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Operation Manual Twenty Sixth Edition X M S A P SEL TT SEL TTA SEL SCON-C SEL E-Con SEL RCS-C

Operation Manual Twenty Sixth Edition XSEL TT MSEL TTA ... · Operation Manual Twenty Sixth Edition X M S A P SEL TT SEL TTA SEL SCON-C SEL E-Con SEL RCS-C

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Page 1: Operation Manual Twenty Sixth Edition XSEL TT MSEL TTA ... · Operation Manual Twenty Sixth Edition X M S A P SEL TT SEL TTA SEL SCON-C SEL E-Con SEL RCS-C

Operation Manual Twenty Sixth Edition

XMSAP

SEL TTSEL TTASEL SCON-CSEL E-ConSEL RCS-C

Page 2: Operation Manual Twenty Sixth Edition XSEL TT MSEL TTA ... · Operation Manual Twenty Sixth Edition X M S A P SEL TT SEL TTA SEL SCON-C SEL E-Con SEL RCS-C
Page 3: Operation Manual Twenty Sixth Edition XSEL TT MSEL TTA ... · Operation Manual Twenty Sixth Edition X M S A P SEL TT SEL TTA SEL SCON-C SEL E-Con SEL RCS-C

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.

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Caution: The following functions are described in the separate operation manual.

Title of operation manual/Overview Control number

1CC-Link Operation ManualRefer to this operation manual if you are using an ACON, DCON, PCON or SCON (excluding SCON-C) controller(s).

ME0254

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Table of Contents

Safety Guide··································································································· 1

1. Overview··································································································· 8

2. Interface Specifications ················································································ 9

3. XSEL-J/K/P/Q/JX/KX/PX/QX······································································101010

3.1 Remote device station············································································3.1.1 Models ···························································································

(1) Compact type (J type) ········································································11(2) General type (K type)·········································································12(3) P/Q type··························································································13

3.1.2 CC-Link board ··················································································14(1) Names of each part ···········································································14(2) Rotary switches ················································································15(3) Display of monitor LEDs ·····································································16

3.1.3 Setting of I/O parameters (assignment of I/O ports) ··································· 17(1) Board installation positions (slots) and parameter numbers ························· 17(2) Factory-configured parameters (standard setting)······································ 19(3) Factory-configured parameters of P/Q type·············································· 20

3.1.4 J/K type controller parameter setting examples········································· 22(1) CC-Link connection of standard I/O ports ················································ 22(2) Combined use of CC-Link board and I/O board········································· 24

3.1.5 P/Q type controller setting examples ······················································ 28(1) Setting examples when only CC-Link is used ··········································· 28(2) Setting examples when CC-Link board and I/O board are used in combination 31

3.1.6 XSEL I/O port numbers ······································································· 373.1.7 Correspondence between XSEL I/O port number and PLC address ·············· 38

(1) When the number of I/O points is set to 96 or less: ···································· 38(2) When the number of I/O points is set to 112 or more and 192 or less:············ 38(3) When the number of I/O points is set to 208 or more and 256 or less:············ 39

3.1.8 Data in remote registers ······································································ 40(1) XSEL remote I/O areas and remote register areas····································· 40(2) Transmission and receipt of signals in remote I/O areas ····························· 41(3) Transmission and receipt of signals in remote register areas ······················· 42

3.1.9 CSP file ··························································································· 473.2 Remote I/O station ················································································· 48

3.2.1 Models ···························································································· 48

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3.2.2 CC-Link board ··············································································· 51(1) Names of each part ······································································· 51(2) Rotary switches ············································································ 52(3) Display of monitor LEDs ································································· 53

3.2.3 Setting of I/O parameters (assignment of I/O ports) ······························· 54(1) Board installation positions (slots) and parameter numbers ···················· 54(2) Factory-configured parameters ························································· 55(3) CC-Link connection with standard I/O ports ·········································· 56(4) General I/O connection of CC-Link boards············································ 59(5) XSEL I/O port numbers ·································································· 61

3.3 Troubleshooting ···················································································· 634. XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD······················································ 64

4.1 Model (not set) ····················································································· 644.2 CC-Link Interface ·················································································· 644.3 Parameter Settings ················································································ 654.4 Setting example ···················································································· 69

(1) Example for when using only CC-Link ··············································· 69(2) Example for when using CC-Link and I/O Board 1 together ···················· 72

(1) In the case that the I/O Point Setting is up to 96 points······························79(2) When the number of I/O points is set to 112 or more and 192 or less ·······

····················

79(3) When the number of I/O points is set to 208 or more and 256 or less ······· 80(4) Assignment of System Area Signals ·················································· 81

(3) Example for when using CC-Link and I/O Board 1 together ···················· 754.5 Standard I/O Ports of XSEL Controller ······················································· 784.6 How to Handle XSEL I/O Port Numbers and PLC Addresses·························· 79

4.7 Troubleshooting···················································································· 845. ··········································································································· 87

5.1 Models································································································ 875.2 CC-Link Interfacer················································································· 88

5.3 Parameter Settings 89

(1) Communication Connector ····························································· 88(2) Status LED indications 88

5.4 Setting Example·······································

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92(1) Example for when using only CC-Link (I/O2) 92(2) Example for when using CC-Link and I/O Board 1 together 94

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station) 98

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied) 98

(3) When the number of I/O points is set to 208 or more and 240 or less (three stations are occupied) 99

(4) Assignment of System Domain Signals 99

5.5 I/O Ports of the MSEL 965.6 How to Handle MSEL I/O Port Numbers and PLC Addresses 98

5.7 Troubleshooting 101

MSEL

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7.7 CSP file································································································1407.8 Troubleshooting ·····················································································141

7. Tabletop Robot TT····························································································1227.1 Models·································································································1227.2 CC-Link board ······················································································ 123

7.3 Setting of I/O parameters (assignment of I/O ports) ·······································126(1) Board installation positions (slots) and parameter numbers ·····················126(2) Factory-configured parameters of TT type ···········································127(3) Parameter setting examples of tabletop robot TT ··································128

(1) Names of each part ·······································································123(2) Rotary switches ············································································ 124(3) Display of monitor LEDs··································································125

7.4 I/O port numbers of TT ············································································1307.5 Correspondence between I/O port numbers and PLC addresses of TT ·············131

(1) When the number of I/O points is set to 96 or less: ································131(2) When the number of I/O points is set to 112 or more and 192 or less:········131(3) When the number of I/O points is set to 208 or more and 256 or less:········132

7.6 Data in remote registers ··········································································133(1) TT remote I/O areas and remote register areas ·····································133(2) Transmission and receipt of signals in remote I/O areas ························· 134(3) Transmission and receipt of signals in remote register areas ·················· 135

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6. Tabletop Robot TTA··························································································1036.1 Models·································································································1036.2 CC-Link Interface··················································································· 104

6.3 Parameter Settings 105

(1) Name of Each Part ·········································································104(2) Monitor LED indications 104

6.4 Setting Example········································

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109(1) Example for when using only CC-Link (I/O2) 109(2) Example for when using CC-Link and I/O Board 1 together 111(3) Example for when using CC-Link (I/O2 and I/O3) together 113

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station) 117

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied) 117

(3) When the number of I/O points is set to 208 or more and 240 or less (three stations are occupied) 118

(4) Assignment of System Domain Signals 118

6.5 I/O Ports of the TTA 1156.6 How to Handle TTA I/O Port Numbers and PLC Addresses 117

6.7 Troubleshooting 120

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12. Common Items and Others ·················································································

Change History·····································································································

179

181

12.1 Communications cable ···········································································17912.2 Connection of communications cable connector ··········································17912.3 Terminators··························································································17912.4 Useful functions for XSEL controller adjustment ··········································18012.5 CSP + File ···························································································180

CC-Link and GX Configurator-CC are trademarks of Mitsubishi Electric Corporation. Corporate and products names in the text are trade names or trademarks of each company.

11. Communications with Master station ·····································································17511.1 Remote I/O····························································································17511.2 Remote register ·····················································································176

(1) Master station ← XSEL (Remote device station)····································176(2) Master station → XSEL (Remote device station)····································177

10.3 I/O Parameter Setting ············································································16210.4 I/O Port Nos. and Corresponding PLC Addresses ········································16510.5 Troubleshooting··················································································· 173

10.2 CC-Link Interface ··················································································161(1) Names of the Parts········································································(2) Status LED Indication······································································161

161

8.4 Troubleshooting ·····················································································1499. SCON-C ········································································································150

9.1 Models·································································································1509.2 CC-Link interface ···················································································1519.3 I/O signal assignment··············································································1549.4 CC-Link address assignation ····································································1569.5 Troubleshooting ·····················································································158

10. ASEL , PSEL , SSEL ························································································159

10.1 Model No.·····························································································15910.1.1 ASEL, PSEL ··················································································15910.1.2 SSEL····························································································160

8. RCS-C and E-Con····························································································1428.1 Models·································································································142

(1) RCS-C·························································································142(2) E-Con··························································································142

8.2 CC-Link interface ···················································································143(1) Names of each part ········································································143(2) Rotary switches ·············································································144(3) Display of monitor LEDs ··································································145

8.3 Input and Output (I/O) ·············································································146(1) RCS-C signal assignment ································································146(2) E-Con signal assignment ·································································147

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1

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.

No. Operation Description Description

1 Model Selection

This product has not been planned and designed for the application where 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.

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No. Operation

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 Preservation

The storage and preservation environment conforms to the installation 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 Start

(1) Installation of Robot Main Body and Controller, etc. 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

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3

No. Operation

Description Description

(2) Cable Wiring 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.

4 Installation and Start

(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).

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No. Operation

Description Description

4 Installation and Start

(4) Safety Measures 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.

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5

No. Operation

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 Operation

Check before starting the automatic operation or rebooting after 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.

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6

No. Operation

Description Description

8 Maintenance and Inspection

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 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 and Dismantle

Do not modify, disassemble, assemble or use of maintenance parts not 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.

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7

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

Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

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

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8

1. O

verv

iew

XSEL-P/Q XSEL-R(A)/S(A)/R(A)X/S(A)X

SCON SSEL

ACON ASEL PCON PSEL MSEL

1. Overview CC-Link is an abbreviation of Control & Communication Link and is one of the open field network standards. IAI controllers shown below are available for the connection to CC-Link.

Note 1 See the other booklet ME0254 CC-Link for more details.

Example for Network Construction

scitsiretcarahCepyTledoM

XSEL-J/K/P/Q/JX/KX/ The I/O data can be processed as bit data or word data.For each of input and output points, max. 256 points are available.

PX/QX/R(A)/S(A)/R(A)X/S(A)X/R(A)XDS(A)XD

Remote device station

Remote device station

XSEL-K Remote I/O This is the remote I/O module with 16 I/O points. ASEL, PSEL, SSEL Remote device station It can be operated as the same as the control with PIO. MSEL, TTA, TT

For each of input and output points, max. 240 points are available.

RCS-C, E-Con, SCON-C

Remote I/O It can be operated as the same as the control with PIO.

ACON, PCON, SCON (excluding SCON-C)

Remote device station In addition to the processing as the sameas the operation with PIO, it can be operated with the target position, speed and acceleration/deceleration speed directly setup using the values.

Note For the details of CC-Link, refer to the instruction manuals of Master Unit and Programmable Controller (hereafter, described as the host or PLC). When reading this Operation Manual, also refer to the Operation Manuals for the ACON and PCON controller you are using CC-Link cannot be used for any method other than those described as possible in this Operation Manual.

TT/TTA

PLC

The I/O data can be procesed as bit data or word data.

Chapter 3

Chapter 3Chapter 10

Chapter 4

Chapter 8Chapter 9

Chapter 5Chapter 6Chapter 7

(Note 1)

Reference destination

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9

2. Interface Specifications

2. Interface Specifications Item Specification Communication Protocol CC-Link Ver1.10 Baud rate [Mbps] 10 / 5 / 2.5 / 0.625 / 0.156 Communication System Broadcast Polling System Synchronization system Frame synchronization system Encoding system NRZI Transmission Path Format Bus format (EIA RS485 conformance) Transmission format HDLC conformance Error control system CRC(X16+X12+X5+1) Number of occupied stations XSEL(except for K Type), ASEL,

PSEL, SSEL, TT*, MSEL : Remote device station 1 to 3 station XSEL-K : Remote I/O station 1 station RCS-C, E-Con, SCON-C : Remote I/O station 1 station

Communication Cable Length

(Note 1)

Baud rate [Mbps] 10 5 2.5 0.625 0.156

Total Cable Length [m] 100 160 400 900 1200

Connector (Controller side) (Note 2)

Manufactured by Phoenix Contact

XSEL-R(A)*/S(A)*, TTA, MSEL : MSTB2.5/5-GF-5.08AU XSEL-J*/K*/P*/Q*, TT : MSTBA2.5/5-G-5.08AU ASEL, PSEL, SSEL, SCON-C, E-Con, RCS-C : MC1.5/5-G-3.81

Note 1 For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted.

Note 2 The cable-side connector is a standard accessory. Manufactured by Phoenix Contact

• XSEL-RA*/SA : SMSTB2.5/5-STF-5.08AU • XSEL-R*/S*, TTA, MSEL : MSTB2.5/5-STF-5.08AU • XSEL-J*/K*, ASEL, PSEL, SSEL : SMSTB2.5/5-ST-5.08AU • XSEL-P*/Q*, TT : MSTB2.5/5-ST-5.08AU • SCON-C, E-Con, RCS-C : MC1.5-ST-3.81

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3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

11

3. XSEL-J/K/P/Q/JX/KX/PX/QX The CC-Link compatible XSEL controller has the following two types:

a: Remote device station: Number of I/O points = Max. 256 points each b: Remote I/O station: Number of I/O points = 16 points each

3.1 Remote device station 3.1.1 Models The CC-link compatible XSEL controller is handled as a remote device station has one type each of J/K/P/Q for Cartesian and JX, KX, PX, and QX for SCARA as follows:

CC-Link board installation position

Board installation position

No. Controller type

Number of I/O points in

network (Max

input/output)

Stan

dard

slo

t (I/

O 1

)

Exp

ansi

on

slot

1 (I

/O 2

)

Exp

ansi

on

slot

2 (I

/O 3

)

Exp

ansi

on

slot

3 (I

/O 4

) XSEL model I/O slot arrangement

For single axis XSEL-J-1--CC--- 1 For two axes XSEL-J-2---CC---

For three axes XSEL-J-3----CC--- 2 J type 256/256

For four axes XSEL-J-4-----CC---

Fig. 3-1-1

For single axis XSEL-K-1--CC--- 3 K type 256/256

For four axes XSEL-K-4-----CC--- Fig. 3-1-2

4 JX type 256/256 XSEL-JX--CC--- *1 5 KX type 256/256 XSEL-KX--CC--- *2

For single axis XSEL-P-1--CC----3 P type 256/256

For six axes XSEL-P-6-------CC----3 Fig. 3-1-3

For single axis XSEL-Q-1--CC----3

6

Q type 256/256

Field network board installation position

For six axes XSEL-Q-6-------CC----3 *3

For four axes XSEL-PX4--CC- For five axes XSEL-PX5--CC- PX type 256/256 For six axes XSEL-PX6---

-CC-

*3

For four axes XSEL-QX4--CC-

For five axes XSEL-QX5---CC-

7

QX type 256/256

Field network board installation position

For six axes XSEL-QX6----CC-

*3

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11

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

12

(*1) The CC-Link board installation position is the same as Fig. 3-1-1 for four axes specifications.

(*2) The CC-Link board installation position is the same as Fig. 3-1-2.

(*3) The CC-Link board installation position is the same as Fig. 3-1-3. The CC-Link board installation position for five axes and

six axes specifications are the same as the four axes specification.

(Note): 16 points each for input and output among I/O points are in the system area of the remote device station, therefore, these

points cannot be used.

For details, please refer to “3.1.7 Correspondence between XSEL I/O port number and PLC address.” (1) Compact type (J type)

For single axis For two axes For three and four axes

Note: For items of single axis and two axes, a PIO board cannot be installed. For those of three and four axes, an expansion I/O board (*1) can be inserted into the expansion slot.

Fig. 3-1-1

CC-Link board CC-Link board Expansion slot CC-Link board

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12

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

13

(2) General type (K type)

The CC-link board is inserted into the standard slot (I/O 1: leftmost). Either of an expansion I/O board (*1) or SIO board (*2) can be inserted into the expansion slot. When an expansion I/O board (*1) is not used, it is not required to supply 24V DC to the I/O 24V power

connector.

Fig. 3-1-2 (*1) Expansion I/O board

Model (1): IA-103-X-32 (Input: 32 points, Output: 16 points in NPN specification) Model (2): IA-103-X-32-P (Input: 32 points, Output: 16 points in PNP specification) Model (3): IA-103-X-16 (Input: 16 points, Output: 32 points in NPN specification) Model (4): IA-103-X-16-P (Input: 16 points, Output: 32 points in PNP specification) Model (5): IA-IO-3204-NP (Input: 48 points, Output: 48 points in NPN specification) Model (6): IA-IO-3204-PN (Input: 48 points, Output: 48 points in PNP specification) Model (7): IA-IO-3205-NP (Input: 48 points, Output: 48 points in NPN specification) Model (8): IA-IO-3205-PN (Input: 48 points, Output: 48 points in PNP specification) (Note) (5) and (6) models are dedicated for K type, and (7) and (8) models are dedicated for J type. For further information on specifications, refer to the XSEL Controller Operation Manual.

(*2) SIO board

Model (1): IA-105-X-MW-A (for RS232C) Model (2): IA-105-X-MW-B (for RS422) Model (3): IA-105-X-MW-C (for RS485) Any single board above is 2-channel compatible.

CC-Link board Expansion slot

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13

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

14

(3) P/Q type

A CC-Link board is mounted on the field network board installation position.

Expansion I/O provided Expansion I/O not provided

XSEL-P-1--CC----3 XSEL-P-2---CC----3 XSEL-P-3----CC----3 XSEL-P-4-----CC----3 XSEL-P-5------CC----3 XSEL-P-6-------CC----3 XSEL-Q-1--CC----3 XSEL-Q-2---CC----3 XSEL-Q-3----CC----3 XSEL-Q-4-----CC----3 XSEL-Q-5------CC----3 XSEL-Q-6-------CC----3

Fig. 3-1-3

CC-Link board CC-Link board Expansion I/OStandard I/O

Standard I/O

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14

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

15

3.1.2 CC-Link board (1) Names of each part

J/K/JX/KX type P/Q/PX/QX type

CC-Link communications connector

Communications speed setting rotary switch

Station number setting rotary switch

Monitor LED

CC-Link communications connector

Communications speed setting rotary switch

Station number setting rotary switch

Monitor LED

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15

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

16

(2) Rotary switches

The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed

a. Setting of station number

In the CC-Link, a maximum of 64 stations can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.

Station number Rotary switch selection number

SA 10 SA 1

0 0 0

1 10 1

2 20 2

3 30 3

4 40 4

5 50 5

6 60 6

7 - 7

8 - 8

9 - 9

(Example)When setting the station number to 12: Set the rotary switch SA 10 to 1. Set the rotary switch SA 1 to 2.

Note: The CC-Link first I/O address in PLC is determined according to the master unit installation position and the number of I/O occupied points of the unit installed prior to that. The I/O addresses in PLC are assigned from the first I/O address above in order of station number. For further information regarding setting of the station number and setting of the I/O address in the PLC, refer to the Operation Manuals for the master unit and PLC to be mounted.

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16

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

17

b. Setting of communications speed

The communications speed is set by the rotary switch BR.

Rotary switch selection number Communications speed

0 156 kbps

1 625 kbps

2 2.5 Mbps

3 5 Mbps

4 10 Mbps

Setting to 5 or more prohibited Error

(3) Display of monitor LEDs

The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

LED Color Display condition Display details (display indication)

RUN Green Lighting Lights when communications start and turns off when communications are interrupted for a fixed time or longer.

SD Green Lighting Lights during data transmission

RD Green Lighting Lights during data reception

Lighting Local station address receiving data has an error.

ERR Red

Flashing

Setting by the communications speed setting rotary switch was changed during communications. Setting by the station number setting rotary switch was changed during communications.

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17

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

18

3.1.3 Setting of I/O parameters (assignment of I/O ports) The XSEL I/O ports used in the CC-LINK are set. XSEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the XSEL Controller Operation Manual.) The typical setting methods are shown below in this Manual. Basically, the I/O parameter No. 1 sets the I/O port assignment type to fixed assignment, and sets the I/O port address for each I/O slot. (1) Board installation positions (slots) and parameter numbers a. J type

(Three- and four-axes specifications) Parameter No. 4 No. 5 No. 11

Parameter No. 2 No. 3 No. 10

Parameter No. 8 No. 9 No. 13

Parameter No. 6 No. 7 No. 12

Parameter No. 4 No. 5 No. 11

Parameter No. 2 No. 3 No. 10

Note: With no slots, parameters No. 6 to No. 9 are all set to “-1” and parameters No. 12 and No. 13 are set to “0.” For the single-axis and two-axes specifications, parameters No. 4 and No. 5 are set to “-1” and parameter No. 11 is set to “0.”

b. K type

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18

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

19

C. P/Q type

Parameter No. 16 No. 17 No. 18

CC-Link Expansion I/OStandard I/O CC-Link Standard I/O

Parameter No. 2 No. 3 No. 10

Parameter No. 16 No. 17 No. 18

Parameter No. 2 No. 3 No. 10

Parameter No. 4 No. 5 No. 11

Parameter No. 6 No. 7 No. 11

Parameter No. 8 No. 9 No. 13

12

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19

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

(2) Factory-configured parameters of J/K type (standard setting)

No. Parameter name Input range

Set value Remarks

1 I/O port assignment type 0 – 20 1 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time:Input port start No. (I/O 1)

-1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time:Output port start No. (I/O 1)

-1 300 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 -1 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 -1 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 -1 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1) 0 – 5 2

11 Expansion I/O 1 error monitoring (I/O 2)

0 – 5 0

12 Expansion I/O 2 error monitoring (I/O 3)

0 – 5 0

13 Expansion I/O 3 error monitoring (I/O 4)

0 – 5 0

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

0 – 256 64 Multiples of 16

15 Network I/F card remote: Number of ports used for output

0 – 256 64 Multiples of 16

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

300 – 599

300 – 599

300 – 599

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-J/K: Main application of Ver.1.16 or later XSEL-JX/KX: Main application of Ver.0.51 or later)

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20

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

(3) Factory-configured parameters of P/Q type

No. Parameter name Input range

Set value Remarks

1 I/O port assignment type 0 – 20 1 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F

module → slot 1 (Standard I/O) -, * The ports only in the continuous installation

range from slot 1 are assigned for safety.) 2 Standard I/O fixed assignment time:

Input port start No. (I/O 1) -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1) 0 – 5 0 11 Expansion I/O 1 error monitoring (I/O

2) 0 – 5 0

12 Expansion I/O 2 error monitoring (I/O 3)

0 – 5 0

13 Expansion I/O 3 error monitoring (I/O 4)

0 – 5 0

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

0 – 256 64 Multiples of 16

15 Network I/F card remote: Number of ports used for output

0 – 256 64 Multiples of 16

16 Network I/F module fixed assignment time: Number of ports used for input

-1– 299 0 0+ (multiple of 16) (Invalid for negative values)

17 Network I/F module fixed assignment time: Number of ports used for output

300 300+ (multiple of 16) (Invalid for negative values)

18 Network I/F module error monitoring 0-5 1 0: Non-monitoring 1: Monitoring * Some exceptions included.

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

-1 300 – 599

-1 300 – 599

-1 300 – 599

-1 300 – 599

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21

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

No. Parameter name Input range

Set value Remarks

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)

121 Network attribute 2 Optional0H –FFFFFFFFH

Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus (100ms)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)

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22

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

22

3.1.4 J/K type controller parameter setting examples (1) CC-Link connection of standard I/O ports This is a setting for the case where 16 points for each I/O port from the head of the XSEL standard I/O port are used other than I/O ports.

XSEL (J type)

(The above are cases where the installation conditions as shown in Fig. 3-1-1 and Fig. 3-1-2 in section 3.1.1 are applied.)

Input port No. 000 – 015 Output port No. 300 – 315

Not used (None for single axis and two axes)

Input port No. 000 – 015 Output port No. 300 – 315

Not used

XSEL (K type)

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23

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

XSEL J/K type controller I/O parameter

No. Parameter name Default (reference)

Input range Remarks

1 I/O port assignment type 1 0 – 20 1 0: Fixed assignment

1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous

installation range from slot 1 are

assigned for safety.)

2 Standard I/O fixed assignment

time: Input port start No. (I/O 1)

000 -1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment

time: Output port start No. (I/O 1)

300 -1 300 300 + (multiples of 8)

(Invalid for negative values)

4 Expansion I/O 1 fixed assignment

time: Input port start No. (I/O 2)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

(Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment

time: Output port start No. (I/O 2)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

6 Expansion I/O 2 fixed assignment

time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment

time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

8 Expansion I/O 3 fixed assignment

time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment

time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

10 Standard I/O error monitoring (I/O

1)

2 0 – 5 2

11 Expansion I/O 1 error monitoring

(I/O 2)

0 0 – 5 0

12 Expansion I/O 2 error monitoring

(I/O 3)

0 0 – 5 0

13 Expansion I/O 3 error monitoring

(I/O 4)

0 0 – 5 0

0: Non-monitoring

1: Monitoring

2: Monitoring (Non-monitoring of 24V I/O

power related errors)

(Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power

related errors only)

(Main application of Ver. 0.55 or later)

14 Network I/F card remote:

Number of ports used for input

64 0 – 256 64 Multiples of 16

15 Network I/F card remote:

Number of ports used for output

64 0 – 256 64 Multiples of 16

(I/O 1) to (I/O 4) indicate the slot numbers.

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-J/K: Main application of Ver.1.16 or later XSEL-JX/KX: Main application of Ver.0.51 or later)

300 – 599

300 – 599

300 – 599

300 – 599

14H

Set value

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24

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

24

(2) Combined use of CC-Link board and I/O board a. The following is the setting in the case where automatic assignment allocates 256 points each for input and

output to the CC-Link board as the standard I/O ports as well as 32 points for input and 16 points for output to the expansion I/O board IA-103-X-32 from the subsequent I/O port numbers. The J type has the same setting.

Input port No. 256 – 287 Output port No. 556 – 571

Input port No. 000 – 255 Output port No. 300 – 555

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25

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

XSEL J/K type controller I/O parameter

No. Parameter name Default (reference)

Input range Remarks

1 I/O port assignment type 1 0 – 20 1 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 – )

* The ports only in the continuous installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment

time: Input port start No. (I/O 1)

000 -1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment

time: Output port start No. (I/O 1)

300 -1 300 300 + (multiples of 8)

(Invalid for negative values)

4 Expansion I/O 1 fixed assignment

time: Input port start No. (I/O 2)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

(Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment

time: Output port start No. (I/O 2)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

6 Expansion I/O 2 fixed assignment

time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment

time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

8 Expansion I/O 3 fixed assignment

time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment

time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

10 Standard I/O error monitoring

(I/O 1)

2 0 – 5 2

11 Expansion I/O 1 error monitoring

(I/O 2)

1 0 – 5 1

12 Expansion I/O 2 error monitoring

(I/O 3)

0 0 – 5 0

13 Expansion I/O 3 error monitoring

(I/O 4)

0 0 – 5 0

0: Non-monitoring

1: Monitoring

2: Monitoring (Non-monitoring of 24V I/O

power related errors)

(Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power

related errors only)

14 Network I/F card remote: Number of ports used for input

64 0 – 256 256 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 – 256 256 Multiples of 16

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-J/K: Main application of Ver.1.16 or later XSEL-JX/KX: Main application of Ver.0.51 or later)

14H

300 – 599

300 – 599

300 – 599

Set value

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26

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

26

b. The following is the setting in the case where fixed assignment makes the expansion I/O board IA-103-X-32

(input: 32 points, output: 16 points) used as the standard I/O ports and 256 points each for input and output assigned to the CC-Link board as the general I/O ports. The J type has the same setting.

Input port No. 000 – 031 Output port No. 300 – 315

Input port No. 032 – 287 Output port No. 316 – 571

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27

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

XSEL J/K type controller I/O parameter

No. Parameter name Default (reference)

Input range Remarks

1 I/O port assignment type 1 0 – 20 0 0: Fixed assignment

1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous

installation range from slot 1 are

assigned for safety.)

2 Standard I/O fixed assignment

time: Input port start No. (I/O 1)

000 -1 – 299 032 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment

time: Output port start No. (I/O 1)

300 -1 316 300 + (multiples of 8)

(Invalid for negative values)

4 Expansion I/O 1 fixed assignment

time: Input port start No. (I/O 2)

-1 -1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

(Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment

time: Output port start No. (I/O 2)

-1 -1 300 300 + (multiples of 8)

(Invalid for negative values)

6 Expansion I/O 2 fixed assignment

time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment

time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

8 Expansion I/O 3 fixed assignment

time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment

time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8)

(Invalid for negative values)

10 Standard I/O error monitoring

(I/O 1)

2 0 – 5 2

11 Expansion I/O 1 error monitoring

(I/O 2)

1 0 – 5 1

12 Expansion I/O 2 error monitoring

(I/O 3)

0 0 – 5 0

13 Expansion I/O 3 error monitoring

(I/O 4)

0 0 – 5 0

0: Non-monitoring

1: Monitoring

2: Monitoring (Non-monitoring of 24V I/O

power related errors)

(Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power

related errors only)

(Main application of Ver. 0.55 or later)

14 Network I/F card remote:

Number of ports used for input

64 0 – 256 256 Multiples of 16

15 Network I/F card remote:

Number of ports used for output

64 0 – 256 256 Multiples of 16

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-J/K: Main application of Ver.1.16 or later XSEL-JX/KX: Main application of Ver.0.51 or later)

14H

300 – 599

300 – 599

300 – 599

Set value

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28

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

28

3.1.5 P/Q type controller setting examples (1) Setting examples when only CC-Link is used The following is the setting in the case where only 16 ports for each input and output from the first of the I/O port are used for the CC-Link board and other input and output ports are not used as the same as the case of the XSEL standard I/O board (50-pin connector).

Input port No. 000 – 015 Output port No. 300 – 315

Not used

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29

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

XSEL P/Q type controller I/O parameter No. Parameter name Default

(reference)Input range Remarks

1 I/O port assignment type 0 0 – 20 0 0: Fixed assignment 1: Automatic assignment (Priority: Network

I/F module → slot 1 (Standard I/O) -, * The ports only in the continuous installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time: Input port start No. (I/O 1)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1)

0 0 – 5 0

11 Expansion I/O 1 error monitoring (I/O 2)

0 0 – 5 0

12 Expansion I/O 2 error monitoring (I/O 3)

0 0 – 5 0

13 Expansion I/O 3 error monitoring (I/O 4)

0 0 – 5 0

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

64 0 – 256 16 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 – 256 16 Multiples of 16

16 Network I/F module fixed assignment time: Number of ports used for input

0 (Invalid for negative values)

17 Network I/F module fixed assignment time: Number of ports used for output

300 (Invalid for negative values)

18 Network I/F module error monitoring 1 0-5 1 0: Non-monitoring 1: Monitoring * Some exceptions included.

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

300 – 599

300 – 599

300 – 599

300 – 599

Set value

0 0+ (multiple of 8)

-1 300 300+ (multiple of 8)

-1 – 299

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30

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

No. Parameter name Default (reference)

Input range Remarks

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)

1CH

121 Network attribute 2 Optional0H –FFFFFFFFH

Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus(100ms)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)(Example) The initial value C80000H is bit 16 to 27

= C8H = 200 (in 100ms unit)200 × 100ms = 20secIt waits for communication to be established for 20sec at the maximum from the startup.

C80000H

Set value

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31

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

30

(2) Setting examples when CC-Link board and I/O board are used in combination a. The following is the setting in the case where automatic assignment allocates 256 points each for input and

output to the CC-Link board from the first standard I/O port to the standard I/O board from the subsequent I/O port No.

Input port No. 256 – 287 Output port No. 556 – 571

Input port No. 000 – 255 Output port No. 300 – 555

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32

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

XSEL P/Q type Controller I/O Parameter No. Parameter name Default

(reference)Input range Remarks

1 I/O port assignment type 0 0 – 20 0 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F

module → slot 1 (Standard I/O) -, * The ports only in the continuous

installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time: Input port start No. (I/O 1)

-1 -1 – 299 256 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 556 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1)

0 0 – 5 1

11 Expansion I/O 1 error monitoring (I/O 2)

0 0 – 5 0

12 Expansion I/O 2 error monitoring (I/O 3)

0 0 – 5 0

13 Expansion I/O 3 error monitoring (I/O 4)

0 0 – 5 0

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only)

14 Network I/F card remote: Number of ports used for input

64 0 – 256 256 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 – 256 256 Multiples of 16

16 Network I/F module fixed assignment time: Number of ports used for input

0 (Invalid for negative values)

17 Network I/F module fixed assignment time: Number of ports used for output

300 (Invalid for negative values)

18 Network I/F module error monitoring 1 0 – 5 1 0: Non-monitoring 1: Monitoring * Some exceptions included.

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

300 – 599

300 – 599

300 – 599

Set value

0 0+ (multiple of 8) -1 – 299

300 300+ (multiple of 8)

300 – 599

-1

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33

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

No. Parameter name Default (reference)

Input range Remarks

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)

1CH

121 Network attribute 2 Optional0H –FFFFFFFFH

Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus(100ms)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)(Example) The initial value C80000H is bit 16 to 27

= C8H = 200 (in 100ms unit)200 × 100ms = 20secIt waits for communication to be established for 20sec at the maximum from the startup.

C80000H

Set value

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32

b. The following is the setting in the case where the standard I/O board IA-103-X32 (input: 32 points, output:

16 points) is used as the standard I/O ports and 256 points each for input and output is assigned to the CC-Link board as the general I/O ports.

Input port No. 000 – 031 Output port No. 300 – 315

Input port No. 032 – 287 Output port No. 316 – 571

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/JX/KX/PX/Q

X

XSEL P/Q type Controller I/O Parameter No. Parameter name Default

(reference)Input range Remarks

1 I/O port assignment type 0 0 – 20 0 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F

module → slot 1 (Standard I/O) -, * The ports only in the continuous

installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time: Input port start No. (I/O 1)

-1 -1 – 299 0 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 300 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1)

0 0 – 5 1

11 Expansion I/O 1 error monitoring

(I/O 2)

0 0 –5 0

12 Expansion I/O 2 error monitoring

(I/O 3)

0 0 –5 0

13 Expansion I/O 3 error monitoring

(I/O 4)

0 0 –5 0

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

64 0 – 256 256 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 – 256 256 Multiples of 16

16 Network I/F module fixed assignment time: Number of ports used for input

0 -1 – 299 032 0+ (multiple of 8) (Invalid for negative values)

17 Network I/F module fixed assignment time: Number of ports used for output

300 (Invalid for negative values)

18 Network I/F module error monitoring 1 0 – 5 1 0: Non-monitoring 1: Monitoring * Some exceptions included.

(I/O 1) to (I/O 4) indicate the slot numbers.

300 – 599

300 – 599

300 – 599

300 – 599

300 – 599

Set value

316 300+ (multiple of 8) -1

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No. Parameter name Default (reference)

Input range Remarks

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)

1CH

121 Network attribute 2 Optional0H –FFFFFFFFH

Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus(100ms)(XSEL-P/Q: Main application of Ver.1.28 or later XSEL-PX/QX: Main application of Ver.0.60 or later)(Example) The initial value C80000H is bit 16 to 27

= C8H = 200 (in 100ms unit)200 × 100ms = 20secIt waits for communication to be established for 20sec at the maximum from the startup.

C80000H

Set value

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/JX/KX/PX/Q

X

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3.1.6 XSEL I/O port numbers

The standard I/O port numbers of XSEL are shown below. The XSEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the XSEL Controller Operation Manual.)

Port No. Function Port

No. Function

000 Program start 300 Alarm output

001 General input 301 Ready output

002 General input 302 Emergency stop output

003 General input 303 General output

004 General input 304 General output

005 General input 305 General output

006 General input 306 General output

007 Program designation (PRG No. 1) 307 General output

008 Program designation (PRG No. 2) 308 General output

009 Program designation (PRG No. 4) 309 General output

010 Program designation (PRG No. 8) 310 General output

011 Program designation (PRG No. 10) 311 General output

012 Program designation (PRG No. 20) 312 General output

013 Program designation (PRG No. 40) 313 General output

014 General input 314 General output

015 General input 315 General output

Input

Output

Note: The number of I/O ports is as follows:

Input 000 to 299 (Max, 300 points)

Output 300 to 599 (Max, 300 points)

When the CC-Link board is used in combination with the expansion I/O board, pay attention to the number of I/O ports.

…… ……

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3.1.7 Correspondence between XSEL I/O port number and PLC address

PLC sets the XSEL CC-Link board as a remote device. The number of occupied stations of the remote device varies according to the setting of the number of I/O points on the XSEL side. The table below indicates the correspondence between the I/O port number and PLC address according to the settings of I/O parameters No. 14 and No. 15. (The following is a case where the I/O parameters No. 2 and No. 3 have standard settings [defaults].)

Note: For the I/O parameters No. 14 and No. 15, set the same points according to the larger number of points.

(1) When the number of I/O points is set to 96 or less:

Configured as one remote device. (One station occupied)

I/O parameter

No. 14 No. 15 XSEL side DI

(Port No.) PLC side XSEL side DO (Port No.) PLC side

16 16 000 – 015 RY 0 – F 300 – 315 RX 0 – F

32 32 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

48 48 032 – 047 RWw 0 332 – 347 RWr 0

64 64 048 – 063 RWw 1 348 – 363 RWr 1

80 80 064 – 079 RWw 2 364 – 379 RWr 2

96 96 080 – 095 RWw 3 380 – 395 RWr 3

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

(2) When the number of I/O points is set to 112 or more and 192 or less:

Configured as two remote devices. (Two stations occupied)

I/O parameter

No. 14 No. 15 XSEL side DI

(Port No.) PLC side XSEL side DO (Port No.) PLC side

(16) (16) 000 – 015 RY 0 – F 300 – 315 RX 0 – F

(32) (32) 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

(48) (48) 032 – 047 RY 20 – 2F 332 – 347 RX 20 – 2F

(64) (64) 048 – 063 RY 30 – 3F 348 – 363 RX 30 – 3F

(80) (80) 064 – 079 RWw 0 364 – 379 RWr 0

(96) (96) 080 – 095 RWw 1 380 – 395 RWr 1

112 112 096 – 111 RWw 2 396 – 411 RWr 2

128 128 112 – 127 RWw 3 412 – 427 RWr 3

144 144 128 – 143 RWw 4 428 – 443 RWr 4

160 160 144 – 159 RWw 5 444 – 459 RWr 5

176 176 160 – 175 RWw 6 460 – 475 RWr 6

192 192 176 – 191 RWw 7 476 – 491 RWr 7

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

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X

37

(3) When the number of I/O points is set to 208 or more and 256 or less:

Configured as three remote devices. (Three stations occupied)

I/O parameter

No. 14 No. 15 XSEL side DI

(Port No.) PLC side XSEL side DO (Port No.) PLC side

(16) (16) 000 – 015 RY 0 – F 300 – 315 RX 0 – F

(32) (32) 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

(48) (48) 032 – 047 RY 20 – 2F 332 – 347 RX 20 – 2F

(64) (64) 048 – 063 RY 30 – 3F 348 – 363 RX 30 – 3F

(80) (80) 064 – 079 RY 40 – 4F 364 – 379 RX 40 – 4F

(96) (96) 080 – 095 RY 50 – 5F 380 – 395 RX 50 – 5F

(112) (112) 096 – 111 RWw 0 396 – 411 RWr 0

(128) (128) 112 – 127 RWw 1 412 – 427 RWr 1

(144) (144) 128 – 143 RWw 2 428 – 443 RWr 2

(160) (160) 144 – 159 RWw 3 444 – 459 RWr 3

(176) (176) 160 – 175 RWw 4 460 – 475 RWr 4

(192) (192) 176 – 191 RWw 5 476 – 491 RWr 5

208 208 192 – 207 RWw 6 492 – 507 RWr 6

224 224 208 – 223 RWw 7 508 – 523 RWr 7

240 240 224 – 239 RWw 8 524 – 539 RWr 8

256 256 240 – 255 RWw 9 540 – 555 RWr 9

Not be set - RWw A - RWr A

Not be set - RWw B - RWr B

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

* In the case of three stations being occupied, twelve words (ten words for XSEL) are assigned for each input and output in the data register on the PLC side. Be careful about overlapping of data register on the PLC side.

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3.1.8 Data in remote registers

Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set on the CC-Link board and the number of occupied stations set by the PLC parameter, in steps of 16 points (one word) in order of XSEL port number. Setting the I/O parameter No. 120 to “0” allows the data in one word to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits) in the communications area with the PLC remote register. (Remote I/O areas are not changed.)

I/O parameters

No. Parameter name Default (reference) skrameR egnar tupnI

120 Network attribute 1 1 0H – FFFFFFFFH CC-Link remote register area H/L byte SWAP selection 0: XSEL side: H byte ⇔ PLC side: L byte XSEL side: L byte ⇔ PLC side: H byte 1: XSEL side: H byte ⇔ PLC side: H byte XSEL side: L byte ⇔ PLC side: L byte

(Main application of Ver. 0.55 or later)

The relationships between I/O signals are shown below by taking s case where the number of I/O points of XSEL is set to 112 or more and 192 or less (two stations occupied) for example. (1) XSEL remote I/O areas and remote register areas

Remote input: Port No. 0 to No. 63 Remote output: Port No. 300 to No. 363 Remote address (input): Port No. 64 to No. 191 Remote address (output): Port No. 364 to No. 491

Note: Since ports No. 48 to No. 63 and No. 348 to No. 363 are the system areas for the remote device stations on the PLC side, they cannot be used.

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/JX/KX/PX/Q

X

39

(2) Transmission and receipt of signals in remote I/O areas The transmission and receipt of signals in remote I/O areas are irrelevant to the setting of the I/O parameter No. 120.

: On, : OFF

XSEL port No. (Input) 015 014 013 012 011 010 009 008 007 006 005 004 003 002 001 000

ON/OFF

Hexadecimal data F 0 8 1

PLC: RYnn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

XSEL port No. (Output) 315 314 313 312 311 310 309 308 307 306 305 304 303 302 301 300

ON/OFF

Hexadecimal data F 0 8 1

PLC: RXnn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

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(3) Transmission and receipt of signals in remote register areas The I/O parameter No. 120 allows the data in one word (16 bits) to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits). (a) When the I/O parameter No. 120 is set to “1”

: On, : OFF

XSEL port No. (Input) 079 078 077 076 075 074 073 072 071 070 069 068 067 066 065 064

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWwn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

XSEL port No. (Output) 379 378 377 376 375 374 373 372 371 370 369 368 367 366 365 364

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWrn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

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X

41

(b) When the I/O parameter No. 120 is set to “0”

: On, : OFF

XSEL port No. (Input) 079 078 077 076 075 074 073 072 071 070 069 068 067 066 065 064

ON/OFF

Hexadecimal data 8 1 F 0

PLC: RWwn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

XSEL port No. (Output) 379 378 377 376 375 374 373 372 371 370 369 368 367 366 365 364

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWrn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data 8 1 F 0

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Reference When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in order of port number. (1) Remote I/O PLC

Xnn and Ynn are the remote I/O addresses in PLC that correspond to the station number. The addresses of the remote I/O in PLC (RX and RY) are set to Xnn and Ynn. (Refer to “Section 11. Communication with Master Station.”)

(Input) (Output)

(Output)Port No.

(Input) Port No.

XSEL

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43

Reference (2) Remote register a. When the I/O parameter No. 120 is set to “1”

PLC

RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.

)tuptuO( )tupnI(

(Input) Port No.

(Output)Port No.

XSEL

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Reference b. When the I/O parameter No. 120 is set to “0”

PLC

RWrm and RWwm are the remote register addresses in PLC that correspond to the station number. The remote register is comprised of one word (16 bits), but the data order of the higher-order 8 bits (higher-order byte) and the lower-order 8 bits (lower-order byte) is reversed under this setting. Take caution.

456789011121314151 elpmaxE 3 2 1 0

PLC XSEL Register D100

PLC

Data F 0 8 1 860960070170270370470570670770870970 067 066 065 064

Ports No. 064 to No. 079

XSEL

Data 8 1 F 0

)tuptuO( )tupnI(

(Input) Port No.

(Output)Port No.

Station No. N

Station No. N+1

XSEL

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3.1.9 CSP file When using the GX Configurator-CC (manufactured by Mitsubishi Electric Corporation), download the CSP file from our Web site shown below if required.

Web site: http://www.iai-robot.co.jp The CSP file to be used is different according to the number of ports used (number of I/O ports) set by the I/O parameters No. 14 and No. 15 of XSEL.

File name Description Number of ports used in XSEL

(Number of I/O points)

HMS-ABS-CCL_1.csp For one remote device (one station) 96 points or less each

HMS-ABS-CCL_2.csp For two remote devices (two stations) 112 points or more and 192 points or less each

HMS-ABS-CCL_3.csp For two remote devices (three stations)208 points or more and 256 points or less each

For the setting method of the remote station (XSEL) information to the master station, refer to the Operation Manuals for the master station, PLC to be mounted, and peripherals.

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3.2 Remote I/O station 3.2.1 Models The CC-Link compatible XSEL controller handled as the remote I/O station has three types as shown below. The single CC-Link board allows communications through 16 points each for input and output. The model of XSEL varies according to the installation positions and number of boards.

CC-Link board, Standard I/O board

Board installation position

No. Controller type

Number of I/O points in

network (Max input/

output) Standard

slot (I/O 1)

Expansion slot 1 (I/O 2)

Expansion slot 2 (I/O 3)

Expansion slot 3 (I/O 4)

XSEL model I/O slot arrangement

1 16/16 XSEL-K-- ~ -NI-EEC-- Fig. 3-2-1

2 32/32 (16/16 ×2) XSEL-K-- ~ -NI-ECC-- Fig. 3-2-2

3

K type

48/48 (16/16 ×3) XSEL-K-- ~ -NI-CCC-- Fig. 3-2-3

For the standard slot (I/O 1, leftmost), a standard I/O board is required. For expansion slots, either of an expansion I/O board (*2) or SIO board (*3) is installable in addition to

the CC-Link board (*1).

Fig. 3-2-1

CC-Link board Standard I/O board Expansion slots

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Fig. 3-2-2

Fig. 3-2-3

Standard I/O board

Expansion slots CC-Link board

Standard I/O board CC-Link board

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(*1) CC-Link board

Model: IANT-3204-CC16 (*2) Expansion I/O board

Model (1): IA-103-X-32 (Input: 32 points, Output: 16 points, NPN specification) Model (2): IA-103-X-32-P (Input: 32 points, Output: 16 points, PNP specification) Model (3): IA-103-X-16 (Input: 16 points, Output: 32 points, NPN specification) Model (4): IA-103-X-32-P (Input: 16 points, Output: 32 points, PNP specification) Model (5): IA-IO-3204-NP (Input: 48 points, Output: 48 points, NPN specification) Model (6): IA-IO-3204-PN (Input: 48 points, Output: 48 points, PNP specification) Model (7): IA-IO-3205-NP (Input: 48 points, Output: 48 points, NPN specification) Model (8): IA-IO-3205-PN (Input: 48 points, Output: 48 points, PNP specification) (Note) (5) and (6) models are dedicated for K type, and (7) and (8) models are dedicated for J type.

For further information on specifications, refer to the XSEL Controller Operation Manual. (*3) SIO board

Model (1) IA-105-X-MW-A (for RS232C) Model (2) IA-105-X-MW-B (for RS422) Model (3) IA-105-X-MW-C (for RS485)

Any single board above is 2-channel compatible.

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3.2.2 CC-Link board

(1) Names of each part

Monitor LED

Station number setting rotary switch

CC-Link communications connector

Communications speed setting rotary switch

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(2) Rotary switches

The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed

a. Setting of station number

In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA ×10: Sets the tens place. SA ×1: Sets the ones place.

Station number Rotary switch selection number

SA AS×10 ×1

0 0 0

1 01 1

2 02 2

3 03 3

4 04 4

5 05 5

6 06 6

7 ―

7

8 8

9 9

(Example) When setting the station number to 12: Set the rotary switch SA ×10 to 1. Set the rotary switch SA ×1 to 2.

Note: The CC-Link first I/O address in PLC is determined according to the master unit installation position and the number of I/O occupied points of the unit installed prior to that. The I/O addresses in PLC are assigned from the first I/O address above in order of station number. When two or more CC-Link boards are used in XSEL, it is recommended to set station numbers in order of installation position so that measures can be taken smoothly in the event of trouble. For further information regarding setting of the station number and setting of the I/O address in the PLC, refer to the Operation Manuals for the master unit and PLC to be mounted.

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b. Setting of communications speed

The communications speed is set by the rotary switch BR.

Rotary switch selection number Communications speed

0 156 kbps

1 625 kbps

2 2.5 Mbps

3 5 Mbps

4 10 Mbps

Setting to 5 or more prohibited Error

(3) Display of monitor LEDs

The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

LED Color Display condition Display details (display indication)

RUN Green Lighting Lights when communications start and turns off when communications are interrupted for a fixed time or longer.

SD Green Lighting Lights during data transmission

RD Green Lighting Lights during data reception

Lighting Local station address receiving data has an error.

ERR Red

Flashing

Setting by the communications speed setting rotary switch was changed during communications. Setting by the station number setting rotary switch was changed during communications.

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PX/Q

X

3.2.3 Setting of I/O parameters (assignment of I/O ports) The XSEL I/O ports used in the CC-Link are set. XSEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the XSEL Controller Operation Manual.) The typical setting methods are shown below in this Manual. Basically, the I/O parameter No. 1 sets the I/O port assignment type to fixed assignment by setting the I/O port address for each I/O slot.

(1) Board installation positions (slots) and parameter numbers

Parameter No. 6 No. 7 No. 12

Parameter No. 4 No. 5 No. 11

Parameter No. 2 No. 3 No. 10

Parameter No. 8 No. 9 No. 13

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3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

(2) Factory-configured parameters A: XSEL-K - -CC1-B: XSEL-K - -CC2-C: XSEL-K - -CC3-

teS eulav

No. Parameter name Input range A B C Remarks

1 I/O port assignment type 0 – 20 0 0 0 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time: Input port start No. (I/O 1)

-1 – 299 -1 -1 -1 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

-1 – 299 -1 -1 032 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

-1 -1 -1 332 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

-1 – 299 -1 016 016 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

-1 -1 316 316 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

-1 – 299 0 0 0 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

-1 300 300 300 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1)

0 – 5 0 0 0

11 Expansion I/O 1 error monitoring (I/O 2)

0 – 5 0 0 2

12 Expansion I/O 2 error monitoring (I/O 3)

0 – 5 0 2 2

13 Expansion I/O 3 error monitoring (I/O 4)

0 – 5 2 2 2

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

0 – 256 0 0 0 Multiples of 8

15 Network I/F card remote: Number of ports used for output

0 – 256 0 0 0 Multiples of 8

(I/O 1) to (I/O 4) indicate the slot numbers.

(Note) When a standard I/O board is not used, it is not required to supply 24V DC to the I/O 24V power connector. In this case, set the parameter No. 10 to “0.”

300 – 599

300 – 599

300 – 599

300 – 599

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(Main application of Ver.1.16 or later)

Optional Optional

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3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

54

(3) CC-Link connection with standard I/O ports a. When only three CC-link boards are used

The following is the setting of a case where standard I/O ports are assigned to the CC-Link boards from the first port without using a standard I/O board.

(The above is a case where the installation condition as shown in Fig. 3-2-3 in section 3.2.1 is applied.)

Input port No. 032 – 047 Output port No. 332 – 347

Not used

Input port No. 000 – 015 Output port No. 300 – 315

Input port No. 016 – 031 Output port No. 316 – 331

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3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

XSEL I/O parameter No. Parameter name Default

(reference)Input range Remarks

1 I/O port assignment type 1 0 – 20 01 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous installation range from slot 1 are assigned for safety.)

2 Standard I/O fixed assignment time: Input port start No. (I/O 1)

-1 -1 – 299 -1 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time: Output port start No. (I/O 1)

-1 -1 -1 300 + (multiples of 8) (Invalid for negative values)

4 Expansion I/O 1 fixed assignment time: Input port start No. (I/O 2)

032 -1 – 299 032 0 + (multiples of 8) (Invalid for negative values) (Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment time: Output port start No. (I/O 2)

332 -1 332 300 + (multiples of 8) (Invalid for negative values)

6 Expansion I/O 2 fixed assignment time: Input port start No. (I/O 3)

016 -1 – 299 016 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment time: Output port start No. (I/O 3)

316 -1 316 300 + (multiples of 8) (Invalid for negative values)

8 Expansion I/O 3 fixed assignment time: Input port start No. (I/O 4)

000 -1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment time: Output port start No. (I/O 4)

300 -1 300 300 + (multiples of 8) (Invalid for negative values)

10 Standard I/O error monitoring (I/O 1)

0 0 – 5 0

11 Expansion I/O 1 error monitoring (I/O 2)

2 0 – 5 2

12 Expansion I/O 2 error monitoring (I/O 3)

2 0 – 5 2

13 Expansion I/O 3 error monitoring (I/O 4)

2 0 – 5 2

0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) (Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power related errors only) (Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

0 0 – 256 0 Multiples of 8

15 Network I/F card remote: Number of ports used for output

0 0 – 256 0 Multiples of 8

(I/O 1) to (I/O 4) indicate the slot numbers.

b. When only two CC-Link boards are used The I/O 2 (expansion I/O 1) slot becomes empty. Accordingly, both the default and set value become “-1” for the I/O parameter No. 4 and No. 5 and “0” for No. 11 in the table above. (The above is a case where the installation condition as shown in Fig. 3-2-2 in section 3.2.1 is applied.)

c. When only one CC-Link board is used The I/O 2 (expansion I/O 1) and I/O 3 (expansion I/O 2) slots become empty. Accordingly, both the default and set value become “-1” for the I/O parameters No. 4 to No. 7 and “0” for No. 11 and No. 12 in the table above. (The above is a case where the installation condition as shown in Fig. 3-2-1 in section 3.2.1 is applied.)

(Note) When no I/O board is used, it is not required to supply 24V DC to the I/O 24V power connector. In any case of a, b, and c above, set the I/O parameter No. 10 to “0.”

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(Main application of Ver.1.16 or later)

300 – 599

300 – 599

300 – 599

300 – 599

Set value

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58

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

56

d. When a standard I/O board is used as general I/O

When a standard I/O board is used as general I/O (input: 32 points, output: 16 points) with the setting of a, the number becomes 048 for the I/O parameter No. 2, 348 for No. 3, and 1 for No. 10 in the table on the previous page for the following assignments:

(The above is a case where the installation condition as shown in Fig. 3-2-3 in section 3.2.1 is applied.)

Input port No. 000 – 015 Output port No. 300 – 315

Input port No. 016 – 031 Output port No. 316 – 331

Input port No. 032 – 047 Output port No. 332 – 347

Input port No. 048 – 079 Output port No. 348 – 363

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59

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

56

d. When a standard I/O board is used as general I/O

When a standard I/O board is used as general I/O (input: 32 points, output: 16 points) with the setting of a, the number becomes 048 for the I/O parameter No. 2, 348 for No. 3, and 1 for No. 10 in the table on the previous page for the following assignments:

(The above is a case where the installation condition as shown in Fig. 3-2-3 in section 3.2.1 is applied.)

Input port No. 000 – 015 Output port No. 300 – 315

Input port No. 016 – 031 Output port No. 316 – 331

Input port No. 032 – 047 Output port No. 332 – 347

Input port No. 048 – 079 Output port No. 348 – 363

(4) General I/O connection of CC-Link boards The following is a case where a standard I/O board is used as standard I/O ports and 48 points each for input and output are assigned to three CC-link boards as general I/O ports:

(The above is a case where the installation condition as shown in Fig. 3-2-3 in section 3.2.1 is applied.)

Input port No. 048 – 063 Output port No. 332 – 347

Input port No. 032 – 047 Output port No. 316 – 331

Input port No. 064 – 079 Output port No. 348 – 363

Standard I/O board Input port No. 000 – 031 Output port No. 300 – 315

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60

3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

XSEL I/O parameter

No. Parameter name Default (reference)

Input range Remarks

1 I/O port assignment type 0 0 – 20 0 0: Fixed assignment

1: Automatic assignment (Priority: slot 1 –)

* The ports only in the continuous

installation range from slot 1 are

assigned for safety.)

2 Standard I/O fixed assignment time:

Input port start No. (I/O 1)

-1 -1 – 299 000 0 + (multiples of 8) (Invalid for negative values)

3 Standard I/O fixed assignment time:

Output port start No. (I/O 1)

-1 -1 300 300 + (multiples of 8)

(Invalid for negative values)

4 Expansion I/O 1 fixed assignment

time: Input port start No. (I/O 2)

032 -1 – 299 032 0 + (multiples of 8) (Invalid for negative values)

(Slot next to the standard I/O)

5 Expansion I/O 1 fixed assignment

time: Output port start No. (I/O 2)

332 -1 316 300 + (multiples of 8)

(Invalid for negative values)

6 Expansion I/O 2 fixed assignment

time: Input port start No. (I/O 3)

016 -1 – 299 048 0 + (multiples of 8) (Invalid for negative values)

7 Expansion I/O 2 fixed assignment

time: Output port start No. (I/O 3)

316 -1 332 300 + (multiples of 8)

(Invalid for negative values)

8 Expansion I/O 3 fixed assignment

time: Input port start No. (I/O 4)

000 -1 – 299 064 0 + (multiples of 8) (Invalid for negative values)

9 Expansion I/O 3 fixed assignment

time: Output port start No. (I/O 4)

300 -1 348 300 + (multiples of 8)

(Invalid for negative values)

10 Standard I/O error monitoring (I/O

1)

0 0 – 5 1

11 Expansion I/O 1 error monitoring

(I/O 2)

2 0 – 5 2

12 Expansion I/O 2 error monitoring

(I/O 3)

2 0 – 5 2

13 Expansion I/O 3 error monitoring

(I/O 4)

2 0 – 5 2

0: Non-monitoring

1: Monitoring

2: Monitoring (Non-monitoring of 24V I/O

power related errors)

(Main application of Ver. 0.55 or later)

3: Monitoring (Monitoring of 24V I/O power

related errors only)

(Main application of Ver. 0.55 or later)

14 Network I/F card remote: Number of ports used for input

0 0 – 256 0 Multiples of 8

15 Network I/F card remote: Number of ports used for output

0 0 – 256 0 Multiples of 8

(I/O 1) to (I/O 4) indicate the slot numbers.

122 Network attribute 3 Optional0H –FFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(Main application of Ver.1.16 or later)

300 – 599

300 – 599

300 – 599

300 – 599

14H

Set value

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61

3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

60

(5) XSEL I/O port numbers

The standard I/O port numbers of XSEL are shown below. The XSEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the XSEL Controller Operation Manual.)

Port No. Function Port

No. Function

000 Program start 300 Alarm output

001 General input 301 Ready output

002 General input 302 Emergency stop output

003 General input 303 General output

004 General input 304 General output

005 General input 305 General output

006 General input 306 General output

007 Program designation (PRG No. 1) 307 General output

008 Program designation (PRG No. 2) 308 General output

009 Program designation (PRG No. 4) 309 General output

010 Program designation (PRG No. 8) 310 General output

011 Program designation (PRG No. 10) 311 General output

012 Program designation (PRG No. 20) 312 General output

013 Program designation (PRG No. 40) 313 General output

014 General input 314 General output

015 General input 315 General output

Input

Output

Note: The number of I/O ports is as follows:

Input 000 to 299 (Max, 300 points)

Output 300 to 599 (Max, 300 points)

When the CC-Link board is used in combination with the expansion I/O board, pay attention to the number of I/O ports.

…… … …

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3. X

SEL-

J/K

/P/Q

/JX/

KX/

PX/Q

X

61

Reference Addresses in PLC are assigned to the remote I/O addresses that correspond to the station number set by the rotary switch and the station number set by the PLC parameter, in steps of 16 points in order of port number.

Xnn and Ynn+1 are the addresses in PLC that correspond to the station number N.

Since 2-word (32-point) pr ocessing is made per station in PLC, the PLC remote I/O (RX/RY) addresses are set to Xnn/Ynn+1. Refer to “Section 11. Communications with Master Station.”

(Input)Port No.

(Output) Port No.

)tuptuO( )tupnI(

Station No. N

Station No. N+1

XSEL

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3. XSEL-J/K/P/Q

/JX/KX/PX/Q

X

62

3.3 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again. : ON, : OFF, : Flashing

RUN (Green)

ERR (Red)

SD (Green)

RD (Green) Operating condition

There is normal communications, but a CRC* error sometimes occurs with noise.

0.4s Resetting of the baud rate or station number has changed the rate or number.

(Impossible condition)

With the received data having a CRC* error, there can be no response.

(Impossible condition)

Normal communications

(Impossible condition)

Local station address receiving data has not arrived.

(Impossible condition)

There is the polling response, but refresh receiving has a CRC* error.

(Impossible condition)

Local station address receiving data has a CRC* error.

(Impossible condition)

There is no link start-up.

(Impossible condition)

There is no local station address receiving data or it is impossible to receive such data with noise.

It is impossible to receive data as a result of disconnection, etc. There is power interruption or H/W setting is being made.

The baud rate or station number is invalid.

The baud rate or station number is invalid.

*CRC: Cyclic Redundancy Check Data error detection method frequently used in the case of synchronous transmission is adopted.

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64

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

4. XSEL-P8/Q8/PX8/QX8 (Named temporarily)

XSEL-P8/Q8/PX8/QX8, which are applicable for CC-Link, deal the I/O data as the bit data or word data, and operate while reflecting the data. Note Set the Station Data for the Master Station to “ver 1, Remote Device Station”.

4.1 Model (not set)

The model code of each of XSEL-P8/Q8/PX8/QX8 applicable for CC-Link is as shown below. • XSEL-P8--CC- • XSEL-Q8--CC- • XSEL-PX8--CC- • XSEL-QX8--CC- • •

4.2 CC-Link Interface

1) Names of the Parts

CC-Link board

CC-Link communication connector

Monitor LEDs

Monitor LEDs

FG

SLD

DG

DB

DA

CC-Link Communication Connector

Signal name Details

FGFrame Ground(It is connected to SLD and the main frame.)

SLDShield(It is connected to FG and the main frame.)

DG Digital GroundDB Communications Line BDA Communications Line A

XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XDThe I/O data is handled as either bit data or word data. The fieldbus I/O data is mapped to input and output ports in the XSEL controller.Note Set the Station Data for the Master Station to “ver 1, Remote Device Station”.

(XSEL-R/S Series)

Monitor LEDs(XSEL-RA/SA Series)

S1 S0

4.1 ModelThe model code of each of XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD applicable for CC-Link is as shown below.

XSEL-R--CC- XSEL-RA--CC- XSEL-S--CC- XSEL-SA--CC- XSEL-RX--CC- XSEL-RAX--CC- XSEL-SX--CC- XSEL-SAX--CC- XSEL-RXD--CC- XSEL-RAXD--CC- XSEL-SXD--CC- XSEL-SAXD--CC-

XSEL-R/S Series XSEL-RA/SA Series

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4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

2) Monitor LED indications The board operation status and network condition are obtained with the two LEDs located in the front of the communication board.

: Illuminating × : OFF : Flashing

L E D Color Illumination Status Indication Description (Detailed Explanation)

• Data reception error • Communication Setting Error (Station Number

Setting/ Baud rate setting, etc.)

• The station No. and baud rate set values are

changed from ones set at the time of reset cancellation (0.4 sec flashing)

L ERR orange

× • Communication in normal condition

L RUN green • Turns on when communication is started, and

turns OFF when communication is disconnected for the specified time

4.3 Parameter Settings

Set to the I/O parameters in the controller by using a teaching tool. Place the controller's AUTO/MANU switch in the MANU position. The teaching tool version applicable for this controller check the instruction manual of each teaching tool.

* The figure shown below is XSEL-R/S series. The setting should be the same for XSEL-RA/SA series.

CC-Link board < Setting Parameter >I/O Parameter No.225 I/O Parameter No.231 I/O Parameter No.232 I/O Parameter No.233 I/O Parameter No.234 I/O Parameter No.237 I/O Parameter No.238

I/O board 2 <Setting Parameter> I/O Parameter No.4 I/O Parameter No.5 I/O Parameter No.11

I/O board 1 <Setting Parameter > I/O Parameter No.2 I/O Parameter No.3 I/O Parameter No.10

STATUS1(S1)

STATUS0(S0)

LED

Orange

Green

(Except for I/O Parameter No. 225)

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4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

[1] Network Setting Check • For XSEL-R/S Series

Confirm that the 2nd digit of I/O Parameter No. 225 Network I/F Module Control setting is showing “1” (CC-Link).

No. Parameter name Default(Reference) Input Range Unit Remarks

225 Network I/FModule Control 1* 10H to 1FH -

bits 4-7(2nd digit):Network I/F Module 2type

0: Not Mounted1: CC-Link2: DeviceNet3: PROFIBUS

• For XSEL-RA/SA SeriesConfirm that the 3rd digit of I/O Parameter No. 225 Network I/F Module Control setting is showing “1” (CC-Link).

No. Parameter name Default(Reference) Input Range Unit Remarks

225 Network I/FModule Control 1** 100H to 1FFH -

bits 8-15(3rd and 4th digit):Network I/F Module 2type

0: Not Mounted1: CC-Link2: DeviceNet3: PROFIBUS

[2] I/O Port Allocation Type SettingI/O Parameter No.1 Set I/O Port Assignment Classification.

No. Parameter name Default(Reference) Input Range Unit Remarks

1 I/O Port AssignmentClassification Setting (Note) 1 0 to 1 -

0: Fixed Allocation1: Automatic Allocation

• Reference 1Priority of I/O Port Assignment when automatically assignedPort Number(No.0 to 299/No.300 to 599)1) Network I/F Module12) I/O slot 1 (I/O1) Mounting board3) I/O slot 2 (I/O2) Mounting board* I/O slot 1 (I/O1) Assigned for the

continuously mounted range from mounting board

• Reference 2Priority of extension I/O ports at automatic assignmentPort Number(No.1000 to 3999/No.4000 to 6999)1) Network I/F Module 22) Expansion I/O unit3) IA Net* 2) and 3) are for XSEL-R/S Series

onlyNote If the automatic assignment is selected, the input port is assigned to an extension input

port area (No. 1000 to 3999). The output port is assigned to an extension output port area (No. 4000 to 6999). If the fixed assignment is selected, the user will manually assign the input to either of the standard input port area (No. 0 to 299) or extension input port area (No. 1000 to 3999). For the output port, the user will manually assign the output to either the standard output port area (No. 300 to 599) or the extension output port area (No. 4000 to 6999).

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4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

[3] CC-Link Board Use Setting Set “1” (Monitoring: use CC-Link board) to I/O Parameter No. 235.

No. Parameter name Default (Reference) Input Range Unit Remarks

235 Network I/F Module Error Monitoring 1 0 to 5 -

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

[4] Node address settingSet the node address to I/O Parameter No. 237

No. Parameter name Default (Reference) Input Range Unit Remarks

237 Network I/F Module 2 Node Address 0 0 to 64 - CC-Link node address range:

1 to 64

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

[5] Communication Speed SettingSet the communication speed in I/O Parameter No. 238. Match the setting to the communication speed of the master unit.

No. Parameter name Default (Reference) Input Range Unit Remarks

238 Network I/F Module 2 Baud rate 0 0 to 4 -

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

[6] Number of I/O Port Setting Set the number of ports to be used for I/O Parameters No. 231 to 232. Note Set a number that is a multiple of 8.

No. Parameter name Default (Reference) Input Range Unit Remarks

231 Network I/F Module 2 Remote Input Ports 0 0 to 256 - 8 port unit

232 Network I/F Module 2 Remote Output Ports 0 0 to 256 - 8 port unit

Network I/F Module 2 Error Monitoring

Node Address Setting

Baud Rate Setting

Network I/F Module 2 Baud Rate

No. of Network I/F Module 2 Remote Input PortsNo. of Network I/F Module 2 Remote Output Ports

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4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

[7] I/O Port Top Number SettingSet the top port number of the port range used in I/O Parameters No. 233 to 234.Note The port numbers assigned here are the starting input and output port numbers.

Add the number of ports assigned in parameters 231 and 232 to determine the I/O range. The values entered into these parameters must be evenly divisible by 8 (EX: 300).

No. Parameter name Default(Reference) Input Range Unit Remarks

233(Extension) (Note 1) Input Port Start No. at Network I/F Module 2 Fixed Assignment

-1-1 to 2991000 to3999

-

0+ (Multiples of 8)or1000+ (Multiples of 8)[Ineffective when -1 is selected]

234(Extension) (Note 1) Output Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1300 to 599

4000 to6999

-

300+ (Multiples of 8)or4000+ (Multiples of 8)[Ineffective when -1 is selected]

Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S.

[8] Time Setting to Wait for CC-Link Communication EstablishmentTo I/O Parameter No. 121, set the maximum allowable time to establish CC-Link communication at the start.Change this setting when XSEL starts faster than the master unit, which results in a generation of D5D or A6B.

No. Parameter name Default(Reference) Input Range Unit Remarks

121 Network attribute 2 C80000H0 to

FFFFFFFFH100ms

Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus

(Example) The initial value C80000H is bit 16 to 27 = C8H = 200 (in 100ms unit)200×100ms = 20sec Check in 20sec after startup

[9] Data Retaining Setting at CC-Link Communication ErrorSet in I/O Parameter No. 120 and 121 whether to clear the input port data to 0 or to retain it at acommunication error.

No. Parameter name Default(Reference) Input Range Unit Remarks

120 Network attribute 1 640001H0 to

FFFFFFFFH-

Bits 28 to 31:Input port data selected at NetworkI/F Module 1 link error

0: Input port data clear1: Input port data retained

121 Network attribute 2 C80000H0 to

FFFFFFFFH-

Bits 8 to 11:Input port data selected at NetworkI/F Module 2 link error

0: Input port data clear1: Input port data retained

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69

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

4.4 Setting example (1) Example for when using only CC-Link

It is how to establish the setting when using CC-Link to 16 ports of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used. * The figure shown below is XSEL-R/S series. The setting should be the same for XSEL-RA/SA

series.

Standard Input Port No.0 to 15 Not Applicable (I/O board) Standard Output Port No.300 to 315 (CC-Link board)

I/O Parameters

No. Parameter name Default (Reference)

Input Range

Set value Remarks

1 I/O Port Allocation Type 1 0 to 1 0

0: Fixed Allocation 1: Automatic Allocation

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.0 to 299/No.300 to 599)

2) No. of Network I/F Module 1 3) I/Oslot 1(I/O1) Mounting board 4) I/Oslot 2(I/O2) Mounting board * I/Oslot 1(I/O1) Assigned for the

continuously mounted range from mounting board

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.1000 to 3999/No.4000 to 6999) 2) No. of Network I/F Module 2

3) Expansion I/O unit 4) IA Net

2 Standard I/O Fix-Allocated Input Port Start No 0 -1 to 299 -1 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 Standard I/O Fix-Allocated

Input Port Start No

300+(Multiples of 8)

[Ineffective when -1 is selected]

Reference 1Priority of I/O Port Assignment when automatically assignedPort Number (No.0 to 299/No.300 to 599)1) Network I/F Module 12) I/O slot 1 (I/O1) Mounting board3) I/O slot 2 (I/O2) Mounting board* I/O slot 1 (I/O1) Assigned for the

continuously mounted range from mounting board

1) Network I/F Module 22) Expansion I/O unit3) IA Net

Reference 2Priority of extension I/O ports at automatic assignmentPort Number(No.1000 to 3999/No.4000 to 6999)

It is how to establish the setting when using CC-Link to 16 points of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used.

0+ (Multiples of 8)[Ineffective when -1 is selected]

300+ (Multiples of 8)[Ineffective when -1 is selected]

Standard I/O Fix-Allocated Output Port Start No.

Standard I/O Fix-Allocated Input Port Start No.

* 2) and 3) are for XSEL-R/S Series only

(Except for I/O Parameter No. 225)

300 to 599

300 -1 -1

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70

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

No. Parameter name Default(Reference)

InputRange

Set value Remarks

10 Standard I/O Error Monitoring (I/O1) 1 0 to 5 0

0: No Monitoring (Not to use I/O board)

1: Monitoring2: Monitoring

(Not to monitor 24V I/O power related error)

3: Monitoring (To monitor only 24V I/O power related error)

14 No. of Network I/F Module 1Remote Input Ports 0 0 to 256 0 8 port unit

15 No. of Network I/F Module 1Remote Output Ports 0 0 to 256 0 8 port unit

16 Input Port Start No. in Network I/F Module Fix-Allocated -1 -1 to

299 -1 0+ (Multiples of 8)[Ineffective when -1 is selected]

17 Output Port Start No. in Network I/F Module Fix-Allocated -1

-1300 to 599

-1 300+ (Multiples of 8)[Ineffective when -1 is selected]

18 Network I/F Module 1 Error Monitoring 1 0 to 5 0

0: No Monitoring (Not to use Network I/F Module 1)

1: Monitoring

120 Network attribute 1 640001H0H to

FFFFFF FFH

Optional

Bits 28 to 31:Input port data selected at Network I/FModule 1 link error(0: Clear, 1: Hold)

121 Network attribute 2 C80000H0H to

FFFFFF FFH

Optional

Bits 8 to 11:Input port data selected at Network I/FModule 2 link error(0: Clear, 1: Hold)Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Network I/FModule Control

Those stated in brackets ( ) are for XSEL-RA/SA Series

1*(1**)

10H to 1FH

(100H to 1FFH)

1*(1**)

Bits 0 to 3: (Bits 0 to 7:)Network I/F Module 1 typeBits 4 to 7: (Bits 8 to 15:)Network I/F Module 2 type

0: Not Mounted1: CC-Link2: DeviceNet3: PROFIBUS

231 No. of Network I/F Module 2 Remote Input Ports 0 0 to 256 16 8 port unit

232 No. of Network I/F Module 2 Remote Output Ports 0 0 to 256 16 8 port unit

233(Extension) (Note 1) Input Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1 to 299

1000 to 3999

0

0+ (Multiples of 8) or 1000+ (Multiples of 8)[Ineffective when -1 is selected]

234(Extension) (Note 1) Output Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1300 to 599

4000 to 6999

300

300+ (Multiples of 8) or 4000+ (Multiples of 8)[Ineffective when -1 is selected]

Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S.

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71

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

235 Network I/F Module 2 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

237 Network I/F Module 2 Node Address 0 0 to 64 Optional CC-Link node address range:

1 to 64

238 Network I/F Module 2 Communication Speed 0 0 to 4

Follow master

unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

No. Parameter name Default(Reference)

InputRange

Set value Remarks

235 Network I/F Module 2 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

237 Network I/F Module 2 Node Address 0 0 to 64 Optional CC-Link node address range:

1 to 64

238 Network I/F Module 2 Baud Rate 0 0 to 4

Follow master

unit setting

0: 156Kbps1: 625Kbps2: 2.5Mbps3: 5Mbps4: 10Mbps

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72

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

(2) Example for when using CC-Link and I/O Board 1 together It is how to establish the setting when using CC-Link to 256 ports of each input and output from the top of the extended I/O ports and assigning the I/O board (48 ports for each input and output) to the standard I/O ports.

Extended Input Ports No.1000 to 1255 Standard Input Port No.0 to 47 Extended Output Ports No.4000 to 4255 Standard Output Port No.300 to 347

(CC-Link board) (I/O board) I/O Parameters

No. Parameter name Default (Reference)

Input Range Unit Remarks

1 I/O Port Allocation Type 1 0 to 1 0

0: Fixed Allocation 1: Automatic Allocation

• Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.0 to 299/No.300 to 599)

2) No. of Network I/F Module 1 3) I/Oslot 1(I/O1) Mounting board 4) I/Oslot 2(I/O2) Mounting board * I/Oslot 1(I/O1) Assigned for the

continuously mounted range from mounting board

• Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.1000 to 3999/No.4000 to 6999)

2) No. of Network I/F Module 2 3) Expansion I/O unit 4) IA Net

2 Standard I/O Fix-Allocated Input Port Start No 0 -1 to 599 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 Standard I/O Fix-Allocated Input Port Start No 300 -1 to 599 300 300+(Multiples of 8)

[Ineffective when -1 is selected]

It is how to establish the setting when using CC-Link to 256 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to thestandard I/O ports.* The figure shown below is XSEL-R/S series. The setting should be the same for XSEL-RA/SA series.

(Except for I/O Parameter No. 225)

I/O Parameters

No. Parameter name Default (Reference)

Input Range

Set value Remarks

1 I/O Port Allocation Type 1 0 to 1 0

0: Fixed Allocation 1: Automatic Allocation

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.0 to 299/No.300 to 599)

2) No. of Network I/F Module 1 3) I/Oslot 1(I/O1) Mounting board 4) I/Oslot 2(I/O2) Mounting board * I/Oslot 1(I/O1) Assigned for the

continuously mounted range from mounting board

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.1000 to 3999/No.4000 to 6999) 2) No. of Network I/F Module 2

3) Expansion I/O unit 4) IA Net

2 Standard I/O Fix-Allocated Input Port Start No 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 Standard I/O Fix-Allocated

Input Port Start No

300+(Multiples of 8)

[Ineffective when -1 is selected]

Reference 1Priority of I/O Port Assignment when automatically assignedPort Number (No.0 to 299/No.300 to 599)1) Network I/F Module 12) I/O slot 1 (I/O1) Mounting board3) I/O slot 2 (I/O2) Mounting board* I/O slot 1 (I/O1) Assigned for the

continuously mounted range from mounting board

1) Network I/F Module 22) Expansion I/O unit3) IA Net

Reference 2Priority of extension I/O ports at automatic assignmentPort Number(No.1000 to 3999/No.4000 to 6999)

0+ (Multiples of 8)[Ineffective when -1 is selected]

300+ (Multiples of 8)[Ineffective when -1 is selected]

Standard I/O Fix-Allocated Output Port Start No.

Standard I/O Fix-Allocated Input Port Start No.

* 2) and 3) are for XSEL-R/S Series only

300 to 599

300 300 -1

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73

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

No. Parameter name Default(Reference)

InputRange

Set value Remarks

10 Standard I/O Error Monitoring (I/O1) 1 0 to 5 1

0: No Monitoring (Not to use I/O board)

1: Monitoring2: Monitoring

(Not to monitor 24V I/O power related error)

3: Monitoring (To monitor only 24V I/O power related error)

14 No. of Network I/F Module 1Remote Input Ports 0 0 to 256 0 8 port unit

15 No. of Network I/F Module 1Remote Output Ports 0 0 to 256 0 8 port unit

16 Input Port Start No. in Network I/F Module Fix-Allocated -1 -1 to

299 -1 0+ (Multiples of 8)[Ineffective when -1 is selected]

17 Output Port Start No. in Network I/F Module Fix-Allocated -1

-1 300 to 599

-1 300+ (Multiples of 8)[Ineffective when -1 is selected]

18 Network I/F Module 1 Error Monitoring 1 0 to 5 0

0: No Monitoring (Not to use Network I/F Module 1)

1: Monitoring

120 Network attribute 1 640001H0H to

FFFFFF FFH

Optional

Bits 28 to 31:Input port data selected at Network I/FModule 1 link error(0: Clear, 1: Hold)

121 Network attribute 2 C80000H0H to

FFFFFF FFH

Optional

Bits 8 to 11:Input port data selected at Network I/FModule 2 link error(0: Clear, 1: Hold)Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Network I/FModule Control

Those stated in brackets ( ) are for XSEL-RA/SA Series

1*(1**)

10H to 1FH

(100H to 1FFH)

1*(1**)

Bits 0 to 3: (Bits 0 to 7:)Network I/F Module 1 typeBits 4 to 7: (Bits 8 to 15:)Network I/F Module 2 type

0: Not Mounted1: CC-Link2: DeviceNet3: PROFIBUS

231 No. of Network I/F Module 2 Remote Input Ports 0 0 to 256 256 8 port unit

232 No. of Network I/F Module 2 Remote Output Ports 0 0 to 256 256 8 port unit

233(Extension) (Note 1) Input Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1 to 299

1000 to 3999

1000

0+ (Multiples of 8) or 1000+ (Multiples of 8)[Ineffective when -1 is selected]

234(Extension) (Note 1) Output Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1300 to 599

4000 to 6999

4000

300+ (Multiples of 8) or 4000+ (Multiples of 8)[Ineffective when -1 is selected]

Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S.

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74

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

No. Parameter name Default(Reference)

InputRange

Set value Remarks

235 Network I/F Module 2 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

237 Network I/F Module 2 Node Address 0 0 to 4 Optional CC-Link node address range:

1 to 64

238 Network I/F Module 2 Baud Rate 0 0 to 4

Follow master

unit setting

0: 156Kbps1: 625Kbps2: 2.5Mbps3: 5Mbps4: 10Mbps

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75

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

(3) Example for when using CC-Link and I/O Board 1 together It is how to establish the setting when using CC-Link to 192 ports of each input and output from the top of the extended I/O ports and assigning the I/O board (48 ports for each input and output) to the standard I/O ports.

Standard Input Ports No.0 to 191 Standard Input Port No.192 to 239 Standard Output Ports No.300 to 491 Standard Output Port No.492 to 539

(CC-Link board) (I/O board) I/O Parameters

No. Parameter name Default (Reference)

Input Range Unit Remarks

1 I/O Port Allocation Type 1 0 to 1 0

0: Fixed Allocation 1: Automatic Allocation

• Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.0 to 299/No.300 to 599)

2) No. of Network I/F Module 1 3) I/Oslot 1(I/O1) Mounting board 4) I/Oslot 2(I/O2) Mounting board * I/Oslot 1(I/O1) Assigned for the

continuously mounted range from mounting board

• Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.1000 to 3999/No.4000 to 6999)

2) No. of Network I/F Module 2 3) Expansion I/O unit 4) IA Net

2 Standard I/O Fix-Allocated Input Port Start No 0 -1 to 599 192 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 Standard I/O Fix-Allocated Input Port Start No 300 -1 to 599 492 300+(Multiples of 8)

[Ineffective when -1 is selected]

It is how to establish the setting when using CC-Link to 192 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to thestandard I/O ports.* The figure shown below is XSEL-R/S series. The setting should be the same for XSEL-RA/SA series.

(Except for I/O Parameter No. 225)

I/O Parameters

No. Parameter name Default (Reference)

Input Range

Set value Remarks

1 I/O Port Allocation Type 1 0 to 1 0

0: Fixed Allocation 1: Automatic Allocation

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.0 to 299/No.300 to 599)

2) No. of Network I/F Module 1 3) I/Oslot 1(I/O1) Mounting board 4) I/Oslot 2(I/O2) Mounting board * I/Oslot 1(I/O1) Assigned for the

continuously mounted range from mounting board

Reference 1 Priority of I/O Port Assignment when automatically assigned

1) to Port Number (No.1000 to 3999/No.4000 to 6999) 2) No. of Network I/F Module 2

3) Expansion I/O unit 4) IA Net

2 Standard I/O Fix-Allocated Input Port Start No 0 -1 to 299 192 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 Standard I/O Fix-Allocated

Input Port Start No

300+(Multiples of 8)

[Ineffective when -1 is selected]

Reference 1Priority of I/O Port Assignment when automatically assignedPort Number (No.0 to 299/No.300 to 599)1) Network I/F Module 12) I/O slot 1 (I/O1) Mounting board3) I/O slot 2 (I/O2) Mounting board* I/O slot 1 (I/O1) Assigned for the

continuously mounted range from mounting board

1) Network I/F Module 22) Expansion I/O unit3) IA Net

Reference 2Priority of extension I/O ports at automatic assignmentPort Number(No.1000 to 3999/No.4000 to 6999)

0+ (Multiples of 8)[Ineffective when -1 is selected]

300+ (Multiples of 8)[Ineffective when -1 is selected]

Standard I/O Fix-Allocated Output Port Start No.

Standard I/O Fix-Allocated Input Port Start No.

* 2) and 3) are for XSEL-R/S Series only

300 to 599

300 492 -1

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76

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

No. Parameter name Default(Reference)

InputRange

Set value Remarks

10 Standard I/O Error Monitoring (I/O1) 1 0 to 5 1

0: No Monitoring (Not to use I/O board)

1: Monitoring2: Monitoring

(Not to monitor 24V I/O power related error)

3: Monitoring (To monitor only 24V I/O power related error)

14 No. of Network I/F Module 1Remote Input Ports 0 0 to 256 0 8 port unit

15 No. of Network I/F Module 1Remote Output Ports 0 0 to 256 0 8 port unit

16 Input Port Start No. in Network I/F Module Fix-Allocated -1 -1 to

299 -1 0+ (Multiples of 8)[Ineffective when -1 is selected]

17 Output Port Start No. in Network I/F Module Fix-Allocated -1

-1300 to 599

-1 300+ (Multiples of 8)[Ineffective when -1 is selected]

18 Network I/F Module 1 Error Monitoring 1 0 to 5 0

0: No Monitoring (Not to use Network I/F Module 1)

1: Monitoring

120 Network attribute 1 640001H0H to

FFFFFF FFH

Optional

Bits 28 to 31:Input port data selected at Network I/FModule 1 link error(0: Clear, 1: Hold)

121 Network attribute 2 C80000H0H to

FFFFFF FFH

Optional

Bits 8 to 11:Input port data selected at Network I/FModule 2 link error(0: Clear, 1: Hold)Bits 16 to 27:Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Network I/FModule Control

Those stated in brackets ( ) are for XSEL-RA/SA Series

1*(1**)

10H to 1FH

(100H to 1FFH)

1*(1**)

Bits 0 to 3: (Bits 0 to 7:)Network I/F Module 1 typeBits 4 to 7: (Bits 8 to 15:)Network I/F Module 2 type

0: Not Mounted1: CC-Link2: DeviceNet3: PROFIBUS

231 No. of Network I/F Module 2 Remote Input Ports 0 0 to 256 192 8 port unit

232 No. of Network I/F Module 2 Remote Output Ports 0 0 to 256 192 8 port unit

233(Extension) (Note 1) Input Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1 to 299

1000 to 3999

0

0+ (Multiples of 8) or 1000+ (Multiples of 8)[Ineffective when -1 is selected]

234(Extension) (Note 1) Output Port Start No. at Network I/F Module 2 Fixed Assignment

-1

-1300 to 599

4000 to 6999

300

300+ (Multiples of 8) or 4000+ (Multiples of 8)[Ineffective when -1 is selected]

Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S.

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77

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

235 Network I/F Module 2 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

237 Network I/F Module 2 Node Address 0 0 to 64 Optional CC-Link node address range:

1 to 64

238 Network I/F Module 2 Communication Speed 0 0 to 4

Follow master

unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

No. Parameter name Default(Reference)

InputRange

Set value Remarks

235 Network I/F Module 2 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to monitor condition of link to PLC (master))

1: Monitoring

237 Network I/F Module 2 Node Address 0 0 to 64 Optional CC-Link node address range:

1 to 64

238 Network I/F Module 2 Baud Rate 0 0 to 4

Follow master

unit setting

0: 156Kbps1: 625Kbps2: 2.5Mbps3: 5Mbps4: 10Mbps

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78

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

4.5 Standard I/O Ports of XSEL Controller For the standard I/O ports of XSEL controller, it is possible to change the specified functions except for the general-purposed I/O with the I/O parameters. [Refer to the instruction manual for the XSEL-P8/Q8 controller for more information.]

Settings of Standard I/O Ports at Delivery

Input Port Output Port Port No. Function Port No. Function 000 Program Start 300 Alarm Output 001 Universal Input 301 Ready Output 002 Universal Input 302 Emergency Stop Output 003 Universal Input 303 Universal Output 004 Universal Input 304 Universal Output 005 Universal Input 305 Universal Output 006 Universal Input 306 Universal Output 007 Program

Specification (LSB) 307 Universal Output

008 Program Specification

308 Universal Output

009 Program Specification

309 Universal Output

010 Program Specification

310 Universal Output

011 Program Specification

311 Universal Output

012 Program Specification

Startup program to be indicated with binary

312 Universal Output

013 Program Specification

(MSB) 313 Universal Output

014 Universal Input 314 Universal Output 015 Universal Input 315 Universal Output ・ ・ ・

・ ・ ・

・ ・ ・

・ ・ ・

Note The number of standard I/O ports is;

Input 000 to 299 (MAX 300 points) Output 300 to 599 (MAX 300 points)

Be careful of the number of I/O ports when using CC-Link and PIO together.

For the standard I/O ports of XSEL controller, it is possible to change the specified functions except for the general-purposed I/O with the I/O parameters. [Refer to the instruction manual for the XSEL-R/S/RX/SX/RXD/SXD controller or XSEL-RA/SA/RAX/SAX/RAXD/SAXD controller for more information.]

Input Port Output PortPort No. Function Port No. Function000 Program Start 300 Alarm Output001 Universal Input 301 Ready Output002 Universal Input 302 Emergency Stop Output003 Universal Input 303 Universal Output004 Universal Input 304 Universal Output005 Universal Input 305 Universal Output006 Universal Input 306 Universal Output007 Program

Specification(LSB) 307 Universal Output

008 Program Specification

Startup program to be indicated with binary

308 Universal Output

009 Program Specification

309 Universal Output

010 Program Specification

310 Universal Output

011 Program Specification

311 Universal Output

012 Program Specification

312 Universal Output

013 Program Specification

(MSB) 313 Universal Output

014 Universal Input 314 Universal Output015 Universal Input 315 Universal Output···

······

···

Note The number of standard I/O ports is; Input 000 to 299 (MAX 300 points) Output 300 to 599 (MAX 300 points)

Be careful of the number of I/O ports when using CC-Link and PIO together.

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79

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

4.6 How to Handle XSEL I/O Port Numbers and PLC Addresses In PLC, the XSEL 's CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting on the XSEL side. Shown below is a table describing the relation between the I/O port numbers and PLC by the number of I/O ports setting (total number of ports used for CC-Link).

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station) 16 000 to 015 RY 0 to F 300 to 315 RX 0 to F 32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F 48 032 to 047 RWw0 332 to 347 RWr0 64 048 to 063 RWw1 348 to 363 RWr1 80 064 to 079 RWw2 364 to 379 RWr2 96 080 to 095 RWw3 380 to 395 RWr3

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section 4]

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied)

I/O Point Input Port Number on XSEL PLC Side Output Port Number

on XSEL PLC Side

16 000 to 015 RY 0 to F 300 to 315 RX 0 to F 32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F 48 032 to 047 RY 20 to 2F 332 to 347 RX 20 to 2F 64 048 to 063 RY 30 to 3F 348 to 363 RX 30 to 3F 80 064 to 079 RWw0 364 to 379 RWr0 96 080 to 095 RWw1 380 to 395 RWr1 112 096 to 111 RWw2 396 to 411 RWr2 128 112 to 127 RWw3 412 to 427 RWr3 144 128 to 143 RWw4 428 to 443 RWr4 160 144 to 159 RWw5 444 to 459 RWr5 176 160 to 175 RWw6 460 to 475 RWr6 192 176 to 191 RWw7 476 to 491 RWr7

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section 4]

4.6 How to Handle XSEL I/O Port Numbers and PLC AddressesIn PLC, the XSEL’s CC-Link board is set as the remote device station.The number of occupied remote device stations varies, depending on the I/O point setting on the XSEL side.Shown below is a table describing the relation between the I/O port numbers and PLC by the number of I/O ports setting (total number of ports used for CC-Link).

(1) In the case that the I/O Point Setting is up to 96 points (one station is occupied)

I/O Point Input Port Number onXSEL PLC Side Output Port Number

on XSEL PLC Side

16 000 to 015 RY 0 to F 300 to 315 RX 0 to F32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F48 032 to 047 RWw0 332 to 347 RWr064 048 to 063 RWw1 348 to 363 RWr180 064 to 079 RWw2 364 to 379 RWr296 080 to 095 RWw3 380 to 395 RWr3

Note The ports in gray column show the system area for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section (4)]

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied)

I/O Point Input Port Number onXSEL PLC Side Output Port Number

on XSEL PLC Side

16 000 to 015 RY 0 to F 300 to 315 RX 0 to F32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F48 032 to 047 RY 20 to 2F 332 to 347 RX 20 to 2F64 048 to 063 RY 30 to 3F 348 to 363 RX 30 to 3F80 064 to 079 RWw0 364 to 379 RWr096 080 to 095 RWw1 380 to 395 RWr1112 096 to 111 RWw2 396 to 411 RWr2128 112 to 127 RWw3 412 to 427 RWr3144 128 to 143 RWw4 428 to 443 RWr4160 144 to 159 RWw5 444 to 459 RWr5176 160 to 175 RWw6 460 to 475 RWr6192 176 to 191 RWw7 476 to 491 RWr7

Note The ports in gray column show the system area for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section (4)]

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4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

(3) When the number of I/O points is set to 208 or more and 256 or less (three stations are occupied)

I/O Point Input Port Number on XSEL PLC Side Output Port Number

on XSEL PLC Side

16 000 to 015 RY 0 to F 300 to 315 RX 0 to F32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F48 032 to 047 RY 20 to 2F 332 to 347 RX 20 to 2F64 048 to 063 RY 30 to 3F 348 to 363 RX 30 to 3F80 064 to 079 RY 40 to 4F 364 to 379 RX 40 to 4F96 080 to 095 RY 50 to 5F 380 to 395 RX 50 to 5F112 096 to 111 RWw0 396 to 411 RWr0128 112 to 127 RWw1 412 to 427 RWr1144 128 to 143 RWw2 428 to 443 RWr2160 144 to 159 RWw3 444 to 459 RWr3176 160 to 175 RWw4 460 to 475 RWr4192 176 to 191 RWw5 476 to 491 RWr5208 192 to 207 RWw6 492 to 507 RWr6224 208to 223 RWw7 508 to 523 RWr7240 224 to 239 RWw8 524 to 539 RWr8256 240 to 255 RWw9 540 to 555 RWr9

Applicable - RWwA - RWrAApplicable - RWwB - RWrB

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section 4] In the case of three occupied stations, 12 words for each input and output are allocated for the data register on the PLC side (10 words for XSEL). Take care of the duplicated use of the data registers on the PLC side.

I/O Point Input Port Number onXSEL PLC Side Output Port Number

on XSEL PLC Side

16 000 to 015 RY 0 to F 300 to 315 RX 0 to F32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F48 032 to 047 RY 20 to 2F 332 to 347 RX 20 to 2F64 048 to 063 RY 30 to 3F 348 to 363 RX 30 to 3F80 064 to 079 RY 40 to 4F 364 to 379 RX 40 to 4F96 080 to 095 RY 50 to 5F 380 to 395 RX 50 to 5F112 096 to 111 RWw0 396 to 411 RWr0128 112 to 127 RWw1 412 to 427 RWr1144 128 to 143 RWw2 428 to 443 RWr2160 144 to 159 RWw3 444 to 459 RWr3176 160 to 175 RWw4 460 to 475 RWr4192 176 to 191 RWw5 476 to 491 RWr5208 192 to 207 RWw6 492 to 507 RWr6224 208 to 223 RWw7 508 to 523 RWr7240 224 to 239 RWw8 524 to 539 RWr8256 240 to 255 RWw9 540 to 555 RWr9

Unavailable for Setting RWwA RWrA

Unavailable for Setting RWwB RWrB

Note The ports in gray column show the system area for the remote device station on the PLC side, so any of them can not be used as an I/O port. [Refer to Section (4)] In the case of three occupied stations, 12 words for each input and output are allocated for the data register on the PLC side (10 words for XSEL). Take care of the duplicated use of the data registers on the PLC side.

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4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

(4) Assignment of System Area Signals It is only Remote Station Ready that is used in the system area.When set to occupy one station n = 1, when set to occupy two stations n = 3, when set to occupy three stations n = 5

PLC Side Signal assignment PLC Side Signal assignment 0nXR0nYR1nXR1nYR2nXR2nYR3nXR3nYR4nXR4nYR5nXR5nYR6nXR6nYR7nXR7nYR8nXR8nYR9nXR9nYR

RY nA RX nA

RY nB RX nB

CnXRCnYRDnXRDnYREnXREnYR

RY nF RX nF

Unavailable

It turns on when the startup of XSEL controller is complete, and informs PLC (master).

Unavailable

Remote station Ready

Unavailable

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4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

Reference When the number of I/O points is set to 112 or more and 192 or less: two stations are occupiedAddresses in PLC are assigned to t he remote I/O addresses and remote regist er areas that correspond to thestation number set by the rotary switch and the number of occupied stations set by the PLC parameter, inorder of port number.

(1) Remote I/OPLC

Xnn and Ynn are the remote I/O addresses in PLC that correspond to the station number.

The addresses of the remote I/O in PLC (RX and RY) are set to Xnn and Ynn.(Refer to “Section 11. Communication with Master Station.”)

(Input) (Output)

(Output)Port No.

(Input)Port No.

XSEL

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83

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

Reference

(2) Remote register

PLC

RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.

)tuptuO()tupnI(

(Input)Port No.

(Output)Port No.

XSEL

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84

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

4.7 Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of

monitoring LEDs of CC-Link Board. [Refer to Section 1.10] Check the settings of the XSEL controller and the settings of the master unit referring to the instruction manuals of the master unit.

2) When an alarm is issued, an alarm code gets output to the panel window. (1) Find the alarm code that you see on the window from the alarm code list shown below.

Deal with it based on the description for the alarm code in question. (2) In case the alarm code is not found in the following list, search in the alarm contents list

contained in XSEL Controller Instruction Manual. Deal with it based on the description for the alarm code in question.

Alarm Code (Fieldbus related items are chosen below) No. Error name Contents and Treatment

56A CC-Link System Domain Use Error

It is considered that duplication is being occurred in the settings in between CC-Link system domain and the system inputs and outputs described below. Check the following parameter settings. (Since some dedicated functions are to be assigned to CC-Link system domain, it is not available to use them optionally.) [Refer to the following for the examples of system input and output ports] 1) Selection of I/O port specified function 2) Zone output 3) simple contact check zone 4) Tracking Vision System Image Capturing Command

Physical Input 5) Pulse I/O board control output

678 Extended I/O Port Assignment Parameter Error

There is an error in a parameter related to the extended I/O port assignment.

679 Extended I/O Port Assignment Number Overflow Error

The number of extended I/O port assignment exceeded the specification range.

67A Extended I/O Port Duplicated Assignment Error Extended I/O port assignment has duplicated.

D56 Fieldbus error (MinACK Timeout)

An error was detected in the communication board. Check the condition of PLC, and reboot the XSEL controller unless there is an error. If the same error occurs again, please contact us.

D59 Fieldbus error (DPRAM writing and reading)

The writing and reading error was detected in the internal memory. XSEL Controller reboot the controller. If the same error occurs again, please contact us.

D5A Fieldbus error (TOGGLE Timeout)

A communication board error was detected. XSEL Controller reboot the controller. If the same error occurs again, please contact us.

D5B Fieldbus error (Access right retry over)

A communication board error was detected. XSEL Controller reboot the controller. If the same error occurs again, please contact us.

[Refer to Section 4.2]

It is considered that duplication is being occurred in the settings in between CC-Link system area and the system inputs and outputs described below. Check the following I/O parameter settings. (Since some dedicated functions are to be assigned to CC-Link system area, it is not available to use them optionally.)[Refer to the following for the examples of system input and output ports]1) Selection of I/O port specified function2) Zone output3) Simple contact check zone4) Capturing command physical output of the vision system

I/F or tracking5) Pulse I/O board control output

CC-Link System Area Use Error

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85

4. XSEL-R(A

)/S(A)/R

(A)X/S(A

)X/R(A

)XD/S(A

)XD

Reference

(2) Remote register

PLC

RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.

)tuptuO()tupnI(

(Input)Port No.

(Output)Port No.

XSEL

No. Error name Contents and Treatment

D5D Fieldbus error(FBRS link error)

This occurs when the network connection is not established.1) Check the station number, the parameters for

communication speed and parameters on PLC side.2) It is concerned the startup of XSEL is faster than that of

PLC. Change the settings in I/O Parameter No. 120. [Refer to Section 4.3 (8) for the details.]

D5E Fieldbus error(Mail BOX response)

A communication board error was detected.Reboot the XSEL controller. If the same error occurs again, please contact us.

D5F Network I/F Module Class Mismatch Error

The setting of I/O Parameter No. 225 Network I/F Module Class does not match with that of the communication board currently mounted to XSEL.Check the contents of the settings in I/O Parameter No. 225, and in case no doubt is found, please contact us.

D75 Fieldbus Parameter Error

There is an error in a parameter.Check I/O Parameter No. 226 to 227 and 237 to 238.Example) • A node address out of the range was set.

• A communication speed out of the range is set.

D77 Fieldbus error (Exception)A communication board error was detected.Reboot the XSEL controller. If the same error occurs again, please contact us.

E1F I/O Assignment Parameter Error

It is a parameter setting error.Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to XSEL Controller Instruction Manual.]

E20 I/O Duplication Assignment Error

I/O assignment is duplicated.Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to XSEL Controller Instruction Manual.]Check the number of the ports that I/O boards are mounted.

E21 I/O Assignment Number Overflow Error

I/O assignment has exceeded the specified range.Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to XSEL Controller Instruction Manual.]Check the number of the ports that I/O boards are mounted.

E8F Fieldbus logic error It is a logic error at the Fieldbus initializing.

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86

4. X

SEL-

R(A

)/S(A

)/R(A

)X/S

(A)X

/R(A

)XD

/S(A

)XD

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87

5. MSEL

5. MSEL MSEL, which are applicable for CC-Link, deal the I/O data as the bit data or word data, and operate while reflecting the data. Note Set the Station Data for the Master Station to “ver 1.1, Remote Device Station”.

5.1 Models The model codes are as shown below:

• MSEL-PC(F)-----CC • MSEL-PCX----CC • MSEL-PG(F)-----CC • MSEL-PGX----CC

CC-Link communication connector

Status LED

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88

5. M

SEL

5.2 CC-Link Interface

(1) Communication Connector

(2) Status LED indications The board operation status and network condition are obtained with the two LEDs located in the front of the communication board.

: Illuminating × : OFF : Flashing

L E D Color Illumination Status Indication Description (Detailed Explanation)

RUN green • Turns on when communication is started, and

turns OFF when communication is disconnected for the specified time

ERR orange

• Data reception error • Communication Setting Error (Station Number

Setting/ Baud rate setting, etc.)

• The station No. and baud rate set values are

changed from ones set at the time of reset cancellation (0.4 sec flashing)

× • Communication in normal condition

Signal name

Details

DA Communications Line A DB Communications Line B DG Digital Ground SLD SLD Shield

(It is connected to FG and the main frame.) FG Frame Ground

(It is connected to SLD and the main frame.)

FG

SLD

DG

DB

DA

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89

5. MSEL

5.3 Parameter Settings Set to the I/O parameters in the controller by using a teaching tool. Set the mode switchover switch on the front panel to MANU side. The teaching tool version applicable for MSEL is as shown below:

• XSEL PC software : V10.00.09.00 to • TB-01 [MSEL-PCX/PGX] : V1.02 to • TB-01 [MSEL-PC(F)/PG(F)] : V1.10 to • TB-02 : V1.00 to

[1] Network Setting Check Confirm that the I/O Parameter No. 225 Network I/F Module Control setting is showing “1” (CC-Link). (The setting of this parameter is to be established before delivery)

No. Parameter name Default Input Range Unit Remarks

225 Extension I/O Control *1 1H -

Bits 0-3(First digit): I/O2 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

[2] CC-Link Board Use Setting

Have I/O Parameter No. 18 set to “1” (Monitor: use CC-Link board).

No. Parameter name Default (Reference) Input Range Unit Remarks

18 I/O2 Error Monitoring 1 0 to 5 - 0: No Monitoring (Not to use CC-Link board) 1: Monitoring

[3] Node address setting Have the node address set in I/O Parameter No. 226.

No. Parameter name Default (Reference) Input Range Unit Remarks

226 I/O2 Fieldbus Node Address

0 0 to 64 - CC-Link node address range: 1 to 64

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

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90

5. M

SEL

[4] Communication Speed Setting Have the baud rate set in I/O Parameter No. 227. Match the setting to the communication speed of the master unit.

No. Parameter name Default (Reference) Input Range Unit Remarks

227 I/O2 Fieldbus Baud Rate 0 0 to 4 -

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

[5] Number of I/O Port Setting Have the port numbers to be used set in I/O Parameter No. 14 and 15. Note Set a number that is a multiple of 8.

No. Parameter name Default (Reference) Input Range Unit Remarks

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 - 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 - 8 port unit

[6] I/O Port Top Number Setting Have the top port number in the port range to be used set in I/O Parameter No. 16 and 17. Note The values entered into these parameters must be evenly divisible by 8.

No. Parameter name Default (Reference) Input Range Unit Remarks

16 I/O2 Fixed Assignment Input Port Start Number 48 -1 to 299 -

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number 348 -1

300 to 599 - 300+(Multiples of 8) [Ineffective when -1 is selected]

[7] Time Setting to Wait for CC-Link Communication Establishment In I/O Parameter No. 121, set the time until check is to be held to see if the CC-Link communication is established at the startup. Change the parameter in case D5D or A6B error occurs due to a faster startup of MSEL than the master unit.

No. Parameter name Default (Reference) Input Range Unit Remarks

121 Network Attribute 2 C80000H 0 to FFFFFFFFH 100ms

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (Example) The initial value

C80000H is bit 16 to 27 = C8H = 200 (in 100ms unit)

200×100ms = 20sec Check in 20sec after startup

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5. MSEL

[8] Data Retaining Setting at CC-Link Communication Error Have the setting established in I/O Parameter No. 120 whether to clear the input port data at 0 or to remain the data when a communication error is occurred.

No. Parameter name Default (Reference) Input Range Unit Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH -

Bits 28 to 31: Input port data selected at I/O2 Fieldbus link error

0: Input port data clear 1: Input port data retained

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5. M

SEL

5.4 Setting Example (1) Example for when using only CC-Link (I/O2)

It is how to establish the setting when using CC-Link (I/O2) to 16 ports of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used.

I/O Parameters

No. Parameter name Default (Reference) Input Range Set value Remarks

2 I/O1 Fixed Assignment Input Port Start Number 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 I/O1 Fixed Assignment Output Port Start Number 300 -1

300 to 599 300 300+(Multiples of 8) [Ineffective when -1 is selected]

10 I/O1 Error Monitoring 1 0 to 5 0

0: No Monitoring (Not to use I/O board)

1: Monitoring 2: Monitoring

(Not to monitor 24V I/O power related error)

3: Monitoring (To monitor only 24V I/O power related error)

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 16 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 16 8 port unit

16 I/O2 Fixed Assignment Input Port Start Number 48 -1 to 299 48

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number 348 -1

300 to 599 348 300+(Multiples of 8) [Ineffective when -1 is selected]

18 I/O2 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

Not Applicable (I/O board)

Input Port No.48 to 63 Output Port No.348 to 363 (CC-Link board (I/O2))

O

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5. MSEL

No. Parameter name Default (Reference) Input Range Set value Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH Optional

Bits 28 to 31: Input port data selected at I/O2 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Extension I/O Control 1 1H 1

(Confirmation)

Bits 0-3(First digit): I/O2 module type

0: Not Mounted 1: CC-Link 2: DeviceNet 3: PROFIBUS

226 I/O2 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

227 I/O2 Fieldbus Baud Rate 0 0 to 4

Follow master

unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

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5. M

SEL

(2) Example for when using CC-Link and I/O Board 1 together

This is a setting to use I/O board (16 points each for input and output) and CC-Link on I/O port (I/O2) at 240 points of ports each for input and output on the ports.

I/O Parameters

No. Parameter name Default (Reference) Input Range Set value Remarks

2 I/O1 Fixed Assignment Input Port Start Number 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 I/O1 Fixed Assignment Output Port Start Number 300 -1

300 to 599 300 300+(Multiples of 8) [Ineffective when -1 is selected]

10 I/O1 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to use I/O board)

1: Monitoring 2: Monitoring

(Not to monitor 24V I/O power related error)

3: Monitoring (To monitor only 24V I/O power related error)

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit

16 I/O2 Fixed Assignment Input Port Start Number 48 -1 to 299 48

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number 348 -1

300 to 599 348 300+(Multiples of 8) [Ineffective when -1 is selected]

18 I/O2 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

Input Ports No.48 to 271 Output Ports No.348 to 571 (CC-Link board (I/O2))

Input Port No.16 to 31 Output Port No.316 to 331 (I/O board (I/O1))

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5. MSEL

No. Parameter name Default (Reference) Input Range Set value Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus Bits 28 to 31: Input port data selected at I/O2 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Extension I/O Control 1 1H 1 (Confirmation)

Bits 0-3(First digit): I/O2 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

226 I/O2 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

227 I/O2 Fieldbus Baud Rate 0 0 to 4 Follow

master unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

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5.5 I/O Ports of the MSEL

It is available to add special functions beside the general-purposed input and output in the I/O ports.[Refer to MSEL Controller Operation Manual 2.2.5 PIO Circuit, Chapter 5 Parameter for the details.]

I/O Port Setting at DeliveryPort No. Function Port No. Function

Internal DI

(I/O1)

000

For future expansionInternal

DO(I/O1)

300 ALM (LED on the front panel)001 301 RDY (LED on the front panel)002 302 EMG (LED on the front panel)003 303 For future expansion004 304 HPS (LED on the front panel)005 305

For future expansion

006 306007 307008 308009 309010 310011 311012 312013 313014 314015 315

ExternalDI

(I/O1)016 to 031 General-purpose input

ExternalDO

(I/O1)316 to 331 General-purpose output

Internal DI

(I/O1)

032

For future expansionInternal

DO(I/O1)

332 7-segment user display digit specification

033 333 7-segment user display digit specification

034 334For future expansion035 335

036 336037 337 7-segment display refresh

038 338 7-segment user/system alternate display

039 339 7-segment user display specification

040 340 DT0 (7-segment user display bit)041 341 DT1 (7-segment user display bit)042 342 DT2 (7-segment user display bit)043 343 DT3 (7-segment user display bit)044 344 DT4 (7-segment user display bit)045 345 DT5 (7-segment user display bit)046 346 DT6 (7-segment user display bit)047 347 For future expansion

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Port No. Function Port No. Function

ExternalDI

(CC-Link)

048 Program start

ExternalDO

(CC-Link)

348 Alarm output049

General-purpose input

349 READY output050 350 Emergency-stop output051 351

General-purpose output

052 352053 353054 354

055 Program number specification(BCD:1 / BIN:1) * 355

056 Program number specification(BCD:2 / BIN:2) * 356

057 Program number specification(BCD:4 / BIN:4) * 357

058 Program number specification(BCD:8 / BIN:8) * 358

059 Program number specification(BCD:10 / BIN:16) * 359

060 Program number specification(BCD:20 / BIN:32) * 360

061 Program number specification(BCD:40 / BIN:64) * 361

062General-purpose input

362063 363

064 to 287 General-purpose input 364 to 587 General-purpose output

* Switching over between BCD and BIN in Program Number Indication should be conducted in IO Parameter No. 30 Input Function Select 000.(1: Program Start BCD, 2: Program Start Binary (BIN))

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5.6 How to Handle MSEL I/O Port Numbers and PLC Addresses In PLC, the MSEL's CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting. Shown below is a table describing the relation between the I/O port numbers and PLC by the number of I/O ports setting (total number of ports used for CC-Link).

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station)

I/O Point Input Port Number on

MSEL PLC Side

Output Port Number on MSEL

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RWw0 380 to 395 RWr0 64 096 to 111 RWw1 396 to 411 RWr1 80 112 to 127 RWw2 412 to 427 RWr2 96 128 to 143 RWw3 428 to 443 RWr3

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied)

I/O Point Input Port Number on

MSEL PLC Side

Output Port Number on MSEL

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RY 20 to 2F 380 to 395 RX 20 to 2F 64 096 to 111 RY 30 to 3F 396 to 411 RX 30 to 3F 80 112 to 127 RWw0 412 to 427 RWr0 96 128 to 143 RWw1 428 to 443 RWr1 112 144 to 159 RWw2 444 to 459 RWr2 128 160 to 175 RWw3 460 to 475 RWr3 144 176 to 191 RWw4 476 to 491 RWr4 160 192 to 207 RWw5 492 to 507 RWr5 176 208 to 223 RWw6 508 to 523 RWr6 192 224 to 239 RWw7 524 to 539 RWr7

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

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5.6 How to Handle MSEL I/O Port Numbers and PLC Addresses In PLC, the MSEL's CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting. Shown below is a table describing the relation between the I/O port numbers and PLC by the number of I/O ports setting (total number of ports used for CC-Link).

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station)

I/O Point Input Port Number on

MSEL PLC Side

Output Port Number on MSEL

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RWw0 380 to 395 RWr0 64 096 to 111 RWw1 396 to 411 RWr1 80 112 to 127 RWw2 412 to 427 RWr2 96 128 to 143 RWw3 428 to 443 RWr3

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied)

I/O Point Input Port Number on

MSEL PLC Side

Output Port Number on MSEL

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RY 20 to 2F 380 to 395 RX 20 to 2F 64 096 to 111 RY 30 to 3F 396 to 411 RX 30 to 3F 80 112 to 127 RWw0 412 to 427 RWr0 96 128 to 143 RWw1 428 to 443 RWr1 112 144 to 159 RWw2 444 to 459 RWr2 128 160 to 175 RWw3 460 to 475 RWr3 144 176 to 191 RWw4 476 to 491 RWr4 160 192 to 207 RWw5 492 to 507 RWr5 176 208 to 223 RWw6 508 to 523 RWr6 192 224 to 239 RWw7 524 to 539 RWr7

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

(3) When the number of I/O points is set to 208 or more and 240 or less (three stations are occupied)

I/O Point Input Port Number on

MSEL PLC Side

Output Port Number on MSEL

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RY 20 to 2F 380 to 395 RX 20 to 2F 64 096 to 111 RY 30 to 3F 396 to 411 RX 30 to 3F 80 112 to 127 RY 40 to 4F 412 to 427 RX 40 to 4F 96 128 to 143 RY 50 to 5F 428 to 443 RX 50 to 5F 112 144 to 159 RWw0 444 to 459 RWr0 128 160 to 175 RWw1 460 to 475 RWr1 144 176 to 191 RWw2 476 to 491 RWr2 160 192 to 207 RWw3 492 to 507 RWr3 176 208 to 223 RWw4 508 to 523 RWr4 192 224 to 239 RWw5 524 to 539 RWr5 208 240 to 255 RWw6 540 to 555 RWr6 224 256 to 271 RWw7 556 to 571 RWr7 240 272 to 287 RWw8 572 to 587 RWr8

Applicable - RWw9 - RWr9 Applicable - RWwA - RWrA Applicable - RWwB - RWrB Note The ports in gray column show the system domain for the remote device

station on the PLC side, so any of them can not be used as an I/O port. In the case of three occupied stations, 12 words for each input and output are allocated for the data register on the PLC side (9 words for MSEL). Take care of the duplicated use of the data registers on the PLC side.

(4) Assignment of System Domain Signals It is only Remote Station Ready that is used in the system domain. When set to occupy one station n = 1, when set to occupy two stations n = 3, when set to occupy three stations n = 5

PLC Side Signal assignment

PLC Side Signal assignment RY n0

Unavailable

RX n0

Unavailable

RY n1 RX n1 RY n2 RX n2 RY n3 RX n3 RY n4 RX n4 RY n5 RX n5 RY n6 RX n6 RY n7 RX n7 RY n8 RX n8 RY n9 RX n9 RY nA RX nA

RY nB RX nB

Remote station Ready It turns ON when the startup of MSEL is complete, and informs higher-order (master).

RY nC RX nC

Unavailable RY nD RX nD RY nE RX nE RY nF RX nF

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Reference When the number of I/O points is set to 112 or more and 192 or less: two stations are occupiedAddresses in PLC are assigned to t he remote I/O addresses and remote regist er areas that correspond to thestation number set by the rotary switch and the number of occupied stations set by the PLC parameter, inorder of port number.

(1) Remote I/OPLC

Xnn and Ynn are the remote I/O addresses in PLC that correspond to the station number.

Communication with Master Station.”)The addresses of the remode I/O in PLC (RX and RY) are set to Xnn and Ynn. (Refer to “Section 11.

(Input) (Output)

(Output)Port No.

(Input)Port No.

048049050051052053054055056057058059060061062063064065066067068

348349350351352353354355356357358359360361362363364365366367368369

MSEL

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5.7 Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of

monitoring LEDs of CC-Link Board. [Refer to Section 5.2] Check the settings of the MSEL and the settings of the master unit referring to the instruction manuals of the master unit.

2) When an alarm is issued, an alarm code gets output to the panel window of the XSEL controller. (1) Find the alarm code that you see on the window from the alarm code list shown below.

Deal with it based on the description for the alarm code in question. (2) In case the alarm code is not found in the following list, search in the alarm contents list

contained in MSEL Instruction Manual. Deal with it based on the description for the alarm code in question.

Alarm Code (Fieldbus related items are chosen below)No. Error name Contents and Treatment

A6B Fieldbus error (FBRS link error)

MSEL starts up faster than the host (master unit). Change the setting in I/O Parameter No. 121 Bit 16 to23 to have the time extended before timeout.

56A CC-Link System Domain Use Error

CC-Link system domain cannot be used as the system input and output port for MSEL. It can be concerned the case that the functions listed below have been trying to use the system domain as the system output. Check such settings as I/O parameters. 1) Input and output function select port number 2) Zone output port number, etc.

D56 Fieldbus error (MinACK Timeout)

A communication error was detected. Check the condition of PLC, and reboot the MSEL unless there is an error. If the same error occurs again, please contact us.

D59 Fieldbus error (DPRAM writing and reading)

The writing and reading error was detected in the internal memory. MSEL reboot the controller. If the same error occurs again, please contact us.

D5A Fieldbus error (TOGGLE Timeout)

A communication error was detected. MSEL reboot the controller. If the same error occurs again, please contact us.

D5B Fieldbus error (Access right retry over)

A communication board error was detected. MSEL reboot the controller. If the same error occurs again, please contact us.

D5D Fieldbus error (FBRS link error)

This occurs when the network connection is not established. 1) Check the station number, the parameters for communication speed and parameters on higher-order side. 2) It is concerned the startup of MSEL is faster than that of PLC. Change the settings in I/O Parameter No. 121. [Refer to Section 5.3 (7) for the details.]

D5E Fieldbus error (Mail BOX response)

A communication error was detected. Reboot the MSEL. If the same error occurs again, please contact us.

D5F Network I/F Module Class Mismatch Error

The setting of I/O Parameter No. 225 Network I/F Module Class does not match with that of the communication board mounted. Check the contents of the settings in I/O Parameter No. 225, and in case no doubt is found, please contact us.

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No. Error name Contents and Treatment

D75 Fieldbus Parameter Error

There is an error in a parameter. Check I/O Parameter No. 226 to 227. Example) • A node address out of the range was set. • A communication speed out of the range is set.

D76 Fieldbus Module Unmounted Error CC-Link board is not mounted.

D77 Fieldbus error (Exception) A communication board error was detected. Reboot the MSEL. If the same error occurs again, please contact us.

E1F I/O Assignment Parameter Error

It is a parameter setting error. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.]

E20 I/O Duplication Assignment Error

I/O assignment is duplicated. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E21 I/O Assignment Number Overflow Error

I/O assignment has exceeded the specified range. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E8F Fieldbus logic error It is a logic error at the Fieldbus initializing.

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6. Tabletop Robot TTA Tabletop Robot TTA, which are applicable for CC-Link, deal the I/O data as the bit data or word data, and operate while reflecting the data. Note Set the Station Data for the Master Station to “ver 1, Remote Device Station”.

6.1 Models The model codes are as shown below:

• TTA-A(SL/SH) (G)-WA-----CC • TTA-C(SL/SH) (G)-WA-----CC • TTA-A(SL/SH) (G)-WA------CC • TTA-C(SL/SH) (G)-WA------CC • TTA-A(SL/SH) (G)-WA-----CC-CC • TTA-C(SL/SH) (G)-WA-----CC-CC

Rear side

Status LED

Extension I/O slot 1 (I/O2)

Extension I/O slot 1 (I/O2)

Status LEDExtension I/O slot 2 (I /O3)

Extension I/O slot 2 (I /O3)

No. Error name Contents and Treatment

D75 Fieldbus Parameter Error

There is an error in a parameter. Check I/O Parameter No. 226 to 227. Example) • A node address out of the range was set. • A communication speed out of the range is set.

D76 Fieldbus Module Unmounted Error CC-Link board is not mounted.

D77 Fieldbus error (Exception) A communication board error was detected. Reboot the MSEL. If the same error occurs again, please contact us.

E1F I/O Assignment Parameter Error

It is a parameter setting error. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.]

E20 I/O Duplication Assignment Error

I/O assignment is duplicated. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E21 I/O Assignment Number Overflow Error

I/O assignment has exceeded the specified range. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to MSEL Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E8F Fieldbus logic error It is a logic error at the Fieldbus initializing.

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6.2 CC-Link Interface

Two pieces of CC-Link board can be mounted at the maximum. (1) Name of Each Part

(2) Monitor LED indications The board operation status and network condition are obtained with the two LEDs located in the front of the communication board.

: Illuminating × : OFF : Flashing

L E D Color Illumination Status Indication Description (Detailed Explanation)

ERR orange

• Data reception error • Communication Setting Error (Station Number

Setting/ Baud rate setting, etc.)

• The station No. and baud rate set values are

changed from ones set at the time of reset cancellation (0.4 sec flashing)

× • Communication in normal condition

RUN green • Turns on when communication is started, and

turns OFF when communication is disconnected for the specified time

Signal name

Details

DA Communications Line A DB Communications Line B DG Digital Ground SLD SLD Shield

(It is connected to FG and the main frame.) FG Frame Ground

(It is connected to SLD and the main frame.)

Monitor LED (I/O3)

CC-Link communication connector (I/O2) Monitor LED (I/O2)

CC-Link communication connector (I/O3)

DA DB DG SLD FG

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6.3 Parameter Settings Set to the I/O parameters in the controller by using a teaching tool. Note The setting parameter number will differ depending on the slot number (I/O2 or I/O3) mounting

CC-Link. Check on which slot the CC-Link board is mounted in your TTA before starting the setting work.

Set the mode switchover switch on the front panel to MANU side. The teaching tool version applicable for TTA is as shown below:

• XSEL PC software : V10.00.00.00 to • SEL-T/TD : V1.17 to • TB-01 : V1.00 to • TB-02 : V1.00 to

CC-Link board (I/O3) < Setting Parameter > I/O Parameter No.225 I/O Parameter No.231 I/O Parameter No.232 I/O Parameter No.233 I/O Parameter No.234 I/O Parameter No.235 I/O Parameter No.237 I/O Parameter No.238

I/O board 1 (I/O1) < Setting Parameter > I/O Parameter No.2 I/O Parameter No.3 I/O Parameter No.10

CC-Link board (I/O2) < Setting Parameter > I/O Parameter No.14 I/O Parameter No.15 I/O Parameter No.16 I/O Parameter No.17 I/O Parameter No.18 I/O Parameter No.225 I/O Parameter No.226 I/O Parameter No.227

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[1] Network Setting Check Confirm that the I/O Parameter No. 225 Network I/F Module Control setting is showing “1” (CC-Link). (The setting of this parameter is to be established before delivery) Note The digit to check will differ depending on the position to mount CC-Link (Mounted on I/O2:

1st digit, mounted on I/O3: 2nd digit)

No. Parameter name Default Input Range Unit Remarks

225 Extension I/O Control *1 1* 11

01H to 11H -

Bits 0-3(First digit): I/O2 module type Bits 4-7(2nd digit): I/O3 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

[2] CC-Link Board Use Setting

Have I/O Parameter No. 18 and 235 set to “1” (Monitor: use CC-Link board) in accordance with the position to mount CC-Link board.

No. Parameter name Default (Reference) Input Range Unit Remarks

18 I/O2 Error Monitoring 1 0 to 5 - 0: No Monitoring (Not to use CC-Link board) 1: Monitoring

235 I/O3 Error Monitoring 1 0 to 5 - 0: No Monitoring (Not to use CC-Link board) 1: Monitoring

[3] Node address setting Have the node address set in I/O Parameter No. 226 and 237 in accordance with the position to mount CC-Link board.

No. Parameter name Default (Reference) Input Range Unit Remarks

226 I/O2 Fieldbus Node Address

0 0 to 64 - CC-Link node address range: 1 to 64

237 I/O2 Fieldbus Node Address

0 0 to 64 - CC-Link node address range: 1 to 64

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

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[4] Communication Speed Setting Have the baud rate set in I/O Parameter No. 227 and 238 in accordance with the position to mount CC-Link board. Match the setting to the communication speed of the master unit.

No. Parameter name Default (Reference) Input Range Unit Remarks

227 I/O2 Fieldbus Baud Rate 0 0 to 4 -

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

238 I/O3 Fieldbus Baud Rate 0 0 to 4 -

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

Note If a number out of the settable range is selected, “D75: Fieldbus Parameter Error” will occur.

[5] Number of I/O Port Setting Have the port numbers to be used set in I/O Parameter No. 14, 15, 231 and 232 in accordance with the position to mount CC-Link board. Note Set a number that is a multiple of 8.

No. Parameter name Default (Reference) Input Range Unit Remarks

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 -

8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 -

8 port unit

231 I/O3 Fieldbus Remote Input Ports

0 0 to 240 - 8 port unit

232 I/O3 Fieldbus Remote Output Ports

0 0 to 240 - 8 port unit

Caution The available number of ports to be used is 240 at the maximum no matter if the number of mounted CC-Link board is 1 piece or 2 pieces.

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[6] I/O Port Top Number Setting Have the top port number in the port range to be used set in I/O Parameter No. 16, 17, 233 and 234 in accordance with the position to mount CC-Link board. Note The values entered into these parameters must be evenly divisible by 8.

No. Parameter name Default (Reference) Input Range Unit Remarks

16 I/O2 Fixed Assignment Input Port Start Number -1 -1 to 299 -

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number -1 -1

300 to 599 - 300+(Multiples of 8) [Ineffective when -1 is selected]

233 I/O3 Fixed Assignment Input Port Start Number -1 -1 to 299 -

0+(Multiples of 8) [Ineffective when -1 is selected]

234 I/O3 Fixed Assignment Output Port Start Number -1 -1

300 to 599 - 300+(Multiples of 8) [Ineffective when -1 is selected]

[7] Time Setting to Wait for CC-Link Communication Establishment In I/O Parameter No. 121, set the time until check is to be held to see if the CC-Link communication is established at the startup. Change the parameter in case D5D or A6B error occurs due to a faster startup of TTA than the master unit.

No. Parameter name Default (Reference) Input Range Unit Remarks

121 Network Attribute 2 C80000H 0 to FFFFFFFFH 100ms

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (Example) The initial value

C80000H is bit 16 to 27 = C8H = 200 (in 100ms unit)

200×100ms = 20sec Check in 20sec after startup

[8] Data Retaining Setting at CC-Link Communication Error Have the setting established in I/O Parameter No. 120 and 121 whether to clear the input port data at 0 or to remain the data when a communication error is occurred in accordance with the position to mount CC-Link.

No. Parameter name Default (Reference) Input Range Unit Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH -

Bits 28 to 31: Input port data selected at I/O2 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH -

Bits 8 to 11: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

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6.4 Setting Example (1) Example for when using only CC-Link (I/O2)

It is how to establish the setting when using CC-Link (I/O2) to 16 ports of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used.

Input Port No.48 to 63 Not Applicable (I/O board) Output Port No.348 to 363

(CC-Link board (I/O2))

I/O Parameters

No. Parameter name Default (Reference) Input Range Set value Remarks

2 I/O1 Fixed Assignment Input Port Start Number 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 I/O1 Fixed Assignment Output Port Start Number 300 -1

300 to 599 300 300+(Multiples of 8) [Ineffective when -1 is selected]

10 I/O1 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to use I/O board) 1: Monitoring 2: Monitoring (Not to monitor 24V I/O power related error) 3: Monitoring (To monitor only 24V I/O power related error)

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 16 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 16 8 port unit

16 I/O2 Fixed Assignment Input Port Start Number -1 -1 to 299 48

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number -1 -1

300 to 599 348 300+(Multiples of 8) [Ineffective when -1 is selected]

18 I/O2 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

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No. Parameter name Default (Reference) Input Range Set value Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus Bits 28 to 31: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH Optional

Bits 8 to 11: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Extension I/O Control 01 01H to 11H -

Bits 0-3(First digit): I/O2 module type Bits 4-7(2nd digit): I/O3 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

226 I/O2 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

227 I/O2 Fieldbus Baud Rate 0 0 to 4

Follow master

unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

235 I/O2 Error Monitoring 1 0 to 5 - 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

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(2) Example for when using CC-Link and I/O Board 1 together

This is a setting to use I/O board (16 points each for input and output) and CC-Link on I/O port (I/O2) at 240 points of ports each for input and output on the ports.

Extended Input Ports No.48 to 271 Standard Input Port No.16 to 31 Extended Output Ports No.348 to 571 Standard Output Port No.316 to 331

(CC-Link board (I/O2)) (I/O board (I/O1))

I/O Parameters

No. Parameter name Default (Reference) Input Range Set value Remarks

2 I/O1 Fixed Assignment Input Port Start Number 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 I/O1 Fixed Assignment Output Port Start Number 300 -1

300 to 599 300 300+(Multiples of 8) [Ineffective when -1 is selected]

10 I/O1 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to use I/O board) 1: Monitoring 2: Monitoring (Not to monitor 24V I/O power related error) 3: Monitoring (To monitor only 24V I/O power related error)

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit

16 I/O2 Fixed Assignment Input Port Start Number -1 -1 to 299 48

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number -1 -1

300 to 599 348 300+(Multiples of 8) [Ineffective when -1 is selected]

18 I/O2 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

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No. Parameter name Default (Reference) Input Range Set value Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus Bits 28 to 31: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH Optional

Bits 8 to 11: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Extension I/O Control 01 01H to 11H -

Bits 0-3(First digit): I/O2 module type Bits 4-7(2nd digit): I/O3 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

226 I/O2 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

227 I/O2 Fieldbus Baud Rate 0 0 to 4 Follow

master unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

235 I/O3 Error Monitoring 1 0 to 5 - 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

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(3) Example for when using CC-Link (I/O2 and I/O3) together This is a setting to mount two pieces of CC-Link and use 120 points on each port.

Extended Input Ports No.48 to 167 Standard Input Port No.168 to 287 Extended Output Ports No.348 to 467 Standard Output Port No.468 to 587

(CC-Link board (I/O2)) (CC-Link board (I/O3))

I/O Parameters

No. Parameter name Default (Reference) Input Range Set value Remarks

2 I/O1 Fixed Assignment Input Port Start Number 0 -1 to 299 0 0+(Multiples of 8)

[Ineffective when -1 is selected]

3 I/O1 Fixed Assignment Output Port Start Number 300 -1

300 to 599 300 300+(Multiples of 8) [Ineffective when -1 is selected]

10 I/O1 Error Monitoring 1 0 to 5 1

0: No Monitoring (Not to use I/O board) 1: Monitoring 2: Monitoring (Not to monitor 24V I/O power related error) 3: Monitoring (To monitor only 24V I/O power related error)

14 I/O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit

15 I/O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit

16 I/O2 Fixed Assignment Input Port Start Number -1 -1 to 299 48

0+(Multiples of 8) [Ineffective when -1 is selected]

17 I/O2 Fixed Assignment Output Port Start Number -1 -1

300 to 599 348 300+(Multiples of 8) [Ineffective when -1 is selected]

18 I/O2 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use Network I/F Module 1) 1: Monitoring

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No. Parameter name Default (Reference) Input Range Set value Remarks

120 Network Attribute 1 640001H 0 to FFFFFFFFH Optional

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus Bits 28 to 31: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

121 Network Attribute 2 C80000H 0 to FFFFFFFFH Optional

Bits 8 to 11: Input port data selected at I/O3 Fieldbus link error

0: Input port data clear 1: Input port data retained

Bits 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100ms)

225 Extension I/O Control 11 01H to 11H -

Bits 0-3(First digit): I/O2 module type Bits 4-7(2nd digit): I/O3 module type

0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS

226 I/O2 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

227 I/O2 Fieldbus Baud Rate 0 0 to 4 Follow

master unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

231 I/O3 Fieldbus Remote Input Ports

0 0 to 240 120 8 port unit

232 I/O3 Fieldbus Remote Output Ports

0 0 to 240 120 8 port unit

233 I/O3 Fixed Assignment Input Port Start Number -1 -1 to 299 168

0+(Multiples of 8) [Ineffective when -1 is selected]

234 I/O3 Fixed Assignment Output Port Start Number -1 -1

300 to 599 468 300+(Multiples of 8) [Ineffective when -1 is selected]

235 I/O3 Error Monitoring 1 0 to 5 1 0: No Monitoring (Not to use CC-Link board) 1: Monitoring

237 I/O3 Fieldbus Node Address 0 0 to 64 Optional CC-Link node address range: 1 to 64

238 I/O3 Fieldbus Baud Rate 0 0 to 4 Follow

master unit setting

0: 156Kbps 1: 625Kbps 2: 2.5Mbps 3: 5Mbps 4: 10Mbps

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6.5 I/O Ports of the TTAIt is available to add special functions beside the general-purposed input and output in the I/O ports.[Refer to TTA Controller Operation Manual 4.6 How to Use Internal DIO, Chapter 5 Parameter for the details.]

I/O Port Setting at DeliveryPort No. Function Port No. Function

Internal DI

(I/O1)

000 Start

InternalDO

(I/O1)

300 ALM (LED on the front panel)

001 Switch No.1(Additional Switch) 301 RDY (LED on the front panel)

002

For future expansion

302 EMG (LED on the front panel)

003 303 Automatic operation mode(start switch LED)

004 304 HPS (LED on the front panel)

005 Switch No.2(Additional Switch) 305

For future expansion006 Switch No.3(Additional Switch) 306

007 Program number specificationOnes place of the digital switch

307008 308 Internal DI No. 001 ON/OFF009 309 Internal DI No. 002 ON/OFF010 310 Internal DI No. 003 ON/OFF011 Program number

specificationTens place of the digital switch

311 Internal DI No. 004 ON/OFF012 312 Internal DI No. 005 ON/OFF013 313 Internal DI No. 006 ON/OFF014 314 For future expansion

015 Switch No.4(Additional Switch) 315 Internal DI No. 015 ON/OFF

ExternalDI

(I/O1)

016to

031

General-purpose input(I/O connector on the rearpanel)

ExternalDO

(I/O1)

316to

331

General-purpose output(I/O connector on the rearpanel)

Internal DI

(I/O1)

032

For future expansionInternal

DO(I/O1)

3327-segment user display digitspecification

033 3337-segment user display digitspecification

034 334For future expansion035 335

036 336037 337 7-segment display refresh

038 338 7-segment user/systemalternate display

039 339 7-segment user displayspecification

040 340 DT0 (7-segment user display bit)041 341 DT1 (7-segment user display bit)042 342 DT2 (7-segment user display bit)043 343 DT3 (7-segment user display bit)044 344 DT4 (7-segment user display bit)045 345 DT5 (7-segment user display bit)046 346 DT6 (7-segment user display bit)047 347 For future expansion

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Port No. Function Port No. Function

ExternalDI

(CC-Link)

048 General-purpose input

ExternalDO

(CC-Link)

348 Alarm output049 (Software reset) 349 Ready output050 (Servo ON) 350 Emergency stop output051 (Auto program start) 351

General-purpose output

052 (Software interlock) 352053 (Pause reset) 353054 (Pause) 354055

General-purpose input

355056 356057 357058 358059 359060 360061 361062 362063 (Home return) 363064to

287General-purpose input

364to

587General-purpose output

In this table, shows the settings when CC-Link Connection Board is installed in “I/O2”.For when the board is installed in “I/O3”, refer to Instruction Manual of TTA.

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6.6 How to Handle TTA I/O Port Numbers and PLC Addresses In PLC, theTTA's CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting. Shown below is a table describing the relation between the I/O port numbers and PLC by the number of I/O ports setting (total number of ports used for CC-Link).

(1) In the case that the I/O Point Setting is up to 96 points (No. of Occupied Stations: One Station)

I/O Point Input Port Number on

TTA PLC Side

Output Port Number on TTA

PLC Side

16 048 to 063 RY 0 to F 348 to 363 RX 0 to F 32 064 to 079 RY 10 to 1F 364 to 379 RX 10 to 1F 48 080 to 095 RWw0 380 to 395 RWr0 64 096 to 111 RWw1 396 to 411 RWr1 80 112 to 127 RWw2 412 to 427 RWr2 96 128 to 143 RWw3 428 to 443 RWr3

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

(2) When the number of I/O points is set to 112 or more and 192 or less (two stations are occupied)

I/O Point Input Port Number on

TTA PLC Side

Output Port Number on TTA

PLC Side

16 048 to 063 RY 0 to F 300 to 315 RX 0 to F 32 016 to 031 RY 10 to 1F 316 to 331 RX 10 to 1F 48 032 to 047 RY 20 to 2F 332 to 347 RX 20 to 2F 64 048 to 063 RY 30 to 3F 348 to 363 RX 30 to 3F 80 064 to 079 RWw0 364 to 379 RWr0 96 080 to 095 RWw1 380 to 395 RWr1 112 096 to 111 RWw2 396 to 411 RWr2 128 112 to 127 RWw3 412 to 427 RWr3 144 128 to 143 RWw4 428 to 443 RWr4 160 144 to 159 RWw5 444 to 459 RWr5 176 160 to 175 RWw6 460 to 475 RWr6 192 176 to 191 RWw7 476 to 491 RWr7

Note The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

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(3) When the number of I/O points is set to 208 or more and 240 or less (three stations are occupied)

I/O Point Input Port Number on

TTA PLC Side

Output Port Number on TTA

PLC Side

16 048 to 063 RY 0 to F 300 to 315 RX 0 to F 32 064 to 079 RY 10 to 1F 316 to 331 RX 10 to 1F 48 080 to 095 RY 20 to 2F 332 to 347 RX 20 to 2F 64 096 to 111 RY 30 to 3F 348 to 363 RX 30 to 3F 80 112 to 127 RY 40 to 4F 364 to 379 RX 40 to 4F 96 128 to 143 RY 50 to 5F 380 to 395 RX 50 to 5F 112 144 to 159 RWw0 396 to 411 RWr0 128 160 to 175 RWw1 412 to 427 RWr1 144 176 to 191 RWw2 428 to 443 RWr2 160 192 to 207 RWw3 444 to 459 RWr3 176 208 to 223 RWw4 460 to 475 RWr4 192 224 to 239 RWw5 476 to 491 RWr5 208 240 to 255 RWw6 492 to 507 RWr6 224 256 to 271 RWw7 508 to 523 RWr7 240 272 to 287 RWw8 524 to 539 RWr8

Applicable - RWw9 - RWr9 Applicable - RWwA - RWrA Applicable - RWwB - RWrB Note The ports in gray column show the system domain for the remote device

station on the PLC side, so any of them can not be used as an I/O port. In the case of three occupied stations, 12 words for each input and output are allocated for the data register on the PLC side (9 words for TTA). Take care of the duplicated use of the data registers on the PLC side.

(4) Assignment of System Domain Signals It is only Remote Station Ready that is used in the system domain. When set to occupy one station n = 1, when set to occupy two stations n = 3, when set to occupy three stations n = 5

PLC Side Signal assignment PLC Side Signal assignment RY n0

Unavailable

RX n0

Unavailable

RY n1 RX n1 RY n2 RX n2 RY n3 RX n3 RY n4 RX n4 RY n5 RX n5 RY n6 RX n6 RY n7 RX n7 RY n8 RX n8 RY n9 RX n9 RY nA RX nA

RY nB RX nB

Remote station Ready It turns on when the startup of TTA is complete, and informs higher-order (master).

RY nC RX nC

Unavailable RY nD RX nD RY nE RX nE RY nF RX nF

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Reference When the number of I/O points is set to 112 or more and 192 or less: two stations are occupiedAddresses in PLC are assigned to t he remote I/O addresses and remote regist er areas that correspond to thestation number set by the rotary switch and the number of occupied stations set by the PLC parameter, inorder of port number.

(1) Remote I/OPLC

TT

Xnn and Ynn are the remote I/O addresses in PLC that correspond to the station number.

Communication with Master Station.”)The addresses of the remode I/O in PLC (RX and RY) are set to Xnn and Ynn. (Refer to “Section 11.

(Input) (Output)

(Output)Port No.

(Input)Port No.

048049050051052053054055056057058059060061062063064065066067068

348349350351352353354355356357358359360361362363364365366367368369

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6.7 Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of

monitoring LEDs of CC-Link Board. [Refer to Section 5.2] Check the settings of the TTA and the settings of the master unit referring to the instruction manuals of the master unit.

2) When an alarm is issued, an alarm code gets output to the panel window of the XSEL controller. (1) Find the alarm code that you see on the window from the alarm code list shown below.

Deal with it based on the description for the alarm code in question. (2) In case the alarm code is not found in the following list, search in the alarm contents list contained

in Tabletop Robot TTA Instruction Manual. Deal with it based on the description for the alarm code in question.

Alarm Code (Fieldbus related items are chosen below)No. Error name Contents and Treatment

A6B Fieldbus error (FBRS link error)

TTA starts up faster than the host (master unit). Change the setting in I/O Parameter No. 121 Bit 16 to23 to have the time extended before timeout.

56A CC-Link System Domain Use Error

CC-Link system domain cannot be used as the system input and output port for TTA. It can be concerned the case that the functions listed below have been trying to use the system domain as the system output. Check such settings as I/O parameters. 1) Input and output function select port number 2) Zone output port number 3) Vision System I/F image-capturing indication physical

output port number, etc.

D56 Fieldbus error (MinACK Timeout)

A communication error was detected. Check the condition of PLC, and reboot the TTA unless there is an error. If the same error occurs again, please contact us.

D59 Fieldbus error (DPRAM writing and reading)

The writing and reading error was detected in the internal memory. TTA reboot the controller. If the same error occurs again, please contact us.

D5A Fieldbus error (TOGGLE Timeout)

A communication error was detected. TTA reboot the controller. If the same error occurs again, please contact us.

D5B Fieldbus error (Access right retry over)

A communication board error was detected. TTA reboot the controller. If the same error occurs again, please contact us.

D5D Fieldbus error (FBRS link error)

This occurs when the network connection is not established. 1) Check the station number, the parameters for communication speed and parameters on higher-order side. 2) It is concerned the startup of TTA is faster than that of PLC. Change the settings in I/O Parameter No. 121. [Refer to Section 6.3 (7) for the details.]

D5E Fieldbus error (Mail BOX response)

A communication error was detected. Reboot the TTA. If the same error occurs again, please contact us.

D5F Network I/F Module Class Mismatch Error

The setting of I/O Parameter No. 225 Network I/F Module Class does not match with that of the communication board mounted. Check the contents of the settings in I/O Parameter No. 225, and in case no doubt is found, please contact us.

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No. Error name Contents and Treatment

D75 Fieldbus Parameter Error

There is an error in a parameter. Check I/O Parameter No. 226 to 227 and 237 to 238. Example) • A node address out of the range was set. • A communication speed out of the range is set.

D76 Fieldbus Module Unmounted Error CC-Link board is not mounted.

D77 Fieldbus error (Exception) A communication board error was detected. Reboot the TTA. If the same error occurs again, please contact us.

E1F I/O Assignment Parameter Error

It is a parameter setting error. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to TTA Instruction Manual.]

E20 I/O Duplication Assignment Error

I/O assignment is duplicated. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to TTA Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E21 I/O Assignment Number Overflow Error

I/O assignment has exceeded the specified range. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No. 2 to 9, a number out of indication is not input to I/O port start number, or a number out of indication is not input to I/O Parameters No. 14 to 17. [Refer to TTA Instruction Manual.] Check the number of the ports that I/O boards are mounted.

E8F Fieldbus logic error It is a logic error at the Fieldbus initializing.

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4. Tabletop Robot TT TT is handled as a remote device station. 4.1 Models Model: TT--I--CC Number of Network I/O points MAX: 240/240

CC-Link board is installed on the field network board installation position.

(Note) 16 points each for input and output among I/O points are in the system area, therefore, these points cannot be used. For further information, please refer to “Section 4.5 Correspondence between the TT I/O port No. and PLC addresses.”

CC-Link Standard I/O

7

7

7.5

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64

4.2 CC-Link board (1) Names of each part

TT type

Communications speed setting rotary switch

Station number setting rotary

Monitor LED

CC-Link communications connector

7

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(2) Rotary switches

The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed

a. Setting of station number

In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.

Station number Rotary switch selection number

SA 10 SA 1

0 0 0

1 10 1

2 20 2

3 30 3

4 40 4

5 50 5

6 60 6

7 7

8 8

9 9

(Example) When setting the station number to 12: Set the rotary switch SA 10 to 1. Set the rotary switch SA 1 to 2.

(Note) The CC-Link first I/O address in PLC is determined according to the master unit installation position and the number of I/O occupied points of the unit installed prior to that. The I/O addresses in PLC are assigned from the first I/O address above in order of station number. For further information regarding setting of the station number and setting of the I/O address in the PLC, refer to the Operation Manuals for the master unit and PLC to be mounted.

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b. Setting of communications speed The communications speed is set by the rotary switch BR.

Rotary switch selection number Communications speed

651 0 kbps

526 1 kbps

5.2 2 Mbps

5 3 Mbps

01 4 Mbps

Setting to 5 or more prohibited Error

(3) Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

LED Color Display condition Display details (display indication)

RUN Green Lighting Lights when communications start and turns off when communications are interrupted for a certain time or longer.

SD Green Lighting Lights during data transmission

RD Green Lighting Lights during data reception

Lighting Local station address receiving data has an error.

ERR Red

Flashing

Setting by the communications speed setting rotary switch was changed during communications. Setting by the station number setting rotary switch was changed during communications.

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4.3 Setting of I/O parameters (assignment of I/O ports) The TT I/O ports used in the CC-Link are set. (1) Board installation positions (slots) and parameter numbers

The factory-configured number for each input port and output port used in the CC-Link is set to 64 points.

CC-Link Parameter No. 14 No. 15

Standard I/O

7

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(2) Factory-configured parameters of TT type No. Parameter name Default

(reference) Input range Remarks

1 I/O port assignment type 0 Reference only

0: Fixed assignment

2 Standard I/O fixed assignment time: Input port start No.

000 Reference only

0+(multiples of 8)(Invalid for negative values)

3 Standard I/O 1 fixed assignment time: Output port start No.

300 Reference only

300+(multiples of 8)(Invalid for negative values)

4 Standard I/O 2 fixed assignment time: Input port start No.

32 Reference only

0+(multiples of 8)(Invalid for negative values)

5 Standard I/O 2 fixed assignment time: Output port start No.

316 nvalid for negative values)

6 Expansion I/O 1 fixed assignment time: Input port start No. (Network I/F module)

48 -1-299 0+(multiples of 8) (Invalid for negative values)

7 Expansion I/O 1 fixed assignment time: Output port start No. (Network I/F module)

348 -1 300+(multiples of 8)(Invalid for negative values)

8 995-1-1-noitavresermetsyS9 995-1-1-noitavresermetsyS

10 Standard I/O 1 error monitoring 0 0 – 5 0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) 3: Monitoring (Monitoring of 24V I/O power related

errors only) * Some exceptions included.

11 Expansion I/O 2 error monitoring 0 0 - 5 0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power

related errors) 3: Monitoring (Monitoring of 24V I/O power related

errors only) * Some exceptions included.

12 Expansion I/O 1 error monitoring (Network I/F module)

1 0 - 5 0: Non-monitoring 1: Monitoring * Some exceptions included.

13 5-01noitavresermetsyS14 Network I/F card remote: Number of

ports used for input 64 0 - 240 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 - 240 Multiples of 16

In the case of TT, the number of ports used in the CC-Link can be changed by parameter setting. The I/O port start No. of the CC-Link is fixed. CC-Link input port start No. 48 CC-Link output port start No. 348

The I/O port No. of the standard I/O (rear panel I/O connector) is fixed. Standard input port No. 16 to 31. Standard output port No. 316 to 331.

122 Network attribute 3 14H 0H toFFFFFFFFH

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(Main application of Ver.0.31 or later)

Reference only

300+(multiples of 8)(I

300 to 599

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(3) Parameter setting examples of tabletop robot TT This is the setting in a case where 240 points for each input and output is assigned to the CC-Link board as the general I/O port. The I/O port start No. of the TT is fixed. Input port start No. 48 Output port start No. 348 The number of ports used is set every 16 points. In addition, the port start No. is predetermined, therefore, the maximum number of ports for each input and output is 240 points. 240 is set to the I/O parameter No. 14 and No. 15.

CC-Link Parameter No. 14 No. 15

Standard I/O

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TT type I/O parameters

No. Parameter name Default (reference)

Input range

Setvalue

1 I/O port assignment type 0 Reference only

0 0: Fixed assignment

2 Standard I/O fixed assignment time: Input port start No.

000 Reference only

000 0+(multiples of 8)(Invalid for negative values)

3 Standard I/O 1 fixed assignment time: Output port start No.

300 Reference only

300 300+(multiples of 8)(Invalid for negative values)

4 Standard I/O 2 fixed assignment time: Input port start No.

32 Reference only

32 0+(multiples of 8)(Invalid for negative values)

5 Standard I/O 2 fixed assignment time: Output port start No.

316 8)(Invalid for negative values)

6 Expansion I/O 1 fixed assignment time: Input port start No. (Network I/F module)

48 -1 - 299 8) (Invalid for negative values)

7 Expansion I/O 1 fixed assignment time: Output port start No. (Network I/F module)

348 -1 348 300+(multiples of 8)(Invalid for negative values)

8 1-995-1-1-noitavresermetsyS

9 1-995-1-1-noitavresermetsyS

10 Standard I/O 1 error monitoring 0 0 – 5 0 0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power related errors) 3: Monitoring (Monitoring of 24V I/O power related errors only) * Some exceptions included.

11 Expansion I/O 2 error monitoring 0 0 - 5 0 0: Non-monitoring 1: Monitoring 2: Monitoring (Non-monitoring of 24V I/O power related errors) 3: Monitoring (Monitoring of 24V I/O power related errors only) * Some exceptions included.

12 Expansion I/O 1 error monitoring (Network I/F module)

1 0 - 5 1 0: Non-monitoring 1: Monitoring * Some exceptions included.

13 15-01noitavresermetsyS

14 Network I/F card remote: Number of ports used for input

64 0 - 240 240 Multiples of 16

15 Network I/F card remote: Number of ports used for output

64 0 - 240 240 Multiples of 16

Remarks

316 300+(multiples of Reference only

48 0+(multiples of

300 - 599

122 Network attribute 3 14H 0H - FFFFFFFFH

Optional Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(Main application of Ver.0.31 or later)

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4.4 I/O port numbers of TT The following table shows I/O port numbers of TT. (For further information, please refer to the “Operation Manual of Tabletop Robot TT.”)

Port No. Function Port

No. Function

000 Start 300 ALM (Front panel LED)

001 (Soft reset) 301 RDY (Front panel LED)

002 (Servo ON) 302 EMG (Front panel LED)

003 (Auto start activation) 303 Under automatic operation

004 (Soft interlock) 304 HPS (Front panel LED)

005 (Suspend release) 305 System reservation

006 (Suspend) 306 System reservation

007 307 System reservation

008 308 Internal DI-No. 001 for ON/OFF

009 309 Internal DI-No. 002 for ON/OFF

010

Designation of program No. for ones-place digital switch

310 Internal DI-No. 003 for ON/OFF

011 311 Internal DI-No. 004 for ON/OFF

012 312 Internal DI-No. 005 for ON/OFF

013

Designation of program No. for tens-place digital switch

313 Internal DI-No. 006 for ON/OFF

014 (Drive power release input) 314 Internal DI-No. 014 for ON/OFF

Internal DI

015 (Return to origin, etc.)

Internal DO

315 Internal DI-No. 015 for ON/OFF

External DI

016 - 031

General input (Rear panel I/O connector)

External DO

316 - 331

General output (Rear panel I/O connector)

032 332 7 seg user display digit designation 033 333 7 seg user display digit designation 034 334 System reservation 035 335 System reservation 036 336 System reservation 037 337 7 seg refresh 038 338 7 seg user system alternating display 039 339 7 seg user display designation 040 340 DT0 (7 seg user display bit) 041 341 DT1 (7 seg user display bit) 042 342 DT2 (7 seg user display bit) 043 343 DT3 (7 seg user display bit) 044 344 DT4 (7 seg user display bit) 045 345 DT5 (7 seg user display bit) 046 346 DT6 (7 seg user display bit)

Internal DI

047

System reservation Internal

DO

347 System reservation

External

DI 048 - 287

For CC-Link External

DO 348 - 587

For CC-Link

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4.5 Correspondence between I/O port numbers and PLC addresses of TT

In the PLC, the CC-Link board of TT is set as a remote device. The number of occupied stations of the remote device according to the setting of the I/O points on the TT side changes. The following table shows the relationships between I/O port numbers and addresses of the PLC according to the setting of the I/O parameter No. 14 and No. 15.

Note: For I/O parameter No. 14 and No. 15, set the same point for whichever the number is larger.

(1) When the number of I/O points is set to 96 or less:

Configured as one remote device. (One station occupied)

I/O parameter

No. 14 No. 15 TT side DI (Port No.) PLC side TT side DO

(Port No.) PLC side

16 16 048 - 063 RY 0 – F 348 - 363 RX 0 – F

32 32 064 - 079 RY 10 – 1F 364 - 379 RX 10 – 1F

48 48 080 - 095 RWw 0 380 - 395 RWr 0

64 64 096 - 111 RWw 1 396 - 411 RWr 1

80 80 112 - 127 RWw 2 412 - 427 RWr 2

96 96 128 - 143 RWw 3 428 - 443 RWr 3

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

(2) When the number of I/O points is set to 112 or more and 192 or less:

Configured as two remote devices. (Two stations occupied)

I/O parameter

No. 14 No. 15 TT side DI (Port No.) PLC side TT side DO

(Port No.) PLC side

(16) (16) 048 - 063 RY 0 – F 348 - 363 RX 0 – F

(32) (32) 064 - 079 RY 10 – 1F 364 - 379 RX 10 – 1F

(48) (48) 080 - 095 RY 20 – 2F 380 - 395 RX 20 – 2F

(64) (64) 096 - 111 RY 30 – 3F 396 - 411 RX 30 – 3F

(80) (80) 112 - 127 RWw 0 412 - 427 RWr 0

(96) (96) 128 - 143 RWw 1 428 - 443 RWr 1

112 112 144 - 159 RWw 2 444 - 459 RWr 2

128 128 160 - 175 RWw 3 460 - 475 RWr 3

144 144 176 - 191 RWw 4 476 - 491 RWr 4

160 160 192 - 207 RWw 5 492 - 507 RWr 5

176 176 208 - 223 RWw 6 508 - 523 RWr 6

192 192 224 - 239 RWw 7 524 - 539 RWr 7

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

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(3) When the number of I/O points is set to 208 or more and 256 or less:

Configured as three remote devices. (Three stations occupied)

I/O parameter

No. 14 No. 15 TT side DI (Port No.) PLC side TT side DO

(Port No.) PLC side

(16) (16) 048-063 RY 0 – F 348 - 363 RX 0 – F

(32) (32) 064-079 RY 10 – 1F 364 - 379 RX 10 – 1F

(48) (48) 080-095 RY 20 – 2F 380 - 395 RX 20 – 2F

(64) (64) 096-111 RY 30 – 3F 396 - 411 RX 30 – 3F

(80) (80) 112-127 RY 40 – 4F 412 - 427 RX 40 – 4F

(96) (96) 128-143 RY 50 – 5F 428 - 443 RX 50 – 5F

(112) (112) 144-159 RWw 0 444 - 459 RWr 0

(128) (128) 160-175 RWw 1 460 - 475 RWr 1

(144) (144) 176-191 RWw 2 476 - 491 RWr 2

(160) (160) 192-207 RWw 3 492 - 507 RWr 3

(176) (176) 208-223 RWw 4 508 - 523 RWr 4

(192) (192) 224-239 RWw 5 524 - 539 RWr 5

208 208 240-255 RWw 6 540 - 555 RWr 6

224 224 256-271 RWw 7 556 - 571 RWr 7

240 240 272-287 RWw 8 572 - 587 RWr 8

Not be set - RWw 9 - RWr 9

Not be set - RWw A - RWr A

Not be set - RWw B - RWr B

* Since the shaded portions are the system areas for the remote device station on the PLC side, they cannot be used as I/O.

* In the case of three stations being occupied, twelve words (nine words for TT) are assigned for each input and output in the data register on the PLC side. Be careful about overlapping of data register on the PLC side.

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7.6 Data in remote registers Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set on the CC-Link board and the number of occupied stations set by the PLC parameter, in steps of 16 points (one word) in order of TT port number. Setting the I/O parameter No. 120 to “0” allows the data in one word to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits) in the communications area with the PLC remote register. (Remote I/O areas are not changed.)

I/O parameters

No. Parameter name Default (reference) skrameRegnartupnI

120 Network attribute 1 1 0H – FFFFFFFFH Bit 0-3: CC-Link remote register area H/L byte SWAP selection (0: No SWAP, 1: SWAP)

* There should not be inconsistencies between the port numbers of I/O parameters No. 14 and No. 15 and the number of occupied stations.

The relationships between I/O signals are shown below by taking s case where the number of I/O points of TT is set to 112 or more and 192 or less (two stations occupied) for example.

(1) TT remote I/O areas and remote register areas

Remote input: Port No. 48 to No. 111 Remote output: Port No. 348 to No. 411 Remote address (input): Port No. 112 to No. 239 Remote address (output): Port No. 412 to No. 539

(Note) Since ports No. 128 to No. 143 and No. 428 to No. 443 are the system areas for the remote device stations on the PLC side, they cannot be used.

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(2) Transmission and receipt of signals in remote I/O areas

The transmission and receipt of signals in remote I/O areas are irrelevant to the setting of the I/O parameter No. 120.

: On, : OFF

TT port No. (Input) 063 062 061 060 059 058 057 056 055 054 053 052 051 050 049 048

ON/OFF

Hexadecimal data F 0 8 1

PLC: RYnn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

TT port No. (Output) 363 362 361 360 359 358 357 356 355 354 353 352 351 350 349 348

ON/OFF

Hexadecimal data F 0 8 1

PLC: RXnn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

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(3) Transmission and receipt of signals in remote register areas

The I/O parameter No. 120 allows the data in one word (16 bits) to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits). (a) When the I/O parameter No. 120 is set to “1”

: On, : OFF

TT port No. (Input) 127 126 125 124 123 122 121 120 119 118 117 116 115 114 113 112

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWwn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

TT port No. (Output) 427 426 425 424 423 422 421 420 419 418 417 416 415 414 413 412

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWrn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

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(b) When the I/O parameter No. 120 is set to “0”

: On, : OFF

TT port No. (Input) 127 126 125 124 123 122 121 120 119 118 117 116 115 114 113 112

ON/OFF

Hexadecimal data 8 1 F 0

PLC: RWwn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data F 0 8 1

TT port No. (Output) 427 426 425 424 423 422 421 420 419 418 417 416 415 414 413 412

ON/OFF

Hexadecimal data F 0 8 1

PLC: RWrn (Input) F E D C B A 9 8 7 6 5 4 3 2 1 0

ON/OFF

Hexadecimal data 8 1 F 0

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Reference When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in order of port number.

(1) Remote I/O

Xnn and Ynn are the remote I/O addresses in PLC that correspond to the station number.

The addresses of the remote I/O in PLC (RX and RY) are set to Xnn and Ynn. (Refer to “Section 11. Communication with Master Station.”)

(Input) (Output)

(Output)Port No.

(Input) Port No.

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Reference (2) Remote register a. When the I/O parameter No. 120 is set to “1”

RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.

)tuptuO( )tupnI(

(Input) Port No.

(Output)Port No.

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Reference b. When the I/O parameter No. 120 is set to “0”

RWrm and RWwm are the remote register addresses in PLC that correspond to the station number. The remote register is comprised of one word (16 bits), but the data order of the higher-order 8 bits (higher-order byte) and the lower-order 8 bits (lower-order byte) is reversed under this setting. Take caution.

Example 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0PLC TT Register D100

PLC

Data F 0 8 1 127 126 125 124 123 122 121 120 119 118 117 116 115 114 113 112

Ports No. 112 to No. 127

TT

Data 8 1 F 0

(Input) (Output)

(Input) Port No.

(Output)Port No.

Station No. N

Station No. N+1

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4.7 CSP file When using the GX Configurator-CC (manufactured by Mitsubishi Electric Corporation), download the CSP file from our Web site shown below if required.

Web site: http://www.iai-robot.co.jp The CSP file to be used is different according to the number of ports used (number of I/O ports) set by the I/O parameters No. 14 and No. 15 of TT.

File name Description Number of ports used in TT

(Number of I/O points)

HMS-ABS-CCL_1.csp For one remote device (one station) 96 points or less each

HMS-ABS-CCL_2.csp For one remote device (two stations) 112 points or more and 192 points or less each

HMS-ABS-CCL_3.csp For one remote device (three stations) 208 points or more and 256 points or less each

For the setting method of the remote station (TT) information to the master station, refer to the Operation Manuals for the master station, PLC to be mounted, and peripherals.

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4.8 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below and remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cable, and setting of rotary switches before turning on the power to the controller main unit again. : ON, : OFF, : Flashing

RUN (Green)

ERR (Red)

SD (Green)

RD (Green) Operating condition

There is normal communications, but a CRC* error sometimes occurs with noise.

0.4S Band rate or station number was changed from the band rate/station number setting for reset cancellation.

(Impossible condition)

With the received data having a CRC* error, there can be no response.

(Impossible condition)

Normal communications

(Impossible condition)

Local station address receiving data has not arrived.

(Impossible condition)

There is the polling response, but refresh receiving has a CRC* error.

(Impossible condition)

Local station address receiving data has a CRC* error.

(Impossible condition)

There is no link start-up.

(Impossible condition)

There is no local station address receiving data or it is impossible to receive such data with noise.

It is impossible to receive data as a result of disconnection, etc. The power is being shut off or H/W is being set.

The power is being shut off or H/W is being set.

The power is being shut off or H/W is being set.

*CRC: Cyclic Redundancy Check Data error detection method frequently used in the case of synchronous transmission is adopted.

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8. RCS-C and E-Con 8.1 Models The following shows the CC-Link compatible RCS-C and E-Con, (1) RCS-C

Model: RCS-C- --CC--- I/O numbers: Input only: 8 points, Output only: 10 points

24V type 100V and 200V type

(2) E-Con

Model: Econ- --CC--- I/O numbers: Input only: 10 points, Output only: 12 points

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5.2 CC-Link interface

(1) Names of each part

Monitor LED

Station number setting rotary switch

CC-Link communications connector

Communications speed setting rotary switch

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(2) Rotary switches

The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed

a. Setting of station number

In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.

Station number Rotary switch selection number

SA AS 01 1

0 0 0

1 01 1

2 02 2

3 03 3

4 04 4

5 05 5

6 06 6

7 ――

7

8 8

9 9

(Example) When setting the station number to 12: Set the rotary switch SA ×

× 10 to 1.

Set the rotary switch SA 1 to 2.

(Note) The CC-Link first I/O address in PLC is determined according to the master unit installation position and the number of I/O occupied points of the unit installed prior to that. The I/O addresses in PLC are assigned from the first I/O address above in order of station number. For further information regarding setting of the station number and setting of the I/O address in the PLC, refer to the Operation Manuals for the master unit and PLC to be mounted.

× ×

××

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b. Setting of communications speed

The communications speed is set by the rotary switch BR.

Rotary switch selection number Communications speed

0 156 kbps

1 625 kbps

2 2.5 Mbps

3 5 Mbps

4 10 Mbps

Setting to 5 or more prohibited Error

(3) Display of monitor LEDs

The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

LED Color Display condition Display details (display indication)

RUN Green Lighting Lights when communications start and turns off when communications are interrupted for a fixed time or longer.

SD Green Lighting Lights during data transmission

RD Green Lighting Lights during data reception

Lighting Local station address receiving data has an error.

ERR Red

Flashing

Setting by the communications speed setting rotary switch was changed during communications. Setting by the station number setting rotary switch was changed during communications.

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5.3 Input and Output (I/O) Input and output points for each RCS-C and E-Con are (1) RCS-C Input only: 8 points, output only: 11 points (2) E-Con Input only: 10 points, output only 13 points

For further information of each signal, please refer to the “Operation Manual of the RCS Series ROBO Cylinder Controller RCS-C type” and “Operation Manual of E-Con Controller.”

(1) RCS-C signal assignment

Input port No. Signal name Output port No. Signal name 0 Command position 1 0 Completion position 1 1 Command position 2 1 Completion position 2 2 Command position 4 2 Completion position 4 3 Command position 8 3 Completion position 8

gninoitisoP 4 tratS 4 completion nruteR 5 teseR 5 to origin completion

6 Servo enoZ* 6 .oN7 * mralA* 7 dnepsuS8 Unused 8 *Emergency stop

gnilevarT 9 desunU 910 Unused 10 *Battery alarm (Note 1) 11 Unused 11 Unused (Note 2)12 Unused 12 Unused (Note 2)13 Unused 13 Unused (Note 2)14 Unused 14 Unused (Note 2)15 Unused 15 Unused (Note 2)

* The asterisk indicates an always on signal.

(Note 1) These signals correspond to only controllers of the main power sources 100V and 200V. In the case of 24V specification, ON/OFF is not determined.

(Note 2) In the unused areas, ON/OFF is not determined.

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(2) E-Con signal assignment

Input port No. Signal name Output port No. Signal name 0 Command position 1 0 Completion position 1 1 Command position 2 1 Completion position 2 2 Command position 4 2 Completion position 4 3 Command position 8 3 Completion position 8 4 Command position 16 4 Completion position 16 5 Command position 32 5 Completion position 32 6 Unused 6 Unused (Note 2) 7 Unused 7 Unused (Note 2) 8 Start 8 Positioning completed 9 Reset 9 Return to origin completed 10 Servo ON 10 Zone 11 Suspend 11 *Alarm 12 Unused 12 *Emergency stop 13 Unused 13 Traveling 14 Unused 14 *Battery alarm (Note 1) 15 Unused 15 Unused (Note 2)

* The asterisk indicates an always on signal.

(Note 1) In the case of an incremental encoder, ON/OFF is not determined.

(Note 2) In the unused areas, ON/OFF is not determined.

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Reference For both RCS-C and E-Con, bit addresses in the PLC are assigned to the remote I/O addresses that correspond to the station number set by the rotary switch and the number of stations set by the PLC parameter, in order of port number.

Xnn and Ynn+1 are addresses in the PLC that correspond to the station number N. Since 2-word (32-point) processing is made per station in the PLC, the PLC remote I/O (RX/RY) addresses are set to Xnn/Ynn+1. (Refer to “Section 11. Communication with Master Station.”)

(Input) (Output)

(Output)Port No.

(Input) Port No.

Station number

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5.4 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below to remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again. : ON, : OFF, : Flashing

RUN (Green)

ERR (Red)

SD (Green)

RD (Green) Operating condition

There is normal communications, but a CRC* error sometimes occurs with noise.

0.5s There are normal communications, but the baud rate or station setting switch malfunctions.

(Impossible condition)

With the received data having a CRC* error, there can be no response.

(Impossible condition)

Normal communications

(Impossible condition)

Local station address receiving data has not arrived.

(Impossible condition)

There is the polling response, but refresh receiving has a CRC* error.

(Impossible condition)

Local station address receiving data has a CRC* error.

(Impossible condition)

There is no link start-up.

(Impossible condition)

There is no local station address receiving data or it is impossible to receive such data with noise. (Data volume is insufficient transmitted from the master station.)

It is impossible to receive data as a result of disconnection, etc.

, The baud rate or station number is invalid.

There is a power interruption or there is a breakdown with the remote station power supply part.

*CRC: Cyclic Redundancy Check Data error detection method frequently used in the case of synchronous transmission is adopted.

8

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CO

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9. SCON-C

Caution: As SCON except for SCON-C is a remote device station, it is not possible to replace it with SCON-C which is a remote I/O station.

9.1 Models The following figure shows a CC-Link compatible SCON-C. SCON

Model: SCON-C--CC-- Number of I/O points: Input only: 16 points/Output only: 16 points

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93

6.2 CC-Link interface (1) Names of each part

Monitor LED

Station number setting rotary switch

CC-Link communications connector

Communications speed setting rotary switch

9

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(2) Rotary switches

The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed

a. Setting of station number

In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.

Station number Rotary switch selection number

SA 10 SA 1

0 0 0

1 10 1

2 20 2

3 30 3

4 40 4

5 50 5

6 60 6

7 7

8 8

9 9

(Example) When setting the station number to 12: Set the rotary switch SA 10 to 1. Set the rotary switch SA 1 to 2.

(Note) The CC-Link first I/O address in PLC is determined according to the master unit installation position and the number of I/O occupied points of the unit installed prior to that. The I/O addresses in PLC are assigned from the first I/O address above in order of station number. For further information regarding setting of the station number and setting of the I/O address in the PLC, refer to the Operation Manuals for the master unit and PLC to be mounted.

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b. Setting of communications speed

The communications speed is set by the rotary switch BR.

Rotary switch selection number Communications speed

0 156 kbps

1 625 kbps

2 2.5 Mbps

3 5 Mbps

4 10 Mbps

Setting to 5 or more prohibited Error

(3) Display of monitor LEDs

The four LEDs mounted on the front of the board can indicate the board operating state and network condition.

LED Color Display condition Display details (display indication)

RUN Green Lighting Lights when communications start and turns off when communications are interrupted for a fixed time or longer.

SD Green Lighting Lights during data transmission

RD Green Lighting Lights during data reception

Lighting Local station address receiving data has an error.

ERR Red

Flashing

Setting by the communications speed setting rotary switch was changed during communications. Setting by the station number setting rotary switch was changed during communications.

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6.3 I/O signal assignment Number of I/O points for SCON:

Input only: 16 points, Output only: 16 points The following table shows the detailed contents. There are 6 patterns according to the setting of parameter No. 25 (PIO Pattern selection) of SCON. For additional, for further information on each signal, refer to the “Operation Manual for SCON Controller.”

Parameter No. 25 setting

Positioning mode (Standard) Teaching mode (Teaching type) 256 point mode (256 point type)

0 1 2

Classification Port No.

Signal Names Symbol Signal Names Symbol Signal Names Symbol

0 PC1 PC1 PC1

1 PC2 PC2 PC2

2 PC4 PC4 PC4

3 PC8 PC8 PC8

4 PC16 PC16 PC16

5

Command position No.

PC32

Command position No.

PC32 PC32

6 Teaching Mode Command

(Operation Mode) MODE PC64

7 Jog/Inching selection JISL

Command position No.

PC128

8

Unavailable

+Jog JOG+ Unavailable

9 Forced brake release BKRL -Jog JOG- Forced brake release BKRL

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD

11 Return to origin HOME Return to origin HOME Return to origin HOME

12 *Suspend *STP Suspend *STP Suspend *STP

13 Positioning Start CSTRPositioning Start

Position Data Import CommandCSTR/P

WRT Positioning Start CSTR

14 Reset RES Reset RES Reset RES

Input

15 Servo ON Command SON Servo ON Command SON Servo ON Command SON

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 PM4 PM4

3 PM8 PM8 PM8

4 PM16 PM16 PM16

5

Completion position No.

PM32

Command position No.

PM32 PM32

6 Moving Signal MOVE Moving Signal MOVE PM64

7 Zone 1 ZONE 1 Teaching mode Signal MODES

Command position No.

PM128

8 Position zone status RMDS Position zone status RZONE Position zone status RZONE

9 Operation Mode Status RMOD Operation Mode Status RMDS Operation Mode Status RMDS

10 Return to origin end HEND Return to origin end HEND Return to origin end HEND

11 Positioning end Signal PENDPositioning end Signal /

Position Data Import CommandPEND/WEND

Positioning end Signal PEND

12 Operation preparation end SV Operation preparation end SV Operation preparation end SV

13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS

14 Alarm *ALM Alarm *ALM Alarm *ALM

Output

15 Battery alarm *BALM Battery alarm *BALM Battery alarm *BALM

The symbol with a * mark shows the ON signal in normal condition. The signal described as “Unavailable” is not controlled (ON/OFF is undefined). In the case of the incremental encoder, the battery alarm is turned ON (fixed).

9

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Parameter No. 25 setting

512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2

5 4 3

Classification Port No. Signal Names Symbo

l Signal Names Symbol Signal Names Symbol

0 PC1 Start position 0 ST0 Start position 0 ST0 1 PC2 Start position 1 ST1 Start position 1 ST1 2 PC4 Start position 2 ST2 Start position 2 ST0 3 PC8 Start position 3 ST3 4 PC16 Start position 4 ST4 5 PC32 Start position 5 ST5 6 PC64 Start position 6 ST6

821CP 7 -

--

--

8

Command position No.

PC256Unavailable

Unavailable

9 Forced brake release BKRL Forced brake release BKRL Forced brake release BKRL

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD11 Return to origin HOME Return to origin HOME 12 Suspend *STP Suspend *STP 13 Positioning Start CSTR Unavailable

Unavailable

--

14 Reset RES Reset RES Reset RES

Input

15 Servo ON Command SON Servo ON Command SON Servo ON Command SON 0 PM1 Command position 0 PE0 Limit switch 0

Limit switch 1

Limit switch 2

LS0

1 PM2 Completion position 1 PE1 LS1

2 PM4 Completion position 2 PE2 LS2

3 PM8 Completion position 3 PE3 4 PM16 Completion position 4 PE4 5 PM32 Completion position 5 PE5 6 PM64 Completion position 6 PE6

Unavailable

7 PM128 Zone 1 ZONE1 Zone 1 ZONE18

Completion position

PM256 Position zone PZONE Position zone PZONE9 Operation Mode Status RMDS Operation Mode Status RMDS Operation Mode Status RMDS

10 Return to origin end HOME Return to origin end HEND Return to origin end HEND11 Positioning end Signal PEND Positioning end Signal PEND Unavailable

12 Operation preparation end SV Operation preparation

end SV Operation preparation end SV

13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS14 Alarm *ALM Alarm *ALM Alarm *ALM

Output

15 Battery alarm *BALM Battery alarm *BALM Battery alarm *BALM

The symbol with a * mark shows the ON signal in normal condition. The signal described as “Unavailable” is not controlled (ON/OFF is undefined). In the case of the incremental encoder, the battery alarm is turned ON (fixed).

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6.4 CC-Link address assignation SCON is a one remote I/O station (one station occupied) (two words for each input and output). To which master station number the I/O ports of SCON is assigned is set by the rotary switch for setting the station number of SCON. Additionally, to which internal devices or addresses of PLC-CPU the buffer memory of the master station is assigned is set by the PLC network parameter. (Device name and first address) I/O ports of SCON are assigned to the master station buffer memory of the set station number. These port numbers are assigned to the bit address of the master station buffer memory, respectively, in the order of the smallest first. Master station buffer memory SCON remote I/O station (one station occupied) Station number N

Remote input

Remote output

Station number

N

Station number

N

Port No.

Output

Input

Addresses RXn* and Ryn* of the remote I/O (RX/RY) of the PLC master station are addresses correspondingto the station number N.

9

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The following figures shows a case where the master station buffer memory is set to the station number 3, in which the input port 0 is RY50, input port 15 is RY5F, output port 0 is RX40, and output port 14 is RX4F.

PLC-CPU Master station buffer memory SCON remote I/O station (One station exclusive)

Internal device

Internal device

Station No. 1

Station No. 2

Station No. 3

Station No. 64

Station No. 1

Station No. 2

Station No. 3

Station No. 64

Remote input

Remote output (RY)

Output port No.

Input port No.

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6.5 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below to remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again. : ON, : OFF, : Flashing

RUN (Green)

ERR (Red)

SD (Green)

RD (Green) Operating condition

There is normal communications, but a CRC* error sometimes occurs with noise.

0.5s There are normal communications, but the baud rate or station setting switch malfunctions.

(Impossible condition)

With the received data having a CRC* error, there can be no response.

(Impossible condition)

Normal communications

(Impossible condition)

Local station address receiving data has not arrived.

(Impossible condition)

There is the polling response, but refresh receiving has a CRC* error.

(Impossible condition)

Local station address receiving data has a CRC* error.

(Impossible condition)

There is no link start-up.

(Impossible condition)

There is no local station address receiving data or it is impossible to receive such data with noise. (Data volume is insufficient transmitted from the master station.)

It is impossible to receive data as a result of disconnection, etc.

, The baud rate or station number is invalid.

There is a power interruption or there is a breakdown with the remote station power supply part.

*CRC: Cyclic Redundancy Check Data error detection method frequently used in the case of synchronous transmission is adopted.

9

101

10. ASEL, PSEL, SSEL There are the following types of ASEL, PSEL, SSEL applicable to CC-Link.

Remote Device Station: No. of I/O points = Max. 256 points for each 10.1 Model No. 10.1.1 ASEL, PSEL Each model No. of ASEL or PSEL applicable to the CC-Link is described as follows. For 1-axis ASEL-C-1--CC- PSEL-C-1--CC- For 2-axis ASEL-C-2--CC- PSEL-C-2--CC- External Dimensions

Status LED

CC-LinkCommunication Connector

Printed Series Name•ASEL•PSEL

Front Panel Color•ASEL : Dark Blue•PSEL : Dark Green

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10. ASEL, PSEL, SSEL There are the following types of ASEL, PSEL, SSEL applicable to CC-Link.

Remote Device Station: No. of I/O points = Max. 256 points for each 10.1 Model No. 10.1.1 ASEL, PSEL Each model No. of ASEL or PSEL applicable to the CC-Link is described as follows. For 1-axis ASEL-C-1--CC- PSEL-C-1--CC- For 2-axis ASEL-C-2--CC- PSEL-C-2--CC- External Dimensions

Status LED

CC-LinkCommunication Connector

Printed Series Name•ASEL•PSEL

Front Panel Color•ASEL : Dark Blue•PSEL : Dark Green

ASEL-CS-1--CC-PSEL-CS-1--CC-

ASEL-CS-2--CC-PSEL-CS-2--CC-

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7.1.2 SSEL There are the following types of SSEL applicable to CC-Link. For 1-axis SSEL-C-1--CC- For 2-axis SSEL-C-2--CC- External Dimensions

Status LED

CC-Link Communication

Connector Front Panel Color

Dark Gray

Printed Sealer Name

SSEL-CS-1--CC-

SSEL-CS-2--CC-

10

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7.2 CC-Link Interface (1) Names of the Parts

ASEL、PSEL SSEL (2) Status LED Indication

The CC-Link board operation status and network status can be obtained using the two LEDs located on the front surface of the controller. STATUS 0 LED: CC-Link Communication Status Indication STATUS 1 LED: CC-Link Communication Setting Error/Communication Error Indication

LED Color Indication Status Indication Description (Meaning)

Illuminating An error occurs. CRC Error/Station No. Setting Error/Baud Rate Setting Error

OFF Normal Communication or Under Reset Operation

STATUS1 OR

Flushing The station No. and baud rate set values are changed from ones set at the time of reset cancellation (0.4 sec flashing)

Illuminating Normal Refresh & Polling Signal Receipt or Normal Refresh Signal Receipt, after the Network Subscription.

OFF Before Network Subscription, Channel Carrier Detection Error Timer Over or Under Reset Operation

STATUS0 GN

Flushing

Note: When the power is injected, the STATUS 1 LED illuminates, which does not mean abnormal. When the CC-Link communication setting has been performed correctly, the STATUS 1 LED is turned OFF.

Status LED

CC-LinkCommunication Connector

10

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7.3 I/O Parameter Setting Using the I/O parameters, set the Station No., Communication Speed, and I/O port, etc., for ASEL, PSEL or SSEL used in the CC-Link. (1) Network Type Setting

The I/O Parameter No. 225 “Network I/F Module Control” has been set to “1H” (CC-Link) when the unit is delivered. (The setting is not necessary)

(2) Station No. Setting

Using the I/O parameter No.226 "Network I/F Module Communication Attribute 1", set the station No. The setting range is from 1 to 64. (Already set in system delivery: 1)

Note: When any of the already occupied stations is set to “No. 0” or “No. 65 or larger”, the “D75: Field Bus Parameter Error” occurs.

(3) Communication Speed Setting

By selecting one of "Bit 0"through "Bit 3" for the parameter No.227 "Network I/F Module Communication Attribute 2", set the Communication Speed. The setting range is from 0H to 4H.

I/O Parameter No.227 Setting value

Communication Speed [bps]

0 156 K

1 625 K

2 2.5 M

3 5 M

4 10 M

(Already set in system delivery)

(Note) Set the Communication Speed based on that set for the Master Station.

10

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(4) I/O Port Allocation

Using the following I/O parameters, set the physical I/O port quantity and port allocation for ASEL, PSEL or SSEL, used on the CC-Link system. No. 1: I/O Port Allocation Type No. 14: No. of Network I/F Module Remote Input Ports No. 15: No. of Network I/F Module Remove Output Ports Refere to "7.4" Item. No. 16: Network I/F Module Fix-Allocated Input Port Start No. No. 17: Network I/F Module Fix-Allocated Output Port Start No.

Refer to “ASEL, PSEL and SSEL Network Related I/O Parameter List” in the next page for more information.

(Note) In the ASEL, PSEL and SSLE controller, the following I/O parameters are disabled during the use of the CC-Link module. Even the setting is performed for such parameters, there is no influence on the No. of ports to be used in the CC-Link or allocated Port No. No. 2: Standard I/O Fix-Allocated Input Port Start No. (1/O1) No. 3: Standard I/O Fix-Allocated Output Port Start No. (1/O1) No. 10: Standard I/O Error Monitoring

(5) Network Error Monitoring

“Monitoring/Non monitoring” is set using the I/O parameter No. 18 “Network I/F Module Error Monitoring”. The error confirmation time is set using the “Bit 4” through “Bit 11” for the I/O parameter No. 120 “Network Attribute 1”. When the network link error is continued more than the time set for parameter No. 120, it is regarded as a system error. Refer to “ASEL, PSEL and SSEL Network Related I/O Parameter List” in the next page for more information.

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ASEL, PSEL and SSEL Network Related I/O Parameter List

No. Parameter Name Set Value in Unit Delivery Input Range Remarks

1 0 0 – 20 0: Fixed Allocation 1: Automatic Allocation

14 No. of Network I/F Module Remote Input Ports 128 0 – 256 Multiples of 8

15 No. of Network I/F Module Remote Output Ports 128 0 – 256 Multiples of 8

16 Input Port Start No. in Network I/F Module Fix-Allocation

0 -1 – 299 0 + (Multiples of 8) (Unavailable when it is negative figure)

17 Output Port Start No. in Network I/F Module Fix-Allocation

300 -1300 – 599

300 + (Multiples of 8) (Unavailable when it is negative figure)

18 Network I/F Module Error Monitoring 1 0 – 5

0: Non Monitoring 1: Monitoring * When a network link error continues for more

than the network link error confirmation timer set value, it is regarded as a system error.(Refer to I/O parameter No. 120). * There are some exceptions

120 Network Attribute 1 1H 0H – FFFFFFFFH

Bit 0 to 3: System Reservation Bit 4 to 11: Network Link Error Confirmation Timer Value (Setting Units of 10 msec) Only when I/O Parameter No. 18 is set to “1H”, it is available. (Example)

When the set value (Bit 4 to 11) is “05H”, the timer time value becomes “10 ms x 5 = 5ms”. Also, when the set value is “0H”, the network link error occurs and it is regarded as a system error.

225 Network I/F Module Control 1H For reference only

Bit 0 to 3: Network I/F Module Type (0: Not Mounted, 1: CC-Link Module, 2: DeviceNet Module)

226 Network I/F Module Communication Attribute 1 1 0 – 999

Network I/F Module Node Address * In the case of CC-Link Module: 1 to 64

227 Network I/F Module Communication Attribute 2

4H 0H – FFFFFFFFH

Bit 0 to 3: Network I/F Module Baud Rate Type * In the case of CC-Link Module: ( 0: 156Kbps, 1: 625Kbps, 2: 2.5Mbps, 3: 5Mbps, 4: 10Mbps)

I/O Port Allocation Type

121 Network Attribute 2 C80000H 0H – FFFFFFFFH

122 Network Attribute 3 10H 0H – FFFFFFFFH

Bit 16 to 27: Value of Link Timeout at initializing of the Fieldbus (100msec)(ASEL/PSEL: Main application of Ver.0.36 or later SSEL: Main application of Ver.0.42 or later)(Example)

Bits 0 to 11:"PC/TP Reconnection Latency at Software Reset" added time (sec) when fieldbus in use * Valid Values from 0 to 500 (sec)(ASEL/PSEL: Main application of Ver.0.36 or later SSEL: Main application of Ver.0.42 or later)

The initial value C80000H is bit 16 to 27 = C8H = 200 (in 100ms unit)200 × 100ms = 20secIt waits for communication to be established for 20sec at the maximum from the startup.

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7.4 I/O Port Nos. and Corresponding PLC Addresses In PLC, ASEL, PSEL or SSEL CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting on the ASEL, PSEL and SSEL side. The following table shows the example when I/O parameter No. 1 is set to “0”, No. 16 to “0” and No. 17 to “300” in the program mode. This shows the relationship between the I/O port Nos. decided by means of the setting of I/O parameter No 14 and No. 15, and the PLC addresses. The last one word for the occupied remote I/O shows the system domain for the remote device station, so the corresponding ports can not be used as the I/O ports.

Note: Take whichever is the larger of the point values for I/O Parameter No. 14 and No. 15 and set that same value for both for No. 14 and No. 15.

(1) In the case that the I/O Point Setting is up to 96 points:

They are configured as a single remote device (No. of Occupied Stations: One Station)

I/O Parameter

No.14 No.15

DI on the ASEL, PSEL and SSEL

Side (Port Nos.) PLC Side

DO on the ASEL, PSEL and SSEL Side (Port No.)

PLC Side

16 16 000 – 015 RY 0 – F 300 – 315 RX 0 – F

32 32 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

48 48 032 – 047 RWw0 332 – 347 RWr0

64 64 048 – 063 RWw1 348 – 363 RWr1

80 80 064 – 079 RWw2 364 – 379 RWr2

96 96 080 – 095 RWw3 380 – 395 RWr3

* The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

(2) In the case that I/O Points setting is larger than 112 and smaller than 192 points:

They are configured as two remote devices (No. of Occupied Stations: Two Stations)

I/O Parameter

No.14 No.15

DI on the ASEL, PSEL and SSEL

Side (Port Nos.) PLC Side

DO on the ASEL, PSEL and SSEL Side (Port No.)

PLC Side

(16) (16) 000 – 015 RY 0 – F 300 – 315 RX 0 – F

(32) (32) 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

(48) (48) 032 – 047 RY 20 – 2F 332 – 347 RX 20 – 2F

(64) (64) 048 – 063 RY 30 – 3F 348 – 363 RX 30 – 3F

(80) (80) 064 – 079 RWw0 364 – 379 RWr0

(96) (96) 080 – 095 RWw1 380 – 395 RWr1

112 112 096 – 111 RWw2 396 – 411 RWr2

128 128 112 – 127 RWw3 412 – 427 RWr3

144 144 128 – 143 RWw4 428 – 443 RWr4

160 160 144 – 159 RWw5 444 – 459 RWr5

176 176 160 – 175 RWw6 460 – 475 RWr6

192 192 176 – 191 RWw7 476 – 491 RWr7

* The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

10In PLC, ASEL, PSEL or SSEL CC-Link board is set as the remote device station. The number of occupied remote device stations varies, depending on the I/O point setting on the ASEL, PSEL and SSEL side.The following table shows the example when I/O parameter No. 1 is set to “0”, No. 16 to “0” and No. 17 to “300” in the program mode. This shows the relationship between the I/O port Nos. decided by means of the setting of I/O parameter No 14 and No. 15, and the PLC addresses. The last one word for the occupied remote I/O shows the system area for the remote device station, so the corresponding ports can not be used as the I/O ports.

Note: Take whichever is the larger of the point values for I/O Parameter No. 14 and No. 15 and set that same value for both for No. 14 and No. 15.

The ports in gray column show the system area for the remote device station on the PLC side, so any of them can

The ports in gray column show the system area for the remote device station on the PLC side, so any of them can

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(3) In the case that I/O Points setting is larger than 208 and smaller than 256 points:

They are configured as three remote devices (No. of Occupied Stations: Three Stations)

I/O Parameter No.14 No.15

DI on the ASEL, PSEL and SSEL

Side PLC Side

DO on the ASEL, PSEL and SSEL

Side PLC Side

(16) (16) 000 – 015 RY 0 – F 300 – 315 RX 0 – F

(32) (32) 016 – 031 RY 10 – 1F 316 – 331 RX 10 – 1F

(48) (48) 032 – 047 RY 20 – 2F 332 – 347 RX 20 – 2F

(64) (64) 048 – 063 RY 30 – 3F 348 – 363 RX 30 – 3F

(80) (80) 064 – 079 RY 40 – 4F 364 – 379 RY 40 – 4F

(96) (96) 080 – 095 RY 50 – 5F 380 – 395 RY 50 – 5F

(112) (112) 096 – 111 RWw0 396 – 411 RWr0

(128) (128) 112 – 127 RWw1 412 – 427 RWr1

(144) (144) 128 – 143 RWw2 428 – 443 RWr2

(160) (160) 144 – 159 RWw3 444 – 459 RWr3

(176) (176) 160 – 175 RWw4 460 – 475 RWr4

(192) (192) 176 – 191 RWw5 476 – 491 RWr5

208 208 192 – 207 RWw6 492 – 507 RWw6

224 224 208 – 223 RWw7 508 – 523 RWw7

240 240 224 – 239 RWw8 524 – 539 RWw8

256 256 240 – 255 RWw9 540 – 555 RWw9

Impossible setting RWwA RWrA

Impossible setting RWwB RWwB

* The ports in gray column show the system domain for the remote device station on the PLC side, so any of them can not be used as an I/O port.

* In the case of three occupied stations, 12 words for each input and output are allocated for the data register on the PLC side (10 words for ASEL, PSEL and SSEL). Take care of the duplicated use of the data registers on the PLC side.

The ports in gray column show the system area for the remote device station on the PLC side, so any of them can

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10. ASEL, PSEL, SSEL

109

(4) In the case of using it in the SSEL Positioner Mode:

Regardless of the settings for the I/O parameter No. 1, No. 16 and No. 17, the Nos. starting from “0” are allocated to the physical input ports and Nos. starting from “300” to the physical output ports. Then, the Input Port No. 0 to No. 23 and Output Port No. 300 to No. 30 are used as in the I/O Port Table for Each Controller described from the next page. At that time, make sure to set the values for the I/O parameter No. 14 and No. 15 to “104” or larger.

* When the values for the I/O parameter No. 14 and No. 15 are set to “96” or smaller, because the Input

Port No. 16 to No. 31 and Output Port No. 316 to No. 331 are within the remote device station system domain as shown in Item (1), the positioner mode is not available.

* When the values for the I/O parameter No. 14 and No. 15 are set to “104” or larger, because the Input

Port No. 16 to No. 23 are not within the remote device station system domain as shown in Items (2) and (3), the positioner mode is available.

* When the values for the I/O parameter No. 14 and No. 15 are set to “96” or smaller, because the Input Port No. 16 to No. 31 and Output Port No. 316 to No. 331 are within the remote device station system area as shown in Item (1), the positioner mode is not available.

* When the values for the I/O parameter No. 14 and No. 15 are set to “104” or larger, because the Input Port No. 16 to No. 23 are not within the remote device station system area as shown in Items (2) and (3), the positioner mode is available.

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10. A

SEL,

PSE

L, S

SEL

110

ASEL Positioner Mode I/O Port Table

Positioner Mode Classification Port

No. Standard mode Type Change Mode 2-axis Independent

Mode Teaching Mode DC-S-C1 Compatible Mode

16 Position Input 10 Input 10 Position Input 7 First Axis Jog - Position No.1000 Input

17 Position Input 11 Input 11 Position Input 8 Second Axis Jog + 18 Position Input 12 Input 12 Position Input 9 Second Axis Jog - 19 Position Input 13 Input 13 Position Input 10 Inching (0.01mm) 20 Input 14 Position Input 11 Inching (0.1mm) 21 Input 15 Position Input 12 Inching (0.5mm) 22 Input 16 Position Input 13 Inching (1mm) 23 Error Reset Error Reset Error Reset Error Reset CPU Reset 0 Start Start First Axis Start Start Start

1 Return to origin Return to origin Return to origin Servo ON Suspend

2 Servo ON Servo ON First Axis Servo ON * Suspend Cancel

3 Pressing Pressing * First Axis Suspend Position Input 1 Interpolation

Setting

4 * Suspend * Suspend * First Axis Cancel Position Input 2 Position No.1 Input

5 * Cancel * Cancel Second Axis Start Position Input 3 Position No.2 Input

6 Interpolation Interpolation Second Axis return to origin Position Input 4 Position No.4 Input

7 Position Input 1 Input 1 Second Axis Servo ON Position Input 5 Position No.8 Input

8 Position Input 2 Input 2 * Second Axis Suspend Position Input 6 Position No.10

Input

9 Position Input 3 Input 3 * Second Axis Cancel Position Input 7 Position No.20

Input

10 Position Input 4 Input 4 Position Input 1 Position Input 8 Position No.40 Input

11 Position Input 5 Input 5 Position Input 2 Position Input 9 Position No.80 Input

12 Position Input 6 Input 6 Position Input 3 Position Input 10 Position No.100 Input

13 Position Input 7 Input 7 Position Input 4 Position Input 11 Position No.200 Input

14 Position Input 8 Input 8 Position Input 5 Teaching Mode setup

Position No.400 Input

Input

15 Position Input 9 Input 9 Position Input 6 First Axis Jog + Position No.800 Input

300 * Alarm * Alarm * Alarm * Alarm Alarm 301 Ready Ready Ready Ready Ready

302 Positioning end Positioning end First Axis Positioning end Positioning end Positioning end

303 Return to origin end Return to origin end First Axis Return to origin end Return to origin end

304 Servo ON Output Servo ON Output First Axis Servo ON Servo ON Output 305 Pressing end Pressing end Second Axis

Positioning end

306 System Battery Error

System Battery Error

Second Axis Return to origin end

System Battery Error

System Battery Error

Output

307 Absolute Battery Error

Absolute Battery Error

Second Axis Servo ON

Absolute Battery Error

Absolute Battery Error

* B Contact

Classification Port No.

Positioner Mode

Standard mode Type Change Mode 2-axis Independent Mode Teaching Mode DC-S-C1

Compatible Mode

Input

16 Position Input 10 Input 10 Position Input 7 First Axis Jog - Position No.1000 Input

17 Position Input 11 Input 11 Position Input 8 Second Axis Jog + 18 Position Input 12 Input 12 Position Input 9 Second Axis Jog - 19 Position Input 13 Input 13 Position Input 10 Inching (0.01mm) 20 Input 14 Position Input 11 Inching (0.1mm) 21 Input 15 Position Input 12 Inching (0.5mm) 22 Input 16 Position Input 13 Inching (1mm) 23 Error Reset Error Reset Error Reset Error Reset CPU Reset

0 Start Start First Axis StartStart

StartCurrent Position Writing

1 Return to origin Return to origin Return to origin Servo ON Suspend2 Servo ON Servo ON First Axis Servo ON * Suspend Cancel

3 Pressing Pressing * First Axis Suspend Position Input 1 Interpolation

Setting4 * Suspend * Suspend * First Axis Cancel Position Input 2 Position No.1 Input5 * Cancel * Cancel Second Axis Start Position Input 3 Position No.2 Input

6 Interpolation Interpolation Second Axis return to origin Position Input 4 Position No.4 Input

7 Position Input 1 Input 1 Second Axis Servo ON Position Input 5 Position No.8 Input

8 Position Input 2 Input 2 * Second Axis Suspend Position Input 6 Position No.10

Input9 Position Input 3 Input 3 * Second Axis

Cancel Position Input 7 Position No.20 Input

10 Position Input 4 Input 4 Position Input 1 Position Input 8 Position No.40 Input

11 Position Input 5 Input 5 Position Input 2 Position Input 9 Position No.80 Input

12 Position Input 6 Input 6 Position Input 3 Position Input 10 Position No.100 Input

13 Position Input 7 Input 7 Position Input 4 Position Input 11 Position No.200 Input

14 Position Input 8 Input 8 Position Input 5 Teaching Mode setup

Position No.400 Input

15 Position Input 9 Input 9 Position Input 6 First Axis Jog + Position No.800 Input

Output

300 * Alarm * Alarm * Alarm * Alarm * Alarm301 Ready Ready Ready Ready Ready

302 Positioning end Positioning end First Axis Positioning end Positioning end Positioning end

303 Return to origin end Return to origin end First Axis Return to origin end Return to origin end

304 Servo ON Output Servo ON Output First Axis Servo ON Servo ON Output

305 Pressing end Pressing end Second Axis Positioning end

306 System Battery Error

System Battery Error

Second Axis Return to origin end

System Battery Error

System Battery Error

307 Absolute Battery Error

Absolute Battery Error

Second Axis Servo ON

Absolute Battery Error

Absolute Battery Error

* B Contact

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10. ASEL, PSEL, SSEL

111

PSEL Positioner Mode I/O Port Table

Positioner Mode Classification Port

No. Standard mode Type Change Mode 2-axis Independent

Mode Teaching Mode DC-S-C1 Compatible Mode

16 Position Input 10 Input 10 Position Input 7 First Axis Jog - Position No.1000 Input

17 Position Input 11 Input 11 Position Input 8 Second Axis Jog + 18 Position Input 12 Input 12 Position Input 9 Second Axis Jog - 19 Position Input 13 Input 13 Position Input 10 Inching (0.01mm) 20 Input 14 Position Input 11 Inching (0.1mm) 21 Input 15 Position Input 12 Inching (0.5mm) 22 Input 16 Position Input 13 Inching (1mm) 23 Error Reset Error Reset Error Reset Error Reset CPU Reset 0 Start Start First Axis Start Start Start 1 Return to origin Return to origin Return to origin Servo ON Suspend 2 Servo ON Servo ON First Axis Servo ON * Suspend Cancel 3 Pressing Pressing * First Axis

Suspend Position Input 1 Interpolation Setting

4 * Suspend * Suspend * First Axis Cancel Position Input 2 Position No.1 Input

5 * Cancel * Cancel Second Axis Start Position Input 3 Position No.2 Input

6 Interpolation Interpolation Second Axis return to origin Position Input 4 Position No.4 Input

7 Position Input 1 Input 1 Second Axis Servo ON Position Input 5 Position No.8 Input

8 Position Input 2 Input 2 * Second Axis Suspend Position Input 6 Position No.10

Input

9 Position Input 3 Input 3 * Second Axis Cancel Position Input 7 Position No.20

Input 10 Position Input 4 Input 4 Position Input 1 Position Input 8 Position No.40

Input 11 Position Input 5 Input 5 Position Input 2 Position Input 9 Position No.80

Input 12 Position Input 6 Input 6 Position Input 3 Position Input 10 Position No.100

Input 13 Position Input 7 Input 7 Position Input 4 Position Input 11 Position No.200

Input 14 Position Input 8 Input 8 Position Input 5 Teaching Mode

setup Position No.400 Input

Input

15 Position Input 9 Input 9 Position Input 6 First Axis Jog + Position No.800 Input

300 * Alarm * Alarm * Alarm * Alarm Alarm 301 Ready Ready Ready Ready Ready

302 Positioning end Positioning end First Axis Positioning end Positioning end Positioning end

303 Return to origin end Return to origin end First Axis Return to origin end Return to origin end

304 Servo ON Output Servo ON Output First Axis Servo ON Servo ON Output

305 Pressing end Pressing end Second Axis Positioning end

306 System Battery Error

System Battery Error

Second Axis Return to origin end

System Battery Error

System Battery Error

Output

307 Second Axis Servo ON

* B Contact

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SEL,

PSE

L, S

SEL

112

SSEL Positioner Mode I/O Port Table

Positioner Mode Classification Port

No. Standard mode Type Change Mode 2-axis Independent

Mode Teaching Mode DC-S-C1 Compatible Mode

16 Position Input 10 Input 10 Position Input 7 First Axis Jog - Position No.1000 Input

17 Position Input 11 Input 11 Position Input 8 Second Axis Jog + Position No.2000 Input

18 Position Input 12 Input 12 Position Input 9 Second Axis Jog - Position No.4000 Input

19 Position Input 13 Input 13 Position Input 10 Inching (0.01mm) Position No.8000 Input

20 Position Input 14 Input 14 Position Input 11 Inching (0.1mm) Position No.10000 Input

21 Position Input 15 Input 15 Position Input 12 Inching (0.5mm) Position No.20000 Input

22 Position Input 16 Input 16 Position Input 13 Inching (1mm) Position No.40000 Input

23 Error Reset Error Reset Error Reset Error Reset CPU Reset 0 Start Start First Axis Start Start Start 1 Return to origin Return to origin Return to origin Servo ON Suspend 2 Servo ON Servo ON First Axis Servo ON * Suspend Cancel

3 Pressing Pressing * First Axis Suspend Position Input 1 Interpolation

Setting 4 * Suspend * Suspend * First Axis Cancel Position Input 2 Position No.1 Input5 * Cancel * Cancel Second Axis Start Position Input 3 Position No.2 Input6 Interpolation Interpolation Second Axis return

to origin Position Input 4 Position No.4 Input

7 Position Input 1 Input 1 Second Axis Servo ON Position Input 5 Position No.8 Input

8 Position Input 2 Input 2 * Second Axis Suspend Position Input 6 Position No.10

Input

9 Position Input 3 Input 3 * Second Axis Cancel Position Input 7 Position No.20

Input

10 Position Input 4 Input 4 Position Input 1 Position Input 8 Position No.40 Input

11 Position Input 5 Input 5 Position Input 2 Position Input 9 Position No.80 Input

12 Position Input 6 Input 6 Position Input 3 Position Input 10 Position No.100 Input

13 Position Input 7 Input 7 Position Input 4 Position Input 11 Position No.200 Input

14 Position Input 8 Input 8 Position Input 5 Teaching Mode setup

Position No.400 Input

Input

15 Position Input 9 Input 9 Position Input 6 First Axis Jog + Position No.800 Input

300 * Alarm * Alarm * Alarm * Alarm Alarm 301 Ready Ready Ready Ready Ready 302 Positioning end Positioning end First Axis

Positioning end Positioning end Positioning end

303 Return to origin end Return to origin end First Axis Return to origin end Return to origin end

304 Servo ON Output Servo ON Output First Axis Servo ON Servo ON Output

305 Pressing end Pressing end Second Axis Positioning end

306 System Battery Error

System Battery Error

Second Axis Return to origin end

System Battery Error

System Battery Error

Output

307 Absolute Battery Error

Absolute Battery Error

Second Axis Servo ON

Absolute Battery Error

Absolute Battery Error

* B Contact

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10. ASEL, PSEL, SSEL

113

In the case that the setting for the I/O Point is 112 points or larger and 192 points or smaller: The addresses in the PLC, are allocated in the order of port No., to the remote I/O addresses and remote register corresponding to the set station No. and the No. of occupied stations set using the PLC parameters.

(1) Remote I/O

Xnn/Ynn shows the remote I/O address in the PLC corresponding to the station No.

The addresses for the PLC remote I/O (RX/RY) are set as Xnn/Ynn. (Refer to “11. Communication with the Master Station”).

Reference

(Input)

(Input)

(Output)

(Output) .oN troP .oN troP

ASEL, PSEL, SSEL

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10. A

SEL,

PSE

L, S

SEL

114

(2) Remote register

RWrn/RWwn shows the Remote register address in the PLC corresponding to the station No. N

Reference

(Input)

(Input)

(Output)

(Output) Port No. Port No.

ASEL, PSEL, SSEL

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10. ASEL, PSEL, SSEL

10.5 Troubleshooting With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any CC-Link trouble occurs, confirm the operation status based on the Table in Item 10.2 (2) and remove the cause.

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10. A

SEL,

PSE

L, S

SEL

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11. Com

munications w

ith Master station

116

11. Communications with Master station The following is a case where XSEL I/O port addresses are assigned from the first one of each port. This is an example in which the two remote device stations occupied (XSEL) are used. 11.1 Remote I/O Two words are used for one station on the PLC side.

Master station

RCS-C/E-Con/SCON/XSELRemote I/O station

(Station No. 1: one station occupied)

XSEL Remote device station

(Station No. 2: Two stations occupied)

Buffer address

For station 1

Remote input

Output port No.

For station 2

For station 3

For station 4

For station 5

For station 6

For station 7

For station 8

For station 9

Output port No.

*1 In the case of XSEL (Remote I/O station) Output port: 300-315

*2 Cannot be used because this is a system area.

*3 In the case of XSEL (Remote I/O station) Input port: 000-015

Input port No.

Input port No.

*4 Cannot be used because this is a system area.

Buffer address

For station 1

Remote input

For station 2

For station 3

For station 4

For station 5

For station 6

For station 7

For station 8

For station 9

Master station

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11. C

omm

unic

atio

ns w

ith M

aste

r sta

tion

118

8.2 Remote register (1) Master station ← XSEL (Remote device station) Four words are used for one station.

Master station

RCS-C/E-Con/SCON/XSELRemote I/O station

(Station No. 1: one station occupied)

XSEL Remote device station

(Station No. 2: Two stations occupied)

Buffer address

For station 1

Remote register

For station 2

For station 3

For station 4

For station 5

For station 6

For station 7

For station 8

Output port No.

11.2

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11. Com

munications w

ith Master station

119

(2) Master station → XSEL (Remote device station) Four words are used for one station.

Master station

RCS-C/E-Con/SCON/XSELRemote I/O station

(Station No. 1: one station occupied)

XSEL Remote device station

(Station No. 2: Two stations occupied)

Buffer address

For station 1

Remote register

For station 2

For station 3

For station 4

For station 5

For station 6

For station 7

For station 8

Input port No.

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11. C

omm

unic

atio

ns w

ith M

aste

r sta

tion

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12. Com

mon Item

s and Others

120

12. Common Items and Others 12.1 Communications cable For CC-Link communications cable,

CC-Link Ver.1.10 compatible dedicated cable (FANC-SBH, FANC-SB, etc.,) is used.

12.2 Connection of communications cable connector Connect the communications cable according to the following connector table:

noitacilppA eman langiS .oN niP

1 DA Communications line

2 DB Communications line

3 DG Ground

4 SLD Shield

5 FG Ground

SLD and FG are internally connected. The communications cable is connected to pin No. 1 to No. 4.

12.3 Terminators It is required to connect a terminator to the units at each end of the CC-Link system. Connect it between DA and DB of the connector. Terminators are attached to each controller.The terminator varies according to the model name of the CC-Link compatible cable as follows:

Cable FANC-SBH: 130 ΩΩ

1/2W (CC-Link dedicated high performance cable) Cable FANC-SB: 110 1/2W (CC-Link dedicated cable)

(Note) For further information, refer to the Operation Manual for the master unit.

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12. C

omm

on It

ems

and

Oth

ers

12.4 Useful functions for XSEL controller adjustment

12.5 CSP + File

(1) When a standard or expansion I/O boar

If it is necessary to use CSP+ file on the engineering tool in PLC, you can download it from our homepage.

Model

TTA

MSEL

File Name

0X0226_TTA_A_ia.cspp

0X0226_MSEL_A_ia.cspp

For how to set up the remote device station information to the master station, refer to the instruction manual of a master unit and a programmable controller to be installed.

d is installed onto the K-type controller, XSEL can individually be started up without connection of the 24V DC power for I/O.

(2) When a CC-Link board is installed, XSEL can individually be started up without establishment of the network.

In either case, set the relevant I/O parameters of No. 10 to No. 13 to “0: Non-monitoring.”

(Note) After completing the required operation or adjustment, be sure to restore the parameters. Without doing so, an error check of the relevant slots of the boards will not be carried out.

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Change H

istory

122

Change History

Revision Date Description of Revision

November 2011 Twenty first Edition Deleted ACON and PCON.• Contents changed in Safety Guide Caution notes added for when working with two or more persons• Deleted ACON and PCON.

Twenty second Edition • Contents changed in Safety Guide • Part Number "J/K/P/Q/JX/KX/PX/QX" added on "3. XSEL" • 4. XSEL -R/S/RX/SX/RXD/SXD on added

July 2012

Twenty Third Edition • 5. Tabletop Robot TTA on added

September 2013

Twenty Fourth Edition • Connector Model Code Changed

March 2014

Twenty Fifth Edition • 5. MSEL on added • 12.5 CSP + File on added

Edition 25B • Made applicable for MSEL Cartesian Type

Twenty Sixth Edition • XSEL-RA/SA series added

Edition 26B • Model code changed for applicable models • Descriptions revised for I/O Parameters No. 2 to 17, 120 to 122 and 223 to

225 • Correction made to 4.6, 5.6 and 6.6 system domain signal assignment input

and output other way around • Correction made

Edition 26C • Descriptions revised for I/O Parameters No. 14 to 17 • Description revised regarding 12.3 Terminal Resistors • Correction made

Edition 26D • 5.5, 6.5 Contents revised in delivery setting table for I/O ports on MSEL and

TTA

June 2014

August 2014

July 2016

April 2017

November 2017

May 2018

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Manual No.: ME0123-26D (May 2018)

The information contained in this document is subject to change without notice for purposes of product improvement.Copyright © 2018. May. IAI Corporation. All rights reserved.

18.05.000

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