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Fieldbus PCI-CARD For DX100 DX200 or NX100
Fieldbus PCI-CARD For DX100 DX200 or NX100
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.
MANUAL NO.
ME00107EN 2
170542-1CD
Fieldbus PCI-Card
ii
ME00107EN
170542-1CD
Fieldbus PCI-Card
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH50 II for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in the Chapter 1: Safety of
the DX200 instructions. To ensure correct and safe operation,
carefully read the DX200 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 manual
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
170542-1CD
Fieldbus PCI-Card
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.
iv
ME00107EN
170542-1CD
Fieldbus PCI-Card
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
ME00107EN
170542-1CD
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.
vi
ME00107EN
© 2014 Yaskawa Nordic AB · Reg.No. ME00107EN-02
Original instructions
Instruction manual
Fieldbus PCI-Card
Fieldbus PCI-Card
■ Reference list
■ Revision
Third release of this manual. The fieldbus PCI-card was earlier described in Instruction Manual
MRS6014GB.3 Fieldbus PCI-card.
1 General............................................................................................................................ 7
1.1 About this manual ..................................................................................................... 7
1.1.1 Copyright ................................................................................................................. 7
1.2 System requirements................................................................................................ 7
1.2.1 NX100 Software ...................................................................................................... 7
1.2.2 DX100/DX200 software........................................................................................... 7
1.3 In manual included Fieldbus PCI-cards and NetTools........................................... 7
1.4 Safety.......................................................................................................................... 8
1.5 Handling ESD sensitive devices.............................................................................. 9
1.6 Manufacturer.............................................................................................................. 9
1.7 Introduction ............................................................................................................... 9
1.8 Terms........................................................................................................................ 10
1.9 Fieldbus systems .................................................................................................... 10
1.10 Introduction to the fieldbus PCI-cards .................................................................. 10
1.11 Hardware compatibility........................................................................................... 10
2 Installation ...................................................................................................................11
2.1 General......................................................................................................................11
2.1.1 Specification ...........................................................................................................11
2.1.2 Technical specification............................................................................................11
2.1.3 Compliances and conformances ............................................................................11
2.2 Hardware installation...............................................................................................11
2.2.1 NX100 Installation ................................................................................................. 12
2.2.2 DX100/DX200 Installation ..................................................................................... 12
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.
1.1.1 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.
For the fieldbus PCI-card installation, the PCI card driver and version NS3.14-01A (or later) of the
NX100 system software are required.
No specific requirements.
1.4 Safety
This equipment is constructed, produced and tested according to the laws of the Member
States relating to the EMC-directive (2004/108/EC) as well as the LVD-directives (2006/95/EC)
YASKAWA Nordic AB’s responsibility does not cover errors or safety risks that may occur in
equipment connected to and/or installed in the machine, nor errors or safety risks that may
occur in the machine caused by equipment connected to and/or installed in the machine.
The machine must not be put into service until the complete production unit corresponds to
the laws of the Member States relating to machinery (2006/42/EC).
External cables must be connected according to our cable connection guide, see separate document.
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-385 25 Torsås
Telephone: +46 480 417 800
Telefax: +46 486 414 10
1.7 Introduction
The purposes of this document is to provide instructions for users of the YASKAWA fieldbus PCI-
cards 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.
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.
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.
2 Installation
2.1 General
2.1.1 Specification
Warning
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.
Note
To ensure trouble-free operation, the front plate of the card must be screwed together with the
system cover. The system cover must also be grounded in compliance with local regulations.
1. Remove the installation frame from the CPU rack by loosen the four screws, see Fig. 3 Remove
installation frame.
Fig. 4 Cover
3. Insert the PCI-card in an available slot. See Fig. 5 PCI-card in slot.
3 Software configuration
3.1 Settings
To setup the configuration of the system, first enter maintenance mode.
S TART HOLD
REMOTE TEACH
P LAY
J OB CONTENT
TEST0 1 S:0 000
CONTROL GROUP :R1 TOOL:
0000 NOP
0001 S ET B000 1
0002 S ET B001 0
0003 MOVJ VJ =80.00
0004 MOVJ VJ =80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ =80.00
0008 MOVJ VJ =100.00
0009 MOVJ VJ =100.00
0010 MOVJ VJ =100.00
0011 MOVJ VJ =100.00
MOVJ VJ =0.78
D
LAYOUT TOOL SE L GO BACK
B Mu lti
COO RD
COORD
ENTRY
DIR E C T
OP EN
PAGE AREA
S ELECT
S ERVO
MAIN SIMPLE ON CANCEL
MENU MENU READY AS S IS T
S ERVO ON
X- X+ X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+
C L- L+
FAS T
Y-
B-
Y+
B+
Z- Z+ MANUAL SP EED
Z- Z+
U- U+ T- T+
S LOW
E- E+ 8- 8+
INTER 7 8 9 TES T
SHIF T
SHIF T
LOCK S TART
EX.AXIS
WELD 1 2 3 DELETE INS ERT
ON/OF F
MOTION 0 . -
AUX MODIFY ENTER
TYPE
1. Maintenance mode:
To enter maintenance mode, press [MAIN MENU] button while turning the power supply on. The
Menu maintenance window is shown.
Fig. 9 Security
4. In the MODE box in security window:
Press [SELECT], choose MANAGEMENT MODE and press [SELECT]. A password window is
shown.
5. Enter “99999999” and press [ENTER]
Fig. 10 Password
6. To do a setup:
Fig. 11 Setup
7. In SETUP screen:
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 20060
Memory map when the I/O size is set to a total of 24 input bits (16 fieldbus input bits)
Memory map when the I/O size is set to a total of 56 input bits (48 fieldbus input bits)
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 the data will
appear depends on the installation. In the examples below the PCI card inputs are represented from
address 30060.
Memory map when the I/O size is set to a total of 24 output bits (16 fieldbus output bits)
Memory map when the I/O size is set to a total of 56 output bits (48 fieldbus output bits)
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.
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 must have the
same subnet mask. If not they will be on different logical networks.
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 must be equal and IP addresses must be unique. Cleaning the arp cache may sometimes
help if cables are connected/disconnected frequently. On the command line write “arp –d”.
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.
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 172.17.20.106 with subnet mask 255.255.0.0. The subnet part of the address is
172.17, the node address is 20.106. A node with this IP address can only communicate with nodes
which have their IP address starting with 172.17.
Example 2:
The same IP address as example 1, but subnet mask 255.255.255.0. This gives the subnet part of
the address to 172.17.20 and the node part to 106. This node can only communicate with nodes
which have an IP address starting at 172.17.20.
Example 3:
0xAC11146A
& 0xFFFF0000
―――――――――――
0xAC110000
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 1-127 is class A
addresses and have subnet mask 255.0.0.0. 128-191 is class B with 255.255.0.0, 192-223 is class C
with 255.255.255.0. IP addresses starting at 224 is class D addresses and reserved for multicast
traffic.
If the module not is shown, verify the cabling etc. using the “ping” command, see 4.1 Ping
If the module has IP address 0.0.0.0, check that DHCP is not set by mistake. If setting DHCP without
having a DHCP server the IP address shows up as 0.0.0.0. If using DHCP, the server gives IP
addresses dynamically to nodes on the network.
5.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
The 9-pin D-sub is the standard connector and is recommended for data transfers rates higher than
1500kbit/s.
A B
5.3.1 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 http://www.anybus.com or
received by contacting HMS.
6.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
Fieldbus interface
A B
Pin Signal
Housing Cable shield
1 -
2 -
3 B-Line
4 RTS
5 GND_BUS
6 +5V BUS (output)
7 -
8 A-Line
9 -
Serial interface
Pin Signal
Housing PE
1 -
2 RxD
3 TxD
4 -
5 GND
6 -
7 -
8 -
9 -
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.
6.3.2 Termination
The end nodes(first and last nodes) in a PROFIBUS network must 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
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.
The network configuration have to be scanned and downloaded to the PCI-card. Before going online
a connection must be established to the configuration connector on the PROFIBUS PCI-card.
7.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
7.2.2 Connectors
Application interface
Fieldbus interface
1 2 3 4 5
Note
The layout in Fig. 23 Male Connector DeviceNet is for a male connector. Female connectors
are in the opposite order.
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 http://www.hms.se or
received by contacting HMS.
8.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
8.2.2 Connectors
Fieldbus interface
1 2 3 4 5
Note
The layout in Fig. 25 Male Connector DeviceNet is for a male connector. Female connectors
are in the opposite order.
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.
8.3.2 Termination
The end nodes (first and last nodes) in a DeviceNet network must 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.
8.3.3 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.
The network configuration have to be scanned and downloaded to the PCI-card. Before going online
a connection must be established to the DeviceNet network. The adapter can be connected parallelly
anywhere within the fieldbus network.
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
must be either "0" or "1" depending on whether the master should be set to "Run" or "Idle".
9.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
9.2.2 Connectors
1 2 3
No: Signal
1 AS-Interface +
2 -
3 AS-Interface -
Since there are possibilities of AS-interface being affected by interruption, a ferrite clip should be
attached to its bus cable according to Fig. 28 Ferrite clip on cable.
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:
Note
No data exchange is halted and no mailbox activity is possible while using this interface.
The module displays the following screen when connecting to the configuaration 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.
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. 32 Scan-list.
Fig. 32 Scan-list
- = No slave present
X = Slave present
This command displays I/O configuration, ID codes and all parameters for slave
To alter a setting for a specific node, type the desired node address and press [Enter].
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.
Online/Offline mode
Auto address
Save configuration
Note
This command is not allowed in protected mode.
This menu is displayed when a specific node has been selected in main menu commands 1 to 4.
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.
10.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
Pin RJ45
(Female) Signal
5 Termination
6 RD-
7 Termination
8 Termination
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 must 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.
10.3.2 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 0—16383, register 0 – 1023 Output area: coil 16384 – 32767, register 1024 – 2047, i.e. the same
bits can be read via coil and registers. Both in and out areas can be read via Modbus.
11.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
When configuring the HMS Ethernet/IP scanner it must be in ”idle” mode. 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.
This functionality is supported if the robot controller has a HMSAB.DRV version 1.5.15.9 (DX100) or
1.4.18.9 (NX100/NXC100) or later. Date for release is 2013-01-08. All versions for DX200.
The AB3607 card must 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 must be in Scanner mode Idle to be able to change the scanlist. The default WEB-pages
have this enabled via the check box on the first page.
A
B
Note
If Scanlist Config is missing, update the HMSAB.DRV in the robot controller or the firmware
on the PCI card.
If you try to add or edit the scanlist when the module is in RUN-mode the following error will be
displayed:
Fig. 48 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. 47 Anybus Master EtherNet/IP 2.
Example below shows connection 5 bytes from an AnyBus Ethernet/IP adapter. Please note the
instance numbering:
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. 49 Scanlist
configuration. Be sure not to set greater values or addresses outside these limits.
Note
The default value for the Configuration instance is 0.
12.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
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.
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”.
13 FL-Net AB3610
13.1 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.
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
14.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
The top connectors are most bus IN interface. The bottom connectors, above the LEDs are bus OUT
interface.
Fieldbus interface
14.3 Setup
Node address setting can be in the range: 1-62 and 64-255.
• must be declared in the remote I/O configuration of the PLC that controls the process.
• Addresses 64 - 255 can only be used if supported by the fieldbus control system.
The older environment, “PL7”, is described on AnyBus support pages for FIPIO. The UNITY
environment came into use around 2004.
The configuration starts from project Browser with adding a FIPIO node.
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).
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: %IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.31
%QW\2.nod nb\0.0.0.0 - %QW\2.nod nb\0.0.0.31
FSD C8: %IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.8
%IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.8
FRD C2 %I\2.nod nb\0.0.0 - %IW\2.nod nb\0.0.31
%Q\2.nod nb\0.0.0 - %QW\2.nod nb\0.0.31
In online mode it looks like Fig. 61 Online mode when NOT OK when not OK.
The data in and out can be read in online and debug on a node that is OK.
15.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
The top connector is bus IN interface. The bottom connector, above the LEDs, is bus OUT interface.
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.
16.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
Fieldbus interface
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 1...127.
• EDS file for use in configuration tool can be downloaded from HMS. www.anybus.com. 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.
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.
17.2 Card
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
EtherCA T in-port
EtherCA T out-port
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.
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
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
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. 72 Settings for recommended configuration of
SM Watchdog (register 420 h = 1000) and the Multiplier (register 400h = 2498), resulting in 100 ms
watchdog. Fig. 72 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.
Fig. 72 Settings
YASKAWA Nordic AB
PO Box 504, SE-385 25 TorsÂs, Sweden
Phone: +46-480-417800, Fax: +46-480-417999
info@yaskawa.eu.com
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170542-1CD
Fieldbus PCI-Card Revision History
Revision History
Date CEN / Revision Reason For Revision Initials
ECN No.
7/23/2014 53700 0 Original Release JFC
A-1
ME00107EN
FIELDBUS PCI-CARD
INSTRUCTIONS
FOR NX100, DX100, OR DX200
MANUAL NO.
ME00107EN 2