IAI RCM-GW-CC User manual

IAI America Inc.
CC-Link
RCM-GW-CC
Gateway Unit
Operation ManualFirst Edition

Table of Contents
1. Outline······················································································································································· 1
1.1 CC-Link gateway unit··························································································································· 1
1.2 What is CC-Link··································································································································· 2
1.3 Application example of gateway unit···································································································· 3
1.4 Features ·············································································································································· 4
1.5 How to identify model ·························································································································· 6
2. Specifications and name of each part ······································································································· 7
2.1 General specifications ························································································································· 7
2.2 External dimension drawing················································································································· 8
2.3 Name and function of each part··········································································································· 9
3. Installation and Noise Elimination ··········································································································· 14
3.1 Installation Environment ···················································································································· 14
3.2 Power Supply ···································································································································· 14
3.3 Noise Elimination and Grounding ······································································································ 14
3.4 Installation ········································································································································· 16
4. Wiring······················································································································································ 17
4.1 Overall Configuration ························································································································· 17
4.2 Input and output signal of gateway unit ····························································································· 20
4.3 Building of SIO communication network (SIO communication)·························································· 23
5. Outline of CC-Link··································································································································· 32
5.1 Data communication ·························································································································· 32
5.2 Address assignment of master PLC ·································································································· 33
6. Address configuration of gateway ··········································································································· 35
6.1 Gateway control signal ······················································································································ 35
6.2 Position data limit designation mode ································································································· 38
6.3 Position No. designation mode ·········································································································· 42
6.4 Position/speed/acceleration and deceleration designation ································································ 47
6.5 Push operation enable mode············································································································· 52
6.6 Simple direct value/position No. designation mode ··········································································· 58
7. Contents of communication signal ·········································································································· 75
7.1 Outline of timing for communication signal ························································································ 75
7.2 Communication signal and operation timing ······················································································ 76
7.3 Command transmission and reception ······························································································88

8. System build-up ······································································································································ 90
8.1. Communication setting for controller ································································································· 90
8.2. CC-Link communication setting ········································································································· 91
8.3. Master PLC address assignment······································································································· 93
8.4. CSP file·············································································································································· 97
9. CC-Link operation case ·························································································································· 98
9.1 Outline of configuration······················································································································ 98
9.2 Actuator operating pattern ················································································································· 99
9.3 Various settings on SIO link side ······································································································· 99
9.4 Setting of gateway unit ···················································································································· 101
9.5 Setting on CC-Link master side ······································································································· 101
9.6 Address Correlation Diagram ·········································································································· 108
9.7 Ladder Sequence Flowchart·············································································································110
9.8 Ladder Sequence ·····························································································································112
10. Troubleshooting ···································································································································· 122
10.1 Action to Be Taken upon Occurrence of Trouble ············································································· 122
10.2 Troubleshooting ······························································································································· 123

1
1. Outline
1.1 CC-Link gateway unit
CC-Link Gateway Unit (hereinafter, referred to as CC-Link gateway or gateway unit) is a unit to connect the
network of CC-Link communication protocol for an upper programmable controller (hereinafter, referred to as
PLC) and SIO communication network (Modbus communication protocol) for a controller (for robo-cylinder)
which is a sub-network.
Physical standard for SIO communication network is RS-485, and slave addresses on this network are 1-16.
All data exchanged between the CC-Link and the Modbus protocol communication network are once stored in
the internal memory of the gateway unit, and transmitted to CYCLIC. The gateway unit is handled from the
PLC side as a remote I/O.
Adaptable controllers are PCON-SE, ACON-SE, SCON and ERC2-SE.
* Gateway is communication terminology, and is equipment which mutually converts data of which media and
protocols are different on networks, and allows for communication.

2
1.2 What is CC-Link
(1) System of FA communication
For FA communication, communication specifications depend on equipment on the communicating end,
content of information and its purpose, however, are roughly divided into information level, controller
level and field level as shown in the following diagram.
(2) Information level
This is mainly used to transmit production information to an information terminal, and is referred to as
“PLC upper network.” Ethernet is mostly used for this level.
(3) Controller level
This frequently handles real time information for a production line, and is referred to as “Network
between PLCs.”
(4) Field level
This is referred to as “PLC lower network,” and is mainly used to save wiring for a control system of
which one controller is in charge, and is positioned as “Wiring save communication.”
This level is largely classified into device level and sensor level.
Information levelController levelField level
FA computer
Device level
Primary open network
Robot Remote I/O
Motor
driver Sensor level
Installed
instrument
Solenoid
valve
Limit switch

3
(5) CC-Link
CC-Link has become wide spread mainly for FA as an open network for device level. Communication
specifications are open to the public, therefore, equipment in compliance with CC-Link can be
communicated without a program regardless of manufacturer.
Presently, CC-Link is spread and operated by CC-Link association (CLPA: CC-Link Partner Association),
which is a non-profitable organization.
Main features are as follows.
[1] Highly perfected saved wiring communication which has realized complete multi-vendor connection.
[2] This is a unified standard, therefore, it can be used even overseas.
[3] Since slave equipment is handled as a PLC remote I/O to which CC-Link unit is installed,
communication can be made without a particular program.
[4] Since line efficiency is high, communication with high-speed response can be made.
※For details of CC-Link, refer to Operation Manuals of the master unit and the PLC to be installed.
Use this Operation Manual together with the Operation Manual of the controller to be connected.
This CC-Link gateway cannot be used in ways other than those for which this Operation Manual expressly
allows. Further, do not perform setting and wiring other than those for which this Operation Manual
expressly allows.
1.3 Application example of gateway unit
Application example is shown on the network in the following diagram.
CPU unit CC-Link
unit
(master
station)
Remote I/O
s
t
ation CC-Link gateway
(remote device
station)
Remote I/O
station
Remote I/O
station
SIO communication network (Modbus)

4
1.4 Features
For CC-Link gateway, operation modes of the following four patterns can be selected.
(1) Position data limit designation mode
Only position data can be directly designated, and the maximum connecting axis number totals 14
axes.
Further, various status signals can be input and output, and present position data can be read.
Speed, acceleration and deceleration can be set for parameters for each axis as fixed values.
(2) Position No. designation mode
This is a mode to designate No. of position table for operation, and the maximum connecting axis
number totals 14 axes.
Position data, speed, acceleration and deceleration are input into the position data table of each axis in
advance. Input and output of various status signals and completed position No. can be read.
(3) Positioning data designation mode
This is a mode to directly designate position data for operation, and there are two patterns of normal
positioning and push operation.
[1] Normal positioning mode
This mode directly designates speed, acceleration and deceleration in addition to position data, and
the maximum connecting axis number totals 7 axes.
Further, input and output of various status signals and present position data can be read.
[2] Push operation mode
Push operation can be performed, and the maximum connecting axis number totals 3 axes.
This is a mode in which direct designation of current limit value (%) and positioning width for push is
added to the normal positioning mode.
(4) Simple direct value/Position No. designation mode
This mode can mix position No. designated axis and simple direct value designated (position data is
designated by numeric value, and the other movement data is designated by position table) axis.
Axis number is assigned from position No. designated axes, and subsequently, it is necessary to assign
the number to simple direct value designated axis. Depending on the size of the assignment area,
there is a Large pattern (88 words respectively for input and output), Middle pattern (68 words
respectively for input and output) and Small pattern (34 words respectively for input and output), and
the maximum connecting axis number totals 16 axes.
This Manual only describes content which can be controlled by using the Gateway unit. Content of this Manual
takes precedence over content of the Operation Manual for the controller. For detailed contents of functions,
parameter settings and alarms, refer to the Operation Manual for the controller.

5
Operation mode and primary functions
Positioning data designated
mode
Primary functions
Position data
limit designated
mode
Position No.
designated
mode
Normal
positioning
mode
Push
operation
mode
Simple direct
value/Position
No. designated
mode
Position data
designated operation
○×○○○
Speed, acceleration
and deceleration direct
designation
××○○×
Push operation ×○×○○
Present position
reading
○○○○
Position No. designated
operation
×○××○
Completed position No.
reading
×○××○
Connectable axis
number 14 14 7 3 16
Settable axis No. (*1) 0 - 13 0 - 13 0 - 6 0 - 2 0 - 15
Position data
designated maximum
value (*2)
327.67mm
Designated
to position
table
327.67mm 9999.99mm
Operable CC-Link
version Ver. 1, Ver. 2 Ver. 2
CAUTION
*1 A range of effective axis No. which is set to axis connected by SIO communication. Values set
exceeding this range are ignored. This case does not generate an alarm.
*2 In the case of position data direct designated operation, maximum value of position data is limited by
limiting data length of input and output register.

6
1.5 How to identify model
RCM-GW-CC
Basic model For CC-Link
Gateway unit

7
2. Specifications and name of each part
2.1 General specifications
Item Specification
Power supply 24V DC ±10%
Consuming current 300mA max.
Communications standard CC-Link Ver1.10 (*1)
Communications speed 10M/5M/2.5M/625k/156kbps (Selection with rotary switch)
Communications 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 Remote device station 4 stations
Communications speed (bps) 10M 5M 2.5M 625k 156KCommunications cable length
(*2) Overall cable length (m) 100 160 400 900 1200
CC-Link specification
Communication cable CC-Link dedicated cable
Transmission path configuration Our dedicated multi-drop difference communication
Communications system Half-duplex
Synchronization system Asynchronous type
Transmission path format Equivalent to EIA RS485 2-wire type
Communication speed 30.4kbps
Error control system No parity bit, CRC (*3)
Communication cable length Total cable length 100m or shorter
Connecting unit number Maximum 3/7/14/16 axes (depending on operation mode)
SIO communication specification
Communication cable Two-paired twist-pair shielded cable
(Recommended brand: Taiyo Electric Wire & Cable
HK-SB/20276×L 2P×AWG22)
Operating ambient temperature 0 - 40°C
Operating ambient humidity 85%RH or less (non-condensing)
Operating atmosphere Not subject to corrosive gas, flammable gas, oil mist, powdered dust
Storage temperature -10 - 65°C
Storage humidity 90%RH or less (non-condensing)
Environmental
Vibration resistance 4.9m/s2(0.5G)
Protection class IP20
Weight 480g or less
(*1) Certification has been acquired
(*2) For T branch communication, refer to the Operation Manuals for the master unit and PLC to be
mounted.
(*3) CRC: Cyclic Redundancy Check
Data error detecting method which is mostly used for synchronizing transmission

8
2.2 External dimension drawing
(Mounting dimension)

9
2.3 Name and function of each part
[1] Gateway status
indication LED
RUN:Normal
G.ER: Error
C.ER: CC-Link error
T.ER:SIO link error
[2] SIO communication
status LED
TxD: Data transmission
RxD: Data reception
[3] Mode setting switch
[SIO communication connector]
[4] External port switching input
PORT IN
PORT N Port switching
[5] Controller communication line
SDA: Communication line
SDB: Communication line
GND: Ground
FG: Frame ground
[11] Power supply input connector
[6] CC-Link communication
connector
DA: Communication line
DB: Communication line
DG: Ground
SLD: Shield
FG: Earth
[7] CC-Link setting switch
BR: Baud rate
SA ×10 and Sa ×1:
Station No. (Decimal,
2 digits)
[8] CC-Link communication
status LED
SD: Data communication
RD: Data reception
RUN: Normal
ERR: Error
[9] Port switch
ON: Port on
OFF: Port off
[10] Connector for teaching box
and personal computer

10
[1] Gateway status indication LED
Indicating status Description
Lit in green Indicates that the CPU of the gateway is operating.RUN
Unlit Indicates CPU operation stop status, and indicates that there is an error in the
CPU of the gateway when this is not lit even if power is turned on.
Lit in red Gateway CPU is in error, major fault stop status.G.ER
Unlit Normal
Lit in red A status that CC-Link is in error, or CC-Link connection is not recognized from
the gateway CPU. (Check CC-Link communication status in [8].)
It is necessary to connect the teaching box or personal computer supporting
software if the RUN is lit even when this LED is lit.
Flash in red This flashes at an interval of one second in the case of port on status.
C.ER
Unlit Normal
Lit in red Communication error occurs in communication between the CC-Link gateway
and controller (No response, overrun, framing error or CRC(*) error) Normal
T.ER
Unlit Normal
* CRC: Cyclic Redundancy Check
Data error detecting method which is mostly used for synchronizing transmission
[2] SIO communication status LED
Communication status between CC-Link gateway and controller can be checked.
This LED flashes when communication between the upper PLC and controller is being performed through
CC-Link gateway, or communication is being performed with the controller by connecting the teaching box
or personal computer supporting software to the CC-Link gateway.
Indicating status Description
Flash in green Data is transmitting (from the CC-Link gateway to controller)TxD
Unlit Data transmission is suspended (from the CC-Link gateway to controller)
Flash in green Data is receiving (from controller to the CC-Link gateway)RxD
Unlit Data reception is suspended (from controller to the CC-Link gateway)

11
[3] Mode setting switch
This switch sets the operation mode of the CC-Link gateway.
Turn off the power for the CC-Link gateway to operate this switch.
When selecting No.1, No.3 and No.4, setting of the position table for the controller is disabled.
SW1 Input and output byte
number
No.
4 3 2 1
Description
Output Input
1 ××××Position data limit designating mode 46 46
2 ××○×Position No. designating mode 46 46
3 ×○××Position/speed/acceleration and deceleration
designating mode 46 46
4 ×○○×Push operation enable mode 46 46
5 ×××○Simple direct value/Position No. designating mode
Large 176 176
6 ××○Simple direct value/Position No. designating mode
Middle 136 136
7 ○××○Simple direct value/Position No. designating mode
Small 68 68
[4] External port switching input
Connector port for teaching box and personal computer can be switched ON/OFF by external signal
(no-voltage contact).
When the port switch [9] for the CC-Link gateway main body is OFF, this input is enabled, and when the
input signal is ON, the port is turned ON. (Refer to the [9] port switch.)
[5] Controller communication line
This is a wiring connecting terminal for the communication line of the SIO communication (Modbus)
connector.
[6] CC-Link communication connector
This is a wiring connecting terminal for the CC-Link communication.

12
[7] CC-Link setting switch
Switch Description
BR
[Baud rate setting switch]
This switch sets the communication rate.
Setting of 5 or higher is prohibited.
SA ×10
SA ×1
[Station No. setting switch]
This switch sets with decimal two digits, however,
effective setting is from 1 to 64.
Positions of SA ×10 ･･･10 are set.
Positions of SA ×1･･･1 are set.
(Example) When setting station No. 12,
set 1 to SA ×10, and
set 2 to SA ×1.
* When changing the setting with the power on, the ERRLED of the next [8] is lit.
[8] CC-Link communication status LED
Operating status of the CC-Link gateway and network status can be checked by the four LEDs.
Indicating status Description
Lit Normal operation (Lit by starting communication)RUN Green
Unlit Does not participate in network or time out status (Communication is
interrupted for a certain time or longer)
Lit Reception data to self station is abnormal (CRC error).
Setting of baud rate setting switch or station No. setting switch is changed
during communication.
ERR Red
Unlit Normal
Lit Data is being receivedRD Green
Unlit No reception data
Flashing Data is being transmittedSD Green
Unlit No transmission data

13
[9] Port switch
This is a switch to enable the connector (T.P.) for teaching box and personal computer (PORT
ON=Communication start).
When connecting and disconnecting the teaching box and the communication cable connector for
personal computer supporting software, turn OFF this switch. When using this switch, turn ON after
connecting the connector.
(Also pay attention to signal status of the port switching input [4].)
For communication rate between the teaching box, personal computer supporting software and the
CC-Link gateway, up to 115.2kbps can be set. And, the communication rate between the CC-Link
gateway and the controller is fixed to 230.4kbps.
When the PORT is ON, the CC-Link communication does not become abnormal, however, data
communication for SIO communication stops. Therefore, output signal (data) from the PLC is not
outputted to the controller, and input signal (data) from the controller keeps a value immediately before
PORT was ON.
PORT ON status signal (TPC) is outputted from the CC-Link gateway to the PLC, therefore, performs
processing such as interlock if necessary.
[10] Connector for teaching box and personal computer
This is a connecting connector for the teaching box and personal computer.
[11] Power supply input connector
This is a connecting connector for the power supply (24V DC) for the CC-Link gateway.

14
3. Installation and Noise Elimination
Pay sufficient attention to the installation environment.
3.1 Installation Environment
a. Since the gateway unit is not dust-proof or waterproof (oil proof), avoid using the gateway unit in a
place subject to significant dust, oil mist or splashes of cutting oil.
b. Do not expose the gateway unit to direct sunlight or radiating heat from a large heat source such as
heat treatment furnace.
c. Use the gateway unit in an environment free from corrosive or inflammable gasses, under a
temperature of 0 to 40°C and humidity of 85% or less (non-condensing).
d. Use the gateway main body where it will not receive any external vibration or shock.
e. Prevent electrical noise from entering the gateway main body or its cable.
3.2 Power Supply
The power supply specification is 24V DC±10%. （Supply current: 300mA max.）
3.3 Noise Elimination and Grounding
a. Installation of gateway unit main body
Directly fix the gateway unit main body to the metallic enclosure with screws for connection.
* Provide a dedicated class D grounding (Third class).
Use a cable of the maximum
possible size and keep the wiring
length at a minimum.
Metallic enclosure

15
b. Precautions regarding wiring method
Separate the communication lines for the gateway unit and the wiring for the CC-Link
communication line from high-power lines such as a cable connecting to a power circuit. (Do not
bundle together wiring for the communication lines with high-power lines or place them in the same
cable duct.)
c. Noise sources and elimination
Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular
concern when building up a system. Noise from these sources can be eliminated by implementing
the measures specified below.
[1] AC solenoid valves, magnet switches and relays
Measure: Install a surge absorber in parallel with the coil.
[2] DC solenoid valves, magnet switches and relays
Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance
with the load capacity.
←Point
Install a surge absorber to each
coil over a minimum wiring
length. Installing a surge
absorber to the terminal block or
other part will be less effective
because of a longer distance
from the coil.
In a DC circuit, connecting a diode in reverse polarity
will damage the diode, internal parts of the controller
and/or DC power supply, so exercise sufficient caution.

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3.4 Installation
Design the control box size, installing position of the gateway unit and cooling method of the control box in
such a way that the temperature around the gateway unit will not exceed 40°C.
Install the gateway unit vertically on a wall, as shown below, and provide a minimum clearance of 50mm
above and below the gateway unit and a minimum clearance of 100mm on the front for wiring.
For lateral installation such as installing multiple gateway units side by side, secure a sufficient space so that
the gateway unit is easily installed and removed.
If affection of heat or noise is a concern, take the measure into account.

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4. Wiring
4.1 Overall Configuration
The following diagram shows an example of configuration to build a CC-Link by using a gateway unit.
Host system (PLC master station)
Terminal resistor
Slave station
Gateway unit
Teaching box
Terminal resistor
4-direction junction SIO communication network
Terminal resistor
24V
power
supply