IAI RoboNet User manual

Operation Manual Forth Edition
ROBONET

CAUTION
24-V Power Supply to Be Certified For UL Standards
Please see below for the 24-V power supply condition for UL certification.
•For UL certification, class2 power supply is required based on NEC NFPA 79 (Electrical Standard for Industrial Machinery).
•If a single class2 power supply unit is insufficient to provide enough power, use multiple class2 power supply units.
At that time, follow the (example) below for the wiring layout. Also, 0-V line to each power supply is required to be common.
Simple
absolute
R unit
Simple
absolute
R unit
Simple
absolute
R unit
R unit unit unit unit unit unit
Power
Supply
Power
Supply Power
Supply

CAUTION
Teaching pendant PC, etc.
Do not
connect
the FG.
Do not connect the FG of the PC to ground.
If the FC may be connected to ground
through other COM port, disconnect the
communication cable from the applicable
COM port.
PC software
RS232 connection type
<Model: RCM-101-MW>
USB connection type
<Model: RCM-101-USB>
* The cable is supplied with the PC software.
SIO converter (optional)
(with built-in terminal resistor)
Model: RCB-TU-SIO-A (B)
* One e-CON connector, one junction and one
terminal resistor are supplied with one
controller link cable.
e-CON connector (3-1473562-4 by AMP)
Junction (5-1473574-4 by AMP) GateWay
R unit
Terminal resistor
Controller link cable
Model: CB-RCB-CTL002
24-V power supply
Notes on Connecting PC and Teaching Pendant to ROBONET Whose
24-V Power Supply Is Grounded at Positive Terminal
If the positive terminal of the ROBONET’s 24-V power supply is grounded, use a SIO converter as shown below to connect a
teaching pendant or PC to the GateWayR unit.
At this time, do not connect the FG of the SIO converter.

CAUTION
If the positive terminal of the ROBONET’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected
directly to the GateWayR unit.
If a teaching pendant or PC is connected directly to the GateWayR unit, the power supply may be short-circuited, causing the
PC or teaching pendant to suffer damage.
Cannot be connected directly.
PC
GateWay R unit
This teaching pendant
cannot be used.
24-V power supply

Introduction
Introduction
Thank you for purchasing IAI’s ROBONET. “ROBONET” is a general term for dedicated single-axis controllers used in a field
network environment and characterized by their ultra-compact size, wire-saving features, and easy installation.
This manual provides the information you need to know to use the ROBONET. Before using your ROBONET, peruse this
manual and understand its contents fully.
•Unauthorized reproduction of this manual, whether in part or in whole, is strictly prohibited.
•The information provided in this manual is subject to change without notice for the sake of improvement.
•This manual has been created with the utmost attention to accuracy. Should you find any error, however, or have any
comment, please contact IAI.

Safety precautions
Safety Precautions (Please read before using the product.)
Carefully read this operation manual before using the product.
In this operation manual, safety instructions are classified into “Danger,” “Warning,” “Caution” and “Note” as shown below.
Level Degree or danger/damage Symbol
Danger Failure to observe the instruction will result in an imminent danger leading to
death or serious injury. Danger
Warning Failure to observe the instruction may result in death or serious injury. Warning
Caution Failure to observe the instruction may result in injury or property damage. Caution
Note The user should take heed of this information to ensure the proper use of the
product, although failure to do so will not result in injury. Note
Also note that this product cannot be used in any way not described in this operation manual. IAI shall not assume any liability
for unwanted outcomes of operations not described herein.

Safety precautions
The safety precautions pertaining to this product are listed below.
NO. Task Precautions
1 Model selection zThis product is not planned or designed for uses requiring high degrees of safety.
Accordingly, it cannot be used to sustain or support life and must not be used in the
following applications:
[1] Medical devices relating to maintenance, management, etc., of life or health
[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.)
intended to move or transport people
[3] Important safety parts in mechanical devices (safety devices, etc.)
zDo not use this product in the following environments:
[1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
[2] Place that may be exposed to radiation
[3] Place where the surrounding air temperature or relative humidity exceeds the specified
range
[4] Place subject to direct sunlight or radiated heat from large heat sources
[5] Place subject to sudden temperature shift and the formation of moisture.
[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7] Place subject to excessive dust, salt or iron powder
[8] Place where the product receives direct vibration or impact
zDo not use this product outside the specified ranges. Doing so may significantly shorten the
life of the product or result in product failure or facility stoppage.
2 Transportation zWhen transporting the product, exercise due caution not to bump or drop the product.
zUse appropriate means for transportation.
zDo not step on the package.
zDo not place on the package any heavy article that may deform the package.
zWhen using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
zWhen using a crane or equivalent equipments, make sure not to hang a load that weighs
more than the equipment’s limit.
zUse a hook that suits for the load. Consider the safety factor of the hook in such factors as
shear strength.
zDo not get on the load that is hanged on a crane.
zDo not leave a load hanged up with a crane.
zDo not stand under the load that is hanged up with a crane.
3 Storage and
Preservation zThe storage and preservation environment should conform to the installation environments. Among others, be careful not to cause the formation of moisture.
(1) Installing the robot, controller, etc.
zBe sure to firmly secure and affix the product (including its loads).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
zDo not step on the product or place any article on top. The product may tip over or the
article may drop, resulting in injury, product damage, loss of/drop in product function,
shorter life, etc.
zIf the product is used in any of the following places, provide sufficient shielding measures:
[1] Place subject to electrical noise
[2] Place subject to a strong electric or magnetic field
[3] Place where power lines or drive lines are wired nearby
[4] Place subject to splashed water, oil or chemicals
4 Installation/startup
(2) Wiring the cables
zUse IAI’s genuine cables to connect the actuator and controller or connect a teaching tool,
etc.
zDo not damage, forcibly bend, pull, loop around an object or pinch the cables or place
heavy articles on top. Current leak or poor electrical continuity may occur, resulting in fire,
electric shock or malfunction.
zWire the product correctly after turning off the power.
zWhen wiring a DC power supply (+24 V), pay attention to the positive and negative
polarities.
Connecting the wires in wrong polarities may result in fire, product failure or malfunction.

Safety precautions
NO. Task Precautions
zSecurely connect the cable connectors in a manner free from disconnection or looseness.
Failure to do so may result in fire, electric shock or product malfunction.
zDo not cut and reconnect the cables of the product to extend or shorten the cables. Doing
so may result in fire or product malfunction.
(3) Grounding
zBe sure to provide class D (former class 3) grounding for the controller. Grounding is
required to prevent electric shock and electrostatic charges, improve noise resistance and
suppress unnecessary electromagnetic radiation.
4 Installation/startup
(4) Safety measures
zImplement safety measures (such as installing safety fences, etc.) to prevent entry into the
movement range of the robot when the product is moving or can be moved. Contacting the
moving robot may result in death or serious injury.
zBe sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
zImplement safety measures so that the product cannot be started only by turning on the
power. If the product starts suddenly, injury or product damage may result.
zImplement safety measures so that the product will not start upon cancellation of an
emergency stop or recovery of power following a power outage. Failure to do so may result
in injury, equipment damage, etc.
zPut up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc., during
installation, adjustment, etc. If the power is accidently turned on, electric shock or injury
may result.
zImplement measures to prevent the loads, etc., from dropping due to a power outage or
emergency stop.
zEnsure safety by wearing protective gloves, protective goggles and/or safety shoes, as
necessary.
zDo not insert fingers and objects into openings in the product. Doing so may result in injury,
electric shock, product damage, fire, etc.
5 Teaching zWhenever possible, perform teaching from outside the safety fences. If teaching must be
performed inside the safety fences, prepare “work rules” and make sure the operator
understands the procedures thoroughly.
zWhen working inside the safety fences, the operator should carry a handy emergency stop
switch so that the operation can be stopped any time when an abnormality occurs.
zWhen working inside the safety fences, appoint a safety watcher in addition to the operator
so that the operation can be stopped any time when an abnormality occurs. The safety
watcher must also make sure the switches are not operated inadvertently by a third party.
zPut up a sign saying “WORK IN PROGRESS” in a conspicuous location.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation
operation zAfter teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation.
zWhen carrying out confirmation operation inside the safety fences, follow the specified work
procedure just like during teaching.
zWhen confirming the program operation, use the safety speed. Failure to do so may result
in an unexpected movement due to programming errors, etc., causing injury.
zDo not touch the terminal blocks and various setting switches while the power is supplied.
Touching these parts may result in electric shock or malfunction.

Safety precautions
NO.
7 Automatic operation zBefore commencing automatic operation, make sure no one is inside the safety fences.
zBefore commencing automatic operation, make sure all related peripherals are ready to
operate in the auto mode and no abnormalities are displayed or indicated.
zBe sure to start automatic operation from outside the safety fences.
zIf the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or product
damage.
zIf a power outage occurred, turn off the power switch. Otherwise, the product may move
suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/
inspection zWhenever possible, work from outside the safety fences. If work must be performed inside the safety fences, prepare “work rules” and make sure the operator understands the
procedures thoroughly.
zWhen working inside the safety fences, turn off the power switch, as a rule.
zWhen working inside the safety fences, the operator should carry a handy emergency stop
switch so that the operation can be stopped any time when an abnormality occurs.
zWhen working inside the safety fences, appoint a safety watcher in addition to the operator
so that the operation can be stopped any time when an abnormality occurs. The safety
watcher must also make sure the switches are not operated inadvertently by a third party.
zPut up a sign saying “WORK IN PROGRESS” in a conspicuous location.
zUse appropriate grease for the guides and ball screws by checking the operation manual
for each model.
zDo not perform a withstand voltage test. Conducting this test may result in product damage.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification zThe customer must not modify or disassemble/assemble the product or use maintenance
parts not specified in the manual without first consulting IAI.
zAny damage or loss resulting from the above actions will be excluded from the scope of
warranty.
10 Disposal zWhen disposing of the product after it has become no longer usable or necessary, dispose
of it properly as an industrial waste.
zWhen disposing of the product, do not throw it into fire. The product may explode or
generate toxic gases.

CE Mark
CE Mark
1. EC Directives
The EC Directives are a new set of directives issued by the European Commission that are intended to protect the health and
safety of users and consumers of products distributed within the EU (European Union) zone, while ensuring free movements
of these products within the EU zone. Companies exporting to Europe or having a production facility in Europe must comply
with the following directives in order to receive a CE Mark certification for their products.
The ROBONET is designed to comply with the Low Voltage Directive on its own. As for the EMC Directives, we determine
connection/installation models (conditions) for controllers, actuators and peripherals and ensure compliance of these models
with the related standards under the EMC Directives.
2. Applicable Standards
<Low-voltage Directive>
EN50178 (Electronic equipment used in electrical installations)
<EMC Directives>
EN55011 (Radio interference characteristics of industrial, scientific and medical equipment generating radio
frequency)
EN61000-6-2 (Immunity in industrial environment)
EN61000-4-2 (Immunity to electrostatic discharge)
EN61000-4-3 (Immunity to electromagnetic field generated by irradiated radio frequency)
EN61000-4-4 (Electrical first transient/burst immunity test)
EN61000-4-5 (Surge immunity test)
EN61000-4-6 (Immunity test against conductive interference induced by radio-frequency electromagnetic field)
EN61000-4-8 (Immunity test against power-frequency magnetic field)
EN61000-4-11 (Immunity test against voltage dip, momentary power failure and voltage fluctuation)

CE Mark
Use Environment
Item Standard Remarks
Overvoltage category II
Pollution degree II
Protection code IP 20
Protection class *1 I
Altitude 2000 m or less
*1) Protection class I device
A device in which additional safety measures are taken against electric shock, without depending solely on the basic
insulation, by connecting conductors that may become contactable should the basic insulation fail to a protective
grounding conductor of a fixed cable of the facility. In other words, a protection class I device refers to a device for which
grounding connection is required.

CE Mark
100 or
200-VAC
power
supply bus
Control panel
Field network cable
PLC
master
Clamp filter
Circuit
breaker
Earth
leakage
breaker
24-VDC
power
supply
Surge
protector
Network
connector
Power-
supply
terminal
FG ground
ROBONET
controller
Encoder cable Actuator
Motor cable
Actuator
Encoder cable
Motor cable
3. Configuration of Peripherals
(1) Environment
Use the ROBONET in an environment of pollution degree 1 or 2 as specified in IEC 60664-1.
Example) Install it in a control panel constructed to shut off water, oil, carbon, dust, etc. (IP54).
(2) Power supply
A) Use the ROBONET in an environment of overvoltage category II as specified in IEC 60664-1. Accordingly, be sure to
install a circuit breaker between the power distribution board and ROBONET controller.
B) For the 24-VDC power supply, use a (SELV) power supply bearing a CE Mark with reinforced insulation of
inputs/outputs.
(3) Grounding
Be sure to connect the protective grounding terminal $$ of the ROBONET with the protective earth (grounding plate) of
the control panel to prevent electric shock.
(4) Earth leakage breaker
Install an inverter earth leakage breaker on the primary side of the ROBONET.

CE Mark
(5) Clamp filter
Install clamp filters of the following type on the field network cable, motor cable and encoder cable. Install them
immediately near the cable connectors on the controller unit.
One clamp filter is required for each gateway unit, and two for each controller unit. On the field network cable, install
each clamp filter by looping it twice around the cable.
Manufacturer: TDK Corp.
Model: ZCAT3035-1330
External View of Clamp Filter
Shape/dimensions (mm)
Shape/dimensions
ZCAT type

CE Mark
(6) Surge protector
Install a surge protector on the primary side of the 24-VDC power supply to protect the equipment from surge noise
generated by lightning, etc.
Manufacturer: Okaya Electric
Model: ZCAT3035-1330
External View of Surge Protector
(7) Cables
Take note that cables are also subject to various limitations.
A) All cables connected to the ROBONET, such as the motor cable, encoder cable and various network cables, must
be less than 30 m long.
B) For the CC-Link cable, use a dedicated Version 1.10 cable (terminal resistance: 110 Ω).
BWZ series

Warranty
Warranty
The ROBONET you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty:
The details of the warranty are described below.
(1) Warranty Period
The warranty period ends upon either of the following, whichever occurs first:
•18 months after shipment from our factory
•12 months after delivery to a specified location
(2) Scope of Warranty
The warranty covers only the IAI product you have purchased. If the product fails due to a defective material or poor
workmanship during the above warranty period despite use in a proper condition, we will provide a replacement unit or
repair the failed product free of charge.
Note, however, that the following items are not covered by the warranty:
[1] Problem resulting from handling or use of the product under any condition or environment not specified in the catalog
or operation manual
[2] Problem due to use of any product not manufactured by IAI
[3] Problem resulting from alteration or repair not performed by IAI or its sales agent
[4] Problem that was unforeseeable based on the science or technology available when the product was shipped from
IAI
[5] Problem resulting from an act of God, natural disaster, accident or any other event beyond the control of IAI
[6] Natural fading of paint or other deterioration normally expected over time
[7] Wear of consumable parts due to use
[8] Noise and other perceptive phenomena that do not affect the function of the facility
The warranty only covers the product as delivered. IAI is not responsible for any losses arising from a defect in the
delivered product. The customer must hand-carry the product to IAI’s factory to receive repair.
(3) Limited Liability
IAI shall bear no responsibility for any special damage, indirect loss or passive loss arising from IAI’s product.
(4) Scope of service
The price of the delivered product does not include costs of programming, dispatching engineers, etc. Accordingly,
separate fees will be charged for the following services even during the warranty period:
•Guidance on installation/adjustment and witnessing of trial operation
•Maintenance/inspection
•Technical guidance and training on operating/wiring procedures, etc.
•Technical guidance and training on programming and other items relating to programs
•Other services and tasks specified by IAI as chargeable

Warranty
Related manuals
•PC Software RCM-101-** Operation Manual
•RCM-* Teaching Pendant Operation Manual
•ROBO CYLINDER Series – Serial Communication [Modbus Version] Operation Manual
•Touch Panel Display RCM-PM-01 Operation Manual (Not sold in the US market)
Manual revision history
[1] August 2008– First edition Integration of the ROBONET Operation Manual “Specification,” ROBONET
Operation Manual “Startup/Maintenance” and operation manual of the ROBONET
extension unit
[2] February 2009– Second edition Addition of UL standards application page
[3] March 2009– Third edition Change in Gateway Parameter Setting Tool

Table of Contents
Table of Contents
Introduction
Safety Precautions
CE Mark
Warranty
Related manuals
Manual revision history
Part 1 Specification........................................................................................1
Chapter 1 Overview of ROBONET ..............................................................................................................1
1.1 Overview.....................................................................................................................................................1
1.2 Features......................................................................................................................................................2
Chapter 2 System Configuration and General Specifications.................................................................6
2.1 System Configuration..................................................................................................................................6
2.2 List of Component Units..............................................................................................................................6
2.3 General Specifications................................................................................................................................9
2.4 24-V Power Current Consumption of Each Unit..........................................................................................9
2.5 Connection Diagram .................................................................................................................................11
Chapter 3 GateWayR unit ..........................................................................................................................12
3.1 Overview...................................................................................................................................................12
3.3 GateWayR unit and Accessories...............................................................................................................13
3.4 General Specifications..............................................................................................................................14
3.4.1 CC-Link.........................................................................................................................................14
3.4.2 DeviceNet.....................................................................................................................................16
3.4.3 PROFIBUS ...................................................................................................................................17
3.4.4 RS485 SIO....................................................................................................................................18
3.5 Name/Function of Each Part and External Dimensions ............................................................................19
3.5.1 Name of Each Part........................................................................................................................19
3.5.2 LED Indicators..............................................................................................................................20
3.5.3 MODE Switch ...............................................................................................................................22
3.5.4 TP Connector................................................................................................................................22
3.5.5 User Setting Switches...................................................................................................................22
3.5.6 ROBONET Communication Connector.........................................................................................22
3.5.7 Power-supply Input Terminal Block ..............................................................................................22
3.5.8 FG Terminal (Frame Ground).......................................................................................................23
3.5.9 EMG Connector (Emergency Stop) ..............................................................................................23
3.5.10 Field Network Connector ..............................................................................................................25
3.5.11 External Dimensions.....................................................................................................................29
3.6 Operation Function List.............................................................................................................................30
3.7 Address Configuration...............................................................................................................................32
3.7.1 Examples of Overall Address Configuration .................................................................................33
(1) CC-Link ................................................................................................................................33
(2) DeviceNet.............................................................................................................................36
(3) PROFIBUS...........................................................................................................................38
(4) RS485SIO ............................................................................................................................40
3.7.2 Gateway Control/Status Signals...................................................................................................42
3.7.3 Command Area.............................................................................................................................44
3.7.4 Position Table...............................................................................................................................52
3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode .....................................................59
3.7.6 Assignments in the Direct Numerical Specification Mode.............................................................63
3.7.7 Assignment in Positioner 2 Mode .................................................................................................68
3.7.8 Solenoid valve mode 1..................................................................................................................69
3.7.9 Solenoid valve mode 2..................................................................................................................71

Table of Contents
3.8 I/O Signals ................................................................................................................................................73
3.8.1 I/O Signal Timings ........................................................................................................................73
3.8.2 I/O Signal Functions......................................................................................................................74
3.8.3 Basic Operation Timings...............................................................................................................85
3.8.4 Other Basic Operations.................................................................................................................97
3.8.5 Command Transmission.............................................................................................................109
3.9 Modbus Gateway Mode of RS485 SIO...................................................................................................110
3.9.1 Overview.....................................................................................................................................110
3.9.2 Modbus/RTU Protocol Specification ...........................................................................................111
3.9.9 Protocol Format ..........................................................................................................................115
3.9.3.1 Gateway Address Map ...............................................................................................115
3.9.3.2 Query List...................................................................................................................117
3.9.3.3 Read Holding Registers (Query using FC = 03H).......................................................119
3.9.3.4 Preset Single Register (Query using FC = 06H).........................................................130
3.9.3.5 Preset Multiple Registers (Query using FC = 10H).....................................................147
3.9.4 Function Block............................................................................................................................165
3.9.4.1 Dedicated ROBONET Function Block........................................................................165
3.9.4.2 What Is A Function Block? .........................................................................................176
Chapter 4 Controller Unit.........................................................................................................................180
4.1 Overview.................................................................................................................................................180
4.1.1 Features......................................................................................................................................180
4.1.2 How to Read the Model Name....................................................................................................180
4.2 Basic Specifications................................................................................................................................182
4.3 Name/Function of Each Part and External Dimensions. .........................................................................183
4.3.1 Name of Each Part......................................................................................................................183
4.3.2 LED Indicators............................................................................................................................184
4.3.3 Brake Release Switch.................................................................................................................186
4.3.4 User Setting Switches.................................................................................................................186
4.3.5 Axis Number Setting Switch........................................................................................................186
4.3.6 ROBONET Communication Connector.......................................................................................187
4.3.7 Simple Absolute R Unit Connector..............................................................................................187
4.3.8 Power-supply Input Terminal Block ............................................................................................187
4.3.9 Motor Cable Connector...............................................................................................................189
4.3.10 Encoder Cable Connector...........................................................................................................190
4.3.11 External Dimensions...................................................................................................................191
4.4 Parameters .............................................................................................................................................192
4.4.1 Parameter List ............................................................................................................................192
4.4.2 Parameters Relating to Actuator Stroke......................................................................................194
4.4.3 Parameters Relating to Actuator Operating Characteristics........................................................196
4.4.4 Parameters Relating to External Interface..................................................................................206
4.4.5 Parameters Relating to Servo Gain Adjustment .........................................................................207
4.5 Notes on ROBO Rotary...........................................................................................................................210
4.6 Notes on ROBO Gripper.........................................................................................................................212
Chapter 5 Simple Absolute R Unit..........................................................................................................214
5.1 Overview.................................................................................................................................................214
5.2 How to Read the Model Name................................................................................................................215
5.3 Specifications..........................................................................................................................................216
5.3.1 General Specifications................................................................................................................216
5.3.2 Backup Battery ...........................................................................................................................217
5.4 Name/Function of Each Part and External Dimensions ..........................................................................218
5.4.1 Name of Each Part......................................................................................................................218
5.4.2 Functions....................................................................................................................................219
5.4.3 External Dimensions...................................................................................................................222
5.5 Notes ...................................................................................................................................................223
Chapter 6 Extension unit.........................................................................................................................224
6.1 Overview.................................................................................................................................................224
6.2 Specifications..........................................................................................................................................225
6.3 Product Configuration .............................................................................................................................226

Table of Contents
6.4 Name of Each Part and External Dimensions.........................................................................................230
6.4.1 Name of Each Part......................................................................................................................230
6.4.2 External Dimensions...................................................................................................................231
Part 2 Startup..............................................................................................232
Chapter 1 Overview..................................................................................................................................232
1.1 Required Tools........................................................................................................................................232
1.2 Startup Procedure...................................................................................................................................233
Chapter 2 Mounting and Installation......................................................................................................234
2.1 Installation...............................................................................................................................................234
2.1.1 Important Information and Items to Note.....................................................................................234
2.1.2 Mounting on a DIN Rail...............................................................................................................238
2.1.3 Interconnecting Multiple Units.....................................................................................................240
2.1.4 Installing in a Control Panel ........................................................................................................242
2.2 Wiring ...................................................................................................................................................243
2.2.1 Wiring the Power Supply.............................................................................................................243
2.2.2 Grounding Wire...........................................................................................................................245
2.2.3 EMG Connector..........................................................................................................................245
2.2.4 Motor Cable and Encoder Cable.................................................................................................246
2.2.5 Multi-stage ROBONET Layout....................................................................................................248
2.2.6 External SIO Link of ROBONET.................................................................................................250
2.2.7 Emergency Stop Circuit..............................................................................................................253
2.2.8 Network Wiring ...........................................................................................................................256
(1) CC-Link ..............................................................................................................................256
(2) DeviceNet...........................................................................................................................257
(3) PROFIBUS-DP...................................................................................................................259
(3) RS485SIO ..........................................................................................................................261
2.2.9 How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power Supply.......262
Chapter 3 Controller Address Setting....................................................................................................263
Chapter 4 Absolute Reset........................................................................................................................264
4.1 Overview of Simple Absolute System .....................................................................................................264
4.2 Setting the Configuration Switches .........................................................................................................265
4.3 Connecting the Backup Battery...............................................................................................................267
4.4 Setting the Parameters ...........................................................................................................................267
4.5 Performing an Absolute Reset................................................................................................................267
4.5.1 Performing an Absolute Reset in the PC Software .....................................................................267
4.5.2 Performing an Absolute Reset from the Host..............................................................................269
Chapter 5 Network Setup.........................................................................................................................270
5.1 How to Use the ROBONET Gateway Parameter Setting Tool................................................................270
5.1.1 Operating Environment...............................................................................................................270
5.1.2 Launching the Setting Tool.........................................................................................................270
5.1.3 Explanation of the Main Screen..................................................................................................271
5.1.4 Operating Procedures.................................................................................................................276
5.2 Setting Up the Master .............................................................................................................................294
5.2.1 CC-Link.......................................................................................................................................294
5.2.2 DeviceNet...................................................................................................................................300
5.2.3 PROFIBUS .................................................................................................................................313
5.2.4 RS485SIO...................................................................................................................................318
5.3 Creating a Controller Position Table .......................................................................................................333
5.4 Address Correlation Diagram..................................................................................................................335
5.4.1 Address Correlation Diagram for CC-Link System (Example) ....................................................336
5.4.2 Address Correlation Diagram for DeviceNet System (Example).................................................338
5.4.3 Address Correlation Diagram for RS485SIO System (Example)................................................339

Table of Contents
Chapter 6 Setting for External SIO Link and Other ..............................................................................340
6.1 SCON/PCON-CF Settings and Signal Assignments...............................................................................340
6.2 Other ...................................................................................................................................................341
Part 3 Maintenance.....................................................................................342
Chapter 1 Troubleshooting......................................................................................................................342
1.1 Actions to Be Taken upon Problems.......................................................................................................342
1.2 Alarms of the GateWayR unit..................................................................................................................343
1.2.1 Common Alarms.........................................................................................................................344
1.2.2 Alarms by Field Network Type....................................................................................................345
1.2.3 Examples of Indicator Statuses Corresponding to Representative Alarms.................................348
1.3 Alarms of the Controller Unit and Simple Absolute R Unit ......................................................................349
1.3.1 Overview of Alarms.....................................................................................................................349
1.3.2 Alarms, Causes and Actions.......................................................................................................352
1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software................360
Chapter2 Maintenance/Inspection.........................................................................................................362
2.1 Periodic Inspection Items........................................................................................................................363
2.2 Important Information on Unit Replacement............................................................................................364
2.3 Replacing the Backup Battery.................................................................................................................365
Appendix ..................................................................................................................................................365
RACON Specification List of Supported Actuators...................................................................................366
RPCON Specification List of Supported Actuators...................................................................................367