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PROFIBUS User`s Manual - RCX Series

1. Example To read the Qn 34 0 to Qn 34 7 data into variable A ASSP Minato The SI2 data will be converted into a decimal and substituted into variable A If SI2 is 7Fh variable A will be 127 When reading the word information from the master module s output address with the robot controller write the following command in the robot program Assignment statement Example To read the Qn 4 word data into variable B B SIW BB RR The SIW 2 data will be substituted into variable B as a decimal If SIW 2 is 01FFh variable B will be 511 1 NOTE The word data read with SIW n has Example To read the Qn 4 and Qn 6 double word data into variable C the uncoded little endian format The double word data read with SID n has the coded little endian format C SID 2 see The SIW 2 and SIW 3 data will be sub stituted into variable C as a decimal If SIW 2 is 0010h and SIW 3 is 0001h vari able C will be 65552 3 2 A CAUTION Always refer to the PLC manual and check the settings for communication with the master module SIW 0 and SIW 1 are viewed as dedicated input ports OF NOTE The SO statement in the robot language can be defined from SO2 to S027 but the PROFIBUS compatible module accepts from SO2 to SO15 OF NOTE The word data written with SOW n has the uncoded little endian format The double word data written with SOD n has the coded little en
2. module to the controller Robot program start i i i input off Jo i a b c d e P g h i ge 100ms or more Program execution process a Robot program start input ON is input b Robot program execution status output ON is output c After confirming that the robot program execution status output is ON the start input OFF is input Program stop process using interlock input d Interlock input OFF is input suonesalj199dS e Robot program execution status output OFF is output Program execution after stopping program with interlock input f Interlock input ON is input g Robot program start input ON is input h Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the start input OFF is input The program will also stop when the emergency stop input OFF is input In this case the emergency stop input status output and alarm status output will be ON and the servo ON status output will be OFF The servo ON process is required to start the program again When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the PROFIBUS system 5 9 4 Sample program An example for the following type of hardware configuration has been prepared for this section Pall
3. ERR and RUN from the top 3 Station address setting switch LSB 1st digit This is the rotary switch for setting the robot controller station address in the PROFIBUS system The Ist digit of the station address is set with this switch 4 Station address setting switch MSB 2nd digit This is the rotary switch for setting the robot controller station address in the PROFIBUS system The 2nd digit of the station address is set with this switch 1 3 Outline 4 Assignment of PROFIBUS compatible I O The I O expressions in the robot controller s program language and the I O expressions in the slave module differ The correspondence is shown below vu Output from robot controller Input to robot controller 02 NOTE Program language Master module Program language Master module SIW n and SOW n are handled as m s Ton numerical data of word with no sign 3 Im 2 3 Qn 2 SID n and SOD n are handled as j Orden Im 4 Qn 4 numerical data of double words with a SOD 2 m n sign Im 6 Qn 6 Im 8 Qn 8 SOD 4 Im 10 Qn 10 Os Im 12 Qn 12 y NOTE SOD 6 t t On the RCX240 the dedicated input of Im 14 Qn 14 STD DIO connector provided on the Im 16 Qn 16 controller will be disabled except for SOD 8 Im 18 On 18 an interlock signal DI 11 When the Im 2 2 Board condition external 24V monitor SOD 10 men en control of system parameters is set Im 2
4. eeeeeeennao essensen eee 4 7 MEMO 1 Items to confirm before starting up PROFIBUS system Confirm the following items before starting up the PROFIBUS system Confirmation details Check Is the PROFIBUS compatible module accurately connected Refer to Chapter 2 section 2 or 3 Y NOTE Is the robot controller set to the PROFIBUS system specifications On the RCX240 the dedicated input of STD DIO connector provided the controller will be disabled except for Are the PROFIBUS compatible module station address correctly set an interlock signal DI 11 When the Board condition external 24V monitor control of system parameters is set Is the ferrite core connected to the power input cable to the robot controller invalid the interlock signal DI 11 will also be disabled On the RCX22x the dedicated input of STD DIO Is the PROFIBUS system cable accurately connected to the PROFIBUS compatible connector will be disabled but the interlock signal DI 11 in SAFETY connector enabled Was the line test from the master module correct Refer to Chapter 2 section 1 Refer to Chapter 2 section 1 Refer to Chapter 2 section 4 module Refer to Chapter 2 section 5 Refer to the master module instruction manual Gunoousajqno4 4 1 2 Meanings of LEDs on PROFIBUS compatible module AN CAUTION After the power is turned ON all LEDs will light for 250ms and then display an operation
5. M201 1 lt 5 14 4 Sample program Network 6 First device Starts automatic operation after canceling emergency stop M50 1 M50 0 M50 2 M100 1 A A gt SERVO ON CPU OKON EMG ON SERVO ON M50 2 M51 1 M101 6 gt MANUAL SERVO ON ORG OK M51 0 M51 1 M101 7 ABS RESET AUTO ORG OK M51 1 M101 3 AUTO ORG OK M51 0 M51 3 M51 4 M101 5 f PRG RESET AUTO PRG GO PRG RESET M51 0 M51 4 M51 3 M101 2 H START AUTO PRG RESET PRG GO Network 7 User application M152 0 M102 0 gt U ko Network 8 O o User application O W M152 1 M102 1 1 O 5 YN Network 9 User application M152 2 M102 2 Network 10 User application M152 3 M102 3 Network 11 User application M152 4 M102 4 Network 12 User application M152 5 M102 5 5 15 4 Sample program Network 13 User application M152 6 M102 6 gt Network 14 User application M152 7 M102 7 Network 15 User application M153 0 M103 0 Network 16 a User application 3 49 M153 1 M103 1 O a o Network 17 dp Er User application M153 2 M103 2 LI gt Network 18 User application M153 3 M103 3 i Netwo
6. MaxTsdr 6M MaxTsdr_12M Min Slave Intervall Set Slave Add supp Freeze Mode supp Sync Mode supp Fail Safe Modular Station Max Module Max Input Len Max Output Len Max Data Len Max Diag Data Len Module EndModule 1 YAMAHA MOTOR CO LTD YAMAHA ROBOT RCX 0x06F9 Ver1 0 Ver1 0 Ver1 0 SPC3 Remort 16word DI DO 16byte OXFF OxBF GSD file revision Ver1 0 Vendor name Model type Identification number FMS Not Supported Profibus DP Supported Station DP Slave Slave family Controllers Device revision Ver1 0 Hardware revision Ver1 0 Software revision Ver1 0 SPC3 ASIC Not Supported Not Supported Not Supported Supported 9 6kbps 19 2kbps 93 75kbps 187 5kbps 500kbps 1 5Mbps 8Mbps 6Mbps 12Mbps Max response times 60Tbit 6 25msec 60Tbit 3 125msec 60Tbit 640usec 60Tbit 320usec 100Tbit 200usec 150Tbit 100usec 250Tbit 83usec 450Tbit 75usec 800Tbit 67usec 100usec Not Supported Not Supported Not Supported Not Supported Modular station Max Module Maximum of input bytes Maximum of output bytes Maximum of data bytes Maximum diagnostic length MEMO Revision record Manual version Ver 1 04 Issue date Sep 2007 Jul 2012 Description Some modifications were made to support RCX22 series addition of ded
7. YAMAHA YAMAHA MOTOR CO LTD YAMAHA NETWORK BOARD RCX series PROFIBUS User s Manual TETE YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E87 Ver 1 07 Introduction Thank you for purchasing the PROFIBUS compatible module This PROFIBUS compat ible module is an option module that allows the YAMAHA robot controller RCX series to be connected as a PROFIBUS system slave module The robot controller explained in this manual refers to the RCX series This manual describes the flow of operations from wiring the PROFIBUS compatible module to programming and includes setting examples Refer to the respective product manuals for details on other devices such as connecting the master module and sequence programming Refer to the controller user s manual and programming manual supplied with the YAMAHA robot controller for details on operating the robot controller and on the robot program Applicable controllers RCX240 RCX141 RCX142 RCX40 RCX221 and RCX222 Model names as used in this manual include the following controllers RCX240 Includes RCX240 RCX141 RCX142 and RCX40 4 axis controllers RCX14x Includes RCX141 RCX142 and RCX40 4 axis controllers excluding RCX240 RCX22x Includes RCX221 and RCX222 2 axis controllers Here RCX14x does not include RCX240 and is used when there is a differ ence between the RCX240
8. gt Network 33 User application M53 1 M203 1 1 O Network 34 User application M53 2 M203 2 Network 35 User application 5 18 4 Sample program Network 36 User application M53 4 M203 4 Network 37 User application M53 5 M203 5 4 Network 38 User application M53 6 M203 6 Ye Network 39 User application M53 7 M203 7 suoneoyI9ods 5 19 N lt O O D o YN 5 PROFIBUS compatible module specifications AN CAUTION For the names and description of word and bit input output signals refer to the tables shown in 1 Profile and 2 Details of input output signals in this chapter CAUTION The specifications and appearance are subject to change without prior notice 5 20 Model Spec Item PROFIBUS Unit Controller models RCX series controller Communication profile PROFIBUS DP slave Number of nodes used Station address setting 1 node 1 to 99 Set with rotary switch on board Transmission speed 9 6K 19 2K 93 75K 187 5K 500K 1 5M 3M 6M 12Mbps Communication speed is automatically recognized PROFIBUS I O points 48 byte fixed data length Input byte 0 3 Dedicated word input 2 words Total 48 bytes byte 4 31 General purpose word input 14 words byte 32 33 Dedicated bit input
9. is not turned ON d SI 11 is not ON e Error in connection to PROFIBUS system f DI 11 for RCX22x is not turned ON Action 1 Cancel the interlock signal and execute program or move axis 2 Set DI 11 on STD DIO connector to ON RCX240 3 Set SI 11 to ON 4 When not using STD DIO set DC 24V monitor of system parameters to INVALID RCX240 5 Correct the connection to PROFIBUS system 6 Set DI 11 in SAFETY connector to ON RCX22x 12 21 PROFIBUS link error Code amp H0C15 Meaning Cause a Error in cable for PROFIBUS system b Wrong station address setting for PROFIBUS system c Master station sequencer power is turned off or master station sequencer has stopped operating is in abnormal operation or at fault d The PROFIBUS compatible module is broken Action 1 Check for a broken wire disconnection miswiring or specifications cable length etc of PROFIBUS cable 2 Check the station address setting 3 Check if the master station sequencer is in normal operation 4 Check the hardware configuration setting 5 Replace the PROFIBUS compatible module 4 7 4 Error messages relating to PROFIBUS 12 22 PROFIBUS hardware error Code amp H0C16 Meaning Cause a The PROFIBUS compatible module is broken Action 1 Replace the PROFIBUS compatible module 12 70 Incorrect option setting Code amp H0C46 Meaning Cause a Error in DIP switch setting on option unit b Mismatched
10. 0 to Qn 34 7 SI 20 to SI 27 Qn 35 0 to Qn 35 7 37 SID 4 Qn 36 0 to Qn 36 7 Qn 37 0 to Qn 37 7 50 to SI 57 SID 6 Qn 38 0 to Qn 38 7 1 00 1 10 1 20 1 30 to SI 1 40 to SI 1 50 60 S S S S 60 to SI 67 Qn 39 0 to Qn 39 7 SI 70 to SI 77 47 0 dedicated input ports The robot SID 8 controller handles these ports as input ports of meaningful data so do not use them as general purpose input ports Set these ports to 0 in most cases Qn 40 0 to Qn 40 7 SI 100 to SI 107 Qn 41 0 to Qn 41 7 SI 110 to SI 117 Qn 42 0 to Qn 42 7 SI 120 to SI 127 Qn 43 0 to Qn 43 7 SI 130 to SI 137 Qn 44 0 to Qn 44 7 SI 140 to SI 147 Qn 45 0 to Qn 45 7 SI 150 to SI 157 c 5 2 5 O O SID 10 SID 12 SID 14 Q Output address n Start address assigned by hardware configuration When reading the bit information from the master module output address with the robot controller write the following command in the robot program in the same manner as the DI input port WAIT command Assignment statement NOTE The SI statement in the robot language Example To wait for Qn 34 0 to turn ON can be defined from SIO to 127 WAIT SI 20 1 The robot program will wait for SI 20 to but the PROFIBUS compatible module turn ON accepts from SIO to SIIS
11. 2 2 2 3 Response when starting the robot controller 2 2 3 Setting the PROFIBUS compatible module 2 3 3 1 Setting the station address ooonoccnnnconncccnnncnoncconncconocinnos 2 3 4 Noise measures sccssscssessscrscssssscesescesessssesesssssssssessseass 2 4 4 1 Mounting the ferrite core 2 4 5 Connecting to the PROFIBUS system ereseeneeeneee 2 5 5 1 Connecting the cable to the robot controller 2 5 5 2 Testing the line from the master module 2 5 6 Parameter setting for PROFIBUS serial I O board 2 6 6 1 Parameter setting for PROFIBUS serial I O board 2 7 Chapter 3 Communication 1 State when robot controller power is turned ON 3 1 2 Communication with master module csessssceeees 3 2 2 1 RECEIVING data vs siesta taadu ca tdi 3 2 2 2 Transmitting datan 3 3 3 Direct connection by emulated serialization on parallel DIO 3 4 3 1 Emulated serialization setting on parallel DIO 3 4 4 Referring to communication data 20 200r200000000000000000 3 7 4 1 Referring to the data from the programming box 3 7 Chapter 4 Troubleshooting 1 Items to confirm before starting up PROFIBUS system 4 1 2 Meanings of LEDs on PROFIBUS compatible module 4 2 3 Troubleshooting eeeeneevasoennoenostassenneaseese
12. Qn 34 0 to Qn 34 7 SI 20 to SI 27 General purpose input to Qn 45 0 to Qn 45 7 SI 150 to SI 157 General purpose input Set these inputs to ON or OFF to refer to SI port values or execute WAIT command A Output address n Start address assigned by hardware configuration 5 5 N lt O O D o YN 2 Details of input output signals Address Name Details Qn Dedicated STW 0 Used as the remote command area Qn 2 Dedicated SIW 1 Used as the remote command s command data area Qn 4 General purpose SID 2 General purpose SIW 2 General purpose SIW 3 General purpose SID 4 General purpose SIW 4 General purpose SIW 5 General purpose SID 6 General purpose SIW 6 General purpose SIW 7 General purpose SID 8 General purpose SIW 8 General purpose SIW 9 General purpose SID 10 General purpose SIW 10 General purpose SIW 11 General purpose SID 12 General purpose SIW 12 General purpose SIW 13 Address General purpose SID 14 General purpose SIW 14 General purpose SIW 15 Name Used to input word or double word data from SIW or SID port Or used as remote command s command data area Q Output address n Start address assigned by hardware configuration Details Im Dedicated SOW 0 Used as remote command s sta
13. SO 00 Emergency stop input status output Turns ON when robot controller is in emergency stop state Explanations are given based on the m 32 1 SO 01 CPU_OK status output Turns ON when robot controller is in normal state address for the SIEMENS master m 32 2 SO 02 Servo ON status output Turns ON when robot controller motor power is ON module Refer to the respective manuals when using other master module brands m 32 3 SO 03 Alarm status output Turns ON when robot controller is in following state Serious error occurred in robot controller Emergency stop input OFF m 33 0 SO 10 AUTO mode status output Turns ON when selected mode is AUTO mode Turns OFF when other mode is selected m 33 1 SO 11 Origin return complete status output Turns ON when robot has complete origin return m 33 2 SO 12 Sequence program execution status output Turns ON while sequence program is executed m 33 3 SO 13 Robot program execution status output SO 14 Program reset status output Turns ON while robot program is executed Turns ON when robot program has been reset Turns OFF when robot program starts NOTE Battery alarm output SO 15 is only supported by the RCX22x SO 15 Battery alarm output SO 16 10 command execution judgment output Turns ON when system backup battery RCX22x or absolute battery RCX222 is low Turns OFF while
14. and other 4 axis controllers due to differences in software versions NOTE The master module explained in this manual is based on the SIEMENS SIMATIC S7 300 series If the explanations differ from other brands refer to the manual for the product being used SIMATIC is a registered trademark of PLC programmable logic controller manufactured by SIEMENS AG Germany Safety Precautions Always read before starting use Always read this manual the robot controller user s manual and programming manual before using this product Take special care to safety and correctly handle the product The cautions given in this manual are related to this product Refer to the robot controller user s manual for details on the cautions to be taken with the robot controller system using this product The safety precautions are ranked as WARNING and CAUTION in this manual WARNING Failure to follow WARNING instructions could result in serious injury or death to the operator or person servicing the product CAUTION Failure to follow CAUTION instructions may result in injury to the operator or person servicing product or damage to the product or peripheral equipment 1 NOTE Explains the key point in the operation in a simple and clear manner Note that some items described as CAUTION may lead to serious results depending on the situation In any case important information that must be observed is explained Store this
15. in SAFETY connector On the RCX240 when SAFE mode is enabled service mode input signal is also made valid with DI 02 in SAFETY connector un less the Board condition external 24V monitor control of system parameters is set invalid UONEIIUNWWOI 2 When connection to PROFIBUS system is incorrectly established The following causes can be considered a correct connection with the PROFIBUS system cannot be established The PROFIBUS system cable is not physically connected The station address is set incorrectly The master module is not operating correctly When incorrectly connected to the PROFIBUS system an abnormal state will be indi cated on the PROFIBUS compatible module s LED This also occurs when the master module is not operating correctly The emergency stop signal and interlock signal in the PROFIBUS system are invalid in this case so the robot controller can be operated independently However if the correct state has been established even once after the robot controller power was turned ON the robot controller s emergency stop state cannot be canceled without correctly connecting to the PROFIBUS system The emergency stop terminal in SAFETY connector is always kept valid On the RCX22x the interlock signal in SAFETY connector is also valid On the RCX240 the interlock signal in STD DIO connector is left valid unless the Board condition external 24V monitor control of system parameters is set invalid When S
16. information on the warranty period and terms please contact our distributor where you purchased the product This warranty does not cover any failure caused by 1 OO N ON Vv 11 Installation wiring connection to other control devices operating methods in spection or maintenance that does not comply with industry standards or instruc tions specified in the YAMAHA manual Usage that exceeded the specifications or standard performance shown in the YAMAHA manual Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories Modification to original parts or modifications not conforming to standard specifi cations designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc Breakdown due to causes other than the above that are not the fault or responsibil ity of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be veri fied Changes in software or internal data such a
17. manual where it can be easily referred to and make sure that it is delivered to the end user PROFIBUS is a registered trademark of PROFIBUS International Precautions for design WARNING Refer to the PROFIBUS system Master Module User s Manual and this manual for details on the state of the PROFIBUS system and robot controller when a communi cation error occurs with the PROFIBUS system etc Configure an interlock circuit in the sequence program so that the system includ ing the robot controller will work safely using the communication status informa tion The SAFETY connector of the robot controller has an emergency stop terminal to trigger emergency stop Using this terminal prepare a physical interlock circuit so that the system including the robot controller will work safety AN CAUTION The control line and communication cable must not be bound with or placed near the main circuit or power line Separate these by at least 100mm Failure to observe this could lead to malfunctions caused by noise On the RCX240 the dedicated input of STD DIO connector provided on the controller will be disabled except for an interlock signal DI 11 When the Board condition external 24V monitor control of system parameters is set invalid the interlock signal DI 11 will also be disabled On the RCX22x the dedicated input of STD DIO connector will be disabled but the interlock signal DI 11 in SAFETY connector enabled Pre
18. nee 2 5 DalmConnectinethnecabletomhenobotcomtrol ep snes trees ess ae 2 5 SA Tesine We ine rom tie mESET TEC e AAA 2 5 6 Parameter setting for PROFIBUS serial I O board 2 6 6 1 Parameter setting for PROFIBUS serial I O board ms 2 7 MEMO 1 Confirming the PROFIBUS compatible module settings When using the PROFIBUS system specification robot controller the PROFIBUS com patible module s station address and communication speed setting can be confirmed from the programming box RPB for RCX22x and RCX240 or MPB for RCX14x hereinafter called MPB RPB e When connecting PROFIBUS compatible module to existing robot controller Follow the procedures given in section 2 and change the settings for the PROFIBUS system specifications For PROFIBUS system specification robot controller When robot controller is purchased with PROFIBUS compatible module mounted Set the station address according to the procedure explained in section 3 of chapter 2 uonJEUUOJ Confirmation position Robot YK250X Axis XYZR Standard SRAM 364kB DIO Opt ifo Profi S1 500K Operation 1 Press the key on the MPB RPB 2 Press the SYSTEM key on the MPB RPB 3 The display above will appear The station address and communication speed set for A CAUTION the PROFIBUS system will appear in the parentheses following Profi on the screen If the robot controll
19. on Im 33 0 SO 10 A CAUT ION i AUTO mode status off Provide an interval of 100ms or output n more when turning the dedicated Im 33 1 SO 11 on input from the master module to Origin return complete off the controller ON and OFF If the status output on interval is too short the dedicated Im 33 3 50 13 a a nok FN die m 1 Robot program execution off This also applies to the interva status output n for the same dedicated inputs or differing dedicated inputs Im 33 4 50 14 Use this also if there is a Program reset status output o t H L dedicated output in respect to the ON dedicated input from the master Qn 33 1 SI 11 gt rac module to the controller Interlock input off on i i Qn 33 2 SI 12 H i i Robot program start input off A 7 on i Qn 33 3 S1 13 BE A AUTO mode input off i r on KOUN a Qn 33 5 SI 15 E A Bo pi Program reset input off i i Lou a b ic id e igh i 100ms or more 100ms or more AUTO mode changeover process a AUTO mode input ON is input b AUTO mode status output ON is output c After confirming that the AUTO mode status output is ON the AUTO mode input OFF is input 2 lt O O D o YN Program reset process d Program reset input ON is input e Program reset status output ON is output f After confirming that the program reset status output is ON the program reset input OFF is input Program execution process g Robot
20. or relay connected in parallel to the robot controller can be used like a device connected via PROFIBUS to the master module PROFIBUS master module Robot controller Output SI DO Llar Relay valve etc Input AH SO DI Sensor etc I PROFIBUS connection Parallel I O connection 3 1 Emulated serialization setting on parallel DIO The relation of the parallel port and serial port that can be connected is shown below Input device such as sensor Output device such as valve DI port SO port DO port lt SI port DI2 020 DO20 SI20 DBO SO30 DO30 SI30 DO4 DOS Operation 1 Press the SIO key in SYSTEM gt OPTION mode SYSTEM gt OPTION gt SIO V8 01 1 Direct SI2 gt D02 2 Direct SI3 gt DO3 NO 3 Direct SI4 gt DO4 NO 4 Direct SI5 gt DO5 NO 5 Direct S02 lt DI2 NO or Gr ff pen Valid keys and submenu functions in this mode are as follows Valid keys Function the cursor keys TH Selects SIO parameters Fl Sets SIO parameters F2 Jumps to specified SIO parameter 3 Direct connection by emulated serialization on parallel DIO 1 Direct connection from SI n to DO n Serial port input can be directly connected to parallel port output The relation of the parallel port and serial port that can be connected is as follows W NOTE Output device such as sensor g When the port specified by SIO is DO por
21. reset input For YC Link where RCX141 221 is used with SRI X RCX141 221 Turn ON to perform absolute reset of robot Absolute reset is performed when this input is switched from OFF to ON except for axes that use mark method for return to origin Absolute reset cannot be performed by dedicated input if return to origin is incomplete on axes that use mark method Robot controller mode must be in MANUAL mode SI 14 Return to origin input For YC Link where RCX142 222 is used with SRI P RCX142 222 SI 14 Return to RCX240 jt origin input Turn ON to perform return to origin on incremental type axes or semi absolute type axes When this input is switched from OFF to ON return to origin is performed on incremental type axes or absolute search is performed on semi absolute type axes This input is for axes whose return to origin method is sensor or stroke end torgue detection method Robot controller mode must be in MANUAL mode Qn 33 5 SI 15 Program reset input Turn ON to reset robot program Program reset is executed when this input is switched from OFF to ON Robot controller must be in AUTO mode Qn 33 6 SI 16 MANUAL mode input continued to next page Turn ON to select MANUAL mode Robot program enters MANUAL mode when this input is switched from OFF to ON 205 NOTE Address Signal name 2 Details of input output signals Details Whe
22. status as shown on the right If the power is not supplied to the PROFIBUS compatible module the LEDs remain OFF even after the power is turned ON O lt O O Y 2 2 5 O da 4 2 DATA EX SD RD ERR RUN Front of the unit The LEDs on the PROFIBUS compatible module express the following statuses Use these for confirmation when an error occurs RUN ERR RD SD Meaning e e e e Power is not supplied to the PROFIBUS compatible module O O e e PROFIBUS compatible module hardware error O O Establishing communication O O O Cannot receive data from the robot controller O e O O Normal communication with master module 0 OFF O ON Blinks DATA EX lights up only during normal communication with master module 3 Troubleshooting If trouble occurs in the connection with the robot controller while starting up the PROFIBUS system or during operation check the following items in listed order 3 1 Robot controller front panel LED confirmation 3 2 Programming box error display confirmation 3 3 PROFIBUS compatible module LED confirmation 3 4 Confirmation from master module 3 1 Robot controller front panel LED confirmation Confirmation item 1 lt Confirmation details gt e The PWR LED on the RCX240 is OFF The RDY LED on the RCX22x is OFF lt Cause gt Power is not being supplied to the robot controller lt Countermeasures gt e Meas
23. the input power cable when connecting to the PROFIBUS sys 4 1 Mounting the ferrite core Mount two ferrite cores onto the input power cable connected to the input power connec tor on the front panel of the robot controller Procedures 1 Mount the two ferrite cores supplied onto the input power cable The ferrite core should be placed as close to the robot controller body as possible 2 Fix the mounted ferrite core with an Insulock tie etc 5 Connecting to the PROFIBUS system WARNING When setting the station ad dress completely shut off the power supplied to the robot controller AN CAUTION Securely fix the PROFIBUS system cable Carefully carry out the work to valid applying excessive force on the PROFIBUS cable Treat the end of each PROFIBUS system cable with a crimp terminal so that the cable does not dislocate Carefully carry out the work so that the PROFIBUS system cable is not incorrectly wired Refer to the master module instruction manual for details on the PROFIBUS system cable connection CAUTION If the line test results indicate a correct connection place the PROFIBUS system cable into a conduit or fix it with a clamp The PROFIBUS system cable must be connected to the PROFIBUS compatible module in order to connect to the PROFIBUS system o 5 ARE 7 02 3 PROFIBUS DP connector 6 OS i Front of the unit 5 1 Connecting the cable to the robot cont
24. 0 WAIT SI 42 0 GOSUB PICK GOTO ST2 HALT SUB ROUTINE FOR PICK PICK DO 40 1 DRIVE 3 P221 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P222 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN suones1y19ods 5 13 4 Sample program PLC program Block 0B1 Main Program Sweep Cycle Sample program Network 1 First device Stores data of 16 bytes into internal memory 50 from input byte address 288 EN DPRD_DAT ENO W 16 120 LADDR RET_VAL MW250 P M 50 0 RECORD BYTE 16 Network 2 First device Outputs data of 16 bytes to output byte address 288 from internal memory address 100 EN DPWR DAT ENO 2 W 16 120 LADDR RET VAL MW250 O P M 100 0 BYTE 16 RECORD amp Network 3 O 5 Second device Stores data of 16 bytes into internal memory 150 from input byte address 336 EN DPRD_DAT ENO W 16 150 LADDR RET VAL MW250 P M 150 0 RECORD BYTE 16 Network 4 Second device Outputs data of 16 bytes to output byte address 336 from internal memory address 200 EN DPWR_DAT ENO W 16 150 LADDR RET VAL MW250 P M 200 0 BYTE 16 RECORD Network 5 First and second devices Emergency stop signal input interlock input ON MO O M100 0 Y lt M101 1 M200 0 N
25. 16 points byte 34 47 General purpose bit input 96 points Output byte 0 3 Dedicated word output 2 words Total 48 bytes byte 4 31 General purpose word output 14 words byte 32 33 Dedicated bit output 16 points byte 34 47 General purpose bit output 96 points Parallel external I O The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function 9 6K 19 2K 93 75K 1200m 187 5K 1000m Network Topology 500K 400m 1 5M 200m 3M 6M 12M 100m Monitor LED RUN ERR SD RD DATA EX 1 Controller s I O update intervals are 10ms at shortest but actual I O update intervals change depending on the update time for the master station Chapter 6 Appendix Contents A aaa aaa antav pesa se AE DE GSD ESE ananass e PED a eee OO mt MEMO 1 Term definition 1 PROFIBUS DP PROFIBUS DP Decentralized Periphery enables high speed data transmission between the controller and a field device such as a remote I O device and drive 2 SAFE mode setting When the SAFE mode setting is enabled service mode input is made valid so that safety functions such as operating speed limits in MANUAL mode can be used The SAFE mode setting is determined at the time of shipping The SAFE mode setting is always enabled for controllers compatible with CE marking 3 SERVICE mode This mode is valid only when the SAFE mode setting is enabled a
26. 2 Qn 22 invalid the interlock signal DI 11 SOD 12 Im 24 Qn 24 will also be disabled On the RCX22x Im 26 Qn 26 the dedicated input of STD DIO Im 28 Qn 28 connector will be disabled but the SOD 14 D 14 Im 30 Qn 30 SO0 7 to 0 Im 32 7 to SIO Qn 32 7 to Qn 32 0 SO1 7 to 0 Im 33 7 to si Qn 33 7 to Qn 33 0 SO2 7 to 0 Im 34 7 to SI2 7 to 0 Qn 34 7 to Qn 34 0 SO3 7 to 0 Im 35 7 to SI3 7 to 0 Qn 35 7 to Qn 35 0 interlock signal DI 11 in SAFETY connector enabled SO5 7 to 0 Im 37 7 to SI5 7 to 0 Qn 37 7 to Qn 37 0 Im 38 7 to SI6 7 to O Qn 38 7 to Qn 38 0 Im 39 7 to SI7 7 to 0 Qn 39 7 to Qn 39 0 Im 40 7 to SHO 7 to 0 Im 41 7 to SI11 7 to 0 Im 42 7 to SI12 7 to 0 Im 43 7 to SI13 7 to 0 SO4 7 to 0 Im 36 7 to SI4 Qn 36 7 to Qn 36 0 SO6 7 to 0 SO7 7 to 0 SO10 7 to 0 SO11 7 to 0 SO12 7 to 0 SO13 7 to 0 Qn 40 7 to Qn 40 0 Qn 41 7 to Qn 41 0 Qn 42 7 to Qn 42 0 Qn 43 7 to Qn 43 0 SO14 7 to 0 SO15 7 to 0 Im 44 7 to S114 7 to 0 Qn 44 7 to Qn 44 0 Im 45 7 to SI15 7 to 0 Qn 45 7 to Qn 45 0 Im 47 7 to mo QN 47 7 to Qn 46 0 I A Input output address m n Start address assigned by hardware configuration Caution 1 Has a meaning in the robot controller s internal process as a dedicated input output This cannot be used as a general purpose input output
27. AFE mode is enabled on the RCX22x service mode input signal is also made valid with DI 02 in SAFETY connector On the RCX240 when SAFE mode is en abled service mode input signal is also made valid with DI 02 in SAFETY connec tor unless the Board condition external 24V monitor control of system parameters is set invalid Service mode input signal in the PROFIBUS system cannot be invalidated when SAFE mode is enabled so change the service mode setting system parameters In this case take full precautions to prevent improper settings that might lead to a hazardous situ ation For meanings of LED display see Chapter 4 in this manual 3 1 2 Communication with master module The method for communicating with the master module by using the robot program when the PROFIBUS system is correctly connected is explained in this section 2 1 Receiving data Data is received by reading the master module s output address data with the robot controller s input port The correspondence of the master module s output addresses and robot controller input port numbers is shown below CAUTION Always refer to the PLC manual and check the settings for communication with the master module SIW 0 and SIW 1 are viewed as Master module address Robot controller input port No Master module address Robot controller input port No SID 2 Qn 32 0 to Qn 32 7 SI 00 to SI 07 Qn 33 0 to Qn 33 7 SI 10 to SI 17 Qn 34
28. BUS Link Error is added to the error history in the robot controller Tf the connection to the PROFIBUS system shifts from the normal state to the errone ous state the PROFIBUS system connection must be returned to the normal state 1 5 Outline 5 Shift of PROFIBUS system connection status and robot controller status 1 6 The PROFIBUS system will return when the PROFIBUS system connection is recov ered to the normal state 3 PROFIBUS system erroneous connection state due to following fac tors when robot controller power is turned ON Connection to PROFIBUS system not possible Error in master module Robot controller Emergency stop interlock signals in PROFIBUS system are invalid Robot Master module controller When SAFE mode is enabled service mode input signal is made valid with SI 02 in the PROFIBUS system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system parameters is set invalid RCX240 Interlock signal in SAFETY connector is valid RCX22x e When the Board condition external 24V monitor control of system parameters is set valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX240 When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX22x The sign
29. Check whether the PROFIBUS system cable is disconnected or miswired Reconnect the cable correctly if disconnected or miswired Also check that the termination resis tor is connected Check whether the PROFIBUS system cable is laid near the main circuit or power cable or whether it is bundled with these Check that the ferrite core is connected to the robot controller s power supply cable Check the station address setting of the PROFIBUS compatible module Correct the address setting if incorrect Check that the master module is in normal operation Check the hardware configuration setting Correct the setting if needed 4 5 Gunoousajqno4 O O le k 1 2 Q fe d F 3 Troubleshooting 3 4 Confirmation from master module Confirmation item 1 lt Confirmation details gt Using the master module s line test function confirm robot controller is correctly connected to the PROFIBUS system Refer to the master module instruction manual for details on the line test Confirmation item 2 lt Confirmation details gt Using the master module s line test function check whether an error has occurred in the robot controller s PROFIBUS connection lt Cause gt e The ferrite core for noise measures is not connected The PROFIBUS cable is laid near sources of noise such as the power cable lt Countermeasures gt Connect the ferrite core for noise measures onto the input power ca
30. DI7 8B00000000 2 Pressthe key on the MPB RPB several times to check the status of SI input ports 0 to 7 3 Press the key on the MPB RPB more to check the status of SI input ports 10 to 15 4 Press the key on the MPB RPB twice more to check the status of SO input ports 0 to 7 5 Press the key on the MPB RPB more to check the status of SO input ports 10 to 15 6 Press the key on the MPB RPB twice more to check the status of SIW input ports 0 to 7 37 LONBIIUNUIUIOD 7 Press the key on the MPB RPB more to check the status of SIW input ports 8 to 15 8 Press the key on the MPB RPB more to check the status of SOW output ports 0 to 7 9 Press the key on the MPB RPB more to check the status of SOW output ports 8 to 15 10 To stop checking the input output ports press the key c T 5 5 E E e O Chapter 4 Troubleshooting Contents 1 Items to confirm before starting up PROFIBUS system 0 4 1 2 Meanings of LEDs on PROFIBUS compatible module 4 2 3 Troubleshooting ce senceccce E teveecrsesdeeszceuscecssts 4 3 3 1 Robot controller front panel LED confirmation imsee 4 3 3 2 Programming box error display confirmation eemmes 4 4 3 3 PROFIBUS compatible module LED confirmation sss 4 5 3 4 Contimattoniromimasterdim cl LEPEA 4 6 4 Error messages relating to PROFIBUS
31. LID simultaneously with parameter 3 O O Q E O O 2 6 6 Parameter setting for PROFIBUS serial I O board 6 1 Parameter setting for PROFIBUS serial I O board 1 Press the PARAM key in SYSTEM mode to enter SYSTEM gt PARAM mode 2 Press the OP BRD key in SYSTEM gt PARAM mode to enter the option board parameter setting mode The option boards installed in the controller are displayed in order on the MPB RPB screen Fig 2 6 1 KASJE PARAMSOP BRD v8 18 1 DIO_N 1 VALID 2 a ak uonJEoUUOJ 3 Profi S1 10M VALID seerg OP A Oo OO Option boards installed into the option slots are displayed on the MPB RPB screen Type Display Meaning DIO N n An option DIO board ai NPN specifications is installed The number in parentheses is an ID number Option DIO DIO P n An opon DIO board a PNP specifications is installed The number in parentheses is an ID number CCLnk n m A CC Link unit is installed Letters in parentheses indicate a station number n and a communication speed m A DeviceNet unit is installed Letters in parentheses indicate a Serial IO D_Net n m ais MAC ID number n and communication speed m A Profibus unit is installed Letters in parentheses indicate a Station Profi n m ae address n and communication speed m Network E Net An Ethernet unit is installed A A YC Link unit is installed Letters in parenthe
32. NVALID RCX22x cannot be used the dedicated input output of STD Serial IO DIO connector becomes enabled when m ki Condition i 2 Remote cmd IO cmd Enables or disables the functions of remote commands and I O parameter is set 10 VALID s th S105 commands using word information and bit information When set dedicated input except DI11 for RCX240 of STD DIO connector becomes disabled For remote commands and I O commands refer to the command reference manual hor dideseriptionof codes ised 3 Output MSG to SOW 1 Enables or disables the function to send an message number which from the message ouip ut function is displayed on the MPB RPB to word information SOW 1 When for SOW 1 refer to 1 Error set to VALID the message number to be displayed on the message in chapter 9 MPB RPB will be output When set to INVALID the message When the Remote command amp 1 0 number to be displayed on the MPB RPB will not be output This a ommand parameter is set to parameter cannot be set to VALID simultaneously with VALID the Output MSG to parameter 2 SOW 1 parameter cannot be set to VALID Likewise when the Output MSG to SOW 1 parameter is set to VALID the Remote command amp I O command parameter cannot be set to VALID to VALID the remote commands and I O commands can be used When set to INVALID the remote commands and I O commands cannot be used This parameter cannot be set to VA
33. SAFETY connector on the robot controller In the case of the RCX240 when the PROFIBUS system is used while STD DIO is not used external DC 24V power supply is not used the Board condition external 24V monitor control of system parameters must be set invalid If it is left valid the STD DIO interlock signal is enabled causing an error in the robot operation commands 1 1 Outline 2 Mechanism 1 2 The mechanism of communication is explained in this section to provide an understand ing of how the robot controller and master module operate via the PROFIBUS system ON OFF information Robot Master module controller 1 The robot controller s ON OFF information is sent to the master module via the net work PROFIBUS system cable 2 The master module s ON OFF information is set to the robot controller via the net work PROFIBUS system cable The robot controller monitors the ON OFF information at a 10ms cycle The ON OFF information consists of two words each of dedicated I O words 14 words each of general purpose I O words as word information and 16 points each of dedi cated I O points 96 points each of general purpose I O points as bit information If the following is executed with the robot program in the robot controller the bit infor mation will be sent to the master module via the PROFIBUS system by SO 20 1 Conversely if the following is executed with the robot pr
34. als on the PROFIBUS system cannot be exchanged The PROFIBUS Link Error has been added to the error history in the robot control ler A standby state for up to 5 seconds will occur to check the communication As opposed to the state given in 2 in this state the emergency stop state by SI 00 is not attained in the controller so the robot can be operated from the programming box The robot controller can be started independently when setting up the system etc Service mode input signal cannot be invalidated with SI 02 when SAFE mode is enabled so change the service mode parameter setting in SYSTEM gt PARAM mode In this case take full precautions to prevent improper settings that might lead to a hazardous situation When the connection to the PROFIBUS system is correctly recovered the system will automatically return to the PROFIBUS system 5 Shift of PROFIBUS system connection status and robot controller status 4 Transmission from PROFIBUS system erroneous connection state to PROFIBUS correct connection state when robot controller power is turned ON Sumo Robot Master module controller Robot Master module controller Robot controller PROFIBUS system emergency stop interlock signals change to valid state Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system parameter
35. ble e Wire the PROFIBUS cable away from noise sources such as the power cable 4 Error messages relating to PROFIBUS This section describes error messages relating to PROFIBUS compatible units For other messages refer to robot controller user s manuals When an error occurs an error message appears on the message line 2nd line of the MPB RPB screen 12 1 Emg stop on Code amp H0CO1 Meaning Cause a MPB emergency stop button was pressed b Emergency stop terminals on SAFETY connector are open emergency stop status c MPB or terminator is not connected to MPB connector d SAFETY connector is not connected e SI 00 is not ON f Error in connection to PROFIBUS system g RPB emergency stop button was pressed h RPB or terminator is not connected to RPB connector Action 1 Release the MPB emergency stop button 2 Close the emergency stop terminals on SAFETY connector 3 Connect MPB or terminator to MPB connector 4 Attach the SAFETY connector 5 Set SI 00 to ON 6 Correct the connection to PROFIBUS system 7 Release the RPB emergency stop button 8 Connect RPB or terminator to RPB connector Gunoousajqno4 12 2 Interlock on Code amp H0C02 Meaning Cause a Program was executed or moving of axis attempted with interlock signal still input b Interlock signal turned ON during execution of program or axis movement c DC 24V is supplied to STD DIO connector on the RCX240 and DI 11
36. c a 2 5 O O 3 Press the SET key to enable the connection or the NO key to cancel the setting 4 Press the key to quit setting or select another DI port with the cursor keys to continue setting 4 Referring to communication data The ON OFF information exchanged with the master module can be referred to using the programming box RPB for RCX22x and RCX240 or MPB for RCX14x hereinafter called MPB RPB Note that the MPB RPB display update interval is longer than the PROFIBUS data update interval so if the ON OFF interval is short accurate information may not be displayed 4 1 Referring to the data from the programming box The data exchanged with the master module can be referred to with the MPB RPB The reference unit is the robot controller input output port No SI monitor SI0 8B00000111 SI4 8B1I1000000 SII 8BOOOOI1III1 SI5 8BOO101000 SI2 8B00010001 SI6 8B00000111 SI3 8B00000100 SI7 8B00000000 amp Bxxxxxxx corresponds to the Oth bit to 7th bit from right to left SIW monitor SIW O 8HO132 SIW 4 8HOOOO SIW 1 8H0001 SIW 5 8H0000 SIW 2 8H8000 SIW 6 8HFFFF SIW 3 8HOOOO SIW 7 8HOOOO amp Hxxxx expresses a hexadecimal Operation 1 Press the key on the MPB RPB A screen like that shown below will appear DI monitor DI0 8B00000111 DI4 8B11000000 DI1 8B00001111 DI5 8BOO101000 DI2 8B00010001 DI6 8B00000111 DI3 8B00000100
37. cautions for installation WARNING Always crimp press fit or solder the connector wire connections with the maker designated tool and securely connect the connector to the module Always shut off all phases of the power supply externally before starting installa tion or wiring work Failure to shut off all phases could lead to electric shocks or product damage AN CAUTION Use the robot controller within the environment specifications given in the manual Use in an environment outside the environment specification range could lead to electric shocks fires malfunctioning product damage or deterioration Install the PROFIBUS compatible module into the robot controller and securely fix with screws Never directly touch the conductive sections or electronic parts other than the rotary switch on the PROFIBUS compatible module Never directly touch the conductive sections or electric parts inside the controller Accurately connect each connection cable connector to the mounting section Failure to observe this could lead to malfunctions caused by a connection fault Precautions for wiring WARNING Always shut off all phases of the power supply externally before starting installa tion or wiring work Failure to shut off all phases could lead to electric shocks or product damage Always install the terminal covers enclosed with the product before turning ON the power or operating the product after installation or w
38. d unit s SO 00 Emergency stop input status M200 1 2nd unit s SO 01 CPU OK M215 7 2nd unit reservation M50 0 Ist unit s SI 00 Emergency stop input M50 1 Ist unit s SI O1 Servo ON input M65 7 Ist unit reservation M150 0 2nd unit s SI 00 Emergency stop input M150 1 2nd unit s SI 01 Servo ON input M165 7 2nd unit reservation 0 E O 2 O O D Q YN Robot program 1st unit s RCX240 INIT ROUTINE RESET SO20 RESET SO40 RESET DO4 A 101 MAIN ROUTINE MOVE P P100 Z 0 GOSUB PICK STI MOVE P P A Z 0 GOSUB PLACE MOVE P P100 Z 0 SO 41 1 WAIT SI 41 1 SO 41 0 WAIT SI 41 0 SO 23 22 21 20 A 100 SO 40 1 WAIT SI 40 1 SO 40 0 WAIT SI 40 0 SO 23 22 21 20 0 GOSUB PICK WAIT SI 42 1 SO 42 1 WAIT SI 42 0 SO 42 0 A A l TF A gt 108 THEN A 101 DO 47 1 WAIT DI 47 1 DO 47 0 ENDIF GOTO ST1 HALT SUB ROUTINE FOR PICK PICK DO 40 1 DRIVE 3 P121 S 20 WAIT ARM 3 DO 40 0 DELAY 500 RETURN SUB ROUTINE FOR PLACE PLACE DRIVE 3 P122 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 4 Sample program 2nd unit s RCX240 INIT ROUTINE RESET SO20 RESET S040 RESET DO4 B 201 MAIN ROUTINE MOVE P P200 Z 0 GOSUB PICK ST2 WAIT SI 41 1 SO 41 1 WAIT SI 41 0 SO 41 0 WAIT SI 40 1 B SI 23 22 21 20 SO 40 1 WAIT SI 40 0 SO 40 0 B B 200 MOVE PP B Z 0 GOSUB PLACE MOVE P P200 Z 0 SO 42 1 WAIT SI 42 1 SO 42
39. dian format 2 Communication with master module 2 2 Data is transmitted by writing the robot controller s output port data into the master module s input address The correspondence of the master module s input addresses and robot controller output port numbers is shown below Transmitting data Robot controller output port No SO 00 to SO 07 SO 10 to SO 17 SO 20 to SO 27 SO 30 to SO 37 Im 36 0 to Im 36 7 SO 40 Master module address Im 32 0 to Im 32 7 Im 33 0 to Im 33 7 Im 34 0 to Im 34 7 Im 35 0 to Im 35 7 Robot controller output port No Master module address SOD 2 SOD 4 40 to SO 47 5 O Im 37 0 to Im 37 7 SO 50 to SO 57 Im 38 0 to Im 38 7 SO 60 to SO 67 Im 39 0 to Im 39 7 SO 70 to SO 77 Im 40 0 to Im 40 7 SO 100 to SO 107 Im 41 0 to Im 41 7 SO 110 to SO 117 Im 42 0 to Im 42 7 SO 120 to SO 127 SOD 6 Im 43 0 to Im 43 7 SO 130 to SO 137 Im 44 0 to Im 44 7 SO 140 to SO 147 Im 45 0 to Im 45 7 SO 150 to SO 157 UONEIIUNWWOY I Input address m Start address assigned by hardware configuration When writing the robot controller s bit information into the master module s input ad dress write the following command in the robot program in the same manner as the DO output port SET RESET command Assignment statement Example To turn Im 34 0 ON SET SO 20 o
40. edicated SIW 1 m 4 General purpose General purpose SOW 2 Qn 4 General purpose General purpose SIW 2 SOD 2 General purpose SOW 3 An 6 SID 2 General purpose SIW 3 General purpose General purpose SOW 4 Qn 8 General purpose General purpose SIW 4 SOD 4 General purpose SOW 5 An 10 SID 4 General purpose SIW 5 General purpose General purpose SOW 6 Qn 12 General purpose General purpose SIW 6 SOD 6 General purpose SOW 7 An 14 SID 6 General purpose SIW 7 General purpose General purpose SOW 8 Qn 16 General purpose General purpose SIW 8 SOD 8 General purpose SOW 9 An 18 SID 8 General purpose SIW 9 General purpose General purpose SOW 10 Qn 20 General purpose General purpose SIW 10 SOD 10 General purpose SOW 11 An 22 SID 10 General purpose SIW 11 General purpose General purpose SOW 12 Qn 24 General purpose General purpose SIW 12 SOD 12 General purpose SOW 13 An 26 SID 12 General purpose SIW 13 General purpose General purpose SOW 14 An 28 General purpose General purpose SIW 14 SOD 14 General purpose SOW 15 An 30 SID 14 General purpose SIW 15 l Input address Q Output address m n Start address assigned by hardware configuration Y lt O O D o YN 2 Details of input output signals Address Signal name Details CAUTION m 32 0
41. ency stop input SI 00 Qn 32 0 must be ON and emergency stop condition in the robot controller emergency stop terminal of SAFETY connector etc must be canceled SI 02 Service mode input Turn OFF to enter the controller in service mode Keep turned ON during normal operation Effective only when SAFE mode is enabled In SAFE mode enabled dedicated input might be disabled depending on service mode parameter setting Qn 32 3 SI 03 Step execution input Turn ON to execute a step in the program during AUTO mode One line of the program is executed when this input is changed from OFF to ON Qn 32 5 SI 05 IO command execution trigger input Turn from OFF to ON to execute IO command Always turn ON after IO command is set to general purpose input Qn 33 0 SI 10 Sequence control input Turn ON to execute seguence program in the robot controller Seguence program is executed when this input is ON Qn 33 1 SI 11 Interlock input Turn OFF to stop execution of robot program Keep tuned ON to continue program execution Qn 33 2 SI 12 Robot program start input Turn ON to execute robot program Robot program is executed when this input is switched from OFF to ON Robot controller must be in AUTO mode Qn 33 3 SI 13 AUTO mode input Turn ON to select AUTO mode Robot program enters AUTO mode when this input is switched from OFF to ON SI 14 Absolute
42. eneral purpose input SO 70 to SO 77 General purpose out S1 70 to SI 77 General purpose input 07 General purpose out 00 to SI 107 General purpose input 10 to SO 117 General purpose out 10 to SI 117 General purpose input 20 to SO 127 General purpose out 20 to SI 127 General purpose input 37 General purpose out 30 to SI 137 General purpose input 40 to SO 147 General purpose out continued to next page 40 to SI 147 General purpose input 5 1 1 Profile Slave Master Master Slave Address i Signal name Address i Signal name Im 45 SO 150 to SO 157 General purpose output Qn 45 SI 150 to SI 157 General purpose input Reserved Reserved Reserved Reserved l Input address Q Output address m n Start address assigned by hardware configuration 1 Step execution input SI 03 and battery alarm output SO 15 are only supported by the RCX22x 2 Used in YC Link only when RCX141 or RCX221 is used with SR1 X 3 Used in YC Link only when RCX142 or RCX222 is used with SR1 P 4 Used for absolute reset or absolute reset return to origin depending on parameter DI17 mode setting Word input output Slave Master Master Slave Address Name Address Name m Dedicated SOW 0 An Dedicated SIW O m 2 Dedicated SOW 1 Qn 2 D
43. er is not con The meaning of the above example is shown below nected to the PROFIBUS system or if i there is an error in the PROFIBUS S1 Station address 1 system the error PROFIBUS Link Setting range 1 to 99 Error will appear on the MPB RPB when the robot controller power is 500K 500Kbps furned ON The above Settings can he Communication speed is automatically recognized confirmed even in this state 2 1 O O Q E O O 2 Setting to the PROFIBUS system specification controller When connecting the PROFIBUS compatible module to an existing robot controller the PROFIBUS compatible module must be installed in the robot controller Check the PROFIBUS system specifica tions with the procedure given in section 1 Q NOTE Refer to the VIP user s manual for how to load data using the VIP support software 2 2 2 1 Saving the robot controller data Before installing the PROFIBUS compatible module into the robot controller be sure to save the data stored in the robot controller into an external memory by using VIP soft ware etc 2 2 Installing the PROFIBUS compatible module Install the PROFIBUS compatible module into the robot controller Also set the station address for the PROFIBUS compatible module by referring to the procedures in 3 Set ting the PROFIBUS compatible module in chapter 2 2 3 Response when starting the robot controller The robot controller will always sta
44. et MXYx AN CAUTION SXYx Explanations are given based on the Fr address for the SIEMENS master 2nd unit supply position module Refer to the respective manuals when using other master 1st unit supply position II module brands PPYP NG A P205 P200 8898 DDDD 3999 DD Slave module Slave module RCX240 1st unit RCX240 2nd unit i nn SXYx 3 axes MXYx 3 axes Station address 1 Station address 3 ee _ 22 Details of sample e Pick amp place work is carried out using the PLC and RCX240 SXYx 3 axes RCX240 MXYx 3 axes e The workpieces supplied to each robot are arranged on one pallet N lt O O D o YN e The workpiece is supplied at a rate faster than the robot operation e The two robots will interfere above the pallet so data is exchanged to prevent interfer ence When handling the workpiece the robot moves at a low speed The robot controller directly exchanges the pallet Refer to the robot programming manual for details on the robot program language The PLC circuit is a simple circuit that executes the selected robot program when emergency stop is canceled 5 10 4 Sample program Robot program data assignment Variables used Ist unit 2nd unit Points used lst unit 2nd unit A B P100 P101 P108 P121 P122 P200 P201 P208 P221 P222 Bit data
45. eters is set invalid RCX240 Interlock signal in SAFETY connector is valid RCX22x When the Board condition external 24V monitor control of system parameters is set valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX240 When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX22x The signals in the PROFIBUS system are sent and received 2 Shift from PROFIBUS system normal connection state to PROFIBUS system erroneous connection state obo Mast dul Robot Master module controller astenmogu e controller or Robot controller Emergency stop input turns off with SI 00 in the robot controller Service mode input turns off with SI 02 in the robot controller Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system parameters is set invalid RCX240 Interlock signal in SAFETY connector is valid RCX22x When the Board condition external 24V monitor control of system parameters is set valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX240 When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX22x The signals in the PROFIBUS system are not sent or received The PROFI
46. executing the IO command After executing the IO command turns ON if normal and stays OFF if abnormal a NOTE In controllers using the following software versions the area check SO 17 Output during IO command execution SO 20 to SO 27 General purpose output outputs can be assigned to general purpose outputs SO 20 to SO 157 when the area check output function is used RCX240 Ver 10 10 or later Im 45 0 RCX22x Ver 9 22 or later to In controllers whose software version is earlier than the above the area check outputs can be assigned to general purpose outputs SO 20 to SO 24 Im 45 7 SO 150 to SO 157 General purpose output Turns ON while executing the IO command General purpose output turns ON OFF when value is substituted to SO port or SET RESET command or OUT command is executed Input address m Start address assigned by hardware configuration suoneoyI59ds 0 O 2 O o ep 2 Details of input output signals NOTE Step execution input SI 03 is only supported by the RCX22x 5 4 Address Signal name Details Qn 32 0 SI 00 Emergency stop input Turn OFF to trigger emergency stop on controller Keep turned ON during normal operation SI 01 Servo ON input Turn ON to cancel emergency stop and turn ON the robot servo motor Servo ON is executed when this input is switched from OFF to ON Emerg
47. g is not duplicated with other settings Never directly touch the conduc tive sections or electronic parts other than the rotary switch on the PROFIBUS compatible module Do not apply impact on the PROFIBUS compatible module Do not place water or conductive matters etc which could cause damage near the PROFIBUS Front of the unit compatible module Accurately set the station address Procedures Set the station address tiat was 1 Check the station address of the robot controller in the PROFIBUS system set by the configuration tool ki Use the configuration tool to set The station address must be set between 1 and 99 the station address that was set by the rotary switch For the procedure to operate the 2 Using a precision Flathead screwdriver set the 2nd digit of the station address on configuration tool refer to its rotary switch MSB operation manual MSB LSB 3 In the same manner set the Ist digit on rotary switch LSB WARNING When setting the station ad dress completely shut off the power supplied to the robot controller 2 3 E O O E E e O 4 Noise measures tem WARNING Completely shut off the power supply to the input power cable before starting this work AN CAUTION Securely fix the ferrite core If the ferrite core is not mounted trouble could occur with the PROFIBUS system operations Two ferrite cores must be mounted on
48. g to communication data 20 2200200020002200000002000000000 3 7 4 1 Referring to the data from the programming box eeeeee 3 7 MEMO 1 State when robot controller power is turned ON The PROFIBUS system specification robot controller always starts operation in servo OFF state when the power turned ON When connection to PROFIBUS system is correctly established The following conditions must be satisfied to correctly connect to the PROFIBUS system The PROFIBUS system cable must be physically connected The station address must be correctly set The master module is operating normally When the robot controller is correctly connected to the PROFIBUS system the nor mal state will be indicated with the LEDs on the PROFIBUS compatible module At this time the emergency stop signal and interlock signal in the PROFIBUS system will be validated so both signals must be turned ON in the connection process The emergency stop terminal in SAFETY connector is always kept valid On the RCX22x the interlock signal in SAFETY connector is also valid On the RCX240 the interlock signal in STD DIO connector is left valid unless the Board condition external 24V monitor control of system parameters is set invalid When SAFE mode is enabled service mode input signal is made valid with SI 02 in the PROFIBUS system On the RCX22x service mode input signal is also made valid with DI 02
49. icated input output signal etc Addition of descriptions regarding semi absolute type axes Clerical error corrections Addition of descriptions regarding RCX240 to SI 17 SI 14 in Chapter 5 1 Profile Wording of controller name was changed The description regarding Warranty was changed User s Manual RCX series YAMAHA PROFIBUS Robot Controller network board Jul 2012 Ver 1 07 This manual is based on Ver 1 07 of Japanese manual YAMAHA MOTOR CO LTD IM Operations All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor
50. in the robot program 2 This is a reserved area 3 Has a meaning in the robot controller internal process as a dedicated command region This cannot be used as a general purpose input output in the robot program An example of the I O information flow in the robot controller slave module is shown below The buffer memory of the master module into which the I O information is stored differs depending on the PLC type assignment method etc Refer to the PLC manual for details Example Master module Robot controller CPU 315 2 DP Remote input Input address i286 1o BEE SOW 15 to SOW 0 1303 to 1288 SO15 to SOO Remote output Output address SIW 15 to SIW 0 Q286 to 0256 Q303 to Q288 SI15 to SIO nn Automatic update 1 4 5 Shift of PROFIBUS system connection status and robot controller status Always start the PROFIBUS system specification robot controller in the servo OFF state after the power is turned ON OD Normal state of PROFIBUS system connection when robot controller power is turned ON Robot controller Emergency stop interlock signal in PROFIBUS system are valid Sumo Master module When SAFE mode is enabled service mode input signal is made valid with SI 02 in the PROFIBUS system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system param
51. ioning A loose screw could lead to dropping short circuiting or malfunctioning If the screw is too tight short circuiting or malfunctioning could occur due to screw damage Never disassemble or modify any of the robot controller modules Failure to observe this could lead to trouble malfunctioning injuries or fires Always shut off all phases of the power supply externally before installing or removing the PROFIBUS compatible module Failure to shut off all phases could lead to robot controller trouble or malfunctioning When using the robot controller with the PROFIBUS compatible module mounted always mount the enclosed ferrite core for noise measures on the power cable as close to the robot controller as possible Failure to mount this ferrite core could lead to malfunctioning caused by noise CAUTION The PROFIBUS system may not function properly if the master module and robot controller power are turned ON simultaneously Always turn the robot controller power ON after turning ON the power for the master module ON Precautions for disposal AN CAUTION Dispose of this product as industrial waste This manual does not guarantee the implementation of industrial rights or other rights and does not authorize the implementation rights YAMAHA shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given in this manual 2012 YAMAHA MOTOR CO LTD Warranty For
52. iring work Failure to install the terminal cover could lead to malfunctions AN CAUTION Tighten the terminal screws within the specified torque range A loose terminal screw could lead to short circuiting or malfunctioning If the terminal screw is too tight short circuiting or malfunctioning could occur due to screw damage Make sure that foreign matter such as cutting chips or wire scraps do not enter the robot controller The communication cables connected to the PROFIBUS compatible module must be placed in a conduit or fixed with a clamp If the cable is not placed in a conduit or fixed with a clamp the module or cable could be damaged by the cable shifting movement or unintentional pulling leading to malfunctioning caused by an improper cable connection Do not disconnect the communication cable connected to the PROFIBUS compatible module by pulling on the cable section Loosen the screws on the connector and then disconnect the cable Pulling on the cable fixed with screws could lead to module or cable damage or malfunctioning caused by an improper cable connection Precautions for starting and maintenance WARNING Do not touch the terminals while the power is ON Failure to observe this could lead to malfunctioning Always shut off all phases of the power supply externally before cleaning or tightening the terminal screws Failure to shut off all phases could lead to electric shocks product damage or malfunct
53. is a system used to connect the robot controller or scattered in put output modules etc with dedicated cables and to control these modules from the master module The PROFIBUS system allows wiring to be reduced Master module Controls the entire PROFIBUS system gt The PLC master module corresponds to this NOTE On the RCX240 the dedicated input of STD DIO connector provided on the Slave module controller will be disabled except for Controlled by the master module an interlock signal DI 11 When the Board condition external 24V monitor control of system parameters is set Controlled by the master module in the invalid the interlock signal DI 11 PROFIBUS system will also be disabled On the RCX22x Th b 11 d the dedicated input of STD DIO A eee connector will be disabled but the this interlock signal DI 11 in SAFETY connector enabled Slave module in the PROFIBUS system Wiring saving One dedicated cable 5 wire is used to connect the robot controller and PLC This allows the entire system wiring to be reduced Emulated serialization on parallel DIO By making the robot controller s internal settings without using a robot program the various I O devices such as the sensors and relays mounted on the robot controller s parallel I O can be controlled from the PLC as if they were PROFIBUS system I O de vices AN CAUTION An emergency stop terminal for hardwire is provided in the
54. n using SI 17 as return to origin input with the RCX240 which is used as a replacement for the RCX141 or RCX221 use SI 17 as absolute reset return to origin When the RCX240 is used with a robot whose axis configuration includes absolute type incremen tal type and or semi absolute type axes and if SI 17 is used for absolute reset return to origin then absolute reset is performed on the absolute reset axis each time return to origin is performed on the incremental type and or semi absolute type axes So if the robot axis configuration includes absolute type incremental type andlor semi absolute type axes we recommend using SI 17 to perform absolute reset and SI 14 to perform return to origin Return to origin input and absolute reset input can also be executed in AUTO mode by changing the execution level Refer to the controller user s manual for more details SI 17 Return to RCX141 221 Ha origin input Turn ON to perform return to origin on incremental type axes or semi absolute type axes When this input is switched from OFF to ON return to origin is performed on incremental type axes or absolute search is performed on semi absolute type axes This input is for axes whose return to origin method is sensor or stroke end torque detection method Robot controller mode must be in MANUAL mode SI 17 Absolute reset RCX142 222 input Turn ON to perform absolute reset of robot Ab
55. nd can be con trolled by service mode input signals 4 SAFETY connector This connector is used to connect emergency stop input and service mode input Located on the front panel of the robot controller 5 STD DIO connector This connector is used to receive or output dedicated I O signals and general purpose I O signals Located on the front panel of the robot controller 6 Station address Identification number assigned to each node in PROFIBUS 7 Bit information Bit information that can be handled by PROFIBUS compatible module xipuaddy 8 Word information Word information that can be handled by PROFIBUS compatible module 9 Little endian Method to substitute LSB in low order address and refer to LSB when handling word information data as double word data For example when the value 00012345h is substituted in SOD 2 2345h is sub stituted in SOW 2 of the first word and 0001h is substituted in SOW 3 of the second word 6 1 2 GSD files Appendix 6 2 Profibus_DP GSD_Revision Vendor_Name Model_Name Ident Number FMS supp Protocol Ident Station Type Slave Family Revision Hardware Release Software Release Implementation type Redundancy Repeater Ctrl Sig 24V Pins Auto Baud supp 9 6 supp 19 2 supp 93 75 supp 187 5 supp 500 supp 1 5M supp 3M supp 6M supp 12M supp MaxTsdr 9 6 MaxTsdr 19 2 MaxTsdr 93 75 MaxTsdr 187 5 MaxTsdr 500 MaxTsdr 1 5M MaxTsdr 3M
56. nesareeseeesee 4 3 3 1 Robot controller front panel LED confirmation 4 3 3 2 Programming box error display confirmation 4 4 3 3 PROFIBUS compatible module LED confirmation 4 5 3 4 Confirmation from master module 4 6 4 Error messages relating to PROFIBUS eeeeoeene ese 4 7 Chapter 5 Specifications P LL TT TTT 5 1 2 Details of input output signals eereeneoenneooneoonnee 5 3 3 Dedicated input output signal timing chart 5 7 3 1 Servo ON and emergency stop urrrrereeereeeeeooseeooons 5 7 3 2 AUTO mode changeover program reset and program execution paariraa a Ean SA a Seis 5 8 3 3 Stopping with program interlock eee eee 5 9 4 Sample program siste 5 10 5 PROFIBUS compatible module specifications 5 20 Chapter 6 1 2 Appendix Term CefinitiOn sssssssssesescscsccscsceccececcecssececacsssssssseses 6 1 GSD ANNO tie E ina 6 2 Chapter 1 Outline Contents Tho SELTS 9000000000000 1 1 2 Mechanism 2 242 222222234220022290229002200020003220r20J0ensessensetanssnnessnenasnse 1 2 3 Names of each part on the PROFIBUS compatible module 1 3 4 Assignment of PROFIBUS compatible I O 20r20u0200000000000000000000 1 4 5 Shift of PROFIBUS system connection status and robot controller status MEMO 1 Features The PROFIBUS system
57. ogram the bit information re ceived from the master module via the PROFIBUS system will be monitored by 2 and the robot controller will wait for the ON information WAIT SI 20 1 If the following is executed with the robot program in the robot controller the word information will be sent to the master module via the PROFIBUS system by 1 SOW 2 256 Conversely if the following is executed with the robot program the word information received from the master module via the PROFIBUS system will be substituted in integer variable A by 2 A SIW 3 3 Names of each part on the PROFIBUS compatible module The part names of the PROFIBUS compatible module installed in the robot controller are described in this section The PROFIBUS compatible module is installed into an optional slot in the robot controller o aullino 5 JE O O 11981 2 2 MIKO 1 Front of the unit PROFIBUS DP connector This is used to connect the PROFIBUS system cable Follow the pin assignment below to avoid miswiring Description No connection No connection Signal RTS GND 5V No connection Signal 1 2 3 4 5 6 7 8 9 No connection Metal part screw part For protective ground 2 Transmission monitor LED The status in the PROFIBUS system is indicated with ON OFF and flickering status of five LEDs These terminals are DATA EX SD RD
58. ompatible module Correct the address setting if incorrect e Check that the master module is in normal operation e Check the hardware configuration setting Correct the setting if needed Confirmation item 2 lt Confirmation details gt e Check whether an error other than PROFIBUS Link Error is displayed on the pro gramming box In this case this problem is not related to the PROFIBUS system connection Note however the message PROFIBUS Link Error may not appear on the programming box if multiple errors have occurred simultaneously lt Cause gt e An error has occurred in the robot controller lt Countermeasures gt e Check the error message displayed on the programming box e Check the error history using the programming box Check the error history in the SYSTEM gt DIAGNOS gt HISTORY mode using the programming box Take measures by following the troubleshooting section in the robot controller user s manual Refer to the robot controller user s manual for details on the errors 3 Troubleshooting 3 3 PROFIBUS compatible module LED confirmation Confirmation item 1 lt Confirmation details gt Check that the LED display on the PROFIBUS compatible module is not RUN ON ERR OFF RD ON SD ON DATA EX ON lt Cause gt An error has occurred in the PROFIBUS system connection e Refer to table in section 2 for the meanings of the LED displays lt Countermeasures gt
59. option units have been installed c Cannot identify the installed option unit Action 1 Check the DIP switch settings on the option unit 2 Install the correct option units 3 Replace the option unit O lt O O Y 2 2 5 Oo n Chapter 5 Specifications Contents 18 ku 5 1 2 Details of input output signals eeeeeeneoenaoonneoonaeonnao onne 5 3 3 Dedicated input output signal timing chart eeeeeeeeenee 5 7 Boll SANW ON anl CMSA O o 5 7 3 2 AUTO mode changeover program reset and program execution 5 8 BS ton PIE Withiprogranmiinten ock aa E 5 9 A SaMpIGIPTOSTAM sin EAR REESE sete sszesscceseieesuerseieseocesesecoestcosses 5 10 5 PROFIBUS compatible module specifications eee 5 20 MEMO 1 Profile AN CAUTION Explanations are given based on the address for the SIEMENS master module Refer to the respective manuals when using other master module brands YAMAHA robot controller Bit input output Slave Master Master Slave Address Signal name Address Signal name SO 00 Emergency stop input status output SO 01 CPU_OK status output SO 02 Servo ON status output SO 03 Alarm status output System area for future expansion SI 00 Emergency stop input SI 01 Servo ON input SI 02 Service mode input SI 03 Step execution input 1 Sy
60. program start input ON is input h Program reset status output OFF is output Robot program execution status output ON is output i After confirming that the robot program execution status output is ON the robot program start input OFF is input The program cannot be executed if the emergency stop input and interlock input are OFF Tf the origin return complete status output is not ON execution of the program may not be possible depending on the execution level setting value When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the PROFIBUS system 5 8 3 Dedicated input output signal timing chart 3 3 Stopping with program interlock on CAUTION Im 33 0 SO 10 Provide an interval of 100ms or AUTO mode status off more when turning the dedicated output input from the master module to Im 33 1 S0 11 dl the controller ON and OFF If the Origin return complete y interval is too short the dedicated status output o input may not be recognized Im 33 3 SO 13 This also applies to the interval Robot program execution for the same dedicated inputs or status output off i i differing dedicated inputs Qn 33 1 S1 11 on T Use this also if there is a Interlock input i dedicated output in respect to the off i dedicated input from the master Qn 33 2 SI 12 on i
61. put off f on on Im 32 2 S0 02 Servo ON status output off on i i Im 32 3 SO 03 i Alarm status output off on i 1 i i Qn 32 0 S1 00 Tt Emergency stop input y i Bou on H i i i H Qn 32 1 SI 01 i i HEE Servo ON input off jon kui a b c d e f g mi j k Initial servo ON process after power ON a Servo ON input ON is input b If not in the emergency stop state output servo ON status ON is output c After confirming that servo ON status output is ON servo ON input OFF is input Shift to emergency stop d Emergency stop input OFF is input e Emergency stop input status and alarm ON status are output Servo ON status output OFF is output Servo ON process from emergency stop status f Emergency stop input ON is input g Emergency stop input status output OFF is output h Servo ON input ON is input i Alarm status output OFF is output j Servo ON status output ON is output k After confirming that servo ON status output is ON servo ON input OFF is input The servo is OFF when the controller power is turned ON When SAFE mode is enabled dedicated inputs other than SI 00 and SI 11 might be disabled depending on service mode parameter setting unless service mode input signal is set to ON with SI 02 in the PROFIBUS system wn oad suone9 3 Dedicated input output signal timing chart 3 2 AUTO mode changeover program reset and program execution
62. r SO 20 1 SO 20 will turn ON Example To write variable A data into Im 34 0 to Im 34 7 SO2 Q SA nic The variable A data will be converted into a binary and substituted in SO 2 If vari able A is 127 SO2 will be 7Fh When writing the robot controller word information into the master module s input ad dress write the following command in the robot program Assignment statement Example To write 512 into Im 4 as word data SOW 2 512 einans 512 is substituted in SOW 2 and SOW 2 becomes 0200h Example To write 69905 as the double word data for Im 4 and Im 6 SOD 2 69905 69905 is substituted in SOD 2 SOW 2 becomes 1111h and SOW 3 becomes 000 1h 3 3 3 Direct connection by emulated serialization on parallel DIO vy Q NOTE When the directly connected and set output port is used with the program the bit information may not become the intended value Do not use the directly connected and set output port with the c rogram 6 program 9 c E O O OS NOTE When the port specified by SIO is identical with the port used by the program the output results might be inaccurate 3 4 The robot controller s parallel input data can be transferred to the serial output data re gardless of the robot program Likewise the robot controller s serial input data can be transferred to the parallel output data Using this function I O devices such as a sensor
63. rk 19 User application M153 4 M103 4 Network 20 User application M153 5 M103 5 t lt 5 16 4 Sample program Network 21 User application M103 6 Network 22 User application M153 7 M103 7 Network 23 Second device Starts automatic operation after canceling emergency stop M150 1 M150 0 M150 2 M200 1 LI A SERVO ON CPU OKON EMG ON SERVO ON M150 2 M M201 6 MANUAL SERVO ON ORG OK i gw M151 0 M151 1 M201 7 gt Vt gt ABS RESET O AUTO ORG OK O M151 1 M201 3 AUTO a ORG OK 8 M151 0 M151 3 M151 4 M201 5 Y PRG RESET AUTO PRG GO PRG RESET O M151 0 M151 4 M151 3 M201 2 gt H A START Y AUTO PRG RESET PRG GO Network 24 User application M52 0 M202 0 di T RN Network 25 User application M52 1 M202 1 i up Network 26 User application M52 2 M202 2 Network 27 User application M202 3 5 17 N O O D o YN 4 Sample program Network 28 User application Network 29 User application M52 5 M202 5 _____ Network 30 User application M52 6 M202 6 _____ 4 Network 31 User application M52 7 M202 7 gt Network 32 User application M53 0 M203 0
64. roller Connect the PROFIBUS system cable to the PROFIBUS DP connector on the PROFIBUS compatible module Procedure Plug the connector of the PROFIBUS system cable into the PROFIBUS DP connector on the PROFIBUS compatible module and tighten the two screws on both sides of the con nector to fasten securely When the robot controller is an end of the bus always connect a termination resistor 5 2 Testing the line from the master module When connecting the robot controller to the PROFIBUS system the robot controller must be set as a slave unit on the PROFIBUS system by using the hardware configuration tool After setting create a check program and make sure that PROFIBUS communication is performed reliably For the procedure to operate the configuration tool refer to its opera tion manual For more details refer to the master module instruction manual 2 5 uonJEoUUOJ 6 Parameter setting for PROFIBUS serial I O board OF NOTE The following functions are enabled or disabled by setting the parameters for the When not using serial I O boards PROFIBUS serial I O board set the Board condition parameter Serial IO parameter for RCX22x Parameter Meaning to INVALID When the Board Conanin 1 RCX240 Enables or disables the serial I O board When set to VALID the parameter Ser ial 1 Parameter Board condition serial I O can be used When set to INVALID the serial I O for RCX22x is set to I
65. rt up with an option board setting error after the PROFIBUS compatible module has been installed Make the following settings as ex plained below Procedure 1 Make connections to all input connectors on the front panel of the robot controller 2 The following type of question will appear on the MPB RPB screen so answer as YES POWER ON 12 70 Incorrect option setting change OptionSlot OK 3 If the controller does not operate properly because of a memory error etc load the data saved in step 2 1 into the controller Refer to the controller user s manual for details on loading the data If the robot controller is not correctly connected with the PROFIBUS system the message PROFIBUS Link Error will appear on the MPB RPB 3 Setting the PROFIBUS compatible module To connect the PROFIBUS system specification controller to the PROFIBUS system the station ad dress must be set with the rotary switch on the PROFIBUS compatible module Carry out the opera tions explained in section 2 1 to confirm the current station address and communication speed set tings 3 1 Setting the station address Using the rotary switches MSB and LSB in front of the PROFIBUS compatible module set the station address of the robot controller in the PROFIBUS system O e D O NOTE O The station address for the PROFIBUS 5 system can be set in the range of 1 to 99 CAUTION Make sure that the settin
66. s is set invalid RCX240 Interlock signal in SAFETY connector is valid RCX22x When the Board condition external 24V monitor control of system parameters is set valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX240 When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector RCX22x ka The signals in the PROFIBUS system can be sent and received When service mode parameter setting in SYSTEM gt PARAM mode has been changed while SAFE mode is enabled make the service mode parameter setting again In this case take full precautions to prevent improper settings that might lead to a hazardous situation The PROFIBUS system will return when the PROFIBUS system connection is recov ered to the normal state 15 MEMO Chapter 2 Connection Contents 1 Confirming the PROFIBUS compatible module settings 2 1 2 Setting to the PROFIBUS system specification controller 2 2 Zalesavinethemobotmcontrollercatageemn settee O ea eee 2 2 22 sta Net arRRO BUSCO Pablo 2 2 2SaResponsenwhengstartineatheireboteontro e AAA 2 2 3 Setting the PROFIBUS compatible module scsscssesseseeeees 2 3 3 1 Setting the statiomaddresse zer scoters 2 3 ek NOES ENGE SEES nee 2 4 4318 Mountingith eten tey601e ae 2 4 5 Connecting to the PROFIBUS system eeeoenaeoeoonaoenoonnae
67. s programs or points that were created or changed by the customer Products whose trouble cannot be reproduced or identified by YAMAHA Products utilized for example in radiological equipment biological test equip ment applications or for other purposes whose warranty repairs are judged as haz ardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILI TIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PUR POSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDI RECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00_201205 5 MEMO Contents Chapter 1 Outline IN 1 1 2 Mechanisatie orae essi i 1 2 3 Names of each part on the PROFIBUS compatible module 1 3 4 Assignment of PROFIBUS compatible I O coomommmooo 1 4 5 Shift of PROFIBUS system connection status and robot controller status esseeseesessessesesseseeseesessesseseeseseesoesese 1 5 Chapter 2 Connection 1 Confirming the PROFIBUS compatible module settings 2 1 2 Setting to the PROFIBUS system specification controller 2 2 2 1 Saving the robot controller data 0 ss 2 2 2 2 Installing the PROFIBUS compatible module
68. ses indicate a YC Link YCLnk Mn EA station number n 3 In SYSTEM gt PARAM gt ObP BRD mode select the Profi with the cursor TH keys and press the SELECT key Fig 2 6 2 SACA N gt PARAM gt OP BRD gt SELECT v8 18 1 board condition VALID 2 remote cmd IO cmd SIO05 VALID 3 0utput MSG to SOW 1 INVALID cor oo fg en 2 7 6 Parameter setting for PROFIBUS serial I O board 4 Select the parameter with the cursor 1 4 keys Fig 2 6 3 SACAN gt PARAM gt OP BRD gt SELECT v8 18 1 board condition VALID 2 remote cmd IO cmd SI05 VALID 3 Output MSG to SOW 1 INVALID E EE E 5 Press the EDIT key Fig 2 6 4 E O O E E e O SEI PARAM gt OP BRD gt SELECT v8 18 1 board condition VALID 2 remote cmd IO cmd SI05 VALID 3 0utput MSG to SOW 1 INVALID E EE EI 6 Press the INVALID or VALID key 7 Press the key to guit the edit mode To continue setting another parameter use the cursor T L keys to select the parameter 2 8 Chapter 3 Communication Contents 1 State when robot controller power is turned ON 2zuu222022000200000 3 1 2 Communication with master module ococononconnnoonnconnninncnnaconos 3 2 2511 REGeIMIN MO ELE E 3 2 E e EK seta ee 3 3 3 Direct connection by emulated serialization on parallel DIO 3 4 3 1 Emulated serialization setting on parallel DIO 3 4 4 Referrin
69. solute reset is performed when this input is switched from OFF to ON except for axes that use mark method for return to origin Absolute reset cannot be performed by dedicated input if return to origin is incomplete on axes that use mark method Robot controller mode must be in MANUAL mode SI 17 Absolute reset input Return to origin input Used for absolute reset or absolute reset return to origin depending on parameter DI17 mode setting O When set to ABS absolute reset Turn ON to perform absolute reset of robot Absolute reset is performed when this input is switched from OFF to ON except for axes that use mark method for return to origin Absolute reset cannot be performed by dedicated input if return to origin is incomplete on axes that use mark method Robot controller mode must be in MANUAL mode O When set to ABS ORG absolute reset return to origin When only absolute type axes are used switching this input from OFF to ON performs absolute reset When only incremental type and semi absolute type axes are used switching this input from OFF to ON performs return to origin on the incremental axes and absolute search on the semi absolute type axes When absolute type incremental type and semi absolute type suones1y19ods axes are used absolute reset is first performed on the absolute axes and then return to origin is performed on the incremental type and semi absolute type axes
70. stem area for future expansion SI 05 10 command execution trigger input System area for future expansion SO 10 AUTO mode status output SO 11 Origin return complete status output SO 12 Seguence program execution status output SO 13 Robot program execution status output SO 14 Program reset status output SO 15 Battery alarm output 1 SO 16 10 command execution judgment output SO 17 Output during IO command execution SI 10 Seguence control input SI 11 Interlock input SI 12 Robot program start input SI 13 AUTO mode input SI 14 Absolute reset input 2 RCX141 221 SI 14 Return to origin input 3 RCX142 222 SI 14 Return to origin input RCX240 SI 15 Program reset input SI 16 MANUAL mode input SI 17 Return to origin input RCX141 221 SI 17 Absolute reset input RCX142 222 SI 17 Absolute reset input Return to origin input 4 RCX240 SO 20 to SO 27 General purpose out SI 20 to SI 27 General purpose input suones1y19ods SO 30 to SO 37 General purpose out SI 30 to SI 37 General purpose input SO 40 to SO 47 General purpose out SI 40 to SI 47 General purpose input S0 50 to SO 57 General purpose out SI 50 to SI 57 General purpose input SO 60 to SO 67 General purpose out S1 60 to SI 67 G
71. t lt SI port identical with the port used by the program the output results might be inaccurate Operation 1 Select an SI port from items 1 to 4 in the SYSTEM gt OPTION gt SIO mode 2 Press the EDIT key SYSTEM gt OPTION gt SIO 1 Direct SI2 gt DO2 NO 2 Direct SI3 gt DO3 NO 3 Direct SI4 gt DO4 NO 4 Direct SI5 gt DO5 NO uolesiunwwoy 5 Direct SO2 DI2 se et 1 3 Press the SET key to enable the connection or the NO key to cancel the setting 4 Press the key to quit setting or select another SI port with the cursor keys to continue setting 3 5 3 Direct connection by emulated serialization on parallel DIO 2 Direct connection from DI n to SOn Parallel port input can be directly connected to serial port output The relation of the parallel port and serial port that can be connected is as follows 0 NOTE Input device such as valve When the port specified by SIO is DI port SO port identical with the port used by the program the output results might be inaccurate Operation 1 Select a DI port from items 5 to 8 in the SYSTEM gt OPTION gt SIO mode 2 Press the EDIT key SYSTEM gt OPTION gt SIO 4 Direct SI5 gt DO15 NO 5 Direct SO2 lt DI2 NO 6 Direct SO3 lt DI30 NO 7 Direct SO4 DI4 NO 8 Direct SO5 lt DISC Do er rt en
72. tus area Im 2 Dedicated SOW 1 Used as remote command s error code area Im 4 General purpose SOD 2 General purpose SOW General purpose SOW General purpose SOD 4 General purpose SOW General purpose SOW General purpose SOD 6 General purpose SOW General purpose SO General purpose SOD 8 General purpose SO General purpose SO General purpose SOD 10 General purpose SO General purpose SO General purpose SOD 12 General purpose SO General purpose SO General purpose SOD 14 General purpose SOW General purpose SOW Used to output word or double word data from SOW or SOD port Or used as remote command s response area Input address m Start address assigned by hardware configuration 3 Dedicated input output signal timing chart CAUTION Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller ON and OFF If the interval is too short the dedicated input may not be recognized This also applies to the interval for the same dedicated inputs or differing dedicated inputs Use this also if there is a dedicated output in respect to the dedicated input from the master module to the controller 3 1 Servo ON and emergency stop on Im 32 0 SO 00 Emergency stop input status y output Im 32 1 SO 01 CPU OK status out
73. ure the voltage at the AC power input terminal of the power connector with a multimeter and check that the rated voltage is being supplied Refer to the robot controller user s manual for the rated voltage for the robot control ler Gunoousajqno4 Confirmation item 2 Confirmation details e The ERR LED is ON Cause The robot controller is in emergency stop A major error has occurred in the robot controller lt Countermeasures gt e Confirm the error message displayed on the programming box Take measures by following the troubleshooting section in the robot controller user s manual Refer to the robot controller user s manual for details on the errors 4 3 O O O lt Y L 2 5 Oo n ER 3 Troubleshooting 3 2 Programming box error display confirmation Confirmation item 1 lt Confirmation details gt e Check whether an error message PROFIBUS Link Error or PROFIBUS Hard ware Error is displayed on the programming box These error messages may not appear for a while right after the power is turned ON so check the error history with the SYSTEM gt DIAGNOS gt HISTORY mode lt Cause gt e An error has occurred in the PROFIBUS system connection lt Countermeasures gt e Check whether the PROFIBUS system cable is disconnected or miswired Reconnect the cable correctly if disconnected or miswired e Check the station address setting of the PROFIBUS c
74. used lst unit 2nd unit SI 40 SI 41 SI 42 SO 23 to SO 20 SO 40 SO 41 SO 42 DI 47 DO 40 DO 47 SI 23 to SI 20 SI 40 SI 41 SI 42 SO 40 SO 41 SO 42 DO 40 Point No reception complete input Movement complete response standby input Movement complete standby input Point No setting output group Point No setting complete output Movement complete output Movement complete response output Pallet change complete input Chuck hand open close 0 Close 1 Open Pallet exchange command output Point No setting input group Point No transmission complete input Movement complete standby input Movement complete response standby input Point No setting reception complete output Movement complete response output Movement complete output Chuck hand open close 0 Close 1 Open Point No in pallet Point No in pallet Point above workpiece supply Ist point above pallet 8th point above pallet Z axis position point for workpiece supply Z axis position point on pallet Point above workpiece supply Ist point above pallet 8th point above pallet Z axis position point for workpiece supply Z axis position point on pallet suonealj199dS 5 11 PLC data assignment M100 0 Istunit s SO 00 Emergency stop input status M100 1 Istunit s SO 01 CPU OK M115 7 Ist unit reservation M200 0 2n

PROFIBUS User`s Manual - RCX Series

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