolute position command when the signal is OFF, or 4.7.11 (24)
incremental position command when the signal is ON.
Push direction specification:
When the signal is OFF, the direction of the position obtained by
b2 DIR subtracting the positioning band from the target position is used. 4.7.11 (22)
When the signal is ON, the direction of the position obtained by
adding the positioning band to the target position is used.
Push specification: Positioning operation when the signal is
b1 PUSH 4.7.11 (21)
OFF, or push-motion operation when the signal is ON.
b0 - Not available. -
Forced brake release: The brake is released when this signal
b15 BKRL 4.7.11 (18)
turns ON.
PLC output

Operation mode: The AUTO mode is selected when this signal is

b14 RMOD 4.7.11 (19)
OFF, and the MANU mode is selected when the signal is ON.
b13
b12
- Not available. -
b11
b10
Load cell calibration command: Calibration is performed when
b9 CLBR* 4.7.11 (32)
this signal turns ON.
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 4.7.11 (13)
this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 4.7.11 (13)
signal is ON.
Control
signal 2 Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 4.7.11 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 4.7.11 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 4.7.11 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 4.7.11 (11)
Home return: A home-return command is issued when this signal
b1 HOME 4.7.11 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 4.7.11 (8)
turns ON.
* Applicable only for SCON-CA/CB

196
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 4.9 (3)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
32-bit integer.
The electrical current presently specified by a command is
Command indicated.
32-bit data - 4.9 (3)
current The setting unit is mA.

4. SCON-CA/CB/CGB/CAL/CGAL
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA
32-bit integer.
The current speed is indicated.
Current
32-bit data - The setting unit is 0.01 mm/sec. 4.9 (3)
speed
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
16-bit data - If no alarm is present, “0” is set. 4.9 (3)
code
For details on alarms, refer to the operation manual for the
controller.
32-bit signed integer
Current load
The current measurement on the load cell is indicated.
(Specified
32-bit data - The unit is 0.01 N. 4.9 (3)
PLC input

only for
* If readings are expressed in hexadecimals, a negative value is
SCON-CA/CB)
indicated by a two’s complement.
Total 32-bit integer.
moving 32-bit data - The unit is times. -
count
Total 32-bit integer.
moving 32-bit data - The unit is m. -
distance
b15 -
b14 -
b13 -
b12 -
b11 -
b10 -
b9 -
Not available. -
b8 -
Status b7 -
signal 1 b6 -
b5 -
b4 -
b3 -
b2 -
Home return complete: This signal turns ON when home return
b1 CEND* 4.7.11 (32)
is completed.
Position complete signal: This signal turns ON when positioning
b0 BALM 4.7.11 (28)
is completed.
* Applicable only for SCON-CA/CB

197
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
Emergency stop: An emergency stop is being executed when
b15 EMGS 4.7.11 (2)
the signal is ON.
Controller ready: The signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: The signal is ON when the current position is inside the
b13 ZONE2 4.7.11 (12)
specified zone.
Zone 1: The signal is ON when the current position is inside the
b12 ZONE1 4.7.11 (12)
specified zone.
Position zone: The signal is ON when the current position is
b11 PZONE 4.7.11 (12)
inside the specified position zone.
4. SCON-CA/CB/CGB/CAL/CGAL

Teaching mode signal: The signal is ON when the teaching

b10 MODES 4.7.11 (26)
mode is selected.
Position data read complete: The signal turns ON when the
b9 WEND 4.7.11 (27)
PLC input

position data read is complete.

Status
Operation mode: The signal is OFF when the current mode
signal 2 b8 RMDS 4.7.11 (19)
AUTO, or ON when the current mode is MANU.
Absolute battery voltage low warning: This signal turns ON when
b7 BALM 4.7.11 (6)
the voltage drops.
b6 - Not available 4.7.11 (25)
Missed load during push-motion operation: The signal turns ON
b5 PSFL when the actuator missed the load during push-motion 4.7.11 (23)
operation.
b4 SV Ready: The signal is ON when the servo is ON. 4.7.11 (5)
b3 ALM Alarm: The signal turns ON when an alarm occurs. 4.7.11 (3)
b2 MOVE Moving signal: The signal is ON while the actuator is moving. 4.7.11 (9)
Home return complete: The signal turns ON when the home
b1 HEND 4.7.11 (6)
return is completed.
Positioning complete signal: The signal turns ON when the
b0 PEND 4.7.11 (10)
positioning is completed.

198
4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)
In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are
used.
Set position data using the RC PC software or teaching pendant.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
This mode is the same as the remote I/O mode, but the current-position read function and command-current read
function are also available.
The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.)
(Note) Force control mode 1 and 2 are not available for SCON-CAL.
Value set in
Operation mode I/O specification
parameter No. 25

4. SCON-CA/CB/CGB/CAL/CGAL
0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and
intermediate position commands.
A position complete signal is output separately for the front end, rear end
and intermediate position.
6 Force control mode 32 positioning points, 1 zone output
1 (a dedicated load
cell is used)
7 Force control mode 5 positioning points, 1 zone output
2 (a dedicated load A direct operation command can be issued for each position number.
cell is used) A position complete signal is output for each position number.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
PIO pattern
4: 5: 6. 7.
Actuator function 0: 1: 2: 3:
Solenoid Solenoid Force Force
Positioning Teaching 256-point 512-point
valve mode valve mode control control
mode mode mode mode
1 2 mode 1 mode 2
Home return operation { { { { { X { {
Positioning operation { { { { { { { {
Speed & acceleration/
deceleration setting
{ { { { { { { {
Pitch feed (inching) { { { { { { { {
Push-motion operation { { { { { X { {
Speed change during
movement
{ { { { X { { X
Operation at different
acceleration and { { { { { { { {
deceleration
Pause { { { { { { (*1) { {
Zone signal output { { { X { { { {
PIO pattern selection
(set by parameter)
{ { { { { { { {
{: Supported / X: Not supported
(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

199
 (1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC output channel PLC input channel
84 DI and input register DO and output register
Port number 0 to 15 n+0 Port number 0 to 15 n+0
n+1 Occupied area n+1
n+2 n+2
4 Current position
Occupied area n+3 n+3
n+4 n+4
Command current
n+5 n+5
4. SCON-CA/CB/CGB/CAL/CGAL

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O
areas.
z The channels controlled by port number are controlled using ON/OFF bit signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm (other than DD motor) and 0.001° (DD
motor)).
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

PLC output (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
input port
number

200
PLC input (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
output port
number

4. SCON-CA/CB/CGB/CAL/CGAL
Not available.

Current
position (lower
word)

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

201
 (3) I/O signal assignments
For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote
I/O mode explained in 4.7.2 (3).

Signal assignments under the command-current read function and current-position read function are shown
below.
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - -
position = 10.23 mm
4. SCON-CA/CB/CGB/CAL/CGAL

* If current positions are read as hexadecimals, negative values

PLC input

are indicated by 2’s complements.

32-bit integer.
Indicate the value of electrical current specified by the current
Command command.
32-bit data - -
current The setting unit is 1 mA.
(Example) Reading: 000003FFH = 1023 (decimal)
= 1023 mA

202
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4)

(Note) Applicable only for SCON-CA/CB

In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying position numbers. You can directly specify the target position as a
numerical value by switching the control signal (PMOD signal), or use a pre-registered value in the position data.
Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using
values in the position table stored in the controller. Set position data by referring to the operation manual for the
controller.
Up to 768 sets of positioning data can be specified.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

4. SCON-CA/CB/CGB/CAL/CGAL
{: Direct control
Actuator function U: Indirect control Remarks
X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting U These items must be
Pitch feed (inching) U set in the position data
Push-motion operation U table.
Speed change during movement U
Operation at different acceleration and deceleration U
Pause {
U Zones are set using
Zone signal output position data or
parameters.
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB SCON-CA/CB
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
Completed position
5 Specified position
n+2 number (simple n+2
number
alarm code)
Control signal n+3 Status signal n+3
(Note) Exercise caution to avoid node address duplication.

203
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z The specified position number and completed position number are 1-word (16-bit) binary data. Although
values from 0 to 767 can be handled by the PLC for these items, use the PC software or teaching pendant to
specify position numbers associated with predefined operating conditions.
4. SCON-CA/CB/CGB/CAL/CGAL

PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Specified
position
number

Control signal

204
PLC input
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Current
position (lower
word)

4. SCON-CA/CB/CGB/CAL/CGAL
Current
position
(upper word)

If the current position is a negative value, it is indicated by a 2’s complement.

Completed
position
number
PZONE/
ZONE2

Status signal

205
 (3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor),
while the specifiable range is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.40 mm,” specify “2540.” 4.9 (1)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
4. SCON-CA/CB/CGB/CAL/CGAL

will be limited to the soft limit (0.2 mm inside the limit).

* If target positions are entered as hexadecimals, enter negative
values using 2’s complements.
16-bit integer.
To operate the actuator, you must set position data associated
with predefined operating conditions using the PC software or
teaching pendant.
Specified
PC1 ~ Use one of these registers to specify the position number for
position 16-bit data 4.9 (1)
PC512 which the desired data has been input.
number
The allowable specification range is 0 to 767.
If the specified value is outside the above range or corresponds
to a position not yet set, an alarm will occur when the start signal
is turned ON.
Forced brake release: The brake is released when this signal
b15 BKRL 4.7.11 (18)
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 4.7.11 (19)
OFF, and the MANU mode is selected when the signal is ON.
PLC output

b13
- Not available. -
b12
Position/simple-direct switching: The position mode is selected
b11 - when this signal is OFF, and the simple direct mode is selected 4.7.11 (20)
when the signal is ON.
b10 - Not available. -
Load cell calibration command: Calibration is performed
b9 CLBR 4.7.11 (32)
when this signal turns ON.
+Jog: The actuator moves in the direction opposite home when
b8 JOG+ 4.7.11 (13)
this signal is ON.
Control -Jog: The actuator moves in the direction of home when this
b7 JOG- 4.7.11 (13)
signal signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 4.7.11 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 4.7.11 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 4.7.11 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 4.7.11 (11)
Home return: A home-return command is issued when this signal
b1 HOME 4.7.11 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 CSTR 4.7.11 (7)
turns ON.

206
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32 bits - 4.9 (1)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
16-bit integer.
When the actuator has moved to the target position and entered
Completed
the positioning band, the position number corresponding to the
position
completed position is output.
number PM 1 ~

4. SCON-CA/CB/CGB/CAL/CGAL
16 bits “0” is output when no position movement has been performed 4.9 (1)
(simple PM512
yet or while the actuator is moving.
alarm
If an alarm occurs (the status signal ALM turns ON), a
code)
corresponding simple alarm code (refer to the operation manual
for the controller) will be output.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 4.7.11 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 4.7.11 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 4.7.11 (12)
the specified zone.
PZONE and ZONE2 can be switched in Parameter No.149.
No.149 = 0 Position zone : This signal turns ON when the
current position is inside the
PLC input

PZONE/
b11 specified position zone. 4.7.11 (12)
ZONE2
No.149 = 1 Zone2 : This signal turns ON when the
current position is inside the
specified zone.
Load output judgment: This signal turns ON when the specified
load is reached. If the signal is OFF, it means the specified load
b10 LOAD 4.7.11 (26)
is not yet reached.
Status (For details, refer to the operation manual for your controller.)
signal Torque level: This signal turns ON when the specified torque is
reached. If the signal is OFF, it means the specified torque is not
b9 TRQS 4.7.11 (27)
yet reached.
(For details, refer to the operation manual for your controller.)
Operation mode status: This signal is OFF when the current
b8 RMDS 4.7.11 (19)
mode is AUTO, or ON when the current mode is MANU.
Absolute battery voltage low alarm: This signal turns ON when
b7 BALM 4.7.11 (28)
the battery voltage drops.
Push-motion operation in progress: This signal remains ON
b6 PUSHS 4.7.11 (23)
while the actuator is performing push-motion operation.
Load missed in push motion: This signal turns ON when the
b5 PSFL 4.7.11 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 4.7.11 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 4.7.11 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 4.7.11 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 4.7.11 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 4.7.11 (10)
is completed.

207
 4.7.8 Half Direct Mode (Number of Occupied Channels: 8)

(Note) Applicable only for SCON-CA/CB

In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying the target position, in-position band, speed, acceleration/deceleration and
push current directly from the PLC as numerical values.
Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and
24.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Direct control
Actuator function U: Indirect control Remarks
4. SCON-CA/CB/CGB/CAL/CGAL

X: Invalid
Home-return operation {
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration X
Pause {
U Parameters must be
Zone signal output
set
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB SCON-CA/CB
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Current load
n+3 n+3
Speed n+4 n+4
6
Acceleration/ Current speed
n+5 n+5
deceleration
Push-motion
n+6 Alarm code n+6
current-limiting value
Control signal n+7 Status signal n+7
(Note) Exercise caution to avoid node address duplication.

208
(2) I/O signal assignments for each axis
The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)).
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or 0.1

4. SCON-CA/CB/CGB/CAL/CGAL
mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can
handle values from 1 to 999 (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.
z The 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 510 (200%). 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).

Set value

Push-motion
current-limiting value

z The current load is 2-word (32-bit) binary data (unit: 0.01 N).
z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

209
 PLC output
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Target position
(lower word)
4. SCON-CA/CB/CGB/CAL/CGAL

Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed

Acceleration/
1,024

512

deceleration

Push-motion
current-limiting
value

Control signal

210
PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position
(lower word)

4. SCON-CA/CB/CGB/CAL/CGAL
Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Current load
(lower word)

Current load
(upper word)

If the current load is a negative value, it is indicated by a 2’s complement.

Current speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Status signal

211
 (3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
Target
32-bit data - (Example) To set “+25.41 mm,” specify “2541.” 4.9 (2)
position
If the entered value exceeds the range between the soft limits
(0.2 mm inside the limits) set by the parameters, the movement
4. SCON-CA/CB/CGB/CAL/CGAL

will be limited to the soft limit (0.2 mm inside the limit).

* If target positions are entered as hexadecimals, enter
negative values using 2’s complements.
32-bit integer.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
Positioning operation type.
32-bit data - 4.9 (2)
band [1] In positioning operation, this register defines the
permissible range from the target position in which positioning
will be deemed to have completed.
[2] In push-motion operation, this register defines the
PLC output

push-motion band. Whether to perform normal operation or

push-motion operation is set using the control signal PUSH.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
suspension, it will remain stopped on the spot.
Speed 16-bit data - 4.9 (2)
Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator (the acceleration and deceleration will be the same
value).
Acceleration/ The setting unit is 0.01 G and the allowable specification range
16-bit data - 4.9 (2)
deceleration is 1 to 999.
(Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an alarm
will occur.

212
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
16-bit integer.
Specify the current-limiting value to be used during push-motion
current-limiting

operation.
Push-motion

The allowable specification range is 0 (0%) to 255 (100%).

value

16-bit data - The actual allowable specification range varies from one 4.9 (2)
actuator to another. (Refer to the catalog or operation manual for
each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push-motion current, an alarm will occur.
Forced brake release: The brake is released when this signal
b15 BKRL 4.7.11 (18)

4. SCON-CA/CB/CGB/CAL/CGAL
turns ON.
Operation mode: The AUTO mode is selected when this signal is
b14 RMOD 4.7.11 (19)
OFF, and the MANU mode is selected when the signal is ON.
Push direction specification:
When this signal is OFF, push-motion operation is performed in
the direction of the position determined by subtracting the
b13 DIR positioning band from the target position. 4.7.11 (22)
When the signal is ON, push-motion operation is performed in
the direction of the position determined by adding the positioning
band to the target position.
Push-motion specification: Positioning operation is performed
b12 PUSH when this signal is OFF, and push-motion operation is performed 4.7.11 (21)
PLC output

when the signal is ON.

b11
- Not available. -
b10
Load cell calibration command: Calibration is performed when
b9 CLBR 4.7.11 (32)
this signal turns ON.
Control
+Jog: The actuator moves in the direction opposite home when
signal b8 JOG+ 4.7.11 (13)
this signal is ON.
-Jog: The actuator moves in the direction of home when this
b7 JOG- 4.7.11 (13)
signal is ON.
Jog-speed/inch-distance switching: The values set in parameter
No. 26, “Jog speed” and parameter No. 48, “Inch distance” are
b6 JVEL used when this signal is OFF, and the values set in parameter 4.7.11 (14)
No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2”
are used when the signal is ON.
Jog/inch switching: Jog operation is performed when this signal
b5 JISL 4.7.11 (15)
is OFF, and inch operation is performed when the signal is ON.
Servo ON command: The servo turns ON when this signal turns
b4 SON 4.7.11 (5)
ON.
b3 RES Reset: A reset is performed when this signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when this signal turns ON. 4.7.11 (11)
Home return: A home-return command is issued when this signal
b1 HOME 4.7.11 (6)
turns ON.
Positioning start: A move command is issued when this signal
b0 DSTR 4.7.11 (8)
turns ON.

213
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - 4.9 (2)
position = 10.23 mm
* If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.
32-bit signed integer
The current measurement on the load cell is indicated.
Command
32-bit data - The unit is 0.01 N. 4.9 (2)
current
* If readings are expressed in hexadecimals, a negative value
4. SCON-CA/CB/CGB/CAL/CGAL

is indicated by a 2’s complement.

32-bit signed integer.
Indicate the current speed.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of home.
Current 32-bit integer.
32-bit data - 4.9 (2)
speed The current speed is indicated.
The setting unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal, a negative value is
indicated as a 2’s complement.
16-bit integer.
If an alarm occurred, a corresponding alarm code is output.
Alarm
16-bit data - If no alarm is present, “0H” is set. 4.9 (2)
code
For details on alarms, refer to the operation manual for the
PLC input

controller.
Emergency stop: An emergency stop is actuated when this
b15 EMGS 4.7.11 (2)
signal turns ON.
Controller ready: This signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: This signal turns ON when the current position is inside
b13 ZONE2 4.7.11 (12)
the specified zone.
Zone 1: This signal turns ON when the current position is inside
b12 ZONE1 4.7.11 (12)
the specified zone.
b11
- Not available. -
b10
Load cell calibration complete: This signal turns ON when the
b9 CEND 4.7.11 (32)
calibration is complete.
Operation mode status: This signal is OFF when the current
b8 RMDS 4.7.11 (19)
Status mode is AUTO, or ON when the current mode is MANU.
signal Absolute battery voltage low alarm: This signal turns ON when
b7 BALM 4.7.11 (28)
the battery voltage drops.
Push-motion operation in progress: This signal remains ON
b6 PUSHS 4.7.11 (25)
while the actuator is performing push-motion operation
Load missed in push motion: This signal turns ON when the
b5 PSFL 4.7.11 (23)
actuator missed the load in push-motion operation.
b4 SV Ready: This signal turns ON when the servo turns ON. 4.7.11 (5)
b3 ALM Alarm: This signal turns ON when an alarm occurs. 4.7.11 (3)
Moving signal: This signal remains ON while the actuator is
b2 MOVE 4.7.11 (9)
moving.
Home return complete: This signal turns ON when home return
b1 HEND 4.7.11 (6)
is completed.
Position complete signal: This signal turns ON when positioning
b0 PEND 4.7.11 (10)
is completed.

214
4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6)

(Note) Applicable only for SCON-CA/CB

In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying position numbers in the same manner you would using PIOs (24-V I/Os).
Set position data using the RC PC software or other teaching tool.
The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.”
In this mode, all functions in the remote I/O mode are available, plus additional functions to read the current
position and current load.
The features of each PIO pattern are shown below. (For details, refer to the operation manual for the controller.)
Value set in
Operation mode I/O specification

4. SCON-CA/CB/CGB/CAL/CGAL
parameter No. 25
0 Positioning mode 64 positioning points and two zone output points are available.
1 Teaching mode 64 positioning points and one zone output point is available.
Positioning operation and jog operation are supported.
The current position can be written to a specified position.
2 256-point mode 256 positioning points and one zone output point is available.
3 512-point mode 512 positioning points are available. There are no zone outputs.
4 Solenoid mode 1 7 positioning points and two zone output points are available.
A direct operation command can be issued for each position number.
A position complete signal is output for each position number.
5 Solenoid mode 2 3 positioning points and two zone output points are available.
The actuator is operated by specifying forward, backward and intermediate
position commands.
A position complete signal is output separately for the front end, rear end and
intermediate position.
6 Force control mode 32 positioning points, 1 zone output
1 (a dedicated load
cell is used)
7 Force control mode 5 positioning points, 1 zone output
2 (a dedicated load A direct operation command can be issued for each position number.
cell is used) A position complete signal is output for each position number.

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
PIO pattern
4: 5: 6. 7.
ROBO Cylinder function 0: 1: 2: 3:
Solenoid Solenoid Force Force
Positioning Teaching 256-point 512-point
valve mode valve mode control control
mode mode mode mode
1 2 mode 1 mode 2
Home return operation { { { { { X { {
Positioning operation { { { { { { { {
Speed & acceleration/
deceleration setting
{ { { { { { { {
Pitch feed (inching) { { { { { { { {
Push-motion operation { { { { { X { {
Speed change during
movement
{ { { { X { { X
Operation at different
acceleration and { { { { { { { {
deceleration
Pause { { { { { { (*1) { {
Zone signal output { { { X { { { {
PIO pattern selection
(set by parameter)
{ { { { { { { {
{: Supported / X: Not supported
(*1) This function is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.

215
 (1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB SCON-CA/CB
PLC output channel PLC input channel
84 DI and input register DO and output register
Port number 0 to 15 n+0 Port number 0 to 15 n+0
n+1 Occupied area n+1
n+2 n+2
7 Current position
Occupied area n+3 n+3
n+4 n+4
Current load
n+5 n+5
4. SCON-CA/CB/CGB/CAL/CGAL

(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of six input words (channels) and six output words (channels) in the I/O
areas.
z The channels controlled by port number are controlled using ON/OFF bit signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm (other than DD motor) and 0.001° (DD
motor)).
z The current load is a 2-word (32-bit) binary data (unit: 0.01N).

PLC output (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
input port
number

216
PLC input (* n indicates the node address of each axis.)

Channel
1 word (channel) = 16 bits

Controller
output port
number

4. SCON-CA/CB/CGB/CAL/CGAL
Not available.

Current
position
(lower word)

Current
position
(upper word)
If the current position is a negative value, it is indicated by a 2’s complement.

Current load
(lower word)

Current load
(upper word)

If the current load is a negative value, it is indicated by a 2’s complement.

217
 (3) I/O signal assignments
For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote
I/O mode explained in 4.7.2 (3).

Signal assignments under the command-current read function and current-position read function are shown
below.
Signal type Bits Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD motor).
Current (Example) Reading: 000003FFH = 1023 (decimal)
32-bit data - -
position = 10.23 mm
4. SCON-CA/CB/CGB/CAL/CGAL

* If current positions are read as hexadecimals, negative values

PLC input

are indicated by 2’s complements.

32-bit integer.
Indicate the measured value of the current load cell.
Current
32-bit data - The setting unit is 1 mA. -
load * If current positions are read as hexadecimals, negative values
are indicated by 2’s complements.

218
4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8)

In this operation mode, the jog function available in the half numerical value mode is unavailable, but the vibration
damping control parameter set can be changed.
Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and
24.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
{: Direct control
ROBO Cylinder function U: Indirect control Remarks
X: Invalid
Home-return operation {

4. SCON-CA/CB/CGB/CAL/CGAL
Positioning operation {
Speed and acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration X
Pause {
Zone signal output U Parameters must be set
PIO pattern selection X

(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No. SCON-CA/CB/CAL SCON-CA/CB/CAL
PLC output channel PLC input channel
84 input register output register
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Command current
n+3 n+3
Speed n+4 n+4
8
Acceleration/ Current speed
n+5 n+5
deceleration
Push-motion
n+6 Alarm code n+6
current-limiting value
Control signal n+7 Status signal n+7
(Note) Exercise caution to avoid node address duplication.

219
 (2) I/O signal assignments for each axis
The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O
areas.
z Control signals and status signals are ON/OFF bit signals.
z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to
+999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)) can be handled by the PLC for these
items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
z Specify the positioning band. The positioning band is a 2-word (32-bit) binary data. For the positioning band,
the PLC can handle values from 1 to +999999 (unit: 0.01 mm (other than DD motor) and 0.001° (DD motor)).
z The speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec or 0.1
4. SCON-CA/CB/CGB/CAL/CGAL

mm/sec) can be handled by the PLC, set a value not exceeding the maximum speed of the applicable actuator.
Parameter No. 159, FB Half Direct Mode Speed Unit, determines the unit of measure.

Parameter No.159 setting value Speed setting unit

0 1.0 mm/sec
1 0.1 mm/sec

z The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can
handle values from 1 to 999 (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.
z The 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 510 (200%). 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).

Set value

Push-motion
current-limiting value

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).

z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
z The alarm code is a 1-word (16-bit) binary data.

220
PLC output
Channel (* n indicates the node address of each axis.)

1 word (channel) = 16 bits

Target position
(lower word)

4. SCON-CA/CB/CGB/CAL/CGAL
Target position
(upper word)

If the target position is a negative value, it is indicated by a 2’s complement.

Positioning
band (lower
word)

Positioning
band (upper
word)

Speed

Acceleration/
1,024

512

deceleration

Push-motion
current-limiting
value
MOD1

MOD0

Control signal

221
 PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits

Current
position
(lower word)
4. SCON-CA/CB/CGB/CAL/CGAL

Current
position
(upper word)

If the current position is a negative value, it is indicated by a 2’s complement.

Command
current
(lower word)

Command
current
(upper word)

Current speed
(lower word)

Current speed
(upper word)

If the current speed is a negative value, it is indicated by a 2’s complement.

Alarm code

Status signal

222
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”)
Signal type Bits Symbol Description Details
32-bit signed integer.
Specify the target position as a position in the absolute
coordinate system.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is -999999 to 999999.
32-bit (Example) To set “+25.41 mm,” specify “2541.”
Target position - 4.9 (2)
data If the entered value exceeds the range between the soft
limits (0.2 mm inside the limits) set by the parameters, the

4. SCON-CA/CB/CGB/CAL/CGAL
movement will be limited to the soft limit (0.2 mm inside the
limit).
* If target positions are entered as hexadecimals, enter
negative values using 2’s complements.
32-bit integer.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor), while the specifiable range is 1 to 999999.
(Example) To set “+25.40 mm,” specify “2540.”
This register has one of two meanings depending on the
32-bit operation type.
Positioning band - 4.9 (2)
data [1] In positioning operation, this register defines the
permissible range from the target position in which
positioning will be deemed to have completed.
PLC output

[2] In push-motion operation, this register defines the

push-motion band. Whether to perform normal operation or
push-motion operation is set using the control signal PUSH.
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Deceleration stop if and to specify in motion 0. It under
16-bit suspension, it will remain stopped on the spot.
Speed - 4.9 (2)
data Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value
exceeding the maximum speed, an alarm will occur.
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator (the acceleration and deceleration will be the same
value).
Acceleration/ 16-bit The setting unit is 0.01 G and the allowable specification
- 4.9 (2)
deceleration data range is 1 to 999.
(Example) To set “0.30 G,” specify “30.”
If a move command is issued by specifying “0” or any value
exceeding the maximum acceleration or deceleration, an
alarm will occur.

223
 (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type Bit Symbol Description Details
16-bit integer.
Specify the current-limiting value during push-motion
operation.
Push-current The specified range is 0 (0%) to 255 (100%).
16-bit data - 4.9 (2)
limiting value The actual specifiable range varies with each actuator. (Refer
to the catalog or operation manual for each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push current value, an alarm will occur.
Forced brake release: The brake is released when the signal
4. SCON-CA/CB/CGB/CAL/CGAL

b15 BKRL 4.7.11 (18)

turns ON.
Operation mode: AUTO mode when the signal is OFF, or
b14 RMOD 4.7.11 (19)
MANU mode when the signal is ON.
Push direction specification:
When the signal is OFF, the direction of the position obtained
by subtracting the positioning band from the target position is
b13 DIR 4.7.11 (22)
used.
When the signal is ON, the direction of the position obtained by
adding the positioning band to the target position is used.
Push specification: Positioning operation when the signal is
b12 PUSH 4.7.11 (21)
OFF, or push-motion operation when the signal is ON.
Servo gain Select the servo gain parameter set to be
b11 GSL1 parameter set used.
PLC output

selection 1 GSL1 GSL0 Function

OFF OFF Select parameter set 0. 4.7.11 (33)
Servo gain OFF ON Select parameter set 1.
b10 GSL0 parameter set ON OFF Select parameter set 2.
selection 0 ON ON Select parameter set 3.

Control signal Vibration Select the vibration damping control parameter

damping set to be used.
b9 NTC1
control mode NTC1 NTC0 Function
selection 1 Do not use vibration
OFF OFF 4.7.11 (29)
Vibration damping control.
damping OFF ON Select parameter set 1.
b8 NTC0S ON OFF Select parameter set 2.
control mode
ON ON Select parameter set 3.
selection 0
b7 MOD1 Acceleration/deceleration mode:
Trapezoid pattern when both signals are OFF, S-motion 4.7.11 (30)
b6 MOD0 when MOD1 is OFF and MOD0 is ON, or primary delay
filter when MOD1 is ON and MOD0 is OFF.
b5 - Not available
b4 SON Servo ON command: The servo is ON when the signal is ON. 4.7.11 (5)
b3 RES Reset: A reset is performed when the signal turns ON. 4.7.11 (4)
b2 STP Pause: A pause command is issued when the signal turns ON. 4.7.11 (11)
Home return: A home return command is issued when the
b1 HOME 4.7.11 (6)
signal turns ON.
Positioning start command: A move command is issued when
b0 DSTR 4.7.11 (8)
the signal turns ON.

224
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type Bit Symbol Description Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm (other than DD motor) and 0.001° (DD
motor).
Current position 32-bit data - 4.9 (2)
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
32-bit integer.
The value of electrical current specified by the present
Command current 32-bit data - command is indicated. 4.9 (2)

4. SCON-CA/CB/CGB/CAL/CGAL
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA
32-bit signed integer.
The current speed is indicated.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of
Current speed 32-bit data - home. 4.9 (2)
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
16-bit integer.
If an alarm occurs, an alarm code will be output.
Alarm code 16-bit data - 0H is output when no alarm is present. 4.9 (2)
For details on alarms, refer to the operation manual for the
controller.
PLC input

Emergency stop: An emergency stop is being executed when

b15 EMGS 4.7.11 (2)
the signal is ON.
Controller ready: The signal turns ON when the controller
b14 PWR 4.7.11 (1)
becomes ready.
Zone 2: The signal is ON when the current position is inside
b13 ZONE2 4.7.11 (12)
the specified zone.
Zone 1: The signal is ON when the current position is inside
b12 ZONE1 4.7.11 (12)
the specified zone.
b11
b10 - Not available -
b9
Operation mode: The signal is OFF when the current mode
b8 RMDS 4.7.11 (19)
AUTO, or ON when the current mode is MANU.
Status signal
Absolute battery voltage low warning: This signal turns ON
b7 BALM 4.7.11 (28)
when the voltage drops.
b6 - Not available -
Missed load during push-motion operation: The signal turns
b5 PSFL ON when the actuator missed the load during push-motion 4.7.11 (23)
operation.
b4 SV Ready: The signal is ON when the servo is ON. 4.7.11 (5)
b3 ALM Alarm: The signal turns ON when an alarm occurs. 4.7.11 (3)
b2 MOVE Moving signal: The signal is ON while the actuator is moving. 4.7.11 (9)
Home return complete: The signal turns ON when the home
b1 HEND 4.7.11 (6)
return is completed.
Positioning complete signal: The signal turns ON when the
b0 PEND 4.7.11 (10)
positioning is completed.

225
 4.7.11 I/O Signal Controls and Functions
* ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.”
How the I/O signals used in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are
controlled, as well as the functions provided by these signals, are explained below. For the I/O signals used in the
remote I/O mode 1 to 3, 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 following the power on.
„ Function
The PWR signal turns ON when the controller has been initialized successfully and become ready to perform
4. SCON-CA/CB/CGB/CAL/CGAL

control following the power on, regardless of the alarm status, servo status or any other condition.
Even when an alarm is present, the PWR signal turns ON as long as the controller is ready.

(2) Emergency stop (EMGS) [PLC input signal]

This signal turns ON when the controller has entered the emergency stop mode.
„ Function
The EMGS signal turns ON when the controller has entered the emergency stop mode (motor drive power has
been cut off). The signal will turn OFF once the emergency stop is cancelled.

(3) Alarm (ALM) [PLC input signal]

This signal turns ON when the controller’s protective circuit (function) has detected an error.
„ Function
The ALM signal turns ON when the controller’s protective circuit (function) has actuated following an error
detection.
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-reset alarm. (To reset cold-start alarms, the power must be reconnected.)
When an alarm is detected, the status indicator LED (refer to 4.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in red.

(4) Reset (RES) [PLC output signal]

This signal has two functions. One is to reset controller alarms, and the other is to cancel the remaining travel
while the actuator is paused.
„ Function
[1] Turning the RES signal from OFF to ON after removing the cause of the present alarm will reset the alarm
(ALM) signal. (To reset cold-start alarms, the power must be reconnected.)
[2] Turning the RES signal from OFF to ON while the actuator is paused will cancel the remaining travel.

226
(5) Servo ON command (SON) [PLC output signal]
Ready (SV) [PLC input signal]
When the SON signal is turned ON, the servo will turn on.
When the servo turns on, the status indicator LED (refer to 4.4, “DeviceNet Interface”) on the front panel of the
controller will illuminate in green.
The SV signal is synchronized with this LED.
„ Function
The controller servo can be turned on/off using the SON signal.
While the SV signal is ON, the controller servo remains on and the actuator can be operated.
The relationship of the SON signal and SV signal is shown below.

4. SCON-CA/CB/CGB/CAL/CGAL
SON
(PLC → SCON-CA/CB/CAL)

SV
(SCON-CA/CB/CAL → PLC)

227
 (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 HOME 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.
Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF.
Program the controller so that the HOME signal will turn OFF after the HEND signal turns ON. Once it is turned
ON, the HEND signal will not turn OFF until the power is turned off or a HOME signal is input again.
After a home return has been performed once, another home return can be performed by turning ON the HOME
4. SCON-CA/CB/CGB/CAL/CGAL

signal.

HOME
(PLC → SCON-CA/CB/CAL)

GHMS
(SCON-CA/CB/CAL → PLC)

HEND
(SCON-CA/CB/CAL → PLC)

FEND
(SCON-CA/CB/CAL → PLC)

MOVE
(SCON-CA/CB/CAL → PLC)

Actuator operation

Mechanical end Stopped at the

home position

Caution: In the remote I/O mode, 1 to 3 or position/simple direct mode 1, 2, issuing a positioning
command to a given position following the power on, without performing a home return
first, will cause the actuator to automatically return home and then perform the positioning.
Take note that this applies only to the first positioning command following the power on.
Exercise caution that in the half direct mode or full direct mode 1 to 3, issuing a positioning
command to a given position following the power on, without performing a home return
first, will generate an alarm (“Error Code 83: Alarm home ABS (absolute position move
command when home return is not yet completed)” (operation-reset alarm).

228
(7) Positioning start (CSTR): Used in the position/simple direct mode 1,2 [PLC output signal]
The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the position set by the target position corresponding to the specified position number or by the target position
channel of the PLC.
Whether to use the target position corresponding to the specified position number or the target position channel of
the PLC is determined by control signal b11 (position/simple-direct switching (PMOD) signal).
• PMOD = OFF: Use the target position data corresponding to the specified position number
• PMOD = ON: Use the value set to the target position channel of the PLC.

If this command is issued when no home-return operation has been performed yet after the power on (= while the

4. SCON-CA/CB/CGB/CAL/CGAL
HEND signal is OFF), the actuator will automatically return home and then move to the target position.
Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns
OFF.
Target position
(PLC → SCON-CA/CB/CAL)

CSTR
(PLC → SCON-CA/CB/CAL)

PEND
(SCON-CA/CB/CAL → PLC)

(8) Positioning command (DSTR): Used in the half direct mode and full direct mode 1 to 3
[PLC output signal]
The DSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to
the target position input to the target position channel of the PLC. If this command is issued when no home-return
operation has been performed yet after the power on (= while the HEND signal is OFF), an alarm (operation-reset
alarm) will occur.
Program the controller so that this signal will be turned OFF after the position complete (PEND) signal turns OFF.

Target position
(PLC → SCON-CA/CB/CAL)

DSTR
(PLC → SCON-CA/CB/CAL)

PEND
(SCON-CA/CB/CAL → PLC)

(9) Moving signal (MOVE) [PLC input signal]

This signal turns ON while the actuator slider or rod is moving (also while home-return operation, push-motion
operation or jog operation is in progress).
The MOVE signal turns OFF upon completion of positioning, home-return or push-motion operation or while the
actuator is paused.

229
 (10) Position complete signal (PEND) [PLC input signal]
This signal turns ON after the actuator has moved to the target position and entered the positioning band or
completed the push-motion operation.

Timing at which the position

complete signal turns ON
Speed
Target position

Travel
4. SCON-CA/CB/CGB/CAL/CGAL

Time
Positioning band

When the servo turns on, positioning is performed based on the current position set as the target position.
Accordingly, the PEND signal turns ON and will turn OFF when a positioning operation is started thereafter with
the home return (HOME) signal, positioning start (CSTR) signal or positioning command (DSTR) signal.

Caution: If the servo turns off or an emergency stop is actuated while the actuator is stopped at the
target position, the PEND signal will turn OFF.
When the servo subsequently turns on, the PEND signal will turn ON if the current position
is inside the positioning band.
Also take note that the PEND signal will not turn ON if the CSTR or DSTR signal remains
ON.

(11) Pause (STP) [PLC output signal]

When this signal is turned ON, the moving axis will decelerate to a stop. If the signal is turned OFF thereafter, the
axis movement will resume.
The acceleration used immediately after resumption of operation, and deceleration used when the actuator stops,
conform to the acceleration/deceleration value corresponding to the position number set by the specified position
number channel in the position/simple direct mode 1, 2, or to the value of the acceleration/deceleration channel in
the half direct mode 1 to 3.
In the full direct mode, the acceleration and deceleration conform to the values of the acceleration channel and
deceleration channel.

230
(12) Zone 1 (ZONE1) [PLC input signal]
Zone 2 (ZONE2) [PLC input signal]
Position zone (PZONE) [PLC input signal]
Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when
the current position is outside the zone.
[1] Zone 1, zone 2
Each zone is set by user parameters.
The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No. 2, “Zone boundary 1-.”
The ZONE2 signal is set by parameter No. 23, “Zone boundary 2+” and No. 24, “Zone boundary 2-.”
The ZONE1 and ZONE2 signals become effective following a completion of home return, after which they will

4. SCON-CA/CB/CGB/CAL/CGAL
remain effective even while the servo is turned off.
[2] Position zone
Each zone is set in the position table or using the zone boundary channels.
In the position/simple direct mode, the PZONE signal is set in the position table.
In the full direct mode, the PZONE signal is set using the zone boundary channels.
(*) The PZONE signal is not available in the half direct mode.
The PZONE signal becomes effective when a move command is issued following a completion of home return,
after which it will remain effective even while the servo is turned off.

Zone signal

Actuator operation + direction

Home
Zone setting- Zone setting+

231
 (13) +Jog (JOG+) [PLC output signal]
-Jog (JOG-) [PLC output signal]
These signals are used as starting commands for jog operation or inch operation.
If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued,
the actuator will operate in the direction of home.

[1] Jog operation

Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once
the signal turns OFF.
4. SCON-CA/CB/CGB/CAL/CGAL

The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the
signal turns OFF.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter set by the jog-speed/inch-distance switching (JVEL)
signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).
• If both the JOG+ and JOG- signals turn ON, the actuator will decelerate to a stop.
[2] Inch operation
Inch operation can be performed when the JISL signal is ON.
The actuator moves by the inch distance every time this signal turns ON.
The actuator will operate in the direction opposite home when the JOG+ is ON, or in the direction of home
when the JOG- is ON.
The specific operation follows the values set in the following parameters:
• The speed conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed.”
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2.”
• The travel conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance.”
If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2.”
• The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies
depending on the actuator).

While performing a normal operation, the actuator will continue with the normal operation even after the +jog or
-jog signal is turned ON (the jog signal will be ignored).
While the actuator is paused, turning ON the +jog or -jog signal will not cause the actuator to operate.

(Note) Since the software stroke limits are invalid before a home return is completed, the actuator may collide
with the mechanical end. Exercise caution.

232
(14) Jog-speed/inch-distance switching (JVEL) [PLC output signal]
This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch
distance parameter when inch operation is selected.

JVEL signal Jog operation: JISL = OFF Inch operation: JISL = ON

Parameter No. 26, “Jog speed”
OFF Parameter No. 26, “Jog speed”
Parameter No. 48, “Inch distance”
Parameter No. 47, “Jog speed 2”
ON Parameter No. 47, “Jog speed 2”
Parameter No. 49, “Inch distance 2”

4. SCON-CA/CB/CGB/CAL/CGAL
(15) Jog/inch switching (JISL) [PLC output signal]
This signal is used to switch between jog operation and inch operation.
JISL = OFF: Jog operation
JISL = ON: Inch operation
If the JISL signal turns ON (inch) while the actuator is moving by jogging, the actuator will decelerate to a stop and
then switch to the inch function.
If the JISL signal turns ON (jog) while the actuator is moving by inching, the actuator will complete the movement
and then switch to the jog function.
The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and
jog-speed/inch-distance switching (JVEL) signal.

Jog operation Inch operation

JISL OFF ON
Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”
Travel - Parameter No. 48, “Inch distance”
JVEL=OFF
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”
Travel - Parameter No. 49, “Inch distance 2”
JVEL=ON
Acceleration/ Rated value (The specific value Rated value (The specific value
deceleration varies depending on the actuator.)
varies depending on the actuator.)
Upon detection of the leading (ON)
Operation When the JOG+/JOG- signal is ON
edge of the JOG+/JOG- signal

233
 (16) Teaching command (MODE) [PLC output signal]
Teaching mode signal (MODES) [PLC input signal]
When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching.
Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON.
Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
(Note) For the actuator mode to switch from normal operation to teaching, the following conditions must be
satisfied:
• The actuator (motor) is stopped.
• The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF.
• The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF.
4. SCON-CA/CB/CGB/CAL/CGAL

(Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF.

(17) Position-data read command (PWRT) [PLC output signal]

Position-data read complete (WEND) [PLC input signal]
The PWRT signal is effective when the teaching mode (MODES) signal is ON.
Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the
position number set to the specified position number channel of the PLC. (*2)
The WEND signal will turn ON once reading is complete.
Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
When the PWRT signal is turned OFF, the WEND signal will turn OFF.
(*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position
may not be written.
(2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be
written. (refer to the operation manual for the controller.)

MODES
(SCON-CA/CB/CAL → PLC) At least 20 msec

PWRT
(PLC → SCON-CA/CB/CAL)

WEND
(SCON-CA/CB/CAL → PLC)

(18) Forced brake release (BKRL) [PLC output signal]

The brake can be forcibly released by turning this signal ON.

234
(19) Operation mode (RMOD) [PLC output signal]
Operation mode status (RMDS) [PLC input signal]
The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front
panel of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown
below.

Controller MODE switch = AUTO Controller MODE switch = MANU

RMOD signal = OFF AUTO mode MANU mode

4. SCON-CA/CB/CGB/CAL/CGAL
(AUTO mode is specified) (RMDS=OFF) (RMDS=ON)
RMOD signal = ON MANU mode MANU mode
(MANU mode is specified) (RMDS=ON) (RMDS=ON)

(Note) In the MANU mode, operation from the PLC cannot be performed.

(20) Position/simple-direct switching (PMOD) [PLC output signal]

This signal is used to switch between the mode where the target position is set using a value registered in the
position table stored in the controller, and the mode where a value specified by the target position channel of the
PLC is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the target position channel

(21) Push-motion specification (PUSH) [PLC output signal]

Push-motion operation can be performed when a move command is issued after turning this signal ON.
Normal positioning operation is performed if this signal is set to OFF.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)

(22) Push direction specification (DIR) [PLC output signal]

This signal specifies the direction in which the actuator pushes the load.
When the DIR signal is turned OFF, the actuator will push the load in the direction of the value determined by
subtracting the positioning band from the target position.
When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by
adding the positioning band to the target position.
The DIR signal is invalid during normal positioning operation.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)

Speed

Travel

Positioning band Positioning band Positioning band

DIR = OFF Target position DIR = ON

235
 (23) Load missed in push motion (PSFL) [PLC input signal]
This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved
the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning
band channel of the PLC.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)

(24) Incremental specification (INC) [PLC output signal]

If a move command is issued while this signal is ON, the actuator will move from the current position by the value
input to the target position channel of the PLC. (Incremental move)
4. SCON-CA/CB/CGB/CAL/CGAL

If the INC signal is OFF, the actuator will move to the position corresponding to the value of the target position
channel of the PLC.

(25) Push motion in progress (PUSHS) [PLC input signal]

This signal turns ON while push-motion operation is in progress.
Speed
Target position

Travel

Positioning band

The PUSHS signal will turn OFF once the actuator misses the load in push-motion operation, a pause command
or the next move command is issued, or the servo turns off.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)

236
(26) Load output judgment (LOAD) [PLC input signal]
This signal is effective only during push-motion operation.
To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold
has been reached during push-motion operation.
The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command
torque (motor current) exceeds the threshold inside the check range.
Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold
for the specified time cumulatively.
The processing procedure is the same as the procedure applicable to push judgment. The time of load output
judgment can be changed freely using parameter No. 50, “Load output judgment time.”

4. SCON-CA/CB/CGB/CAL/CGAL
The status of this signal will be retained until the next move command is received.

The LOAD signal turns ON when the The position complete signal turns ON upon
command torque exceeds the threshold judgment of completion of push-motion operation
inside the torque check range. after the actuator contacted the load.

Speed
Check range

Travel

Positioning band (maximum push distance)

Target position

• The push speed is set by parameter No. 34, “Push speed.”

The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the
PLC.
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

237
 (27) Torque level (TRQS) [PLC input signal]
This signal is effective only during push-motion operation.
If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving
within the positioning band), the TRQS signal will turn ON.
Since the level of current is monitored, the ON/OFF status of this signal will also change when the current
changes.
The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired
speed, therefore, the applicable parameters must be adjusted.
The position complete signal turns ON upon
judgment of completion of push-motion
4. SCON-CA/CB/CGB/CAL/CGAL

operation after the actuator contacted the load.

Speed

Range where the TRQS signal is

Travel output

Positioning band (maximum push dimension)

Target position
• The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
• Set parameter No. 50, “Load output judgment time.”
• The threshold is set by the load current threshold channel of the PLC.
• The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.

Warning: The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.

238
(28) Absolute Battery Voltage Low Warning (BALM) [PLC Input Signal]
With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF
with an incremental system.
This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated
continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
(If you are using an absolute system and this signal turns ON, replace the battery at the earliest
opportunity.)

(29) Vibration Damping Control Mode Selection 0, 1 (NTC0, NTC1) [PLC Output Signal]
The vibration damping control function suppresses the load vibration induced by IAI’s actuator. Measure

4. SCON-CA/CB/CGB/CAL/CGAL
the vibration frequency and set it in a parameter. In another parameter, select and set an appropriate
option based on a combination of these signals.
For details, refer to the operation manual for your controller.

NTC1 NTC0 Function Remarks

OFF OFF Do not use vibration damping control. Factory setting
OFF ON Select parameter set 1
ON OFF Select parameter set 2
ON ON Select parameter set 3

Input timing
An input timing chart of NTC0/NTC1 signals is shown below.

Target position

NTC0

NTC1
*

DSTR
* T1: 0 ms or greater

Caution: Since the statuses of NTC0/NTC1 signals are loaded when a movement command (DSTR) is
recognized, nothing happens when the NTC0/NTC1 signals are turned ON/OFF while the
actuator is moving.

239
 (30) Acceleration/deceleration mode (MOD1, MOD0) [PLC Output Signal]
These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode
before issuing an actuator move command.

MOD1 MOD0 Pattern name Remarks

OFF OFF Trapezoid pattern Factory setting
OFF ON S-motion
ON OFF Primary delay filter
ON ON Not available.
4. SCON-CA/CB/CGB/CAL/CGAL

Trapezoid pattern
Speed

Acceleration Deceleration

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

S-motion
The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the
middle.
Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the
actuator to accelerate/decelerate gradually at start of movement and immediately before stopping.
Speed

Time
* The S-motion level is set by parameter No. 56, “S-motion ratio setting.” The setting unit is % and the
setting range is 0 to 100.
(The above graph assumes a S-motion ratio of 100 %.)
If “0” is set, the S-motion mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.
Primary delay filter
The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration
(trapezoid pattern). Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Speed

Time
* The primary delay level is set by parameter No. 55, “Primary filter time constant for position
command.” The minimum input unit is 0.1 msec and the setting range is 0.0 to 100.0.
If “0” is set, the primary delay mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.

240
(31) Standstill Mode Selection (ASO0, ASO1) [PLC Output Signal]
Select the stop mode to be applied while the actuator is standing by to move to the next position after completing
a positioning.
If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power
consumption.
For details, refer to the operation manual for your controller.

ASO1 ASO0 Standstill mode Remarks

OFF OFF Disabled (Factory setting)
OFF ON Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 36.

4. SCON-CA/CB/CGB/CAL/CGAL
ON OFF Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 37.
ON ON Auto servo OFF mode
T in the chart below corresponds to the setting of parameter No. 38.

Movement command
Auto servo OFF mode
(A green LED blinks.)

Servo status
Servo ON status

Actuator movement
Target position
Delay time until the servo turns off after
completion of positioning (sec)

(32) Load Cell Calibration Command (CLBR) [PLC Output Signal]

Load Cell Calibration Complete (CEND) [PLC Intput Signal]

The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the
reference (0 N), perform the following calibration. Also perform this calibration in other conditions as necessary
(such as during readjustment, inspection, etc.).
[1] Stop the operation. (Calibration cannot be performed while any axis is operating, pushing a work part or
paused, in which case an attempt to perform calibration will generate a 0E1 (load cell calibration error) alarm.
[2] Turn ON the load cell calibration signal (CLBR) and keep it ON for at least 20 ms.
[3] Once the calibration is complete, the calibration complete signal (CEND) turns ON. Thereafter, turn OFF the
CLBR signal.
If the calibration was not successful, a 0E1 (load cell calibration error) alarm generates.

Caution: Normal operation commands are not accepted while the CLBR signal is ON.

241
 Signal input is recognized
continuously for 20 ms*1 Calibration time*2

Turn the CLBR OFF after confirming that

the CEND has turned ON.
4. SCON-CA/CB/CGB/CAL/CGAL

The CEND turns ON when the calibration has completed

successfully. If the CLBR is OFF, the CEND remains OFF.

*1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not
performed.
*2 If the CLBR is turned OFF during this period, an alarm generates.

(33) Servo Gain Parameter Set Selection (GSL0, GSL1) [PLC Output Signal]
The actuator can be operated by selecting, for each position movement, any one of the following four pre-defined
sets of servo gain parameters (six different parameters).
For details, refer to the operation manual for your controller.

GSL1 GSL0 Function Remarks

OFF OFF Select parameter set 0 Factory setting
OFF ON Select parameter set 1
ON OFF Select parameter set 2
ON ON Select parameter set 3

242
4.8 I/O Signal Timings
The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the
PLC’s sequence program, until a response (status) signal is turned, is expressed by the formula below:

Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.)
Yt: Master station → slave station transmission delay time
Field network transmission delay time
Xt: Slave station → master station delay time

For the master station → slave station transmission delay time (Yt) and slave station → master station delay time

4. SCON-CA/CB/CGB/CAL/CGAL
(Xt), refer to the operation manuals for the DeviceNet master unit and the PLC in which the master unit is
installed.

PLC sequence program

Control signal

Status signal
Master station → slave Slave station → master
station transmission station delay time (Xt)
delay time (Yt)

SCON-CA/CB/CAL
Control signal

Status signal
Command
processing time

243
 4.9 Operation
Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are explained
using examples of basic operations.
For the remote I/O mode 1 to 3, refer to the operation manual for the controller.
(In remote I/O mode 2 or 3, read the current position, command current or current load from each applicable byte
on the PLC side as deemed necessary.)

(1) Operation in the position/simple direct mode 1, 2

Operate the actuator by writing the position data to the PLC’s target position, while specifying the speed,
4. SCON-CA/CB/CGB/CAL/CGAL

acceleration/deceleration, positioning band, push-current limiting value, etc., in the position table.
 Example of operation (normal positioning operation)
(Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning
band, etc.) in the position table.
Turn the position/simple direct switching (PMOD) signal ON.
[1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1.
[2] Set the position number for which the speed, acceleration/deceleration, etc., have been set for the specified
position number corresponding to output address n+2 (*).
[3] Turn the positioning start (CSTR) signal ON while the positioning complete (PEND) signal is ON or moving
signal (MOVE) is OFF.
The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal.
[4] The CSTR signal turns ON and PEND turns ON tdpf thereafter.
[5] Turn the CSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned
ON. Do not change the target value (*) until the CSTR signal is turned OFF.
[6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[7] The current position data (*) in input addresses n and n+1 are constantly updated. When the remaining travel
falls within the positioning band set by the position data table, the PEND signal turns ON if the CSTR signal
is OFF, upon which the completed position number is output to the completed position number (*)
corresponding to input address n+2.
Accordingly, wait until the PEND signal turns ON and an appropriate time (time to move the remaining travel)
elapses before reading the completed position number (*) following the completion of positioning.
The current position data may vary slightly due to vibration, etc., even when the actuator is at standstill.
[8] The target position data can be changed while the actuator is moving.
To change the target position, change the target position data, wait until at least the PLC’s scan time elapses,
and then turn the CSTR signal ON.
Change the value of the CSTR signal after an elapse of at least the PLC’s scan time.

 Example of operation (push-motion operation)

In push-motion operation, a current-limiting value is set in the Push field of the position data table in the
“preparation” stage.
When positioning is started by specifying the position number for which the above value has been set in the Push
field, push-motion operation is performed.

244
 [1]
Set value of target
position data
(PLC → SCON-CA/CB/CAL)

[2]

Specified position number

(PLC → SCON-CA/CB/CAL)

4. SCON-CA/CB/CGB/CAL/CGAL
Positioning start
[3]
CSTR
(PLC → SCON-CA/CB/CAL)

[4]
[5]
Positioning complete
PEND
(SCON-CA/CB/CAL → PLC)
[7]

Current position

(SCON-CA/CB/CAL → PLC) [6]

Moving
MOVE
(SCON-CA/CB/CAL → PLC)
Positioning band

Actuator movement
(Normal positioning)

Work part missed in

push-motion operation

Push-motion operation
in progress

Push

Actuator moving
(push)
Missed the work part

*T1: Make sure “T1 ≥ 0 ms” is satisfied by considering

the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 3 (msec)

245
 (2) Operation in the half direct mode 1 to 3
Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed,
acceleration/deceleration and push-current limiting specification.
 Example of operation (push-motion operation)
[1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1.
[2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
[3] Set the speed data for the speed (*) corresponding to output address n+4.
[4] Set the acceleration/deceleration data for the acceleration/deceleration (*) corresponding to output address
n+5.
[5] Set the push-current limiting data for the push-current limiting value (*) corresponding to output address n+6.
4. SCON-CA/CB/CGB/CAL/CGAL

[6] Turn the push specification (PUSH) signal ON.

[7] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22) of 4.7.11.)
[8] Turn the positioning command (DSTR) signal ON while the positioning complete (PEND) signal is ON or
moving signal (MOVE) is OFF.
The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal.
[9] The DSTR signal turns ON and PEND turns ON tdpf thereafter.
[10] Turn the DSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned
ON. Do not change the values set in [1] to [5] until the DSTR signal is turned OFF.
[11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[12] The current position data (*) in input addresses n and n+1 are constantly updated.
[13] The PEND signal turns ON when the motor current reaches the current-limiting value set in [5] while the
DSTR signal is OFF. (Push-motion operation is completed.)
If the motor current does not reach the current-limiting value set in [5] after the positioning band set in [2] has
been reached, the missed load in push-motion operation (PSFL) signal turns ON. In this case, the PEND
signal will not turn ON. (The actuator has missed the load during push-motion operation.)
[14] Turn the PUSH signal OFF after the PEND signal or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

In normal positioning operation, the signal in [6] is set to OFF.
When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns
ON as long as the DSTR signal is OFF.

246
 [1]
Set value of target
position data
(PLC → SCON-CA/CB/CAL)

[2]
Set value of positioning
band data
(PLC → SCON-CA/CB/CAL)

[3]
Set value of
speed data

4. SCON-CA/CB/CGB/CAL/CGAL
(PLC → SCON-CA/CB/CAL)

[4]
Set value of
acceleration/
deceleration data
(PLC → SCON-CA/CB/CAL)
[5]
Set value of push-current
limiting value
(PLC → SCON-CA/CB/CAL)

[6]

Push specification
(PLC → SCON-CA/CB/CAL)

[7]
Push direction
specification
DIR
(PLC → SCON-CA/CB/CAL)

Positioning command [14]

DSTR [8]
(PLC → SCON-CA/CB/CAL)
[10]
Positioning complete/missed load [9]
during push-motion operation
PEND/PSFL
(SCON-CA/CB/CAL → PLC) [13]

Current position
(SCON-CA/CB/CAL → PLC)
[12]

Moving
MOVE
(SCON-CA/CB/CAL → PLC)

Push
Actuator operation
(push) Positioning band

Actuator operation
(normal positioning operation)

*T1: Make sure “T1 ≥ 0 ms” is satisfied by considering

the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

247
 (3) Operation in the full direct mode
Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target
position and positioning band.
 Example of operation (push-motion operation)
[1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1.
[2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
[3] Set speed data for the speeds (*) corresponding to output addresses n+4 and n+5.
[4] Set the position-zone output boundary data for the zone boundary+ and zone boundary- (*) corresponding to
output addresses n+6 to n+9.
[5] Set the acceleration data for the acceleration (*) corresponding to output address n+10.
4. SCON-CA/CB/CGB/CAL/CGAL

[6] Set the deceleration data for the deceleration (*) corresponding to output address n+11.
[7] Set the push-current limiting value data for the push-current limiting value (*) corresponding to output
address n+12.
[8] Set the load current threshold data for the load current threshold (*) corresponding to output address n+13.
[9] Turn the push specification (PUSH) signal ON.
[10] Specify the push direction using the push direction specification (DIR) signal. (Refer to (22) of 4.7.11.)
[11] Turn the positioning command (DSTR) signal ON while the positioning complete (PEND) signal is ON or
moving signal (MOVE) is OFF.
The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal.
[12] The DSTR signal turns ON and PEND turns ON tdpf thereafter.
[13] Turn the DSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned
ON. Do not change the values set in [1] to [8] until the DSTR signal is turned OFF.
[14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[15] The current position data (*) in input addresses n and n+1 are constantly updated.
[16] The PEND signal turns ON when the motor current reaches the current-limiting value set in [7] while the
DSTR signal is OFF. (Push-motion operation is completed.)
If the motor current does not reach the current-limiting value set in [7] after the positioning band set in [2] has
been reached, the missed load in push-motion operation (PSFL) signal turns ON. In this case, the PEND
signal will not turn ON. (The actuator has missed the load during push-motion operation.)
[17] Turn the PUSH signal OFF after the PEND signal or PSFL signal has turned ON.

 Example of operation (normal positioning operation)

In normal positioning operation, the signal in [9] is set to OFF.
When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns
ON as long as the DSTR signal is OFF.

248
 [1]
Set value of target
position data
(PLC → SCON-CA/CB/CAL)

[2]

Set value of positioning

band data
(PLC → SCON-CA/CB/CAL)

4. SCON-CA/CB/CGB/CAL/CGAL
[3]

Set value of
speed data
(PLC → SCON-CA/CB/CAL)

[4]

Set value of position

zone boundary data
(PLC → SCON-CA/CB/CAL)
[5]

Set value of
acceleration data
(PLC → SCON-CA/CB/CAL)
[6]

Set value of
deceleration data
(PLC → SCON-CA/CB/CAL)
[7]
Set value of push-current
limiting value data
(PLC → SCON-CA/CB/CAL)
[8]

Set value of load current

threshold data
(PLC → SCON-CA/CB/CAL)

249
 [9]

Push specification
PUSH
(PLC → SCON-CA/CB/CAL)

[10]

Push direction specification

DIR
4. SCON-CA/CB/CGB/CAL/CGAL

(PLC → SCON-CA/CB/CAL)

Positioning command [17]

DSTR [11]
(PLC → SCON-CA/CB/CAL)
[12] [13]
Positioning complete/missed load
during push-motion operation
PEND/PSFL
(SCON-CA/CB/CAL → PLC) [16]

Current position
(SCON-CA/CB/CAL → PLC)
[15]
[14]

Moving
MOVE
(SCON-CA/CB/CAL → PLC)

Push
Actuator operation
(push)
Positioning band

Actuator operation
(normal positioning
operation)
*T1: Make sure “T1 ≥ 0 ms” is satisfied by considering
the scan time of the host controller.
*Yt + Xt ≤ tdpf ≤ Yt + Xt + 2 (msec)

250
(4) Data change during movement
In the half direct mode 1 to 3 and full direct mode, the values of target position data, acceleration/deceleration
data, speed data, positioning band and push-current limiting value set by the PLC can be changed while the
actuator is moving. After a desired data has been changed, turn the positioning command (DSTR) signal “ON” for
tdpf or longer.
After the DSTR is turned “OFF,” wait for at least “twcsON + twcsOFF” before DSTR is turned “ON” again.
An example of changing the speed or acceleration/deceleration is given below.

[1]

4. SCON-CA/CB/CGB/CAL/CGAL
Set value of speed or
acceleration/deceleration
(PLC → SCON-CA/CB/CAL)

[2] [3]

DSTR
(PLC → SCON-CA/CB/CAL)

PEND
(SCON-CA/CB/CAL → PLC)

MOVE
(SCON-CA/CB/CAL → PLC)
Speed n3

Speed n2

Actuator speed

twcsON  Yt + Xt + 2 (msec)
twcsOFF  Yt + Xt + 2 (msec)
*Yt + Xt  tdpf  Yt + Xt + 2 (msec)

Caution: 1. If the speed is not yet set or set to “0,” the actuator will remain standstill and no alarm will
generate.
2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to
a stop and no alarm will generate.
3. Even when the acceleration/deceleration or speed data alone is changed while the
actuator is moving, the target position data must also be set.
4. Even when the target position alone is changed while the actuator is moving, the
acceleration/deceleration and speed data must also be set.

251
 4.10 DeviceNet Parameters
The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and 159.

Category: C: External interface parameter

No. Category Symbol Name Factory default
1
For parameter Nos. 1 to 83, refer to the operation
~

manual for the controller.

83
4. SCON-CA/CB/CGB/CAL/CGAL

84 C FMOD Fieldbus operation mode 0

85 C NADR Fieldbus node address 63
86 C FBRS Fieldbus baud rate 0
87 C NYTP Network type 2
90 C FMIO Fieldbus I/O format 3
159 C FBVS FB Half Direct Mode Speed Unit 0

z Fieldbus operation mode (No. 84 FMOD)

Specify a desired operation mode in parameter No. 84 using a value between 0 and 4.
Set value of Number of
Mode name Description
parameter No. 84 occupied bytes
The actuator is operated by PIOs (24-V I/Os) via
0 (factory setting) Remote I/O mode 1CH
PROFIBUS-DP.
The target position can be specified directly as a value or
Position/simple direct
1 4CH using a value in the position data table. Other values
mode
required for operation are set in the position data table.
Operate the actuator by specifying the speed,
2 Half direct mode 8CH acceleration/deceleration and push-current value, in
addition to the target position, directly using values.
Operate the actuator by specifying all values relating to
3 Full direct mode 16CH
position control directly using values.
The current-position and current-speed read functions
4 Remote I/O mode 2 6CH are added to the functions available in the remote I/O
mode.
Position/simple direct Set this value to implement force control in the
5 4CH
mode 2 position/simple direct numerical mode.
Set this value to implement force control in the half direct
6 Half direct mode 2 8CH
numerical mode.
Set this value to implement force control in the remote I/O
7 Remote I/O mode 3 6CH
mode 2.
Set this value to switch servo gains or vibration damping
8 Half direct mode 3 8CH
control parameters in the half direct numerical mode.
(Note) SCON-CAL is not applicable for the operation modes 5 to 7.

z Fieldbus node address (No. 85 NADR)

Specify the slave number of the remote station in parameter No. 85.

Setting range: 0 to 125 (The factory setting is 1.)

z Fieldbus baud rate (No. 86 FBRS)

The baud rate is automatically set according to the corresponding setting on the master side and thus need
not be set.

252
z Network type (No. 87 NTYP)
Specify the network module in parameter No. 87. Do not change the default value.

z Fieldbus I/O format (No. 90 FMIO)

PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the
controller and number of occupied addresses in each mode.
By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before
transmission within the range of communication with the PLC’s I/O addresses.

Set value of
Description
parameter No. 90

4. SCON-CA/CB/CGB/CAL/CGAL
0 Data is not swapped and sent as is to the PLC. (Refer to Example i.)
The upper byte and lower byte of the upper word are swapped, while the upper byte and
1
lower byte of the lower word are also swapped. (Refer to Example ii.)
In the case of a word register, the upper word and lower word are swapped. (Refer to
2
Example iii.)
The upper byte and lower byte of the upper word are swapped, while the upper byte and
lower byte of the lower word are also swapped.
3 (factory setting)
In the case of a word register, the upper word and lower word are also swapped.
(Refer to Example iv.)

(Example i) Set value = “0” z indicates ON, while O indicates OFF.

SCON
input
register

Hexadecimal
data

PLC:
Output

Hexadecimal
data

SCON
output
register

Hexadecimal
data

PLC:
Input

Hexadecimal
data

253
 (Example ii) Set value = “1” z indicates ON, while O indicates OFF.

SCON
input
register

Hexadecimal
data
4. SCON-CA/CB/CGB/CAL/CGAL

PLC:
Output

Hexadecimal
data

SCON
output
register

Hexadecimal
data

PLC:
Input

Hexadecimal
data

254
(Example iii) Set value = “2” z indicates ON, while O indicates OFF.

SCON
input
register

Hexadecimal
data

4. SCON-CA/CB/CGB/CAL/CGAL
PLC:
Output

Hexadecimal
data

SCON
output
register

Hexadecimal
data

PLC:
Input

Hexadecimal
data

255
 (Example iv) Set value = “3” z indicates ON, while O indicates OFF.

SCON
input
register

Hexadecimal
data
4. SCON-CA/CB/CGB/CAL/CGAL

PLC:
Output

Hexadecimal
data

SCON
output
register

Hexadecimal
data

PLC:
Input

Hexadecimal
data

z FB Half Direct Mode Speed Unit (No.159 FBVS)

Determines the unit of measure when operating the unit in Half Direct Mode.

Parameter No.159 setting value Speed setting unit

0 (Set in delivery) 1.0 mm/sec
1 0.1 mm/sec

256
4.11 Troubleshooting
z Alarm messages, causes and remedial actions
If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four
bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 1 to 3.
In the position/simple direct mode 1, 2, this simple alarm code is output to the (n+2) channel.
In the half direct mode 1 to 3 and full direct mode, this simple alarm code is output to the (n+6) channel.
[1] Check the generated alarm code using the monitor function of the PLC, etc., or connect the RC PC software
or teaching pendant and check the code on the status monitor screen.
[2] Look up the applicable alarm code in the alarm list provided in the operation manual for the controller.
[3] Take appropriate actions according to the explanation given for the applicable code.

4. SCON-CA/CB/CGB/CAL/CGAL
For the alarm codes listed in the table below, take the specified action.

ID RES
Code Error name Cause/action
(*1) (*2)
Cause: A fieldbus module error has been detected.
0F2 Fieldbus module error 05 X
Action: Check the parameter.
Cause: The module could not be detected.
Fieldbus module not
0F3 04 X Action: Reconnect the power. If the error persists,
detected
contact IAI.
(*1) ID → Simple alarm code
(*2) RES → Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset

257
 5. Servo Press Type SCON-CB/CGB
Note As CB and CGB Types possess the same functions, this manual describes them together as CB Type.

5.1 Operation Modes and Functions

The operation modes described in the table below for SCON-CB Type applicable for DeviceNet are available to
choose from for operation.

Operation modes and key functions

Key function Remote I/O mode Full function mode
Number of occupied bytes 2 32
Operation by position data specification × ○
× ○
5. Servo Press Type SCON-CB/CGB

Direct speed/acceleration specification

Current position reading × ○
Current speed reading × ○
Program number command operation ○ ○
Judgement result reading ○ ○
Current load data reading × ○
Overload level monitor × ○
Servo gain switching ○(*1) ○(*1)
(*1) One servo gain can be registered to one press program.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24 V I/Os) via DeviceNet communication.
Number of occupied channel: 1CH
SCON-CB supporting
SCON-CB not supporting DeviceNet
DeviceNet
PLC PLC

Communication
Flat cable cable

PIO connection DeviceNet connection

[2] Full function mode: It is the system to support all the features such as movement by direct indication or current
load reading in addition to those for servo press such as startup of press program or
judgment result reading.
Number of occupied channel: 16CH

SCON-CB not supporting

DeviceNet
PLC
Command Program No.: 1

Current Load Data: 10.0N Actuator

Current Speed: 10mm/s
Judgement Result: OK

258
5.2 Model Numbers
The model numbers of SCON-CB controller supporting DeviceNet are indicated as follows, respectively:
 SCON-CB--DV-
For ~ 750W motor For 3000 ~ 3300W motor
(The figure below 400W or less type)

5. Servo Press Type SCON-CB/CGB

5.3 Interface Specifications
Item Specification
Communication protocol DeviceNet 2.0
Group 2 only server
Network-powered isolation node
Communication specification Master-slave connection Bit strobe
Polling
Baud rate Automatically set to the same value as the band rate set in the master
Communication cable length Baud rate Maximum network length Maximum branch Total branch
line length line length
500 kbps 100 m 39 m
250 kbps 250 m 6m 78 m
125 kbps 500 m 156 m
Note) When a large-size DeviceNet cable is used.
Communication power supply 24 V DC (supplied from DeviceNet)
Consumption current of
60 mA
communication power supply
Number of occupied nodes 1 node

259
 5.4 DeviceNet Interface

5.4.1 Name of Each Part

The name of each part relating to DeviceNet is shown.

 SCON-CB

Monitor LEDs
5. Servo Press Type SCON-CB/CGB

Red
White

DeviceNet communication connector

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

260
5.4.2 Monitor LED Indicators
The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller)
condition and network condition.
The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below
based on the illumination status and color of each LED.

MS (Module Status) LED … Condition of the node (controller)

NS (Network Status) LED … Condition of the network
{: Steady light, ×: Off, ☆: Blinking
Illumination
LED Color Description (meaning)
status
{ The board is operating normally.

5. Servo Press Type SCON-CB/CGB

Green A hardware error occurred. The error may be reset by
☆
reconnecting the power.
{ A hardware error occurred. The board must be replaced.
MS
Orange A user setting error, configuration error or other minor error is
☆ present. These errors can be reset by setting the applicable item
again, etc.
- × DeviceNet is initializing or the power is not supplied.
Network connection has been established and the board is
{
communicating normally.
Green
The board is online, but network connection is not yet established.
☆
Communication is stopped. (The network is normal.)
NS Node address duplication or bus-off state was detected.
{
Communication is not possible.
Orange
A communication error occurred (communication time-out
☆
occurred).
The board is not online.
- × DeviceNet power is not supplied.

Self test is performed when the power is turned on.

During the test, the monitor LEDs cycle in the following sequence:
[1] NS turns off ⇒ [2] MS illuminates in steady green (approx. 0.25 second)
⇒ [3] MS illuminates in steady orange (approx. 0.25 second) ⇒ [4] MS illuminates in steady green
⇒ [5] NS illuminates in steady green (approx. 0.25 second)
⇒ [6] NS illuminates in steady orange (approx. 0.25 second) ⇒ [7] NS turns off
When the self test is finished and the board starts communicating normally, both the MS and NS LEDs
change to steady green.

261
 5.5 Setting
Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the
controller to “MANU” side.
Refer to the instruction manual for each teaching tool for the applicable version of the teaching tool that can
be applied to DeviceNet.

5.5.1 Operation Mode Selecting

Set parameter No. 84 “FMOD: Field bus operation mode.”

[Refer to 5.9 DeviceNet Related Parameters.]

Number of
5. Servo Press Type SCON-CB/CGB

Set value Operation mode

occupied bytes
0 (Factory setting) Remote I/O mode 1
1 Full function mode 16
* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.

5.5.2 Setting the Baud Rate

The baud rate is automatically set to the same value as the baud rate set in the master.
Accordingly, you do not need to set the baud rate.

5.5.3 Setting the Station Number

The node address is set using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software.
[Refer to 5.9, “DeviceNet Parameters.” ]

Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.)

(Note) Exercise caution to avoid node address duplication.

For details, refer to the operation manuals of the master unit and PLC installed in the master unit.

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

262
5.6 Communicating with the Master Station
5.6.1 Operation Modes and Corresponding PLC I/O Areas
The channels allocated for each operation mode are described as follows.
• PLC output → SCON-CB input (* “n” indicates the node address of each axis.)
DI on the SCON-CB side and input data register
PLC output
area (bytes) Remote I/O mode Full function mode
Number of occupied channel: 1CH Number of occupied channel: 16CH
n Port No. 0 to 15
Target position
n+1
n+2
Positoning band

5. Servo Press Type SCON-CB/CGB

n+3
n+4
Command speed
n+5
n+6
n+7
Occupied area
n+8
n+9
n+10 Acceleration
n+11 Deceleration
n+12 Occupied area
n+13 Load current threshold
n+14 Status signal 1
n+15 Status signal 2
• SCON-CB input → PLC output (* “n” indicates the byte address of each axis.)
DO on the SCON-CB side and output data register
PLC output
area (bytes) Remote I/O mode Full function mode
Number of occupied channel: 1CH Number of occupied chanel: 16CH
n Port No. 0 to 15
Current position
n+1
n+2
Feedback current
n+3
n+4
Current speed
n+5
n+6
Current load
n+7
n+8
Occupied area
n+9
n+10 Program alarm code
n+11 Alarm code
n+12 Overload level monitor
n+13 Execution program
n+14 Status signal 1
n+15 Status signal 2
(Note) The Occupied area shows the area to be occupied with the operation mode setting.
Therefore, this area cannot be used for any other purpose. Also, exercise caution to avoid node address
duplication.

263
 5.6.2 Remote I/O Mode (Number of Occupied Channel: 1)
This is the operation mode with the position No. set up as the same as using PIO (24V I/O).
Create a press program on a PC software for RC.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.

Operation modes and key functions

Key function
○: directly controls
×: Invalid
Operation by position data specification ×
Direct speed/acceleration specification ×
5. Servo Press Type SCON-CB/CGB

Current position reading ×

Current speed reading ×
Program number command operation ○
Judgement result reading ○
Current load data reading ×
Overload level monitor ×
Servo gain switching ○(*1)
(*1) One servo gain can be registered to one press program.

(1) PLC address configuration (* “n” indicates the node address of each axis.)
Parameter SCON-CB side PLC side output SCON-CB side PLC side input
No. 84 DI (Port No.) address (bytes) DO (Port No.) address (bytes)
0 0 to 15 n+0 0 to 15 n+0

264
(2) I/O Signal Allocation for each Axis
The I/O signals of each axis consist of one input (1 word=1CH) and one output word (channel) in the I/O
areas.
• Each address is controlled by ON/OFF bit signals.
PLC output
Address (* “n” indicates the node address of each axis.)
1 word = (1CH) =16 bit
n+0、n+1
n+0
Controller
input port
number

5. Servo Press Type SCON-CB/CGB

PLC input
Address (* “n” indicates the node address of each axis.)
1 word = (1CH) =16 bit
n+0、n+1
n+0, n+1

Controller
output port
number

(3) I/O signal assignment [Refer to Instruction manual for the controller main body for more information.]
Port Port
Category Symbol Signal name Category Symbol Signal name
No. No.
Program finished
0 PC1 0 PCMP
in normal condition
1 PC2 1 PRUN Program execution
2 PC4 2 PORG Program home position
Command program No. While in aproaching
3 PC8 3 APRC
operation
While in probing
4 PC16 4 SERC
operation
While in pressurizing
5 PC32 5 PRSS
operation
While in pressurizing
6 PSTR Program start 6 PSTP
PLC output stop
SCON-CB
→ Program home While in program home
7 PHOM output 7 MPHM
SCON-CB movement movement
→PLC input
input Axis movement
8 ENMV 8 JDOK Judgement OK
permission
9 FPST Program compulsory stop 9 JDNG Judgement NG
Loadcell calibration Loadcell calibration
10 CLBR 10 CEND
command completion
11 BKRL Forced brake release 11 RMDS Operation mode status
Operation mode
12 RMOD 12 HEND Home-return completion
switching
13 HOME Home-return 13 SV Servo ON status
14 RES Reset 14 * ALM Alarm
15 SON Servo ON command 15 * ALML Light failure alarm
The symbol with a * mark shows the ON signal in normal condition.

265
 5.6.3 Full Function Mode (Number of Occupied Channel: 16)

It is the mode operation system to conduct all the servo press features in fieldbus communication. Set each value in the input
and output areas.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

Operation modes and key functions

Key function
○: directly controls
×: Invalid
Operation by position data specification ○
Direct speed/acceleration specification ○
○
5. Servo Press Type SCON-CB/CGB

Current position reading

Current speed reading ○
Program number command operation ○
Judgement result reading ○
Current load reading ○
Overload level monitor ○
Servo gain switching ○(*1)
(*1) One servo gain can be registered to one press program.

(1) PLC address configuration (* “n” indicates the node address of each axis.)
PLC side
Parameter SCON-CB side PLC side output SCON-CB side
input address
No. 84 input side resister address (bytes) output side resister
(bytes)
n+0 n+0
Target position Current position
n+1 n+1
n+2 n+2
Positioning band Feedback current
n+3 n+3
n+4 n+4
Speed Current speed
n+5 n+5
n+6 n+6
Occupied area Current load data
n+7 n+7
1 n+8 n+8
Occupied area Occupied area
n+9 n+9
Acceleration n+10 Program alarm code n+10
Deceleration n+11 Alarm code n+11
Occupied area n+12 Overload level monitor n+12
Command program No. n+13 Execution program No. n+13
Status signal 1 n+14 Status signal 1 n+14
Status signal 2 n+15 Status signal 2 n+15
(Note) The Occupied area shows the area to be occupied with the operation mode setting.
Therefore, this area cannot be used for any other purpose. Also, exercise caution to avoid node
address duplication.

266
(2) I/O Signal Allocation for each Axis
The I/O signals of each axis consist of sixteen input words (16-words = 32 bytes) and four output words in
the I/O areas.
z The control signals 1,2 and status signals 1,2 are ON/OFF signals in units of bit.
z The target position and current position are expressed using 2-word (32 bits) binary data. The figures
from –999999 to +999999 (Unit: 0.001 mm) can be set in PLC. However, set the position data within the
soft stroke range (0 to effective stroke length) for the actuator concerned.
z The positioning band are expressed using 2-word (32 bits) binary data. The figures from 1 to +999999
(Unit: 0.001 mm/sec) can be set in PLC.
z The speed are expressed using 2-word (32 bits) binary data. The figures from 0 to +999999 (Unit: 0.01
mm/sec) can be set in PLC. However, Set a value that does not exceed the max. speed of the applicable
actuator.
z The acceleration/deceleration using 1-word (16 bits) binary data. The figures from 1 to 999 (Unit: 0.01 G)

5. Servo Press Type SCON-CB/CGB

can be set in PLC. However, Set a value that does not exceed the max. acceleration/deceleration of the
applicable actuator.
z The command program No. using 1-word (16 bits) binary data. The figures from 0 to 63 can be set in PLC.
z The feedback current using 2-word (32 bits) binary data (Unit: 0.1%).
z The current speed using 2-word (32 bits) binary data (Unit: 0.01mm/sec).
z The alarm code, program alarm code using 1-word (16 bits) binary data.
z The current load data using 2-word (32 bits) binary data (Unit: 0.01N).
z The overload level monitor using 1-word (16 bits) binary data (Unit: %).
z The execution program No. using 1-word (16 bits) binary data.

267
 PLC output
Address (* “n” indicates the node address of each axis.)

n+1
5. Servo Press Type SCON-CB/CGB

n+2

n+3

n+4

n+5

n+6

n+7

268
Address (* “n” indicates the node address of each axis.)

n+8

n+9

5. Servo Press Type SCON-CB/CGB

n+10

n+11

n+12

n+13

n+14

n+15

269
 PLC input
Address (* “n” indicates the node address of each axis.)

n+1
5. Servo Press Type SCON-CB/CGB

n+2

n+3

n+4

n+5

n+6

n+7

270
Address (* “n” indicates the node address of each axis.)

5. Servo Press Type SCON-CB/CGB

271
 (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Adress Bit Symbol Function Details
32-bit signed integer.
Set the target position on the absolute coordinates.
The unit is 0.001 mm, while the specifiable range is -999999 to
999999.
Target 32-bit (Example) When it is “+2.541mm”, set it as “2541”.
- If the value larger than the value (0.2mm) inside the 5.8 (2)
position data
soft limit for the parameter, the movement would be
limited to the inside the soft limit (0.2mm).
* When the input is performed in hexadecimal notation, input
the negative value using a complement of 2.
32-bit integer.
5. Servo Press Type SCON-CB/CGB

The unit is 0.001 mm, while the specifiable range is 1 to 999999.

Positioning 32-bit
- (Example) When it is “2.540mm”, set it as “2540”. 5.8 (2)
band data It shows the allowable range from the target position,
that is regarded as the positioning completion.
32-bit integer.
Specify the speed at which to move the actuator.
The unit is 0.01 mm/sec, while the specifiable range is 0 to
PLC output

999999.
32-bit
Speed - Deceleration stop if and to specify in motion 0. It under 5.8 (2)
data suspension, it will remain stopped on the spot.
(Example) When it is “25.41mm”, set it as “2540”.
When the movement command is set with the value
bigger than the max. speed, an alarm is issued.
16-bit 16-bit integer.
Acceleration - Specify the acceleration and deceleration at which to move the
data
actuator.
The unit is 0.01G, while the specifiable range is 1 to 999.
5.8 (2)
16-bit (Example) To set 0.30G, specify “30.”
Deceleration - If a move command is issued by specifying “0” or a
data
value exceeding the maximum acceleration or
maximum deceleration, an alarm will occur.
16-bit integer.
Excection, or specify the movement to press program number
for press program home.
Command 16-bit Available range is from 0 to 63.
- After specified, excective program when turns ON press 5.8 (2)
program No. data
program start signal (PSTR).
Also, movement press program home movement signal when
turns ON press program home movement signal (PHOM).

272
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Adress Bit Symbol Function Details
b15
b14
b13
b12
b11
b10
b9
Control b8 - Can not be used. -
signal 1 b7
b6

5. Servo Press Type SCON-CB/CGB

b5
b4
b3
b2
b1
b0
b15 DSTR Positioning start: when the movement command is ON 5.6.4 (15)
-Jog: The actuator moves in the direction of home when the
b14 JOG- 5.6.4 (14)
signal is ON.
+Jog: The actuator moves in the direction opposite home when
b13 JOG+ 5.6.4 (14)
the signal is ON.
Jog speed/inching distance switching:
PLC output

Parameter No. 26, “Jog speed” and parameter No. 48, “Inching
b12 JVEL distance” are used when the signal is OFF, or parameter No. 47, 5.6.4 (13)
“Jog speed 2” and parameter No. 49, “Inching distance 2” are
used when the signal is ON.
Jog/inching switching:
b11 JISL Jog operation when the signal is OFF, or inching operation when 5.6.4 (12)
the signal is ON.
Probing stage:
b10 SSTP When this bit is ON at the time when probing stage completes, 5.6.4 (11)
stops at probing stage complete position
Control Program compulsory stop:
signal 2 b9 FPST 5.6.4 (10)
Executed press program stopped when it turns ON.
Axis operation permission:
b8 ENMV 5.6.4 (9)
Axis operation permitted when it turns ON.
b7 PHOM Program home return movement 5.6.4 (8)
b6 PSTR Program start 5.6.4 (7)
Forced brake release:
b5 BKRL 5.6.4 (6)
The brake is released when the signal turns ON.
Operation mode:
b4 RMOD AUTO mode when the signal is OFF, or MANU mode when the 5.6.4 (5)
signal is ON.
Load cell calibration command:
b3 CLBR 5.6.4 (4)
Calibration is performed when this signal turns ON.
b2 RES Reset: A reset is performed when the signal turns ON. 5.6.4 (3)
Home return: A home return command is issued when the signal
b1 HOME 5.6.4 (2)
turns ON.
b0 SON Servo ON command: The servo is ON when the signal is ON. 5.6.4 (1)

273
 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Contents Details
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
Current 32-bit
- (Example) Reading: 000003FFH = 1023 (decimal) = 1.023 mm 5.8 (2)
position data * If this data is read as a hexadecimal, a negative value is
indicated by a complement of 2.
32-bit integer.
Feedback 32-bit It shows the feedback current value.
- The unit is 0.1 %.
5.8 (2)
current data
(Example) Reading: 00000FFH = 255 (decimal) = 25.5 %
32-bit signed integer.
5. Servo Press Type SCON-CB/CGB

The current speed is indicated.

Positive value: The actuator is moving in the direction opposite
32-bit home.
Current
- Negative value: The actuator is moving in the direction of home. 5.8 (2)
speed data The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm/sec
* If this data is read as a hexadecimal value, a negative value is
indicated by a compliment of 2.
32-bit signed integer.
Current 32-bit The unit is 0.01N.
- 5.8 (2)
load data data * If this data is read as a hexadecimal value, a negative value is
indicated by a compliment of 2.
PLC input

16-bit integer.
The alarm code currently generated output.
Program 16-bit
- 0 is output when no alarm is present. 5.8 (2)
alarm code data For details on alarms, refer to the instruction manual for the
controller.
16-bit integer.
The signal turns ON when an alarm occurs.
16-bit
Alarm code - 0 is output when no alarm is present. 5.8 (2)
data For details on alarms, refer to the instruction manual for the
controller.
16-bit integer.
Motor temperature estimated from feedback current value, and
Overload
16-bit output in ratio with allowable upper limit as 100%.
level - 5.8 (2)
data The unit is %.
monitor
Overload alarm (E0) will be generated when this value gets to
100%.
16-bit integer.
The press program number currently executed is output. This
Execution
16-bit value is retained unless the next program number gets indicated
program - 5.8 (2)
data or the servo gets turned OFF.
No.
This value is retained until alarm reset when an alarm is
generated while a program is executed.

274
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Contents Details
Overall Judgment NG:
b15 JDNG Turns ON when overall judgment was made for load and position 5.6.4 (31)
(distance) as a NG.
Overall Judgment OK:
b14 JDOK Turns ON when Overall judgment was made for load and 5.6.4 (31)
position (distance) as a OK.
Load judgement NG:
b13 LJNG 5.6.4 (30)
Turns ON when load for pressing operation judged NG.
Load judgement OK:
b12 LJOK 5.6.4 (30)
Turns ON when load for pressing operation judged OK.
Position (distance) judgement OK:

5. Servo Press Type SCON-CB/CGB

b11 PJNG Turns ON when load for pressing operation position (distance) 5.6.4 (30)
judged NG.
Position (distance) judgement NG:
b10 PJOK Turns ON when load for pressing operation position (distance) 5.6.4 (30)
judged OK.
b9 -
Status
b8 - Can not be used. -
signal 1
b7 -
Press program standby:
b6 WAIT Turns ON in standby status after press program finished in 5.6.4 (29)
normal condition.
Returned during the operation:
b5 RTRN 5.6.4 (28)
Turns ON during returning stage.
PLC input

While in decompressing operation:

b4 DCMP 5.6.4 (27)
Turns ON during decompressing stage.
Pressurize during the stop:
b3 PSTP 5.6.4 (26)
Turns on during stop in pressurizing stage.
While in pressurizing operation:
b2 PRSS Turns ON while pressurizing operation executed in pressurizing 5.6.4 (25)
stage.
While in probing operation:
b1 SERC 5.6.4 (24)
Turns ON when probing stage executed.
While in approaching the operation:
b0 APRC 5.6.4 (23)
Turns ON when approaching stage executed.
Emergency stop: An emergency stop is being executed when
b15 EMGS 5.6.4 (22)
the signal is ON.
b14 ALM Alarm: The signal turns ON when an alarm occurs. 5.6.4 (21)
Light failure alarm:
b13 ALML 5.6.4 (20)
The signal turns ON when an light failure alarm occurs.
Program alarm:
b12 PALM 5.6.4 (19)
Status The signal turns ON when an program alarm occurs.
signal 2 Program home return during the movement:
b11 MPHM Turns ON while in movement to home position set to each press 5.6.4 (8)
program.
Program home position:
b10 PORG Turns ON while in achieve to reach to home position set to each 5.6.4 (8)
press program.
Press program excecuted:
b9 PRUN 5.6.4 (7)
Turns ON when press program executed.

275
 (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)
Signal Type Bit Symbol Contents Details
Press program finished in normal condition:
b8 PCMP Turns ON when press program finished with no alarm generated. 5.6.4 (7)
(Note) There is no relation to press judgment.
Zone 2: The signal is ON when the current position is inside the
b7 ZONE2 5.6.4 (18)
specified zone.
Zone 1: The signal is ON when the current position is inside the
b6 ZONE1
specified zone.
5.6.4 (18)

b5 - Can not be used. -

PLC input

Status Positioning complete signal:

b4 PEND 5.6.4 (16)
5. Servo Press Type SCON-CB/CGB

signal 1 The signal turns ON when the positioning is completed.

Operation mode:
b3 RMDS The signal is OFF when the current mode AUTO, or ON when 5.6.4 (5)
the current mode is MANU.
Loadcell calibration completion:
b2 CEND 5.6.4 (4)
ON when the calibration completion.
Home return completion:
b1 HEND 5.6.4 (2)
ON when the home return completion
b0 SV Operation ready: ON when the Servo ON 5.6.4 (1)

276
5.6.4 I/O Signal Controls and Function
* ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”.
The I/O control and functions used in the full function mode are described as follows. For the I/O signals for the
Remote I/O Modes, refer to the instruction manual for the controller main body for servo press.

(1) Servo ON command (SON) PLC output signal

Operation preparation end (SV) PLC input signal
When the SON signal is turned ON, the servo will turn ON.
When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the
Status Indicator LED (Refer to 5.3, " PROFINET IO Interface”) on the front surface of the controller
illuminates in green.
The “SV” signal is synchronized with this LED.
■ Function

5. Servo Press Type SCON-CB/CGB

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

SON
(PLCSCON)

SV
(SCONPLC)

(2) Home return (HOME) PLC output signal

Home return completion (HEND) PLC input signal
When the “HOME” signal is turned “ON”, this command is processed at the startup (ON-edge), and the home
return operation is performed automatically. During the home return operation, the “HEND” signal is turned
“ON”.
When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
Once the “HEND” signal is turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the
“HOME” signal is input again. Once the HEND signal is turned ON, it can not be turned OFF until the power
is turned OFF or the HOME signal is input again.
Even after the completion of the home return operation, when the “HOME” signal is turned “ON”, the home
return operation can be performed.

Caution: In the Remote I/O Modes when the movement command is issued without performing the home
return operation, the movement is performed after the automatic home return operation.
In the full function mode, issuing a movement command following the power on, without performing a
home return first, will generate an alarm “Error Code 83: ALARM HOME ABS (absolute position
move command when home return is not yet completed)” (operation-reset alarm).

277
 (3) Reset (RES) PLC output signal
This signal has two functions. It can reset the controller alarm and cancel the reminder for planned
movements during pause conditions.
■ Function
[1] When this signal is turned ON from OFF condition after eliminating the cause of the alarm during the
alarm output, the alarm (ALM) signal can be reset. (In the case of the alarm with the cold start level,
re-injection of the power is required)
[2] When this signal is turned ON from OFF condition during the pause condition, the reminder of the
planned movement left can be cancelled.

(4) Load cell calibration command (CLBR) PLC output signal

Load cell calibration complete (CEND) PLC input signal
5. Servo Press Type SCON-CB/CGB

The factory setting for the load cell is 0N when no load is applied. If you want to use the loaded condition as
the reference (0 N), perform the following calibration. Also perform this calibration in other conditions as
necessary (such as during readjustment, inspection, etc.).
[1] Stop the operation. (Calibration cannot be performed while any axis is operating, pushing a work part or
paused, in which case an attempt to perform calibration will generate a 0E1 (load cell calibration error)
alarm.
[2] Turn ON the load cell calibration signal (CLBR) and keep it ON for at least 20 ms.
[3] Once the calibration is complete, the calibration complete signal (CEND) turns ON. Thereafter, turn OFF
the CLBR signal.
If the calibration was not successful, a 0E1: (load cell calibration error) alarm generates.

Caution: Normal operation commands are not accepted while the CLBR signal is ON.

Signal input is recognized

*1 Calibration time*2
continuously for 20 ms

Turn the CLBR OFF after confirming

that the CEND has turned ON.

The CEND turns ON when the calibration has completed

successfully. If the CLBR is OFF, the CEND remains OFF.

*1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not
performed.
*2 If the CLBR is turned OFF during this period, an alarm generates.

278
(5) Operating mode selector (RMOD) PLC output signal
Operation mode status (RMDS) PLC input signal
The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of
the controller.
Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal.
The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are
described as follows.

Controller MODE Controller MODE

Switch = AUTO Switch = MANU
RMOD signal = OFF AUTO mode MANU mode
(AUTO mode is specified) (RMDS=OFF) (RMDS=ON)

5. Servo Press Type SCON-CB/CGB

RMOD signal = ON MANU mode MANU mode
(MANU mode is specified) (RMDS=ON) (RMDS=ON)
(Note) In MANU mode, the startup of the operation from PLC is not available.

(6) Brake release (BKRL) PLC output signal

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

(7) Press program start (PSTR) PLC output signal

Press program executed (PRUN) PLC input signal
Press program finished in normal condition (PCMP) PLC input signal
PSTR signal gets processed at the startup (ON-edge), and executes the press program in the program
number input in the PLC command program number register.
PCMP signal turns ON when a program is finished in normal condition with no alarm being generated, and it
is transited to the standby stage. PCMP Signal will be retained until the start of the next program, movement
command or servo gets turned OFF. Also, PCMP signal will not turn on when the press program.home-return
is finished. Turn PSTR signal off after confirming the program executing (PRUN) signal has been turned ON.

Command program No.

(PLC→SCON)

PSTR
(PLC→SCON)

PRUN
(SCON→PLC)

PCMP
(SCON→PLC) Program finished
in normal condition
Standby time

279
 (8) Press program home return (PHOM) PLC output signal
Press program home movement (MPHM) PLC input signal
Press program home position (PORG) PLC input signal
This command gets processed at the startup (ON-edge) when PHOM signal is ON, and executes to move
to the home position in the program number input in the PLC command program number register. MPHM
signal turns ON during movement. PORG signal turns ON once completes to move to the home position.
Turn PHOM Signal OFF once PORG Signal turns ON.
For the speed to move to home position, the setting in parameter No. 8 velocity initial value, and for the
acceleration/deceleration, the setting in Parameter No. 9 acceleration/deceleration initial value is used.

Command program
5. Servo Press Type SCON-CB/CGB

No.
(PLC→SCON)

PHOM
(PLC→SCON)

MPHM
(SCON→PLC)
PORG
(PLC→SCON)

Actuator operation
Press program home position

Caution: The program alarm occurs if press program home position movement signal get input while the
press program is executed.

(9) Axis operation permission (ENMV) PLC output signal

Operation of axis and execution of program are permitted while this signal is turned ON.
Servo will not turn OFF even when this signal turns from ON → OFF.
If the axis movement and program are stopped by turning this signal from ON → OFF, the stopped axis
movement and program will not resume even if this signal is turned from OFF → ON.

(10) Program compulsory stop (FPST) PLC output signal

Turn FPST Signal ON, and the executed press program stops.
The operation after stop can be selected from returning to press program home position and parameter
No. 179 stopping at the point by establishing the setting in the return operation setting at press program
compulsory stop.
For the speed to move to home position, the setting in parameter No. 8 velocity initial value, and for the
acceleration/deceleration, the setting in parameter No. 9 acceleration/deceleration initial value is used.
This signal is invalid if input while moving to the press program home position.

280
(11) Probing stop (SSTP) PLC output signal
When SSTP signal is ON at the time when probing stage completes, stops at probing stage complete
position, and press program stop. Servo ON is continued.
After program is turn off, even if SSTP signal return OFF will not resume press program.

(12) Jog/inching switching (JISL) PLC output signal

This signal changes over the jog operation and the inching operation.
JISL=OFF : Jog operation
JISL=ON : Inching operation
When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is
decelerated and performs the inching operation.

5. Servo Press Type SCON-CB/CGB

When the JISL signal is turned OFF (jog) while the actuator is moving by inching, the actuator will complete
the movement and then switch to the jog function.
The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog
speed/inch-distance switching (JVEL) signal.

Jog operation Inching operation

JISL OFF ON
Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”
Travel - Parameter No. 48, “Inching distance”
JVEL
=OFF Rated value (The specific value
Acceleration/ Rated value (The specific value
varies depending on the
Deceleration varies depending on the actuator.)
actuator.)
Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”
Travel - Parameter No. 49 “Inching distance 2”
JVEL
=ON Rated value (The specific value
Acceleration/ Rated value (The specific value
varies depending on the
Deceleration varies depending on the actuator.)
actuator.)
When the JOG +/JOG – signal is Upon detection of the leading (ON)
Operation
ON. edge of the JOG +/JOG – signal.

(13) Jog-speed/inching-distance switching (JVEL) PLC output signal

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

JVEL signal Jog operation: JISL=OFF Inching operation: JISL=ON

Parameter No. 26, “Jog speed”
OFF Parameter No. 26, “Jog speed”
Parameter No. 48, “Inching distance”
Parameter No. 47, “Jog speed 2”
ON Parameter No. 47, “Jog speed 2”
Parameter No. 49, “Inching distance 2”

281
 (14) +Jog (JOG+) PLC output signal
-Jog (JOG-) PLC output signal
This signal is the command for the jog operation startup or inching operation startup.
If a + command is issued, the actuator will operate in the direction opposite home. When a – command is
issued, the actuator will operate in the direction of home.
[1] Jog operation
Jog operation can be performed when the jog/inching switching (JISL) signal is OFF.
While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it is turned
“OFF”, the actuator is decelerated and stopped.
While the JOG – is ON, the actuator will operate in the direction of home and when it is turned OFF, it is
decelerated to a stop.
The operation is performed based on the set values of the following parameters.
5. Servo Press Type SCON-CB/CGB

• The speed is based on the parameter value specified using the Jog speed/Inching distance change-over
(JVEL) signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”.
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.
• The acceleration/deceleration conforms to the rate acceleration/deceleration (the specific value varies
depending on the actuator).
• When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.
[2] Inching operation
The inching operation is available while the IISI signal is turned “ON”.
Once it is turned “ON”, the actuator is moved as much as the inching distance.
When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is turned
“ON”, the movement is to the home.
The operation is performed based on the set values of the following parameters.
• The speed conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”.
If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.
• The travel conforms to the value of the parameter specified by the JVEL signal.
If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance”.
If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2”.
• The Acceleration/Deceleration is based on the rated acceleration/deceleration (depending on the actuator).
During the normal operation, even when the “+” Jog signal or “-“ Jog signal is turned “ON”, the normal
operation is continued. (The Jog signal is ignored)
In the pause condition, even when the “+” Jog signal or “-“ Jog signal is turned “ON”, the actuator is not
moved.
(Note) Because the software stroke limit is disabled before the home return operation, the actuator might
run against the mechanism end. Take the greatest care.

(15) Positioning command (DSTR) PLC output signal

This signal is processed at the startup (ON-edge) and the positioning to the target position input in the PLC's
target position register is performed. When this signal is issued in the condition where the home return
operation has not performed at all after the power injection (HEND signal OFF), an alarm is issued
(Operation Cancellation Level).
Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been
turned “OFF”.
Target position
(PLC→SCON)

CSTR
(PLC→SCON)
PEND
(SCON→PLC)

282
(16) Positioning completion signal (PEND) PLC output signal
This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band
and the pressing is completed.

Timing at which the position

complete signal turns on
Speed
Target position

Travel
Time

5. Servo Press Type SCON-CB/CGB

Positioning band

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

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

(17) Zone 1 (ZONE1) PLC output signal

Zone 2 (ZONE2) PLC output signal
These signals are turned ON when the current position of the actuator is within the set area and turned OFF
when the current position is out of the set area.
The zone is set using the user parameters.
The Zone 1 signal is set using the parameter No. 1 “Zone Boundary 1 “+” side” and No. 2 “Zone Boundary 1
“-“ side”.
The Zone 2 signal is set using the parameter No. 23 “Zone Boundary 2 “+” side” and No. 24 “Zone Boundary
2 “–“ side”.
The Zone 1 signal and Zone 2 signal become effective when the home return operation is completed. After
that, even during the servo OFF, it is effective.

Zone signal

Actuator operation + direction

Home
Zone setting - Zone setting +

283
 (18) Program alarm (PALM) PLC input signal
This turns ON when a press program alarm is detected.
The alarm turns OFF when the reset (RES) signal gets turned ON if it is an operation cancelation level alarm.
(without removing the cause of alarm, the alarm will be generated again when press program is executed.)

(19) Light failure status (ALML) PLC input signal

It turns to 1 when a message level (light alarm available to continue) alarm is generated.
This signal is not linked to ALM_LED on the controller front panel.
[Detail of the alarm refer to SCON controller instruction manual for servo press]

(20) Alarm (ALM) PLC input signal

5. Servo Press Type SCON-CB/CGB

When any error is detected using the controller protection circuit (function), it is turned “ON”.
■ Function
When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”.
When the cause of the alarm is eliminated and the reset (RES) signal is turned “ON”, the alarm is turned
“OFF” in the case that it is the alarm with the operation cancellation level. (In the case of the alarm with the
cold start level, re-injection of the power is required)
When the alarm is detected, the status indicator LED on the front surface of the controller illuminates in red.

(21) Emergency stop (EMGS) PLC input signal

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

(22) While in approaching operation (APRC) PLC input signal

It turns ON during the approaching stage in press program.

(23) While in probing operation (SERC) PLC input signal

It turns ON during the probing stage in press program.

(24) While in pressurizing operation (PRSS) PLC input signal

It turns ON during the pressurizing stage in press program.

(25) While in pressurizing stop (PSTP) PLC input signal

It turns ON at the stop after pressurizing in the pressurizing stage in press program.

284
(26) While in decompressing operation (DCMP) PLC input signal
It turns ON during the decompressing stage in press program.

(27) While in returning operation (RTRN) PLC input signal

It turns ON during the returning stage in press program.

(28) Press program standby (WAIT) PLC input signal

It turns ON during standby after press program finished in normal condition.

5. Servo Press Type SCON-CB/CGB

(29) Position (distance) judgment OK (PJOK) PLC input signal
Position (distance) judgment NG (PJNG) PLC input signal
Load judgment OK (LJOK) PLC input signal
Load judgment NG (LJNG) PLC input signal
PJOK signal turns ON when the position (distance) range set as the judgment of press program is kept when
the pressurizing operation is finished, and PJNG signal turns ON when it is not kept.
LJNG signal turns ON when the position (distance) range set as the judgment of press program is kept when
the pressurizing operation is finished, and LJNG signal turns ON when it is not kept.

Load

Judgement only
distance
(pass range)

Judgement only Judgement both of Judgement only

Load load load and distance load
judgment (pass range) (pass range) (pass range)
range
Judgement only
distance
(pass range)

Position
Position judgment range

(30) Overall Judgment OK (JDOK) PLC input signal

Overall Judgment NG (JDNG) PLC input signal
Overall judgment is made from the position (distance) judgment and the load judgment, and JDOK signal
turns ON when it passes and JDNG signal is turned ON when it fails.

285
 5.7 I/O Signal Timings
When any of the control signal is turned ON to perform the operation of the actuator using the PLC's
sequence program, the response (status) is returned to the PLC. The maximum response time is expressed
using the following formula.

Maximum response time (msec)=Yt+Xt+3+command processing time (operation time, etc.)

Yt: Master Station→slave transmission delay time Filed Network Transmission
Xt: Slave→Master Station Transmission Delay Time Delay Time

Master Station→ For the master station → slave transmission delay (Yt) and slave → master station
transmission delay (Xt), refer to the instruction manuals for the DeviceNet/IP master unit and PLC installed in
the master unit.
5. Servo Press Type SCON-CB/CGB

PLC sequence program

Control signal

Status signal
Master station → Slave Slave → Master station
transmission delay time (Yt) transmission delay time (Xt)

SCON
Control signal

Status signal
Command processing time

286
5.8 Operation
The timings for the basic operation examples.

(1) Operation in the remote I/O mode

Here, it shows examples for when executing one press program to turn the servo ON, return to home
position and having loadcell calibration.

z Example of operation
1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Indicate the press program number (PC1 to PC32).
3) Turn the press program home position movement signal (PHOM) ON. During the movement to home
position, the press program home position movement signal is kept ON. The press program home

5. Servo Press Type SCON-CB/CGB

position signal (PORG) turns ON once the home position movement completes.
4) Turn the press program start signal (PSTR) on to execute the press program.
The press program execution signal (PRUN) turns ON while the press program is executed *.
* Duration from program start till standby time pass after return stage
5) Each stage execution signal is kept on while each stage in the press program is executed.
z While in approaching stage executed = While in approaching operation signal (APRC)

z While in probing stage executed = While in probing operation signal (SERC)

z While in pressurizing stage (pressurize) executed = While in pressurizing operation (APRC)

z While in pressurizing stage (stop) executed = While in pressurizing stop (PSTP)

6) Judgment made for pressurizing stop (PSTP ON).

The result is output in judgment OK signal (JDOK) and judgment NG signal (JDNG).
7) Once each of decompressing and return stage is finished, the press program normal complete signal
(PCMP) turns ON.

287
 Axis movement permission
1)
ENMV
(PLC→Controller)

Press program No. Press progam No. *

PC1 to PC32
(PLC→Controller)
2)
Press program home movement
PHOM
(PLC→Controller)

3) 2)
Press program home
during a movement
MPHM
5. Servo Press Type SCON-CB/CGB

(Controller→PLC)
3)
Press program home position
PORG
(Controller→PLC)

Press program start 4)

PSTR
(Controller→PLC)

While in press program operation

PRUN 4)
(Controller→PLC)

While in approaching operation Standby time

APRC 5) (Set to press program)
(Controller→PLC)

While in probing operation 5)

SERC
(Controller→PLC)

While in pressurizing operation

APRC 5)
(Controller→PLC)

While in pressurizing stop

PSTP 5)
(Controller→PLC)

Judgement OK/Judgement NG
JDOK/JDNG 6)
(Controller→PLC)

Press program finished

in normal condition
PCMP
7)
(Controller→PLC)

Actuator operation
(Image of velocity waveform)

7) decompressing, probing excuted

Note 1 Considering scan time of PLC, have the time of 0 ms or more from input of the press program number to PSTR to
turn ON.

288
(2) Operation in the full function mode

Here, it shows examples for [1] when executing one press program and [2] when performing direct indication
movement to the target position after completing to turn the servo ON, return to home position and having
loadcell calibration.

[1] Example for when executing one press program

1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Set the press program number to execute to the command program number register.
3) Turn the press program home position movement signal (PHOM) ON. During the movement to home
position, the press program home position movement signal is kept ON. The press program home
position signal (PORG) turns ON once the home position movement completes.
4) Turn the press program start signal (PSTR) on to execute the press program.

5. Servo Press Type SCON-CB/CGB

The press program execution signal (PRUN) turns ON while the press program is executed *.
* Duration from program start till standby time pass after return stage
5) Each stage execution signal is kept on while each stage in the press program is executed.
z While in approaching stage executed = While in approaching operation signal (APRC)

z While in probing stage executed = While in probing operation signal (SERC)

z While in pressurizing stage (pressurize) executed = While in pressurizing operation (APRC)

z While in pressurizing stage (stop) executed = While in pressurizing stop (PSTP)

6) Judgment made for pressurizing stop (PSTP ON).

The position (distance) result is output in judgement OK signal (PJOK), judgment NG signal (PJNG).
The load result is output in judgment OK signal (LJOK), judgment NG signal (LJNG).
The overall judgement result is output in judgment OK signal (JDOK), judgment NG signal (JDNG).
7) Executing signal for each stage turns on during operation of each stage in press program.
z While decompressing stage executed = While decompressing operation signal (DCMP)

z While returning stage executed = While returning operation signal (RTRN)

8) Once each of decompressing and return stage is finished, the press program normal complete signal
(PCMP) turns ON, stops operation for the duration of standby time set in the press program, and turns
ON the press program standby signal (WAIT). Wait for the standby time before making a command
when the next press program is to be executed.

289
 Axis movement permission
1)
(PLC→Controller)
Press progam No. *
Command program No.
(PLC→Controller)

Press program home movement 2)

PHOM
2)
(PLC→Controller)
Press program home 3)
during a movement
MPHM
(Controller→PLC) 3)
Press program home position
PORG
(Controller→PLC)
5. Servo Press Type SCON-CB/CGB

Press program start 4)

PSTR
(Controller→PLC)

While in press program operation 4)

PRUN
(Controller→PLC)
Standby time
5) 5) (Set to press program)
While in approaching operation
APRC
(Controller→PLC)

While in probing operation

SERC
(Controller→PLC)
While in press program operation
APRC 5) 5)
(Controller→PLC)
While in press program stop
PSTP
(Controller→PLC)
Overall Judgement OK/NG
6)
JDOK/JDNG
(Controller→PLC)
Position (distance) judgement
OK/NG
PJOK/PJNG
Load judgement OK/NG
LJOK/LJNG
(Controller→PLC)
7)
While in decompressing operation
DCMP
(Controller→PLC) 7)
While in returning operation
RTRN
(Controller→PLC)
8)
Press program finished
in normal condition
PCMP
(Controller→PLC)
8)
Operation standby
WAIT
(Controller→PLC)
Actuator operation
(Image of velocity waveform)

Note 1 Considering scan time of PLC, have the time of 0 ms or more from input of the press program number to PSTR to
turn ON.

290
[2] Example for when performing direct indication movement to the target position
1) Turn ON (operation enable) axis movement permission signal (ENMV).
2) Set the target position data in the target position register.
3) Set the positioning band data in the positioning band register.
4) Set the speed data to the speed resister.
5) Set the acceleration/deceleration data in the acceleration/deceleration register.
6) In the condition where the positioning completion (PEND) signal is turned “ON”, turn “ON” the positioning
command (DSTR) signal.
The data items set in Steps 2) through 5) are read in the controller at the startup (ON-edge) of the DSTR
signal.
7) After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tdpf.
8) After confirming that the PEND signal is turned “OFF”, turn “OFF” the DSTR signal. Do not change any
value in each register until the DSTR signal has been turned “OFF”.
9) When the DSTR signal is turned “OFF” and the motor current reaches the current-limiting value set in Step

5. Servo Press Type SCON-CB/CGB

3), the PEND signal is turned “ON” .

291
 Axis movement permission 1)
ENMV
(PLC→Controller)
2)

Target position data

(PLC→Controller)

3)

Positioning band data

(PLC→Controller)

4)
5. Servo Press Type SCON-CB/CGB

Speed data
(PLC→Controller)

5)

Acceleration data
(PLC→Controller)
5)

Deceleration data
(PLC→Controller)

* T1

Positioning command
DSTR 6)
(PLC→Controller)
* tdpf
7)
Positioning completion 8)
PEND 9)
(Controller→PLC)

Current position
(Controller→PLC)
Positioning band

Actuator operation
(Image of velocity waveform)

* T1 Establish setting to have T1 ≥ 0ms.

* Yt+Xt ≤ tdpf ≤ Yt+Xt+3 (msec)
Refer to 5.7 I/O Signal Timings

292
5.9 DeviceNet Related Parameters
The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and 159.

Category: C: External interface parameter

No. Category Symbol Name Factory default
1
For parameter Nos. 1 to 83, refer to the operation
~

manual for the controller.

83
84 C FMOD Fieldbus operation mode 0
85 C NADR Fieldbus node address 63

5. Servo Press Type SCON-CB/CGB

86 C FBRS Fieldbus baud rate 0
87 C NYTP Network type 2
90 C FMIO Fieldbus I/O format 3
159 C FBVS FB Half Direct Mode Speed Unit 0

z Field bus operation mode (No. 84 FMOD)

Specify the operation mode in parameter No. 84 using a value between 0 and 8.
Value set in Number of
Mode Contents
parameter No. 84 occupied bytes
Operation using PIOs (24 V I/Os) is performed via
0 (Factory setting) Remote I/O mode 2
DeviceNet.
It is the system to support all the features such as
movement by direct indication or current load
1 Full function mode 32 reading in addition to those for servo press such
as startup of press program or judgment result
reading.

z Fieldbus node address (No. 85 NADR)

Specify the slave number of the remote station in parameter No. 85.

z Fieldbus baud rate (No. 86 FBRS)

The baud rate is automatically set according to the corresponding setting on the master side and thus need
not be set.

z Network type (No. 87 NTYP)

Specify the network module in parameter No. 87. Do not change the default value.

293
 z Field bus I/O format (No. 90 FMIO)
Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the
controller and the occupied bytes in each operation mode.
By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words
or less in units of bytes during communication using the I/O areas of the PLC.

Value set in
Contents
parameter No. 90
Data exchange is not performed. The data is sent directly to the PLC.
0 (Factory setting)
(Refer to “Example i”.)
The host bytes are exchanged with slave bytes in the host words and
1
slave words. (Refer to “Example ii”.)
In the case of word register, the host words are exchanged with the
5. Servo Press Type SCON-CB/CGB

2
slave words. (Refer to “Example iii”.)
The host bytes are exchanged with slave bytes in the host words and
3 slave words. In addition, the upper word and lower word are swapped
for word resisters. (Refer to “Example iv”.)

(Example i) Set value = “0” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output
CH

Hexadecimal
data

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

294
(Example ii) Set value = “1” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output

5. Servo Press Type SCON-CB/CGB

CH

Hexadecimal
data

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

295
 (Example iii) Set value = “2” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output CH
5. Servo Press Type SCON-CB/CGB

Hexadecimal
data

SCON
Input
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

296
(Example iv) Set value = “3” z indicates ON, while c indicates OFF

SCON
Input
resister

Hexadecimal
data

PLC:
Output

5. Servo Press Type SCON-CB/CGB

CH

Hexadecimal
data

SCON
Output
resister

Hexadecimal
data

PLC:
Input
CH

Hexadecimal
data

z FB Half Direct Mode Speed Unit (No. 159 FBVS)

Parameter No. 159 determines the unit of measure when operating the unit in half direct mode.

Parameter No.159 setting value Speed setting unit

0 (Set in delivery) 1.0 mm/sec
1 0.1 mm/sec

297
 5.10 Troubleshooting
z Alarm messages and causes/actions
The alarm signal (ALM) or light malfunction alarm (ALML) is output in active low in the remote I/O mode
when an alarm is generated.
In the full functional mode, an alarm code gets output to the press program alarm code register and alarm
code register.
[1] Check the alarm code using the monitor function of the PLC, etc., or connect the RC PC software or
other teaching tool and check the status monitor screen.
[2] Search the alarm list in the instruction manual for your controller to find the section corresponding to the
identified alarm code.
[3] Take an appropriate action according to the explanation of the alarm code.
For the alarm codes listed below, take the corresponding actions:
5. Servo Press Type SCON-CB/CGB

ID RES
Code Error name Cause/action
(*1) (*2)
Cause: It shows an alarm has occurred while the press
program is executed.
Press program
094 02 ○ Action: Have a countermeasure by referring to the press
alarm detection
program alarm list provided below. [Refer to
Program Alarm in Controller Instruction Manual]
Cause: Program check at controller startup, program
startup command and program home position
Press program
0AD 06 ○ movement command has detected an error.
data error
Action: As the program number is stored in the detail code,
check the applicable grogram setting.
Cause: A fieldbus module error has been detected.
0F2 Fieldbus module error 05 ×
Action: Check the applicable parameters.
Cause: The module could not be detected.
Fieldbus module
0F3 04 × Action: Reconnect the power. If the problem persists,
non-detection error
please contact IAI.
Cause: Error in load data analog output component
(Note) An error will not be detected when
parameter No. 180 DAC Output is set
0FD Extension device error 05 ×
inactivated.
Action: Check the wires for analog output. In case there is
no fault wiring, please contact IAI.
(*1) ID → Simple alarm code
(*2) RES → Alarm can/cannot be reset ○: Alarm can be reset / ×: Alarm cannot be reset

298
6. Troubleshooting
If you encountered a problem concerning DeviceNet, check the operating condition using the table below and
remove the cause of the problem. The monitor LEDs, MS and NS, illuminate in two colors (red and green), and
you can check the condition of DeviceNet based on the illumination status and color of each LED.

If an error occurred, MS or NS should change to steady or blinking red. If you spot a steady or blinking red light,
check (reconfigure) the connections of the power supply and communication cable, DIP switch settings,
parameter settings, etc., and then reconnect the power.

{: Steady light, z: Blinking, ~: Off

Monitor LEDs
MS NS Condition Remedial action
Grn Red Grn Red
{ - { - Operating normally
{ - z z Waiting for completion • Confirm that the baud rate of the master is the same as the baud rates of all slaves.
of node address

6. Troubleshooting
If not, correct the applicable settings and then restart the system.
duplication check by the • Confirm that the connectors are connected correctly.
master. • Confirm that the communication power (24 VDC) is supplied.
• Confirm that the master is operating correctly.
• Confirm that the communication cable is not broken.
{ - ~ - Waiting for connection • Confirm that the master is operating correctly.
to be established with • Confirm that the applicable slave is registered in the master scan list.
the master.
- { z z A hardware error • Contact IAI.
occurred. (The DeviceNet board may have to be replaced.)
- ~ z z Incorrect DIP switch • Confirm that the baud rate of the slave is the same as the baud rate of the master.
setting. • Confirm that the configuration is correct.
• After correcting the applicable settings, restart the system.
{ - - { Detected a node • Correct the node address, and then restart the system.
address duplication or • Confirm that the baud rate of the slave is the same as the baud rate of the master.
bus-off state • Confirm that the communication cable length is appropriate.
(communication was • Check the communication cable for wire breakage or loose or disconnected
stopped due to frequent connector.
data errors). • Confirm that the terminal resistors are installed correctly.
• Confirm that no noise sources are located nearby, that the communication cable is
not wired in parallel with any power line, and that the system is not otherwise
affected by noise.
• After correcting the applicable settings, restart the system.
{ - - ~ A communication time • Confirm that the baud rate of the slave is the same as the baud rate of the master.
out occurred. • Confirm that the communication cable length is appropriate.
• Check the communication cable for wire breakage or loose or disconnected
connector.
• Confirm that the terminal resistors are installed correctly.
• Confirm that no noise sources are located nearby, that the communication cable is
not wired in parallel with any power line, and that the system is not otherwise
affected by noise.
• After correcting the applicable settings, restart the system.
NS switches A communication error • Confirm that the applicable slave is registered in the master scan list.
repeatedly between occurred. • Confirm that any of the I/O area is not used by other slave.
steady green and • Confirm that the I/O area does not exceed the area permitted for use by the master
blinking green. Or, NS unit (in the case of fixed assignment).
switches repeatedly
between blinking red
and blinking green.

299
 7. EDS File

Download the EDS file from the IAI homepage of which the URL is as shown below if it is necessary.

Homepage http://www.iai-robot.co.jp

Note There may be a case that an error message appears on the master side depending on the revision of the
communication board.
Even in such a case, there will be no problem in the communication as long as the setting is properly
established.
7. EDS File

300
8. Change History
Revision Date Description of Revision

November 2011 First edition

Contents changed in Safety Guide
Caution notes added for when working with two or more persons
ACON and PCON picked up from existing Operation Manual and SCON-CA added
to rearrange new Operation Manual

June 2012 Second edition

Contents added and changed in Safety Guide
PCON-CA/CFA added

November 2012 Third edition

Unit of measurement parameter adjustment added for SCON-CA half direct value
mode, half direct value mode 2 and half direct value mode 3
Maintenance information added to the SCON-CA full direct mode

August 2013 Fourth edition

8. Change History
Positioning unit changed to 0.001° when DD motor is connected
Section 6 “EDS File” added

October 2013 Fifth edition

ACON-CA, DCON-CA added

March 2014 Sixth edition

Connector Model Code Changed

August 2014 Seventh edition

SCON-CAL added

March 2015 Eighth edition

ACON-CB, DCON-CB, PCON-CB, SCON-CB added

August 2015 Ninth edition

Servo press type SCON-CB/CGB added

December 2015 Tenth edition

PCON-CB series added

February 2016 10C edition

SCON for servo press (3000 ~ 3300W) added

January 2017 10D edition

Servo Press Type SCON-CB/CGB correction made

January 2019 10E edition

Connector model code changed
Signal names corrected from LS0 to LS2 in Solenoid mode 2

301
Manual No.: ME0256-10E (January 2019)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
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TEL 06196-88950 FAX 06196-889524
website:www.iai-gmbh.de

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
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TEL +66-2-361-4458 FAX +66-2-361-4456
website:www.iai-robot.co.th

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2019. Jan. IAI Corporation. All rights reserved.
19.01.000
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