Document Outline

• 1. Overview
  • 1.1 DeviceNet Gateway Unit
  • 1.2 What Is DeviceNet?
    • (1) FA communication system
    • (2) Information level
    • (3) Controller level
    • (4) Field level
    • (5) DeviceNet
  • 1.3 Application Example of Gateway Unit
  • 1.4 Features and Key Functions
    • 1.4.1 Features
      • (1) Position-number specification mode
      • (2) Direct numerical specification mode
      • (3) Command specification mode
    • 1.4.2 Key Functions
  • 1.5 Description of Model Name
  • 1.6 Accessories
• 2. Specifications and Name of Each Part
  • 2.1 General Specifications
  • 2.2 External Dimensions
  • 2.3 Name and Function of Each Part
    • [1] Gateway status indicator LEDs
    • [2] SIO communication status LEDs
    • [3] Mode setting switch
    • [4] External port switching input
    • [5] Controller communication lines
    • [6] DeviceNet communication connector
    • [7] Baud-rate setting switches
    • [8] Node-address setting switches
    • [9] DeviceNet communication status LEDs
    • [10] Port switch
    • [11] Teaching pendant/PC connector
    • [12] Power-supply input
• 3. Installation and Noise Elimination Measures
  • 3.1 Installation Environment.
  • 3.2 Supply Voltage
  • 3.3 Noise Elimination Measures and Grounding
  • 3.4 Installation
• 4. Wiring
  • 4.1 Overall Configuration
  • 4.2 I/O Signals of Gateway Unit
    • (1) Connection diagram
    • (2) Port control and emergency stop signal output
    • (3) I/O signal specifications and wires
  • 4.3 Design of SIO Communication Network (SIO Communication)
    • 4.3.1 Wiring
      • (1) Basics
      • (2) Linking PCON/ACON/SCON controllers via SIO communication
      • (3) Linking ERC2-SE controllers via SIO communication
      • (4) Linking ERC2-NP/PN controllers via SIO communication
      • (5) Wiring the emergency stop (EMG) circuit
      • [1] Example of cutting off drive signals
      • [2] Example of cutting off motor drive power
    • 4.3.2 Axis Number Setting
  • 4.4 How to Connect Teaching Tools When Grounding the Positive Terminal of the 24-V Power Supply
• 5. Overview of DeviceNet
  • 5.1 Address Assignment for the Master PLC (Omron CJ Series)
    • (1) Fixed assignment
    • (2) Free assignment using a configurator
• 6. Address Configuration of Gateway Unit
  • 6.1 Position-number Specification Mode
    • 6.1.1 Overall Address Configuration
    • 6.1.2 Gateway Control/Status Signals
    • 6.1.3 Assignment for Each Axis
  • 6.2 Direct Numerical Specification Mode
    • 6.2.1 Overall address configuration
    • 6.2.2 Gateway Control/Status Signals
    • 6.2.3 Assignment for each axis
  • 6.3 Command Specification Mode
    • 6.3.1 Overall address configuration
    • 6.3.2 Gateway Control/Status Signals
    • 6.3.3 Assignment for each axis
      • (1) Control/status signals of a positioner operation axis
      • (2) Control/status signals of a simple direct operation axis
    • 6.3.4 Command Areas
      • (1) Address configuration
      • (2) Command list
      • (3) Each command and data format
      • (4) Error response
• 7. Communication Signal Details
  • 7.1 Overview of Communication Signal Timings
  • 7.2 Communication Signals and Operation Timings
    • (1) Controller ready (PWR)
    • (2) Emergency stop (EMGS)
    • (3) Alarm (ALM)
    • (4) Reset (RES)
    • (5) Pause (STP)
    • (6) Moving (MOVE)
    • (7) Servo ON command (SON)
    • (8) Home return command (HOME)
    • (9) Positioning start (CSTR)
    • (10) Position complete (PEND)
    • (11) Command position number (PC1 to PC512)
    • (12) Completed position number (PM1 to PM256)
    • (13) Zone (PZONE, ZONE1, ZONE2)
    • (14) Jog + command/jog- command (JOG+/JOG-)
    • (15) Jog/inching switching (JISL)
    • (16) Teaching mode command (MOD)
    • (17) Position data read command (PWRT)
    • (18) Forced brake release (BKRL)
  • 7.3 Basic Operation Timings
    • (1) Ready
    • (2) Home return operation
    • (3) Operation by position number specification
    • (4) Operation in the direct numerical specification mode
    • (5) Simple direct operation (Command specification mode)
  • 7.4 Command Transmission
• 8. Network System Building Procedure
  • 8.1 Procedure
  • 8.2 Settings for Controller Communication
    • (1) Setting the axis number
    • (2) Setting the baud rate for SIO communication
  • 8.3 Setting the Gateway Unit and PLC Master
    • (1) Setting the baud rate for DeviceNet communication
    • (2) Node address
    • (3) Setting the Gateway Unit mode
  • 8.4 Assigning the Master PLC Address by Free Assignment
    • 8.4.1 Starting the Configurator
    • 8.4.2 Creation of Network Configuration
      • (1) Installing a EDS file
      • (2) Registering the master station
      • (3) Registering the slave
    • 8.4.3 Creating a Scan List
      • (1) Setting the I/O size for the slave station (Assigning I/Os for the Gateway Unit)
      • (2) Registering the slave station (Gateway Unit) to the master
    • 8.4.4 Online Connection
    • 8.4.5 Downloading the Master Scan List
  • 8.5 Assigning the Master PLC Address by Fixed Assignment
• 9. Example of DeviceNet Operation
  • 9.1 Configuration Overview
  • 9.2 Actuator Operation Pattern
  • 9.3 Various Controller Settings
    • (1) Setting the axis number
    • (2) Setting the baud rate for SIO communication
    • (3) Creating a position table
  • 9.4 Setting Up the Gateway Unit
    • (1) Setting the Gateway Unit mode
    • (2) Setting the node address and baud rate for the Gateway Unit
  • 9.5 Setting Up the DeviceNet Master Unit (CJ1W-DRM21)
    • (1) Setting the unit number
    • (2) Setting the node address
    • (3) Setting the baud rate, etc.
  • 9.6 Assigning the Master PLC Address
  • 9.7 Ladder Sequence Flowchart
• 10. Troubleshooting
  • 10.1 Actions to Be Taken upon Problems
  • 10.2 Failure Diagnosis
    • 10.2.1 Gateway Unit (CPU or Power Supply) Error
    • 10.2.2 DeviceNet Communication Error
    • 10.2.3 ROBO Cylinder Controller Communication Error
    • 10.2.4 Troubleshooting for DeviceNet Communication