FIELDBUS PCI-CARD INSTRUCTIONS

Transcription

1 FIELDBUS PCI-CARD INSTRUCTIONS FOR NX100, DX100, OR DX200 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MH50 II INSTRUCTIONS NX100, DX100 or DX200 INSTRUCTIONS NX100, DX100 or DX200 OPERATOR S MANUAL (for each purpose) NX100, DX100 or DX200 MAINTENANCE MANUAL The NX100, DX100 or DX200 operator s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: CD Revision: 1 MANUAL NO. ME00107EN 4 1 of 99

2 CD Copyright 2015, Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website, blog, cloud storage site or any other means of storing or distributing online content. Printed in the United States of America First Printing, 2014 Yaskawa America, Inc. Motoman Robotics Division 100 Automation Way Miamisburg, OH Phone: ii ME00107EN 2 of 99

3 CD Fieldbus PCI-Card MANDATORY General items related to safety are listed in the Chapter 1: Safety of the controller instructions. To ensure correct and safe operation, carefully read the controller instructions before reading this manual. CAUTION Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised. If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the part number listed on the front cover. YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product s warranty. iii ME00107EN 3 of 99

4 CD We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA R ). You can obtain this document from the Robotic Industries Association (RIA) at the following address: Robotic Industries Association 900 Victors Way P.O. Box 3724 Ann Arbor, Michigan TEL: (734) FAX: (734) Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result from improper operation of the equipment. The customer is responsible for providing adequately trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. iv ME00107EN 4 of 99

5 CD Fieldbus PCI-Card Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the Fieldbus PCI-Card. In this manual, the Notes for Safe Operation are classified as WARNING, CAUTION, MANDATORY, or PROHIBITED. DANGER WARNING CAUTION Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices. MANDATORY Always be sure to follow explicitly the items listed under this heading. PROHIBITED Must never be performed. Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as DANGER, WARNING and CAUTION. DANGER Maintenance and inspection must be performed by specified personnel. Failure to observe this caution may result in electric shock or injury. For disassembly or repair, contact your Yaskawa representative. Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm. v ME00107EN 5 of 99

6 CD WARNING Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the controller and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function. Figure 1: Emergency Stop Button Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON. Injury may result from unintentional or unexpected manipulator motion. Figure 2: Release of Emergency Stop TURN Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator: Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding. View the manipulator from the front whenever possible. Always follow the predetermined operating procedure. Keep in mind the emergency response measures against the manipulator s unexpected motion toward you. Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury. Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: Turning ON the power for the controller. Moving the manipulator with the programming pendant. Running the system in the check mode. Performing automatic operations. Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of front door of the controller and the programming pendant. vi ME00107EN 6 of 99

7 CD Fieldbus PCI-Card CAUTION Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. Check for problems in manipulator movement. Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the cabinet of the controller after use. The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures. Read and understand the Explanation of Warning Labels in the controller Instructions before operating the manipulator: Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or bland names for each company or corporation. The indications of (R) and TM are omitted. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The MOTOMAN usually consists of the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows. Equipment NX100, DX100, or DX200 Controller NX100, DX100, or DX200 Programming Pendant Cable between the manipulator and the controller Manual Designation Controller Programming Pendant Manipulator cable vii ME00107EN 7 of 99

8 CD Customer Support Information If you need assistance with any aspect of your Fieldbus PCI-Card system, please contact Motoman Customer Support at the following 24-hour telephone number: (937) For routine technical inquiries, you can also contact Motoman Customer Support at the following address: When using to contact Motoman Customer Support, please provide a detailed description of your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a response to your inquiry. NOTE Please use for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact Motoman Customer Support at the telephone number shown above. Please have the following information ready before you call: System Fieldbus PCI-Card Robots Controller Software Version Robot Serial Number Robot Sales Order Number Access this information on the Programming Pendant s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} Located on the robot data plate Located on the controller data plate viii ME00107EN 8 of 99

9 Instruction manual 2015 Yaskawa Nordic AB Reg.No. ME00107EN-04 Original instructions 9 of 99

10 Reference list Revision YASKAWA Nordic AB engineers Fifth release of this manual. The fieldbus PCI-card was earlier described in Instruction Manual MRS6014GB.3 Fieldbus PCI-card. Page 2 Reg.No. ME00107EN of 99

11 Contents 1 General About this manual Copyright System requirements NX100 Software DX100/DX200 software In manual included Fieldbus PCI-cards and NetTools Safety Handling ESD sensitive devices Manufacturer Introduction Terms Fieldbus systems Introduction to the fieldbus PCI-cards Hardware compatibility Installation General Specification Technical specification Compliances and conformances Hardware installation NX100 Installation DX100/DX200 Installation Software configuration Settings DX200 Enable the PCI card DX100 Manual I/O allocation (FD 134) I/O map Fieldbus input data map Fieldbus output data map Fieldbus status byte General installation in IP-based networks Ping No answer from ping Only one Ethernet cable used Logical Networks Anybus IPconfig The module is not shown Reg.No. ME00107EN-04 Page 3 11 of 99

12 Contents The module has IP address Profibus DPV1 Slave AB Profibus Interface Details Card Status LEDs Connectors 9-pin D-sub PROFIBUS network setup GSD-file Profibus DPV1 Master AB Profibus interface details Card Status LEDs PROFIBUS network setup AnyBus NetTool for PROFIBUS Termination Node settings Configuration online DeviceNet Adapter Slave AB DeviceNet Interface Details Card Status LEDs Connectors DeviceNet network setup DeviceNet Scanner Master AB DeviceNet Interface Details Card Status LEDs Connectors DeviceNet network setup AnyBus NetTool for DeviceNet Termination Nodes Configuration online Configuration with RSNetworx from Rockwell EDS-file AS-Interface Master AB AS-Interface Master Page 4 Reg.No. ME00107EN of 99

13 Contents 9.2 Card Status LEDs Connectors Rectifying of interruption Principle of Input/Outputs in ASI Configuration interface Menu Tree Overwiev Change settings EtherNet/IPAdapter/Modbus TCP Slave AB EtherNet/IPAdapter/Modbus TCP slave interface details Card Status LEDs Network setup EIP setup Modbus/TCP EtherNet/IP Scanner Master AB EtherNet/IP Scanner master interface details Card Status LEDs Network setup EDS file Configure via AB3607's on-board web server PROFINET-IO Slave AB PROFINET-IO Slave Interface Details Card Status LEDs Network setup FL-Net AB FL-Net Interface Details Card Status LEDs Network setup FIPIO Slave AB FIPIO Interface Details Card Status LEDs Reg.No. ME00107EN-04 Page 5 13 of 99

14 Contents 14.3 Setup Setup in Schneider s UNITY programming environment Interbus-S Slave AB Interbus-S Interface Details Card Status LEDs Setup CanOpen Slave AB CanOpen Interface Details Card Status LEDs Setup Network configuration EtherCAT slave AB General Interface details Card Status LEDs State Description Network Setup Omron tools PL-IB 300 Powerlink Powerlink Controlled Node details Card Network setup Installing the XDD file in B&R Automation Studio Configure IO in B&R Automation Studio Page 6 Reg.No. ME00107EN of 99

15 About this manual 1 General 1.1 About this manual This Instruction manual comprises information about: Installation Setup The fieldbus PCI-cards are valid for YASKAWA controller NX100 and DX100 (hereafter called the controller). Text written in BOLD letters means command or button. Text written in ITALIC means text shown on display Copyright This manual may be copied for internal use without our written permission but not imparted to a third party. Any unauthorized use or copying of the contents or any part thereof is prohibited. This applies in particular to trademarks, model denominations, documents, and drawings. 1.2 System requirements NX100 Software For the fieldbus PCI-card installation, the PCI card driver and version NS A (or later) of the NX100 system software are required DX100/DX200 software No specific requirements. 1.3 In manual included Fieldbus PCI-cards and NetTools Device YASKAWA Nordic AB Part no. Profibus DP PCI-card, Slave AB Profibus DP PCI-card, Master AB DeviceNet PCI-card, Adapter(Slave) AB DeviceNet PCI-card, Scanner(Master) AB AS-Interface(ASI) PCI-card, Master AB EtherNet/IP PCI-card, Slave/Adapter AB EtherNet/IP PCI-card, Master/Scanner AB PROFINET-IP PCI-card, Slave AB FL-Net PCI-card, Slave AB FIPIO PCI-card, Slave AB Interbus-S PCI-card, Slave AB CanOpen PCI-card, Slave AB Note Reg.No. ME00107EN-04 Page 7 15 of 99

16 Safety Device YASKAWA Nordic Note AB Part no. EtherCAT PCI-card, Slave AB Only in combination with DX100/DX200 software PL-IB 300 Powerlink NetTool-DeviceNet (Network setup software) NetTool-PROFIBUS (Network setup software) ASI configuration cable (3 meters) (standard) (6) (9) (12) (15) The delivered Fieldbus PCI-card kit comprises: PCI-card Software (drivers, GSD-files, EDS-files etc) Available on The delivered Fieldbus NetTools comprises: Software The NetTool-DeviceNet (Network setup software) also comprises Network adapter 1.4 Safety This equipment fulfils all the relevant provisions of the Directive 2006/42/EC on machinery. This equipment fulfils furthermore all relevant provisions of the Directive 2004/108/EC on electromagnetic compatibility (EMCD). The EC-Declaration of conformity with the subsequent CE-marking, attached to this equipment, is only valid if this equipment is installed according to this manual s instructions for installation. YASKAWA Nordic AB s responsibility does not cover errors or safety risks that may occur in machine connected to and/or installed in the equipment, nor errors or safety risks that may occur in the equipment caused by machine connected to and/or installed in the equipment. External cables should be connected according to our cable connection guide, see separate document. Page 8 Reg.No. ME00107EN of 99

17 Handling ESD sensitive devices 1.5 Handling ESD sensitive devices Fig. 1 ESD warning sign The ESD warning sign shows where to take precautions to avoid electrostatic discharge (ESD). The card contains ESD sensitive components. Static electricity can damage electronic devices and your system. Ensure that you understand how to handle devices that are sensitive to static electricity. To reduce the possibility of electrostatic discharge, observe the following precautions: To avoid damage, keep static-sensitive devices in their protective packaging until you are ready to install them. Handle the card carefully, holding it by its edges or frame, and do not touch circuits, solder joints, or connectors. Wear an ESD wrist strap and attach it to the system chassis ground or to any metal part of the system before handling components or working in the interior compartment of the workstation. Use an antistatic mat. 1.6 Manufacturer Address: YASKAWA Nordic AB P.O Box 504 Verkstadsgatan 2 SE Torsås Telephone: Telefax: Introduction The purposes of this document is to provide instructions for users of the YASKAWA fieldbus PCIcards and for supporting the configuration process. For further information regarding fieldbus configuration and programming please contact supplier. This document is limited to the functionality of the fieldbus PCI-cards and the connections to the YASKAWA Robot Controller (hereafter referred to as the robot controller). It is assumed that the reader has an understanding of the functionality of the robot controller. Reg.No. ME00107EN-04 Page 9 17 of 99

18 Terms 1.8 Terms Throughout this document the term user, refers to the person or persons who are installing and programming the robot controller with a fieldbus PCI-card installed. The end user of the robot equipment will be referred to as the customer. As in all communication systems the terms inputs and outputs can be ambiguous, because their meaning depends on which end of the link that is being referenced. The convention in this document is that inputs and outputs are always being referenced from the robot controller end of the link. 1.9 Fieldbus systems Instead of using traditional wiring to distribute input and output signals, the automation industry more frequently relays on computer communications. By using communication systems cost for material, installation, documentation and maintenance can be greatly reduced. The communication system can also be used for more advanced features like connecting different control systems and to distribute the control functions to intelligent sub-systems, sensors and actuators. The communication systems used for these tasks are commonly called a fieldbus system. Fieldbus systems are used in all sectors of automation: Factory automation, manufacturing automation, assembly automation, building automation, process automation, etc. Different systems are used because of different technical requirements of the application. Those different requirements are different levels of bus systems, bus structures, real-time behaviour, amount of data being transferred, transmission media, distribution of power on the communication media. The difference between the technical demands and the fact that no system on the market fulfils all requirements has lead to a wide variety of different fieldbus systems. When designing a product which includes fieldbus systems it is necessary to also take the local computer network or communication system into consideration Introduction to the fieldbus PCI-cards The PCI-cards are designed to make it possible to connect the robot control system to the most commonly used fieldbus systems on the market. It controls the exchange of data between the robot control system and the AnyBus system modules Hardware compatibility The fieldbus PCI-cards are electrically compatible with the motherboards in all current models of robot controllers. From the users point of view the fieldbus board will be used as a standard I/O board available for the robot controller. Page 10 Reg.No. ME00107EN of 99

19 General 2 Installation 2.1 General Specification 3.3 and 5 V support (Universal keyed add-in) Competitively priced - high performance Easy plug-and-play interface Technical specification Size(W x L x D): 100 x mm (3.94 x 4.72 x 0.87 ) Power supply: 3.3 and 5 V, 600 ma VDC Temperature: operating C Compliances and conformances EMC compliance: 2004/108/EC a. Emission: EN :2001 b. Immunity: EN :2001 CE marked UL conformance Tested and verified for Fieldbus and network conformance RoHS compliance 2.2 Hardware installation Warning To prevent electrical shock to personnel and to prevent equipment damage, ensure power to the robot control system is turned OFF before beginning the installation. Caution Never change any of the settings on the PCI-card while controller power is ON. Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. The following installation instructions apply to all fieldbus PCI-cards delivered by YASKAWA. Reg.No. ME00107EN-04 Page of 99

20 Hardware installation NX100 Installation Fig. 2 PCI-card installation A. PCI card B. Hole for securing screw 1. Unplug AC power and remove system cover. 2. If present, remove the bracket opposite the PCI slot. 3. Align the card connector with the slot and press firmly until the card is completely seated. 4. Secure the card connector to the chassis using a screw. Note To ensure trouble-free operation, the front plate of the card should be screwed together with the system cover. The system cover shall also be grounded in compliance with local regulations. 5. Re-attach the system cover and AC power DX100/DX200 Installation 1. Remove the installation frame from the CPU rack by loosen the four screws, see Fig. 3 Remove installation frame. Page 12 Reg.No. ME00107EN of 99

21 Hardware installation Fig. 3 Remove installation frame 2. Remove the cover and the retaining bracket for the PCI-card. Loosen the indicated screws, see Fig. 4 Cover. Fig. 4 Cover 3. Insert the PCI-card in an available slot. See Fig. 5 PCI-card in slot. Reg.No. ME00107EN-04 Page of 99

22 Hardware installation Fig. 5 PCI-card in slot 4. Install the installation frame in the CPU-rack and fasten it using the 4 screws. See Fig. 6 Installed frame. Fig. 6 Installed frame A. Screw Page 14 Reg.No. ME00107EN of 99

23 Settings 3 Software configuration 3.1 Settings To setup the configuration of the system, first enter maintenance mode. REMOTE PLAY TEACH START HOLD A D B LAYOUT Mu lti MAIN MENU TOOL SE L COORD ENTRY SIMPLE MENU DIRECT OP EN SERVO ON READY GO BACK PAGE ASSIST AREA CANCEL SELECT C X- S- Y- L- Z- U- X+ S+ Y+ L+ Z+ U+ E- E+ SERVO ON HIGH SPEED FAST MANUAL SP EED SLOW X- R- Y- B- Z- T- X+ R+ Y+ B+ Z+ T SHIFT INTER LOCK TES T START SHIFT ROBOT INFORM 4 LIST 5 6 BWD FWD EX.AXIS WELD ON/OF F DELETE INSERT AUX MOTION TYPE 0. - MODIFY ENTER Fig. 7 Programming pendant A. Main menu B. Cursor key C. Main menu button D. Select button Reg.No. ME00107EN-04 Page of 99

24 Settings 1. Maintenance mode: To enter maintenance mode, press [MAIN MENU] button while turning the power supply on. The Menu maintenance window is shown. Fig. 8 Menu maintenance 2. Security: Step to SYSTEM and press the [SELECT] button 3. Choose SECURITY on the appearing pull down menu. Fig. 9 Security 4. In the MODE box in security window: Press [SELECT], choose MANAGEMENT MODE and press [SELECT]. A password window is shown. Page 16 Reg.No. ME00107EN of 99

25 Settings 5. Enter and press [ENTER] Fig. 10 Password 6. To do a setup: Step to SYSTEM and choose SETUP on the pull down menu. Fig. 11 Setup Reg.No. ME00107EN-04 Page of 99

26 Settings 7. In SETUP screen: Mark the OPTION BOARD and press [SELECT] Fig. 12 Option board (ASI PCI-card) 8. Step to the PCI-card, object for installation (AB3605 ASI M in this fig). Press [SELECT]. Fig. 13 Setup for the choosen board (AB3604 DeviceNet M) 9. Step to (A) and set the value to USED by [SELECT]. 10. IO SIZE (B) specifies the size of the signals. Type the desired value and press [ENTER]. The maximum values of IO SIZE depend on the limitation of the different cards, see specific PCIcard. 11. Depending of the design of the fieldbus system, different BAUD RATE s (D) are desired. The maximum value of BAUD RATE depends on the limitation of the different cards, see specific PCI-card. This is an available choice only at the DeviceNet PCI-cards. 12. Press [ENTER]. 13. The question MODIFY appears. Select YES. Page 18 Reg.No. ME00107EN of 99

27 Settings 14. Continue to the IO MODULE Fig. 14 IO MODULE settings 15. In the IO MODULE, press [ENTER]. The card in CPU option 1 will allways be placed as number 16 (card in CPU option 2 as No.17). The amount of desired Inputs and Outputs (I/O s) are shown (in DeviceNet Master ex. above 20 bytes x 8 bits + 8 status bits = 168 bits). Fig. 15 PCI card (AB3602 Profibus M) 16. The last position will automatically be marked, press [ENTER] again. 17. The question MODIFY appears. Select YES. Reg.No. ME00107EN-04 Page of 99

28 Settings DX200 Enable the PCI card 1. Select SYSTEM SETUP Fig. 16 Menu maintenance 2. Select OPTION BOARD Fig. 17 Setup 3. Select the appropriate PCI card and press [SELECT]. Fig. 18 Option board 4. Change the status of the PCI card using [SELECT] on USED. 5. Enter the desired size for the I/O area (byte) using [SELECT]. Note That changes the acknowledgement query to ENABLE which prevents an external configuration of the card. Should this be wished, then change this setting only after the completion of the full configuration of the PCI card Fig. 19 AB Confirm with [ENTER]. Page 20 Reg.No. ME00107EN of 99

29 Settings The MODIFY window will be opened. 7. Confirm the settings with [YES]. 8. Press [ENTER] again. A list of the registered I/O cards will be shown. Fig. 20 I/O Module 9. Keep [ENTER] pressed until the line with the entry of the appropriate PCI card is displayed. The I/O number is specified in bits and contains in addition to the set value also 8 status bits. 10. Confirm with [ENTER]. The MODIFY window will be opened. 11. Confirm the settings with [YES]. 12. Using [SELECT], change the occupation mode from AUTO to MANUAL Reg.No. ME00107EN-04 Page of 99

30 Settings 13. Select DETAIL with the cursor button and press [SELECT].. Fig. 21 External I/O setup 14. Assign the input bytes of the PCI card to the desired CIO start address if needed. See Standard- CIO start addresses. The first byte (the individual) is the status byte. This is followed by the data bytes, which are entered in step Change the INPUT address for the PCI card a. Start by pressing [SELECT]. b. Select MODIFY, press [SELECT]. c. Enter the address and confirm the entry with [ENTER]. Fig. 22 External I/O Allocation (INPUT) 16. After having completed all the changes, confirm with [ENTER]. Page 22 Reg.No. ME00107EN of 99

31 Settings 17. Change the OUTPUT address for the PCI card a. Start by pressing [SELECT]. b. Select MODIFY, press [SELECT] c. Enter the address and confirm the entry with [ENTER]. Fig. 23 External I/O Allocation (OUTPUT) 18. Confirm the settings with [YES] and press [ENTER] again. The PCI card is now enabled in the controller and can be used. Reg.No. ME00107EN-04 Page of 99

32 Settings Standard- CIO start addresses Set the CIO start address as shown in the following table: Inputs Outputs CIO address CB type Bytes Notes CIO address YIU02 5 Standard I/O board XFB st digital I/O XFB01 board or XOI02 5 1st digital I/O board XOI02 5 2nd digital I/O board XOI02 5 3rd digital I/O board XFB nd digital I/O XFB01 board or XOI02 5 4th digital I/O board XOI02 5 5th digital I/O board XOI02 5 6th digital I/O board XFB rd digital I/O XFB01 board or XOI02 5 7th digital I/O board XOI02 5 8th digital I/O board XOI02 5 9th digital I/O board XFB th digital I/O XFB01 board or XOI th digital I/O board XOI th digital I/O board XOI th digital I/O board Start PCI slave or XFB slave CB type Bytes Notes YIU02 5 Standard I/O board XFB st digital I/O XFB01 board or XOI02 5 1st digital welding I/ O board XOI02 5 2nd digital welding I/O board XOI02 5 3rd digital welding I/ O board XFB nd digital I/O XFB01 board or XOI02 5 4th digital welding I/ O board XOI02 5 5th digital welding I/ O board XOI02 5 6th digital welding I/ O board XFB rd digital I/O XFB01 board or XOI02 5 7th digital welding I/ O board XOI02 5 8th digital welding I/ O board XOI02 5 9th digital welding I/ O board XFB th digital I/O XFB01 board or XOI th digital welding I/O board XOI th digital welding I/O board XOI th digital welding I/O board Start PCI slave or XFB slave AB36xx 1 Status byte AB36xx 1 Status byte AB36xx 164 Field bus AB36xx 164 Field bus Page 24 Reg.No. ME00107EN of 99

33 DX100 Manual I/O allocation (FD 134) 3.2 DX100 Manual I/O allocation (FD 134) The installed PCI-cards are given specific areas by default. But from generation DX100 it is possible to allocate certain areas. As an option this possibility can be enabled. The procedure for this function is located in a separate instruction for External I/O signal allocation function. 3.3 I/O map Depending on the application of the system, the number of userdefinable I/O points will vary. The robot controller I/O s follows a basic octal numbering system, i.e. each input or output group will occur in a grouping of eight. The Robot Controller system has the capability of supporting 1024 input and 1024 output signals. The DX100 system has the capability of supporting 2048 input and 2048 output signals Fieldbus input data map The data received from the PCI fieldbus card appears in the Robot controller memory map according to the tables below. The base address in the Robot controller where the data will appear depends on the installation. In the examples below the PCI card inputs are represented from address Memory map when the I/O size is set to a total of 24 input bits (16 fieldbus input bits) Address Contents Description MSB LSB Module and network status Status information. See section3.4 Fieldbus status byte b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7) b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 (b8 - b15) Memory map when the I/O size is set to a total of 56 input bits (48 fieldbus input bits) Address Contents Description MSB LSB Module and network status Status information. See section3.4 Fieldbus status byte b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7) b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 (b8 - b15) b23 b22 b21 b20 b19 b18 b17 b16 Fieldbus input byte 3 (b16 - b23) b31 b30 b29 b28 b27 b26 b25 b24 Fieldbus input byte 4 (b24 - b31) b39 b38 b37 b36 b35 b34 b33 b32 Fieldbus input byte 5 (b32 - b39) b48 b47 b46 b45 b44 b43 b41 b40 Fieldbus input byte 6 (b40 - b48) Fieldbus output data map The data transferred from the robot controller to the PCI fieldbus card appears in the robot controller memory map according the table below. The base address in the robot controller where Reg.No. ME00107EN-04 Page of 99

34 Fieldbus status byte the data will appear depends on the installation. In the examples below the PCI card inputs are represented from address Memory map when the I/O size is set to a total of 24 output bits (16 fieldbus output bits) Address Contents Description MSB LSB Reserved Not available for use b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 - b7) b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus output byte 2 (b8 - b15) Memory map when the I/O size is set to a total of 56 output bits (48 fieldbus output bits) Address Contents Description MSB LSB Reserved Not available for use b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 - b7) b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus output byte 2 (b8 - b15) b23 b22 b21 b20 b19 b18 b17 b16 Fieldbus output byte 3 (b16 - b23) b31 b30 b29 b28 b27 b26 b25 b24 Fieldbus output byte 4 (b24 - b31) b39 b38 b37 b36 b35 b34 b33 b32 Fieldbus output byte 5 (b32 - b39) b48 b47 b46 b45 b44 b43 b41 b40 Fieldbus output byte 6 (b40 - b48) The first byte of output data is reserved for future use and is not accessed by the PCI fieldbus card. This byte should not be used by the robot controller program. 3.4 Fieldbus status byte One byte of input status data is generated by the PCI fieldbus card. The status byte contains information about the PCI card and the fieldbus environment. The byte is continuously updated by the software. The information available in this byte can be used by the robot controller to monitor the PCI card and the fieldbus system. The status byte contains the following information: Bit no: Function Valid 0 DX200: Watchdog counter. Incremented every Not used on other ms. controllers Not used 4 1 = HW problem. Powerlink 5 1 = Some configured slaves are unreachable AB3602 only 6 1 = No communication Master/Slave 7 1 = General failure Master/Slave Page 26 Reg.No. ME00107EN of 99

35 Ping 4 General installation in IP-based networks This chapter is valid for the PCI cards that use IP based communication over Ethernet. Every node on an IP network shall have a unique IP address. 4.1 Ping The IP address on the board is set with the HMS Anybus IPconfig tool which can be downloaded from the HMS support web page. Verify with the ping command-line tool. If a ping is successful, the cabling and IP address/subnet mask are operational. Equipment connected together shall have the same subnet mask. If not they will be on different logical networks No answer from ping If no answer, verify the robot controller IP address and subnet mask (Maintenance Mode, Setup- >Option Function). Verify IP address on your PC, write ipconfig on the command line. Subnet masks shall be equal and IP addresses shall be unique. Cleaning the arp cache may sometimes help if cables are connected/disconnected frequently. On the command line write arp d Only one Ethernet cable used This is a special case when robot controller and pinging PC is connected with just one cable. Most modern PCs does automatic cross over of the Ethernet cable. Solution: Connect a switch/hub between the robot controller and the PC. If the communication works after that, the cable needs to be of the crossover type Logical Networks One reason that the ping does not work could be erroneously configured subnet masks. An IP address consists of two parts: 1. Subnet. The first part describing the subnet/logical network where the node belongs. Nodes that communicate with each other need to be on the same subnet. If not a gateway/router is needed to connect the different networks. 2. Node address. The other part describes the node address within the subnet The IP address is not only a node address, the subnet part is of the same importance. The subnet mask is the key to the subnet part of the IP address. It tells how many of the most significant bits in the IP address that is the network address Example 1: The IP address with subnet mask The subnet part of the address is , the node address is A node with this IP address can only communicate with nodes which have their IP address starting with Example 2: Reg.No. ME00107EN-04 Page of 99

36 Anybus IPconfig The same IP address as example 1, but subnet mask This gives the subnet part of the address to and the node part to 106. This node can only communicate with nodes which have an IP address starting at Example 3: It is easier to understand the IP address parts if looking at their binary representations: is in hex 0xAC11146A, is 0xFFFF0000. Logical OR between the IP address and the subnet mask gives the subnet address, which is xAC11146A & 0xFFFF0000 0xAC There is a deprecated default rule regarding the subnet mask selection. It simplifies the subnet mask selection, but makes many people unaware of it s existence. IP addresses starting at is class A addresses and have subnet mask is class B with , is class C with IP addresses starting at 224 is class D addresses and reserved for multicast traffic. 4.2 Anybus IPconfig The Anybus IPconfiguration tool can be downloaded from the HMS website. 1. Locate Support 2. On the dropdown menu, select Anybus-S or Anybus-M depending on if you use a slave or master module. 3. Select the network type. A specific site for the selected fieldbus appears. The IP based boards have a link to the Anybus IPconfig utility program. On this page there is also other useful information, e.g. how to configure the network, see Fig. 24 Example Configuration of network. Page 28 Reg.No. ME00107EN of 99

37 Anybus IPconfig Fig. 24 Example Configuration of network The module is not shown If the module not is shown, verify the cabling etc. using the ping command, see 4.1 Ping Fig. 25 Settings Anybus IPconfig If the module is still not shown: 1. Press the Settings button 2. Mark the check box Broadcast from a Specific Network Interface Controller, see Fig. 25 Settings Anybus IPconfig 3. Check that the correct network adapter is selected. Reg.No. ME00107EN-04 Page of 99

38 Anybus IPconfig The module has IP address If the module has IP address , check that DHCP is not set by mistake. If setting DHCP without having a DHCP server the IP address shows up as If using DHCP, the server gives IP addresses dynamically to nodes on the network. Page 30 Reg.No. ME00107EN of 99

39 Profibus Interface Details 5 Profibus DPV1 Slave AB Profibus Interface Details Complete Profibus DPV1 Slave functionality according to extensions of IEC Up to 164 bytes input and 164 bytes output Supports PA baud rate up to Kbit/s Supports class 1 and class 2 services Automatic baudrate detection (9.6 kbit/s - 12 Mbit/s) RS-485 optically isolated Profibus interface with on-board DC/DC converter 5.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 26 PCI Profibus DPV1 slave card Status LEDs No: Indication State Meaning 1 Appl. connected Green Controlled by application Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Reg.No. ME00107EN-04 Page of 99

40 Card No: Indication State Meaning 3 Acyclic Traffic 4 Fieldbus Diagnostics 5 Fieldbus On Line 6 Fieldbus line Green Red, Flashing 1 Hz Red, Flashing 2 Hz Red, Flashing 4Hz Green Green, flashing Red No power or no DPV1 request currently being executed A DPV1 request is currently being executed No diagnostics present or no power on the module Error in configuration data Error in parameter data Profibus ASIC initialisation error Bus is not online, or no power on the nodule Bus is online and data exchange is possible Clear mode Bus is off line Bus is off line, or no power on the module Connectors 9-pin D-sub The 9-pin D-sub is the standard connector and is recommended for data transfers rates higher than 1500kbit/s. Fig. 27 D-sub layout A. D-sub, male layout B. D-sub, female layout Pin Signal Note Housing Shield 1 NC 2 NC 3 B-Line 4 RTS RTS is used in some equipment to determine the direction of transmission. In normal applications only A-Line, B-Line and shield are used. 5 GND BUS +%V BUS and GND BUS are used for bus 6 +5V BUS termination. Some devices, like optical transceivers (RS485 to fibre optics) might require external power supply from these pins. 7 NC 8 A-Line 9 NC Page 32 Reg.No. ME00107EN of 99

41 PROFIBUS network setup 5.3 PROFIBUS network setup For a complete network setup See 6.3 PROFIBUS network setup. Each slave device in a PROFIBUS network is associated with an GSD-file which has to be downloaded to the network GSD-file The GSD-file, contains all the necessary information about the device. The configuration tool uses the GSD-file during configuration of the Profibus DP network. Note The latest version of the GSD-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for Profibus DP-V1' without I&M support. Use the latest release of 'HMS_1013.GSD' for the 'AB3601-B' variant and 'HMSB1013.GSD' for the 'AB3601-C' variant. Reg.No. ME00107EN-04 Page of 99

42 Profibus interface details 6 Profibus DPV1 Master AB Profibus interface details Complete Profibus class 1 and class 2 Master according to IEC Up to 125 DP/DPV1 slaves can be connected Up to 255 bytes input and 255 bytes output data Supports Profibus baud rates up to 12 Mbit/s RS-485 optically isolated Profibus interface with on-board DC/DC converter Configuration via Anybus NetTool Windows based configuration software 6.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 28 PCI Profibus DPV1 Master card Status LEDs No: Indication State Meaning 1 Appl. connected Green Controlled by application Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Page 34 Reg.No. ME00107EN of 99

43 Card No: Indication State Meaning 3 Master status 4 Token hold 5 Database Status 6 Communication status Green Green, flashing Red Green Green Green, flashing Red Green Green, flashing Red Operate Mode Clear Mode Stop Mode line Master has the token Master does not have the token Database OK Database download in progress Database invalid No database downloaded Data exchange with all configured slaves Data exchange with at least one configured slave Bus control error (Possible short circuit or configuration error) No data exchange with any off the configurated slaves Fieldbus interface Fig. 29 D-sub layout A. D-sub, male layout B. D-sub, female layout Pin Signal Housing Cable shield B-Line 4 RTS 5 GND_BUS 6 +5V BUS (output) 7-8 A-Line 9 - Reg.No. ME00107EN-04 Page of 99

44 PROFIBUS network setup Serial interface Pin Signal Housing PE 1-2 RxD 3 TxD 4-5 GND PROFIBUS network setup To be able to setup the PROFIBUS fieldbus network, the AnyBus NetTool for PROFIBUS is recommended to use AnyBus NetTool for PROFIBUS Anybus NetTool for Profibus is a configuration tool to create complete Profibus-DP network configurations. The graphical workbench of NetTool allows the compilation of Profibus network configurations based on slave GS*-files. By online functionality the Profibus configuration can be downloaded to the master module and the I/O-data of the connected slaves be monitored and modified. The configuration tool includes all necessary software and a hardware interface to configure, manage and troubleshoot your PROFIBUS network. When installed, go to the Help-menu where all necessary information/guidelines for the setup can be found Termination The end nodes(first and last nodes) in a PROFIBUS network shall be terminated to avoid reflections on the bus line. Attach a terminating resistor, equal to 220 ohms, to each end of the data transfer cable. The resistors are connected across the A- and B-lines(Pin 8 and 3 of the SUB-D connector). Caution If you do not use terminating resistors as described, the PROFIBUS cable system will NOT operate properly Node settings All nodes have to be, by hardware, setup according to the configuration defined in the software. The kind of setting device is varying, depending on which manufacturer used. Page 36 Reg.No. ME00107EN of 99

45 PROFIBUS network setup Configuration online The network configuration have to be scanned and downloaded to the PCI-card. Before going online a connection shall be established to the configuration connector on the PROFIBUS PCIcard. Reg.No. ME00107EN-04 Page of 99

46 DeviceNet Interface Details 7 DeviceNet Adapter Slave AB DeviceNet Interface Details Complete DeviceNet 2.0 Adapter implementation according to ODVA, group 2 only server DIP switch select baud rate and MACID Baud rate kbit/s Optically isolated DeviceNet interface Up to 255 bytes input and 255 bytes output data 7.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 30 PCI DeviceNet adapter (slave) card Status LEDs No: Indication State Meaning 1 Appl. connected Green Controlled by application Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Not used Not used Page 38 Reg.No. ME00107EN of 99

47 DeviceNet network setup No: Indication State Meaning No power or not online Green Link OK, online, connected 5 Network status Green, flashing Online not connected Red Critical link failure Red, flashing Connection timeout No power to device Green Device operational 6 Module status Green, flashing Data size greater than configured Red Unrecoverable fault Red, flashing Minor fault Connectors Application interface The module is available in both serial and parallel versions. Fieldbus interface Fig. 31 Male Connector DeviceNet No: Signal Decription Note 1 V- Negative supply voltage The module requires 24VDC bus power 2 CAN_L CAN_L bus line 3 shield Cable shield 4 CAN_H CAN_H bus line 5 V+ Positive supply voltage The module requires 24VDC bus power Note The layout in Fig. 31 Male Connector DeviceNet is for a male connector. Female connectors are in the opposite order. 7.3 DeviceNet network setup For a complete network setup See 8.3 DeviceNet network setup. Each slave device in a DeviceNet network is associated with an EDS-file which has to be downloaded to the network. Reg.No. ME00107EN-04 Page of 99

48 DeviceNet network setup The EDS-file contains all the necessary information about the device. The configuration tool uses the EDS-file during configuration of the DeviceNet network. Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for DeviceNet'. Use the latest EDS file that matches the 'major revision' of the firmware in the fieldbus adapter. Page 40 Reg.No. ME00107EN of 99

49 DeviceNet Interface Details 8 DeviceNet Scanner Master AB DeviceNet Interface Details Complete DeviceNet 2.0 scanner implementation according to ODVA Group 2 Client/Server/UCMM support Optically isolated DeviceNet interface Baud rate kbit/s Up to 255 bytes input and 255 bytes output data Controls up to 63 DeviceNet slaves/adapters Supports FLASH field upgrades Configuration via Anybus NetTool or RSNetworx 8.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 32 PCI DeviceNet scanner (master) Status LEDs No: Indication State Meaning 1 Appl. connected Green Controlled by application Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Not used Reg.No. ME00107EN-04 Page of 99

50 DeviceNet network setup No: Indication State Meaning 4 Operation mode 5 Network status 6 Module status - No power or not initialized Green, flashing Green Green, flashing Green Red, flashing Red Green Red, flashing Red Idle mode Run mode No power, not initialized or no connection established Online, no connection established Online, at least one connection established Minor fault; at least one connection has a minor fault Critical link failure No power or not initialized Module status OK Minor fault Major fault Connectors Fieldbus interface Fig. 33 Male Connector DeviceNet No: Signal Decription Note 1 V- Negative supply voltage The module requires 24VDC bus power 2 CAN_L CAN_L bus line 3 shield Cable shield 4 CAN_H CAN_H bus line 5 V+ Positive supply voltage The module requires 24VDC bus power Note The layout in Fig. 33 Male Connector DeviceNet is for a male connector. Female connectors are in the opposite order. 8.3 DeviceNet network setup To be able to setup the DeviceNet fieldbus network, the AnyBus NetTool for DeviceNet is recommended to use. Page 42 Reg.No. ME00107EN of 99

51 DeviceNet network setup AnyBus NetTool for DeviceNet The AnyBus NetTool for DeviceNet is a Configuration Tool that allows configuration and maintenance of your DeviceNet Network. Setup functions include full Scanner configuration and DeviceNet slave configuration. The AnyBus NetTool-DN lets users configure, manage and troubleshoot any DeviceNet network or network component on a DeviceNet network. The tool consists of a Windows 32-bit graphical network configuration software and a DIN rail mountable adapter that connect a PC, via RS232, to the DeviceNet cable. The configuration tool includes all necessary software and a hardware interface to configure, manage and troubleshoot your DeviceNet network. When installed, go to the Help-menu where all necessary information/guidelines for the setup can be found Termination The end nodes (first and last nodes) in a DeviceNet network shall be terminated to avoid reflections on the bus line. Attach a terminating resistor equal to 121 ohms, 1 %, 1/4W or greater wattage, to each end of the trunk cable. The resistors are connected across the CAN_H and CAN_L lines (Blue and white wires of the DeviceNet cable). Caution If you do not use terminating resistors as described, the DeviceNet cable system will NOT operate properly Nodes All nodes have to be, by hardware, setup according to the configuration defined in the software. The kind of setting device is varying, depending on which manufacturer used Configuration online The network configuration have to be scanned and downloaded to the PCI-card. Before going online a connection shall be established to the DeviceNet network. The adapter can be connected parallelly anywhere within the fieldbus network Configuration with RSNetworx from Rockwell RSNetworx for DeviceNet form Rockwell can be used instead of AnyBus NetTool for configuring the DeviceNet network. RSNetWorx does not presently show parameters for the masters why the information below may be helpful in order to get the HMS DeviceNet scanner in idle -mode, where it can receive configuration. Use "Class / Instance Editor and right-click the node, so the editor going to choose. It is a kind of dialogue that allows the user to send an (almost) arbitrarily CIP command with arbitrary data to a node on the network, usually it is used to read / write settings of a slave, but it can be used for other things as well. A SetAttributeSingle has to be send to Class 0x01, Instance 0x01 and Attribute 0x67. The data shall be either "0" or "1" depending on whether the master should be set to "Run" or "Idle". Reg.No. ME00107EN-04 Page of 99

52 DeviceNet network setup EDS-file Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-M for DeviceNet'. Use the latest EDS file that matches the 'major revision' of the firmware in the fieldbus adapter. Page 44 Reg.No. ME00107EN of 99

53 AS-Interface Master 9 AS-Interface Master AB AS-Interface Master Complete AS-Interace Master supporting version 2.1 and also backwards compatible with version 2.0 Controls up to 62 AS-Interface slaves Up to 64 bytes input and 64 bytes output data Optically isolated interface Full extended master M1E Supports auto-configuration or configuration via RS-232 using standard Windows hyperterminal program on PC 9.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 34 PCI AS-Interface Master Status LEDs No: Indication State Meaning 1 Appl. connected Green Controlled by application Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity 3 Running/Idle Green Module is in running mode Red Module is in idle mode Reg.No. ME00107EN-04 Page of 99

54 Card No: Indication State Meaning 4 Auto prog, slave 0 exist 5 Network status 6 Module status No error, no slave 0, autoprogrammming not possible 8Hz Green Auto programming possible 1Hz Green Slave address 0 exist Red Periphery error 8Hz Red Perophery error, auto-programming possible 1Hz Red Periphery error, slave address 0 exist Green, flashing Green Red Green, flashing Green Red No power or not initialized online according to configuration Online, but no connections established line No power or not initialized Protected mode Configuration mode Power fail bus Connectors Fig. 35 Connector PCI AS-interface Master No: Signal 1 AS-Interface AS-Interface Rectifying of interruption Since there are possibilities of AS-interface being affected by interruption, a ferrite clip should be attached to its bus cable according to Fig. 36 Ferrite clip on cable. Fig. 36 Ferrite clip on cable Page 46 Reg.No. ME00107EN of 99

55 Principle of Input/Outputs in ASI 9.3 Principle of Input/Outputs in ASI Note For every Input or Output in ASI the respective Input/Output will be allocated (blocked). The Inputs/Outputs of the nodes in an ASI fieldbus system can be set up as in following example: I/O NO: Function Comment bits of system status For NX100 specific fieldbus status data bits of system status For ASI fieldbus system internal status data. Always 4 first bits of the first node in ASI bits of data input Node 1 4 bits of data output bits of data input Node 2 4 bits of data output bits of data input Node 3 4 bits of data output bits of data input Node 4 4 bits of data output 9.4 Configuration interface This interface provides a simple text based interface via the onboard RS232 interface. All network configuration parameters are available using a standard terminal emulator such as the windows Hyperterminal. Note No data exchange is halted and no mailbox activity is possible while using this interface. Terminal emulation: ASCII Baudrate: Databits: 8 Stopbits: 1 Parity: None Flow control: None Reg.No. ME00107EN-04 Page of 99

56 Configuration interface Menu Tree Overwiev Fig. 37 Menu tree Enable Terminal Interface Menu The module displays the following screen when connecting to the configuaration interface Fig. 38 Enable terminal interface menu Page 48 Reg.No. ME00107EN of 99

57 Configuration interface To activate the configuration interface, press [Enter]. Note that data exchange and mailbox activity will be halted until the RS232 cable is physically disconnected. Main menu The following menu entries are available from the main menu. Detailed information of each menu entry is presented in the following pages. Fig. 39 Main menu The status section reflects the contents of the AS-Interface flag bytes. View scan-lists This command displays all network status lists in the format shown in Fig. 40 Scan-list. Reg.No. ME00107EN-04 Page of 99

58 Configuration interface Fig. 40 Scan-list - = No slave present X = Slave present Page 50 Reg.No. ME00107EN of 99

59 Configuration interface View all nodes This command displays I/O configuration, ID codes and all parameters for slave Fig. 41 All nodes View all detected nodes This command will display all detected nodes Fig. 42 Detected nodes Reg.No. ME00107EN-04 Page of 99

60 Configuration interface To alter a setting for a specific node, type the desired node address and press [Enter]. View single node This command displays information about a single node. Fig. 43 Single node To view or alter the settings for a specific node, type the desired node address and press [Enter]. Toggle node This mode is used to alter the current operating mode of the module. Fig. 44 Toggle mode Press [ESC] to cancel. Online/line mode This command is used to toggle Online/line mode Fig. 45 Online/line mode Press [ESC] to cancel. Page 52 Reg.No. ME00107EN of 99

61 Configuration interface Auto address This command is used to enable/disable the automatic address programming feature. Fig. 46 Auto address Press [ESC] to cancel. Save configuration Fig. 47 Save configuration Press [Enter] to store the current configuration, or press [ESC] to cancel. Note This command is not allowed in protected mode Change settings This menu is displayed when a specific node has been selected in main menu commands 1 to 4. Reg.No. ME00107EN-04 Page of 99

62 Configuration interface Fig. 48 Change settings To alter the value of a parameter, select the desired parameter by typing the corresponding number and press [Enter]. A menu similar to the one below is displayed, allowing the selected parameter to be altered. Type the new value and press [Enter]. The parameter value will change accordingly. Fig. 49 Change parameter Page 54 Reg.No. ME00107EN of 99

63 EtherNet/IP Adapter/Modbus TCP slave interface details 10 EtherNet/IP Adapter/Modbus TCP Slave AB EtherNet/IP Adapter/Modbus TCP slave interface details Complete EtherNet/IP Adapter (slave) interface Baud rate: 10/100 MBit/s EtherNet/IP level 2 I/O server Transformer isolated Ethernet interface Modbus/TCP server/slave functionality Up to 255 bytes input and 255 bytes output data 10.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 50 EtherNet/ProfiNet/FL-Net card Reg.No. ME00107EN-04 Page of 99

64 Card Status LEDs No: Indication State Meaning 1 Appl. Green Controlled by application connected Red Standalone Green, flashing 2 I/O ACCESS Red, flashing I/O ACCESS 3 Activity Green, flashing A packet is received or transmitted 4 - Green, Link detected Link not detected Green On-line, one or more connections established (CIP Class 1 or 3) Green, flashing On-line, no connections established Red Duplicate IP- Configured IP address already 5 Network status in use Red, flashing Connection timeout. One or more of the connections in which this module is the target has timed-out. This state is only left if all timed-out connections are re-established or if the module is reset. Alternating red/ Self test in progress green No power or no IP address Green Controlled by a Scanner in Run state Green, flashing Not configured, or Scanner in Idle state Red A major unrecoverable fault has been 6 Module status detected Red, flashing A minor recoverable fault has been detected Alternating red/ Self-test in progress green No power Note LED 2 and 6 reflects Ethernet IP status. If using AB3606 only for ModbusTCP these 2 LEDs are not valid. Fieldbus interface 1 8 Fig. 51 RJ45 female layout Page 56 Reg.No. ME00107EN of 99

65 Network setup Pin RJ45 (Female) Signal 1 TD+ 2 TD- 3 RD+ 4 Termination 5 Termination 6 RD- 7 Termination 8 Termination 10.3 Network setup The IP address on the board is set with the HMS Anybus IPconfig tool which can be downloaded from the HMS support webpage. See section 4 General installation in IP-based networks EIP setup To configure the EtherNet/IP fieldbus network RS-Networx can be used. EDS files used by configuration tools, as well as examples can be found on the HMS support webpage. Some EtherNet/IP scanners do not support configuration with EDS-files, in these cases the instance numbering shall be entered manually. Minimum is to set output/producing instance number and input/consuming instance number of the assembly object, the rest can often be set to = 0. The instance numbering for the AB3606 and its assembly object: output/producing instance=100, input/consuming instance=150, configuration instance=197, Heartbeat Input-Only=198, Heartbeat Listen-Only=199. Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for EtherNet/IP'. Use the latest EDS file that matches the 'major revision' of the firmware in the fieldbus adapter Modbus/TCP ModbusTCP addressing. IO area is addressed with both coils (1 bit) and registers (16 bits). The coils have the MSB bit first, as opposite to DX100. The registers have the same bit mapping. Input area: coil , register Output area: coil , register , i.e. the same bits can be read via coil and registers. Both in and out areas can be read via Modbus. Reg.No. ME00107EN-04 Page of 99

66 EtherNet/IP Scanner master interface details 11 EtherNet/IP Scanner Master AB EtherNet/IP Scanner master interface details Complete EtherNet/IP Scanner (master) interface Dual Port (DPRAM) parallel interface EtherNet/IP level 4 I/O client - ODVA certified Transformer isolated Ethernet interface Up to 255 bytes input and 255 bytes output data 11.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 52 EtherNet/ProfiNet/FL-Net card Page 58 Reg.No. ME00107EN of 99

67 Card Status LEDs No: Indication State Meaning 1 Appl. Green Controlled by application connected Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Not used Green Link established 4 Link/Activity Green, flashing Activity; receiving/transmitting data No link or power off Green Connected The module has at least one established EtherNet/IP connection (target or originated) 5 Network status 6 Green, flashing Red Red, flashing Green Green, flashing Red Red, flashing Alternating Red/ Green No connections There are no EtherNet/IP connections established to the module (class 1 or class 3, target or originated) Duplicate IP Configured IP address already in use Connection timeout One or several EtherNet/IP target connections have timed-out The module can only leave this state if all timed-out target connections are re-established, or if the module is reset No power or no IP address Device operational Module is operating correctly in Runstate Standby Module has not been configured Scanner in Idle-state Major fault Major unrecoverable fault Minor fault Minor recoverable fault (originated on timeout) An originated connection could not be opened Self test Module is performing power up test procedures No power Reg.No. ME00107EN-04 Page of 99

68 Network setup Fieldbus interface 1 8 Fig. 53 RJ45 female layout Pin RJ45 (Female) Signal 1 TD+ 2 TD- 3 RD+ 4 Termination 5 Termination 6 RD- 7 Termination 8 Termination 11.3 Network setup To configure the EtherNet/IP fieldbus network RS-Networx is used or the on-board webserver (see chapter below). When configuring the HMS Ethernet/IP scanner it shall be in idle mode or the AB3607 onboard web-server (see Configure via AB3607's on-board web server). One way to change between idle and run mode is to access the PCI board s on-board http server. Use any standard webbrowser and write the IP address of the board in the address-field. The IP address on the board is set with the HMS Anybus IPconfig tool which can be downloaded from the HMS support webpage. See section 4 General installation in IP-based networks EDS file Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-M for EtherNet/IP'. Use the latest EDS file that matches the 'major revision' of the firmware in the fieldbus adapter. Page 60 Reg.No. ME00107EN of 99

69 Network setup Configure via AB3607's on-board web server This functionality is supported if the robot controller has a HMSAB.DRV version (DX100) or (NX100/NXC100) or later. Date for release is The AB3607 card shall have version 1.08 or newer. Version can be seen in the AnyBus IPConfig tool. The scanner starts to scan EtherNet/IP slaves when set in RUN-mode according to the configured scanlist. This scanlist can be accessed via Explicit CIP-messages via Ethernet or via WEB-pages by the help of two SSI-commands. The module shall be in Scanner mode Idle to be able to change the scanlist. The default WEBpages have this enabled via the check box on the first page. Fig. 54 Anybus Master EtherNet/IP A. Scanner mode Idle B. Scanlist Config Note If Scanlist Config is missing, update the HMSAB.DRV in the robot controller or the firmware on the PCI card. To enter Configuration of Scanlist, select text Scanlist Config : Fig. 55 Anybus Master EtherNet/IP 2 A. Delete B. Add Reg.No. ME00107EN-04 Page of 99

70 Network setup If you try to add or edit the scanlist when the module is in RUN-mode the following error will be displayed: Fig. 56 Error:12 To edit a connection in the list, just click on that row. To add a connection press [Add]. To delete a connection select row and press [Delete]. See Fig. 55 Anybus Master EtherNet/IP 2. Example below shows connection 5 bytes from an AnyBus Ethernet/IP adapter. Please note the instance numbering: Fig. 57 Scanlist configuration Page 62 Reg.No. ME00107EN of 99

71 Network setup Note The sum of all Originator->Target is not allowed to be greater than 505 bytes and the sum of all Target ->Originator is not allowed to be greater than 509 bytes. See Fig. 57 Scanlist configuration. Be sure not to set greater values or addresses outside these limits. Note The default value for the Configuration instance is 0. Reg.No. ME00107EN-04 Page of 99

72 PROFINET-IO Slave Interface Details 12 PROFINET-IO Slave AB PROFINET-IO Slave Interface Details Complete PROFINET-IO device functionality Max. 255 bytes of input and 255 bytes output data 100 Mbit full duplex transmission RJ45 connector Powerful 32 Bit processor for short cycle times GSD file for easy configuration 12.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 58 EtherNet/ProfiNet/FL-Net card Page 64 Reg.No. ME00107EN of 99

73 Card Status LEDs No: Indication State Meaning 1 Appl. Green Controlled by application connected Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity Not used Green Link established 4 Link/Activity Green, flashing Receiving/transmitting data No link or power off Green Initialized, no error Green, 1 flash Diagnostic data available Green, 2 flashes Blink. Used by an engineering tool to identify the Anybus module 5 Module status Red, 1 flash Configuration Error Too many modules/submodules I/O size derived from IO controller configuration is too large Configuration mismatch 8no module, wrong module) 6 Communication status Red, 3 flashes Red, 4 flashes Green Green, 1 flash No station name or no IP address assigned Internal Error No power or not initialized Online, RUN Connection with IO controller established IO controller is in RUN state Online, STOP Connection with IO controller established IO controller is in STOP state line No connection with IO controller Fieldbus interface 1 8 Fig. 59 RJ45 female layout Reg.No. ME00107EN-04 Page of 99

74 Network setup Pin RJ45 (Female) Signal 1 TD+ 2 TD- 3 RD+ 4 Termination 5 Termination 6 RD- 7 Termination 8 Termination 12.3 Network setup Two unique IDs have to be set on the ProfiNet slave: IP address Device Name Set a Device Name for the module when the Anybus PROFINET IO module is to be used for the first time in the network. The Device Name shall be unique within the network. The IP address can be assigned by the master, by DHCP, or set explicitly. Both the IP address and the device name can be set by, e.g. Siemens engineering tool. There is a guide for the Siemens tool on the HMS webpage. If using more than one AB3609 they can be distinguished by their MAC addresses. The IP address on the board is set with the HMS Anybus IPconfig tool which can be downloaded from the HMS support webpage. See section 4 General installation in IP-based networks. The configuration of AB3609 can be read by accessing the modules built in FTP server. The settings are in the files ethcfg.cfg and pniocfg.cfg. Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for PROFINET IO'. Use the latest published EDS file. Page 66 Reg.No. ME00107EN of 99

75 FL-Net Interface Details 13 FL-Net AB FL-Net Interface Details Complete FL-Net server functionality Support shielded (STP) and unshielded (UTP) cables FL-Net class 1 node Customizable identity/profile information Up to 255 bytes input and 255 bytes output data Dual Port (DPRAM) parallel interface Transformer isolated Ethernet interface 13.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 60 EtherNet/ProfiNet/FL-Net card Reg.No. ME00107EN-04 Page of 99

76 Network setup Status LEDs No: Indication State Meaning 1 Appl. Green Controlled by application connected Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity 3 COM Green Packet received or transmitted No activity 4 LNK Green Link established No link established 5 FL-LNK Green Participating on FL-Net Not participating on FL-Net Red Unit needs to be replaced (e.e. invalid MAC ID) or Anybus watchdog enabled and not updated properly 6 ERR Red, flashing Parameter error Normal state Fieldbus interface 1 8 Fig. 61 RJ45 female layout Pin RJ45 (Female) Signal 1 TD+ 2 TD- 3 RD+ 4 Termination 5 Termination 6 RD- 7 Termination 8 Termination 13.3 Network setup The IP address on the board is set with the HMS Anybus IPconfig tool which can be downloaded from the HMS support webpage. See section 4 General installation in IP-based networks. Page 68 Reg.No. ME00107EN of 99

77 FIPIO Interface Details 14 FIPIO Slave AB FIPIO Interface Details General features: Supports both FIP and WorldFIP standards Baudrate. The baud rate is fixed to the standard FIPIO baudrate 1Mbit/s The FIPIO slave is configured as a Class 0 device, i.e. it cannot change configuration in runtime. It supports all 3 different FIPIO profiles: FRD C2 = FRDP - FIPIO Reduced Device Profile. Up to 2 words in/out = 4 bytes = 32 bits. FSD C8 = FSDP - FIPIO Standard Device Profile. Up to 8 words in/out = 16 bytes = 128 bits FED C32 = FEDP - FIPIO Extended Device Profile. Up to 32 words in/out = 64 bytes = 512 bits. The profile is selected depending on the configured IO size Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 62 FIPIO slave card The top connectors are most bus IN interface. The bottom connectors, above the LEDs are bus OUT interface. Reg.No. ME00107EN-04 Page of 99

78 Setup Status LEDs No: Indication State Meaning 1 Appl. connected 2 I/O ACCESS 3 Run 4 COM 5 Err 6 I/O Green Red Green, flashing Red, flashing Green Green, flashing Red, flashing Red Red Controlled by application Standalone I/O access OK I/O access failure (recoverable) No activity Device not powered or major failure (no communication) Normal operation (Device powered up and operating) No bus activity Bus activity Not powered or device operating normally Bus not connected or promptness timeout Major unrecoverable fault Device operating normally External device error Fieldbus interface Fig pin D-sub male layout 14.3 Setup Node address setting can be in the range: 1-62 and Node address restrictions: Node address 0 is reserved for the fieldbus control system (e.g. the PLC) Node address 63 is reserved for configuration and diagnostic terminals Addresses 1-62 are used for connecting industrial peripheral devices to FIPIO. These devices Page 70 Reg.No. ME00107EN of 99

79 Setup shall be declared in the remote I/O configuration of the PLC that controls the process. Addresses can only be used if supported by the fieldbus control system Setup in Schneider s UNITY programming environment The older environment, PL7, is described on AnyBus support pages for FIPIO. The UNITY environment came into use around The configuration starts from project Browser with adding a FIPIO node. Fig. 64 Node configuration Chose one of the profiles FRD C2, FSD C8 or FED C32 depending of what is configured in the robot controller. The profile is set up depending on the configured IO size. I.e. 2 words give FRD, 3-8 words give FSD and 9-32 words give FED. The profiles without P is selected (=class 0 = not configurable from the master). Reg.No. ME00107EN-04 Page of 99

80 Setup Fig. 65 Choose profile After configuring the node it creates a number of I/O objects. Note that FRD is addressed via bits and FED/FSD via words FED C32: FSD C8: FRD C2 %IW\2.nod nb\ %IW\2.nod nb\ %QW\2.nod nb\ %QW\2.nod nb\ %IW\2.nod nb\ %IW\2.nod nb\ %IW\2.nod nb\ %IW\2.nod nb\ %I\2.nod nb\ %IW\2.nod nb\ %Q\2.nod nb\ %QW\2.nod nb\ Page 72 Reg.No. ME00107EN of 99

81 Setup Fig. 66 FIPIO address Fig. 67 FIPIO address continued In online mode it looks Fig. 68 Online mode when OK when OK. Fig. 68 Online mode when OK In online mode it looks like Fig. 69 Online mode when NOT OK when not OK. Reg.No. ME00107EN-04 Page of 99

82 Setup Fig. 69 Online mode when NOT OK The data in and out can be read in online and debug on a node that is OK. Fig. 70 Online data presentation The data can be read as Decimal, Hexadecimal or binary. Fig. 71 Data format Page 74 Reg.No. ME00107EN of 99

83 Interbus-S Interface Details 15 Interbus-S Slave AB Interbus-S Interface Details The Interbus-S 2Mbit/s module is a slave node that can be read from/written to by an Interbus master. Being a slave module, it cannot initiate communication to other nodes; it only responds to incoming requests. Galvanically isolated bus electronics. Up to 10 words of cyclic in/out data => 20 bytes in 20 bytes out => 160 bits in 160 bits out. No settings needed in maintenance mode. Baudrate. Setting only possible by changing jumper on physical AnyBus card. See below. The module supports 2Mbit/s and 500kbit/s operation. Physical Addressing. No setting. The addressing in a Interbus-S system is automatically assigned to devices using their physical location. No Process Data (parameter data) is used Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 72 Interbus-S slave card The top connector is bus IN interface. The bottom connector, above the LEDs, is bus OUT interface. Reg.No. ME00107EN-04 Page of 99

84 Card Status LEDs No: Indication State Meaning 1 Appl. connected Green Red Controlled by application Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity 3 CC/RC Green Cable connection is good and the Interbus master is not in reset mode. 4 RD Yellow Remote bus disabled 5 BA Green Bus active 6 TR Green RCP-communication active. Hold time = 500ms Fieldbus connector bus IN Fig. 73 Male 9-pin D-sub Fieldbus connector bus OUT Fig. 74 Female 9-pin D-sub Page 76 Reg.No. ME00107EN of 99

85 Setup 15.3 Setup The Interbus-S slave can run on either 500 kbit/s or 2 Mbit/s. The setting is made by switching a jumper on the card when the card is unpowered. Referring to image below: Moving the jumper to the A-side sets baudrate 2 Mbit/s Moving the jumper to the B-side sets baudrate 500 kbit/s Fig. 75 Switching baudrate: 500 kbit/s or 2 Mbit/s Reg.No. ME00107EN-04 Page of 99

86 CanOpen Interface Details 16 CanOpen Slave AB CanOpen Interface Details I/O Data is exchanged using Process Data Objects (PDO). The module supports up to 80 RPDO s and 80 TPDO s, each capable of carrying up to 8 bytes of data. DS301 v4.02 compliant Backwards compatible with DS301 v3 Application interface fully backwards compatible with ABS-COP-1 & 2. Galvanically isolated bus electronics Supports all standard baudrates Network store/restore functionality Heartbeat & Node Guarding support 80 Process Data Objects (PDO)s in/out => 160 bytes in and 160 bytes out => 1280 bits in 1280 bits out. No parameter data is used Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Page 78 Reg.No. ME00107EN of 99

87 Card Fig. 76 CanOpen slave card Status LEDs No: Indication State Meaning 1 Appl. Green Controlled by application connected Red Standalone Green, flashing I/O access OK 2 I/O ACCESS Red, flashing I/O access failure (recoverable) No activity 3 Status Normal operation Red Unrecoverable fault detected 4 Power Module not powered Green Module powered Module not powered Green, flashing 2 Module is in the PRE-OPERATIONAL state Hz 5 Run Green Module is in the OPERATIONAL state Green, single Modules in the STOPPED state flash Red, flashing Bus initialisation fault Reg.No. ME00107EN-04 Page of 99

88 Setup No: Indication State Meaning 6 Error Red Red, single flash Red, double flash Alternating red/ green Red, triple flash No error Bus off Warning limit reached Error control event Self test Module is performing power up test procedures Sync error Fieldbus interface Fig pin D-sub male layout 16.3 Setup Baudrate, 8 values possible to set in Maintenance mode: 10kbps, 20kbps, 50kbps, 125kbps, 250kbps, 500kbps, 800kbps and 1Mbps. Node address value: Valid settings range from EDS file for use in configuration tool can be downloaded from HMS. Select SUPPORT and then AnyBus-S. Then choose CANopen Slave Interface. There you will find EDS files as well as other examples of how to configure. Note The latest version of the EDS-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for CANopen'. Use the latest EDS file that matches the 'major revision' of the firmware in the fieldbus adapter Page 80 Reg.No. ME00107EN of 99

89 Setup Network configuration To configure a CanOpen network may be complicated. This should be seen as helpful suggestions/information: The DS301 Can Open specification itself describes how the CanOpen protocol works and what the various configuration objects are used for. When working with CanOpen this document will be useful sooner or later. It is strongly recommended to attend seminars or education about the CanOpen protocol before carrying out more complex experimenting. Working with CanOpen is often more similar to work with serial protocols like Modbus than compared to working with fieldbuses like Profibus or Devicenet. CanOpen requires more knowledge about the lower-level protocol details as they often need to be modified during network configuration. CanOpen provides much more flexibility but places high competence demands on the installer. Reg.No. ME00107EN-04 Page of 99

90 General 17 EtherCAT slave AB General EtherCAT slave is supported by the System SW version DS or DS for DX100 and from version DN for DX200. HMSAB.DRV version from (DX100) and (DX200). The HMSAB.DRV is part of the System SW Interface details CANopen over EtherCAT DS301 v4.02 compliant Galvanically isolated network electronics Generic Device Description File provided 17.2 Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. Fig. 78 EtherCAT slave card Page 82 Reg.No. ME00107EN of 99

91 Card Status LEDs No: Indication State Meaning 1 Appl. connected 2 I/O ACCESS 3 Link/Activity 1 4 Link/Activity 2 5 Run 6 Error Green Red Controlled by application Standalone Green, flashing I/O access OK Red, flashing I/O access failure (recoverable) No activity No link detected on Ethernet port 1 = In port Green Link detected on Ethernet port 1 Green, flashing Exchanging packets on Ethernet port 1 No link detected on Ethernet port 2 = Out port Green Link detected on Ethernet port 2 Green, flashing Exchanging packets on Ethernet port 2 The device is in INIT state Green, flashing The device is in PRE-OPERATIONAL state Green, single flash Green Red, flashing Red, single flash Red, double flash Red The device is in SAFE-OPERATIONAL state The device is in OPERATIONAL state EtherCAT communication is working General configuration error Slave device application has changed the EtherCAT state autonomously: Parameter Change in the AL status register is set to 01 (change/error). Sync manager watchdog timeout Application watchdog timeout State Description The actual state is described by LED 5 in Status LEDs. The Anybus-S EtherCAT module enters the INIT state directly after start-up. All other transitions are controlled by the network master. INIT INIT is entered directly after start-up. The Anybus-S EtherCAT module will remain in this state until it is switched to the PRE-OPERATIONAL state by the master. PRE-OPERATIONAL The module is configured by the master. Iin the PRE-OPERATIONAL state EtherCAT mailbox communication and SDO communication are allowed. Once configured the module will be switched to the SAFE-OPERATIONAL state by the master. Reg.No. ME00107EN-04 Page of 99

92 Network Setup SAFE-OPERATIONAL Input I/O data (PDOs) can be sent from the module to the master in the SAFE-OPERATIONAL state. No data communication from the master to the module. OPERATIONAL In OPERATIONAL state all kinds of communication are allowed, input I/O data from slave to master, output I/O data from master to slave as well as SDO communication Fieldbus interface 1 8 Fig. 79 RJ45 female layout Pin RJ45 (Female) Signal 1 TD+ 2 TD- 3 RD+ 4 Termination 5 Termination 6 RD- 7 Termination 8 Termination 17.3 Network Setup The only setup needed on the robot controller is the amount of used IO. No IP address is used on EtherCAT. Instead the addressing is made by the EtherCAT master and the address depends on where the slave is on the EtherCAT network. EtherCAT network can have any topology, but, unlike many other Ethernet based fieldbuses, standard network switches cannot be used. An EtherCAT slave forwards a telegram directly from an incoming port to an outgoing port by HW assistance. If a node is last on the network it sends the telegrams back on the inport. If the slave shall detect lost connection with the master, the Synch Manager Watchdog (SM Watchdog) has to be enabled by the master. See Fig. 80 Settings for recommended configuration of SM Watchdog (register 420 h = 1000) and the Multiplier (register 400h = 2498), resulting in 100 ms watchdog. Fig. 80 Settings is a screen shot from Beckhoff s System Manager. The HMS support website has a guide showing how to set up a Beckhoff PLC for AnyBus-S EtherCAT. Page 84 Reg.No. ME00107EN of 99

93 Network Setup Fig. 80 Settings Note The latest version of the ESI-file can either be downloaded from or received by contacting your Yaskawa representative. AB Corresponds to the 'Anybus-S for EtherCAT'. Use the ESI file that matches the 'major' and 'minor' revision of the firmware in the fieldbus adapter Omron tools Omron toll requires an ESI file where the configured amount of bytes are specified. This differs with e.g. Beckhoff that can scan the slves. HMS has a tool that creates an ESI file automatically. If having problems to assign the node address it could be a missed setting in the configuration (Configured Station Alias) that needs to have a valid value (1-192). Earlier version of the Omron config tools didn't have the ability to set this property. Reg.No. ME00107EN-04 Page of 99

94 Powerlink Controlled Node details 18 PL-IB 300 Powerlink 18.1 Powerlink Controlled Node details The PL-IB 300 PCI card acts as a Controlled Node (CN) on a Powerlink network. A Controlled Node (CN) is a slave. The network master is named Managing Node (MN). A Powerlink network does not need special switches as the case with e.g. EtherCAT. Powerlink support exists only for DX200 and from System SW version DN HMSAB.DRV version or later. The HMSAB.DRV is part of the System SW. Technical specifications/features: Supported standard: EPSG DS301 V1.1.0 FPGA-based Ethernet controller with POWERLINK acceleration Two port hub with two RJ45 connectors Direct synchronization of several cards via separate SYNC line Temperature range 0 to +70 C 508 bytes of IO in each direction can be configured. The bytes are mapped on 4 byte DINTs or dwords, making a max of Card Caution The card contains ESD sensitive components. Observe ESD precautions when handling the card. The PL IB300 Powerlink card has two external LEDs on each RJ45 connector (1). A. The upper yellow LED is collision indication. B. The green lower LED is link/activity. Page 86 Reg.No. ME00107EN of 99

95 Network setup 18.3 Network setup Please contact your Yaskawa representative to get the XDD file if needed for configuration. XDD file is similar with e.g. GSD files for Profibus. Below are examples for how to configure in B&R Automation Studio Installing the XDD file in B&R Automation Studio The figure below shows where the XDD file is installed. A project must be opened, if not the Import Fieldbus Device is dimmed. Fig. 81 B&R Automation Studio Configure IO in B&R Automation Studio Below are screen shots describing how to configure IO in an empty project. 1. Install the IXXAT node in the configuration view: Fig. 82 Configuration view Reg.No. ME00107EN-04 Page of 99

96 Network setup 2. Right click in the Physical view. Fig. 83 Physical view 3. In this window the amount of used dwords are selected. Values for used dwords are set to read/write, unused dwords are set to none. Up to 127 dwords in each direction can be enabled. Fig. 84 Physical View - Configuration Page 88 Reg.No. ME00107EN of 99

97 Network setup 4. Next the I/O can be mapped to the application 1131-code. Fig. 85 Physical View - I/O Mapping Reg.No. ME00107EN-04 Page of 99