IAI America REXT - Manual (Page 27)


Part 1 Specification
Chapter 1 Overview of ROBONET
11
Part 1 Specification
(7) Six ROBONET operation modes
The ROBONET can operate ROBO Cylinders in one of the following four modes under the control of the Gateway R unit,
regardless of the type of the host fieldbus.
The following three modes from [1] to [3] can be combined together. You can also combine the remaining three modes
from [4] to [6].
However, [1] and [4] cannot be combined, and modes in the group of [1] to [3] cannot be combined with modes in the
group of [4] to [6].
[1] Positioner mode (Number of positions: 768 points)
In this mode, the actuator is operated by specifying a position number. The position data, speed,
acceleration/deceleration and other data are input in the position table beforehand. Up to 768 points can be
registered as positions for each axis.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple
alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.
[2] Simple direct mode (Number of positions: 768 points)
In this mode, the actuator is operated by specifying only the position data directly as a numerical value, and
specifying all other data including the speed, acceleration/deceleration, positioning band and push-current limiting
value using a position number. Up to 768 points can be registered as positions.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple
alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.
[3] Direct numerical specification mode
In this mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, positioning
band and push-current limiting value directly as numerical values. The various status signals of the controller unit,
current actuator position, alarm codes and speed/electrical current can be monitored at all times.
[4] Positioner 2 mode (Number of positions: 768 points)
This mode is the same as the positioner 1 mode.
It cannot be combined with the positioner 1 mode, simple direct mode or direct numerical specification mode.
The positioner 2 mode can only be used alone. The positioner 2 mode can be combined with solenoid valve mode 1
or solenoid valve mode 2. This mode is supported by gateway units of firmware version 000B and later.
[5] Solenoid valve mode 1 (Number of positions: 7)
In this mode, the number of positioning points is limited to 7 to simplify operations.
Actuators can be operated simply by issuing a command with a target position number (no start signal is required).
Accordingly, PLC ladder sequence circuits can be created with ease.
[6] Solenoid valve mode 2 (Number of positions: 3)
Operations are also simplified in this mode, as with solenoid valve mode 1. You can operate actuators using the
same control methods you normally use on solenoid valves.
In the positioner mode or simple direct mode, position table data can be read, written or otherwise manipulated using
dedicated commands.
Even in the AUTO mode, the various information of each axis (alarm codes, speed, electrical current, etc.) can be
monitored on the touch panel display (RCM-PM-01) connected to the TP connector.
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