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YRC Series PROFIBUS User´s Manual

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1. 4 5 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 modules line test function check whether an error has occurred in the robot controller s PROFIBUS connection lt Cause gt 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 cable Wire the PROFIBUS cable away from noise sources such as the power cable E O O amp 2 Q gt E 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 PB screen 12 1 Emg stop on Code amp HOCO1 Meaning Cause a PB emergency stop button was pressed b Emergency stop terminals on SAFETY connector are open emergency stop status c PB or terminator is not connected to PB connector d SAFETY connector is not connected e SI 00 is not ON f
2. General purpose input SO 70 to 50 77 General purpose output General purpose input 00 to SO 107 General purpose out 07 General purpose input 10 to SO 117 General purpose out 17 General purpose input 20 to SO 127 General purpose out 27 General purpose input 30 to 50 137 General purpose out 37 General purpose input SO 140 to SO 147 General purpose out continued to next page 47 General purpose input 5 1 1 Profile Slave Master Master Slave Signal name Adress i Signal name 50 150 to 50 157 General purpose output Qn 45 SI 150 to SI 157 General purpose input Reserved Reserved Reserved Reserved I Input address Q Output address m n Start address assigned by hardware configuration 1 Used for absolute reset or absolute reset return to origin depending on parameter 0117 mode setting Word input output Slave Master Master Slave Address Name Address Name Im Dedicated SOW 0 On Dedicated SIW 0 Im 2 Dedicated SOW 1 Qn 2 Dedicated SIW 1 Im 4 General purpose General purpose SOW 2 Qn 4 General purpose General purpose S SOD 2 General purpose SOW 3 Qn 6 D 2 General
3. 2 2 3 Setting the PROFIBUS compatible 2 3 3 1 Setting the station 4 2 3 4 Noise measures nennen YY YF YF nnn nnns 2 4 41 Mounting ferrite 2 4 5 Connecting to the PROFIBUS system 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 3 1 2 Communication with master 3 2 2 1 Receiving data secs ener 3 2 2 2 Transmitting data i certe eee ect 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 3 7 4 1 Referring to the data from the programming box 3 7 Chapter 4 1 Chapter 5 1 Chapter 6 Troubleshooting Items to confirm before starting up PROFIBUS system 4 1 Meanings of LEDs on PROFIBUS compatible module 4 2 Kee Oe EE 4 3 3 1 Robot controller front panel LED confirmation 4 3 3 2 Programmin
4. 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 System area for future expansion SI 05 IO command execution trigger input System area for future expansion 0 AUTO mode status output 1 Origin return complete status output 2 Sequence program execution status output W N O sl Oil U WIN O 3 Robot program execution status output 4 Program reset status output 5 Battery alarm output 6 10 command execution judgment output 7 Output during IO command execution SI 10 Sequence control input SI 11 Interlock input SI 12 Robot program start input wi N O U SI 13 AUTO mode input gt SI 14 Return to origin input YRC SI 15 Program reset input SI 16 MANUAL mode input SI 17 Absolute reset input Return to origin input 1 YRC 50 20 to 50 27 General purpose output General purpose input 50 30 to 50 37 General purpose output General purpose input 50 40 to 50 47 General purpose output General purpose input SO 50 to 50 57 General purpose output General purpose input suoneoyioods SO 60 to SO 67 General purpose output
5. 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 connector 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 operation manual For more details refer to the master module instruction manual 2 5 E o o E E o 6 Parameter setting for PROFIBUS serial I O board NOTE 2 6 When not using serial I O boards set the Board condition parameter to INVALID When the Board condition parameter is set to INVALID the dedicated input output of STD DIO connector becomes enabled When the Board condition parameter is set to VALID the dedicated input except DI11 of STD DIO connector becomes disabled For remote commands and I O commands refer to the command reference manual For a description of codes issued from the message output function for SOW 1 refer to 1 Error message in chap
6. Turns ON when robot controller is in normal state Im 32 2 SO 02 Servo ON status output Turns ON when robot controller motor power is ON Im 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 Im 33 0 SO 10 AUTO mode status output Turns ON when selected mode is AUTO mode Turns OFF when other mode is selected Im 33 1 SO 11 Origin return complete status outpu Turns ON when robot has complete origin return Im 33 2 Sequence program execution status output Turns ON while sequence program is executed Im 33 3 Robot program execution status outpu 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 SO 15 Battery alarm output Turns ON when system backup battery or absolute battery is low SO 16 10 command execution judgment outpu Turns OFF while executing the IO command After executing the IO command turns ON if normal and stays OFF if abnormal SO 17 Output during IO command execution Turns ON while executing the IO command SO 20 to SO 27 General purpose output 50 150 to 50 157 General purpose output General purpose output turns ON OFF when value is substituted to SO port or SET RE
7. 2 The word data written with SOW n becomes 1111h and SOW 3 becomes has the uncoded little endian format 0001h The double word data written with SOD n has the coded little endian format 3 3 9 3 E E o 3 Direct connection by emulated serialization on parallel DIO 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 program 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 be transferred to the serial output data regardless 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 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 Po Output SI DO Relay valve etc Input ll SO DI E Sensor etc fe 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
8. DIO Are the PROFIBUS compatible module station address correctly set connector provided the controller will be disabled except for an interlock Refer to Chapter 2 section 1 signal DI 11 When the Board condition external 24V monitor control of system parameters is set Refer to Chapter 2 section 4 invalid the interlock signal DI 11 will Is the PROFIBUS system cable accurately connected to the PROFIBUS compatible also be disabled Is the ferrite core connected to the power input cable to the robot controller module Refer to Chapter 2 section 5 Was the line test from the master module correct Refer to the master module instruction manual 4 1 2 Meanings of LEDs on PROFIBUS compatible module DATA EX SD RD ERR RUN D o Front of the unit 2 o The LEDs on the PROFIBUS compatible module express the following statuses o Use these for confirmation when an error occurs a RUN ERR RD SD Meaning o E Ke POWER IS TURNED e Power is not supplied to the PROFIBUS compatible module F ON ALL LEDS WILL LIGHT FOR O O PROFIBUS compatible module hardware error 250MS AND THEN DISPLAY AN O O Establishing communication OPERATION STATUS AS SHOWN ON THE RIGHT O O O Cannot receive data from robot controller IF THE POWER IS NOT SUPPLIED O O Normal communication with
9. GSD Revision Vendor Name Model Name Ident Number FMS supp Protocol Ident Station Type Save Family Revision Hardware Release Software Release Implementation type Redundancy Repeater Ctrl Sg 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 MaxTsdr 6M MaxTsdr 12M Min Save 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 LTD YAMAHA ROBOT RCX 0x06F9 Ver1 0 Ver1 0 Ver1 0 SPC3 0 0 Remort 16word DI DO 16byte OxFF OxBF GSD file revision Ver1 0 Vendor name Model type Identification number FMSNot Supported Profibus DP Supported Station DP Save Save family Controllers Device revision Ver1 0 Hardware revision Ver1 0 Software revision Ver1 0 SPC3 Not Supported Not Supported Not Supported Supported 9 6kbps 192kbps 93 75kbps 187 5kbps 500kbps 1 5Mbps 3Mbps 6Mbps 12Mbps Max response times 60Tbit 6 25msec 60Tbit 3 125msec 60Tbit 640 60Tbit 320usec 100Tbit 200usec 150Tbit 100usec 250Tbit 83usec 450Tbit 7
10. Qn 35 7 to Qn 35 0 SO4 7 to 0 Im 36 7 to Im 36 0 SIA 7 to 0 Qn 36 7 to Qn 36 0 505 7 to 0 Im 37 7 to Im 37 0 515 7 to 0 Qn 37 7 to Qn 37 0 506 7 to 0 Im 38 7 to Im 38 0 516 7 to 0 Qn 38 7 to Qn 38 0 SO7 7 to 0 Im 39 7 to Im 39 0 SI7 7to 0 Qn 39 7 to Qn 39 0 5010 7 to 0 Im 40 7 to Im 40 0 5110 7 to 0 Qn 40 7 to Qn 40 0 5011 7 to 0 Im 41 7 to Im 41 0 SI11 7 to 0 Qn 41 7 to Qn 41 0 5012 7 to 0 Im 42 7 to Im 42 0 5112 7 to 0 Qn 42 7 to Qn 42 0 5013 7 to 0 Im 43 7 to Im 43 0 5113 7 0 Qn 43 7 to Qn 43 0 SO14 7 to 0 Im 44 7 to Im 44 0 5114 7 to 0 Qn 44 7 to Qn 44 0 5015 7 to 0 Im 45 7 to Im 45 0 SI15 7 to 0 Qn 45 7 to Qn 45 0 Im 47 7 to Im 46 0 2 47 7 to 46 0 gt LO 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 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 as
11. 4 Transmission from PROFIBUS system erroneous connection state to PROFIBUS correct connection state when robot controller power is turned Robot Master module controller ON Master module Sumo Robot 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 parameters is set invalid 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 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 recovered to the normal state 1 7 Chapter 2 Connection Contents 1 Confirming the PROFIBUS compatible module settings 2 Setting to the PROFIBUS system specification controller coniro lerda ta 2 2 Installing the PROFIBUS compatible module 2 3 Response when starting the robot control
12. 42 7 50 120 to SO 127 SOW 11 Im 43 0 to Im 43 7 50 130 to 50 137 SOD 10 SOD 12 SOW 12 Im 44 0 to Im 44 7 SO 140 to 50 147 SOW 13 Im 45 0 to Im 45 7 50 150 to 50 157 SOD 14 SOW 14 SOW 15 I Input address Start address assigned by hardware configuration When writing the robot controller s bit information into the master module s input address write the following command in the robot program in the same manner as the DO output port SET RESET command Assignment statement To turn Im 34 0 ON SET SO 20 or SO 20 1 SO 20 will turn ON Example The SO statement in the robot language can be defined 502 to SO27 Example but the PROFIBUS compatible module accepts from SO2 to 5015 To write variable A data into Im 34 0 to Im 34 7 SOL The variable A data will be converted into a binary and substituted in SO 20 If variable Ais 127 S02 will be 7Fh When writing the robot controller word information into the master module s input address write the following command in the robot program Assignment statement Example To write 512 into Im 4 as word data SOW 2 512 512 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 NOTE SOD 2 69905 69905 is substituted in SOD 2 SOW
13. Error in connection to PROFIBUS system Action 1 Release the PB emergency stop button 2 Close the emergency stop terminals on SAFETY connector 3 Connect PB or terminator to PB connector 4 Attach the SAFETY connector b Interlock signal turned ON during execution of program or axis movement c DC 24V is supplied to STD DIO connector on the YRC and DI 11 is not turned ON d SI 11 is not ON e Error in connection to PROFIBUS system 5 Set SI 00 to ON o 6 Correct the connection to PROFIBUS system 5 12 2 Interlock on o Code amp H0C02 3 Meaning Cause a Program was executed or moving of axis attempted with interlock signal still input O 5 Action 1 Cancel the interlock signal and execute program or move axis 2 Set DI 11 on STD DIO connector to ON 3 Set SI 11 to ON 4 When not using STD DIO set DC 24V monitor of system parameters to INVALID 5 Correct the connection to PROFIBUS system 12 21 PROFIBUS link error Code amp HOC15 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 statio
14. FOREIGN MATTER SUCH AS CUTTING CHIPS OR WIRE SCRAPS DO NOT ENTER THE ROBOT CONTROLLER THE COMMUNICATION CABLES CONNECTED TO THE PROFIBUS COMPATIBLE MOD ULE MUST PLACED IN CONDUIT OR FIXED WITH A CLAMP IF THE CABLE IS NOT PLACED IN CONDUIT OR FIXED WITH 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 MALFUNC TIONING 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 MALFUNCTIONING 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 SHU
15. Mount the two ferrite cores supplied onto the input power cable The ferrite core 2 should be placed as close to the robot controller body as possible O N CAUTION o SECURELY FIX THE FERRITE 2 Fix the mounted ferrite core with an Insulock tie etc CORE IF THE FERRITE CORE IS NOT MOUNTED TROUBLE COULD OCCUR WITH THE PROFIBUS SYSTEM OPERATIONS 5 Connecting to the PROFIBUS system A WARNING WHEN SETTING THE STATION ADDRESS COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER 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 A 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 PROFIBUS DP connector Front of the unit 5 1 Connecting the cable to the robot controller Connect the PROFIBUS system cable to the PROFIBUS DP connector on the PROFIBUS compatible module
16. OR PRODUCT DAMAGE A 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 A WARNING ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION 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 WIRING WORK FAILURE TO INSTALL THE TERMINAL COVER COULD LEAD TO MALFUNCTIONS 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
17. PROFIBUS system ON OFF information Robot Master module controller 2 1 The robot controller s ON OFF information is sent to the master module via the network PROFIBUS system cable 2 The master modules ON OFF information is to the robot controller via the network PROFIBUS system cable The robot controller monitors the ON OFF information at a 10ms cycle The ON OFF information consists oftwo words each of dedicated UO words 14 words each of general purpose words as word information and 16 points each of dedicated 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 informa tion will be sent to the master module via the PROFIBUS system by 1 SO 20 1 Conversely if the following is executed with the robot program the bit information received 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 infor mation 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
18. S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 4 Sample program 2nd unit s INIT ROUTINE RESET 5020 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 51 23 22 21 20 SO 40 1 WAIT SI 40 0 50 40 0 B B 200 MOVE P P B Z 0 GOSUB PLACE MOVE P P200 Z 0 SO 42 1 WAIT SI 42 1 SO 42 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 suoneoyioods 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 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 Y W 16 120 LADDR RET VAL MW250 5 100 0 D BYTE 16 RECORD Eu 6 o Network 3 a Second device Stores data of 16 bytes into internal memory 150 from input byte address 336 o EN DPRD DAT ENO W 16 150 LADDR VAL MW250 150 0 RECORD BYTE
19. SO2 lt 0120 NO ES 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 to SO 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 Input device such as valve Dl port SO port NOTE DRO S020 When the port specified by SIO is DBO 5030 identical with the port used by the program the output results might be 240 5040 inaccurate 050 505 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 515 gt DO150 5 Direct 5020 lt DI20 NO 5 6 Direct 5030 lt 2130 NO o 7 Direct 5040 lt 0140 NO 8 Direct 5 5 lt 0150 keg ee bss 3 Pressthe 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 3 6 4 Referring to communication data The ON OFF information exchanged with the master module can be referred to usin
20. 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 euinno jo O OOOO Co gt Front of the unit 1 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 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 ERR and RUN from the top 3 Station address setting switch LSB Ist 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
21. 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 and can be controlled 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 xipueddy 7 Bit information Bit information that can be handled by PROFIBUS compatible module 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 substituted 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
22. the slave module differ The correspondence is shown below Output from robot controller Input to robot controller Program language Master module Program language Master module SOW 0 Im SIW 0 Qn SIW n and SOW n are handled as SOW 1 Im 2 SIW 1 Qn 2 numerical data of word with no sign SOW 2 Im 4 SIW 2 Qn 4 SID n and SOD n are handled as SOD 2 D 2 SOW 3 Im 6 SIW 3 6 numerical data of double words with Em m ae a sign SOD 4 y MP D 4 qunm SOW 5 Im 10 SIW 5 Qn 10 SOW 6 Im 12 SIW 6 Qn 12 SOD 6 D 6 SOW 7 Im 14 SIW 7 Qn 14 SOW 8 Im 16 SIW 8 Qn 16 The dedicated input of STD DIO SOD 8 D 8 SOW 9 Im 18 SIW 9 Qn 18 connector provided on the controller will be disabled except for an interlock SOD 10 SOW 10 Im 20 D 10 SIW 10 Qn 20 signal DI 11 When the Board condi SOW 11 Im 22 SIW 11 Qn 22 tion external 24V monitor control of SOW 12 Im 24 SIW 12 Qn 24 500 12 D 12 system parameters is set invalid the SOW 13 Im 26 SIW 13 Qn 26 interlock signal DI 11 will also be disabled SOD 14 SOW 14 Im 28 D 14 SIW 14 Qn 28 SOW 15 Im 30 SIW 15 Qn 30 500 7 to 0 Im 32 7 to Im 32 0 SIO 7 to 0 Qn 32 7 to Qn 32 0 501 7 to 0 Im 33 7 to Im 33 0 SI1 7 to 0 Qn 33 7 to Qn 33 0 502 7 to 0 Im 34 7 to Im 34 0 SI2 7 to 0 Qn 34 7 to Qn 34 0 SO3 7 to 0 Im 35 7 to Im 35 0 SI3 7 to 0
23. 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 0 0 100 0 M101 1 M200 0 M201 1 5 14 4 Sample program Network 6 First device Starts automatic operation after canceling emergency stop M50 1 M50 0 M50 2 M100 1 4 Y 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 PRG RESET AUTO PRG GO PRG RESET M51 0 M51 4 M51 3 M101 2 START AUTO PRG RESET PRG GO Network 7 User application M152 0 M102 0 d o Network 8 User application o M152 1 M102 1 o 3 Network 9 o User application M152 2 M102 2 Network 10 User application M152 3 M102 3 d Network 11 User application M152 4 M102 4 f Network 12 User application M102 5 5 15 4 Sample program Network 13 User application M152 6 M102 6 Network 14 User application M15
24. 2 7 M102 7 Network 15 User application M153 0 M103 0 Network 16 o c User application O p 6 M153 1 M103 1 O a Network 17 o User application M153 2 M103 2 I Network 18 User application M153 3 M103 3 d Network 19 User application M153 4 M103 4 O Network 20 User application M153 5 M103 5 y 5 16 4 Sample program Network 21 User application M153 6 M103 6 d 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 Y SERVO ON CPU OK ON EMG ON SERVO ON M150 2 M151 1 M201 6 MANUAL SERVO ON ORG OK M151 0 M151 1 M201 7 Y d ABS RESET AUTO ORG OK M151 1 M201 3 gt AUTO ORG OK M151 0 M151 3 M151 4 M201 5 d PRG RESET PRG GO PRG RESET M151 0 M151 4 M151 3 M201 2 START AUTO PRG RESET PRG GO Network 24 User application M52 0 M202 0 d Network 25 User application M52 1 M202 1 d Network 26 User application M52 2 M202 2 d Network 27 User application M202 3 M52 3 5 17 suoneoyioods 4 Sample program Network 28 User appli
25. 5usec 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 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1150E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revision 0 July 2010 Original production
26. DO port lt SI port DRO 5020 2020 120 080 5030 0030 513 040 5040 DO4 5140 0150 5050 2050 150 Operation 1 Press the SIO key in SYSTEM gt OPTION mode SYSTEM gt OPTION gt SIO 1 Direct 5120 gt 0020 NO 2 Direct 513 gt NO 3 Direct 5140 gt DO4 4 Direct 5150 50 5 Direct SO2 lt 0120 NO Valid keys and submenu functions in this mode are as follows Valid keys Function the cursor keys TW Selects SIO parameters FI Sets SIO parameters F2 Jumps to specified SIO parameter When the port specified by SIO is identical with the port used by the program the output results might be inaccurate 3 Direct connection by emulated serialization on parallel DIO 1 Direct connection from SI n to DO 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 Output device such as sensor DO port lt SI port 0020 5120 DO3 5130 DO40 140 2050 150 Operation 1 Select SI E from items I to 4 in the SYSTEM gt OPTION gt SIO mode 2 Press the EDIT key SYSTEM gt OPTION gt SIO v 1 23M 1 Direct 5120 gt 0020 RE 2 Direct 5130 gt 3 Direct 5140 gt DO4 4 Direct 5150 gt 0050 NO 5 Direct
27. ECT TO THE DEDICATED INPUT FROM THE MASTER MODULE TO THE CONTROLLER 3 Dedicated input output signal timing chart on Im 33 0 SO 10 AUTO mode status off output 33 1 50 11 Origin return complete on status output off on Im 33 3 50 13 Robot program execution status output off Qn 33 1 SI 11 Interlock input off 4 I lt Qn 33 2 SI 12 on Robot program start input off i b d e 0 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 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 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 mod
28. General purpose S Used to input word or double word data from SIW or SID port Or used as remote Commande command data area Q Output address n Start address assigned by hardware configuration Address Name Details Im Dedicated SOW 0 Used as remote command s status area Im 2 Dedicated SOW 1 Used as remote command s error code area o Im 4 General purpose General purpose SOW 2 Im 6 SOD 2 General purpose SOW 3 O Im 8 General purpose General purpose SOW 4 Im 10 SOD 4 General purpose SOW 5 Im 12 General purpose General purpose SOW 6 290081 SE Used to output word or double word data from Im 16 General purpose General purpose SOW 8 SOW or SOD port E SODE SOW Or used as remote Commande response area o Im 20 General purpose General purpose SOW 10 Im 22 SOD 10 General purpose SOW 11 Im 24 General purpose General purpose SOW 12 Im 26 SOD 12 General purpose SOW 13 Im 28 General purpose General purpose SOW 14 Im 30 SOD 14 General purpose SOW 15 Input address m Start address assigned by hardware configuration 5 6 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 INPU
29. HILE 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 The PROFIBUS system is a system used to connect the robot controller or scattered input 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 The PLC master module corresponds to this Slave module Controlled by the master module in the PROFIBUS system Slave module Controlled by the master module in the PROFIBUS system The robot controller corresponds to this 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 VO devices such as 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 devices 1 1 Outline 2 Mechanism 1 2 The mechanism of communication is explained in this section to provide an understanding of how the robot controller and master module operate via the
30. IBUS system will appear in the parentheses following Profi on the screen 4 CONTROLLER The meaning of the above example is shown below IS NOT CONNECTED TO THE SI Station address I PROFIBUS SYSTEM OR IF THERE IS AN ERROR IN THE PROFIBUS Setting range 1 to 99 SYSTEM THE ERROR PROFIBUS 500K 500Kbps LINK ERROR WILL APPEAR ON THE PB WHEN THE ROBOT CON Communication speed is automatically recognized TROLLER POWER IS TURNED ON THE ABOVE SETTINGS CAN BE CONFIRMED EVEN IN THIS STATE 2 1 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 specifications with the procedure given in section 1 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 SCARA Studio software 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 Setting the PROFIBUS compatible module in chapter 2 E o o E E o 2 3 Response when starting the robot controller The robot controller will always start u
31. LE USER S MANUAL AND THIS MANUAL FOR DETAILS ON THE STATE OF THE PROFIBUS SYSTEM AND ROBOT CON TROLLER WHEN A COMMUNICATION ERROR OCCURS WITH THE PROFIBUS SYSTEM ETC CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO THAT THE SYS TEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY USING THE COM MUNICATION STATUS INFORMATION 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 CON TROLLER WILL WORK SAFETY 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 YRC ROBOT CONTROLLER THE DEDICATED INPUT OF STD 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 Precautions 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 INSTALLATION OR WIRING WORK FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ELECTRIC SHOCKS
32. NOT DUPLICATED WITH OTHER SETTINGS LSB NEVER DIRECTLY TOUCH THE CONDUCTIVE 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 Procedures an S 1 Check station address of the robot controller in the PROFIBUS system AGE NEAR THE PROFIBUS The station address must be set between 1 and 99 COMPATIBLE MODULE ACCURATELY SET THE STATION ADDRESS 2 Using a precision Flathead screwdriver set the 2nd digit of the station address on SET THE STATION ADDRESS rotary switch MSB THAT WAS SET BY THE CONFIGURATION TOOL USE THE CONFIGURATION 3 TOOL TO SET THE STATION ADDRESS THAT WAS SET BY THE ROTARY SWITCH FOR THE PROCEDURE TO OPERATE THE CONFIGURA TION TOOL REFER TO ITS OPERATION MANUAL Front of the unit In the same manner set the 1st digit on rotary switch LSB WARNING WHEN SETTING THE STATION AD DRESS COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER 2 3 Two ferrite cores must be mounted on the input power cable when connecting to the PROFIBUS system 4 1 Mounting the ferrite core Mount two ferrite cores onto the input power cable connected to the input power connector A WARNING on the front panel of the robot controller COMPLETELY SHUT OFF THE E POWER SUPPLY TO THE INPUT B POWER CABLE BEFORE Procedures STARTING THIS WORK 1
33. PROFIBUS USER S MANUAL Copyright The following shall be described in the Copyright section and the description shall not be changed without permission OMRON 2010 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Introduction Thank you for purchasing the PROFIBUS compatible module This PROFIBUS compatible module is an option module that allows the OMRON robot controller YRC series to be connected as a PROFIBUS system slave module The robot controller explained in this manual refers to the YRC 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
34. SET command or OUT command is executed Input address m Start address assigned by hardware configuration suoneoyioods 5 3 2 Details of input output signals o c e 6 o o o 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 Emergency 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 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 OFF to ON Qn 32 5 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 10 Sequence control input Turn ON to execute sequence program in the robot contro
35. T 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 output Im 32 1 SO 01 CPU status output on on Im 32 2 S0 02 Servo status output on Im 32 3 S0 03 Alarm status output off on Qn 32 0 SI 00 Emergency stop input off on Qn 32 1 SI 01 Servo ON input off Ke He PR A b Initial servo ON process after power a Servo ON input ON is input b Ifnot 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 1 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 othe
36. T 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 CAUTION DISPOSE OF THIS PRODUCT AS INDUSTRIAL WASTE Warranty The OMRON robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description If failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this OMRON robot and or related product within the warranty period then OMRON shall supply free of charge the necessary replacement repair parts Warranty Period The warranty period ends 24 months after the date of manufacturing as shown on the products Exceptions to the Warranty This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time
37. TIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Contents Chapter 1 Outline E EEE E E 1 1 2 MECHANISM RNA 1 2 3 Names of each part on the PROFIBUS compatible module 1 3 4 Assignment of PROFIBUS compatible 1 4 5 Shift of PROFIBUS system connection status and robot controller status 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 2 2 2 2 Installing the PROFIBUS compatible module 2 2 2 3 Response when starting the robot controller
38. cation II vi M52 4 M202 4 if Network 29 User application II M52 5 M202 5 Network 30 User application M52 6 M202 6 IT Network 31 o c User application O M52 7 M202 7 9 a Network 32 User application M53 0 M203 0 Network 33 User application II M53 1 M203 1 Network 34 User application M53 2 M203 2 Network 35 User application M53 3 M203 3 5 18 4 Sample program Network 36 User application M53 4 M203 4 4 Network 37 User application M53 5 M203 5 Network 38 User application M53 6 M203 6 gt 1 Network 39 User application M53 7 M203 7 1 suoneoyioods 5 19 5 PROFIBUS compatible module specifications PROFIBUS Unit Spec Item Controller models YRC robot controller Communication profile PROFIBUS DP slave Number of nodes used 1 node Station address setting 1 to 99 Set with rotary switch on board 9 6K 19 2K 93 75K 187 5K 500K 1 5M 3M 6M 12Mbps Transmission speed Communication speed is automatically recognized Input byte 0 3 Dedicated word input 2 words Total 48 bytes byte 4 31 General purpose word inp
39. e 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 suoneoyioods 4 Sample program The YRC Controller is made by YAMAHA This example must be considered just as a draft guideline beacuse it uses some information about devices that are not distributed nor supported by OMRON Pallet SXYx 1st unit supply position MXYx 2nd unit supply position P200 RF E Ln CD fog Cot AN Master module e g CJ PLC DRM board Slave module YRC 1st unit SXYx 3 axes Station address 1 Slave module YRC 2nd unit MXYx 3 axes Station address 3 Details of sample Pick amp place work is carried out using the PLC and YRC SXYx 3 axes YRC MXYx 3 axes workpieces supplied to each robot are arranged on one pallet o o o The workpiece is supplied at a rate faster than the robot operation robots will interfere above the pallet so data is exchanged to prevent interference When handling the workpiece the robot moves at a low speed The robot controller directly exchanges the pallet Ref
40. er 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 Robot program data assignment Variables used Ist unit 2nd unit Points used Ist unit 2nd unit A B P100 P101 P108 P121 P122 P200 P201 P208 P221 P222 Bit data used Ist 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 4 Sample program Point No in pallet Point No in pallet Point above workpiece supply Ist point above pallet 8th point above pallet 7 a
41. er user s manual Refer to the robot controller user s manual for details on the errors 4 3 c Y o a 2 E 3 Troubleshooting 4 4 T Se ln irmati Confirmation item 1 lt Confirmation details gt Check whether an error message PROFIBUS Link Error or PROFIBUS Hardware 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 An error has occurred in the PROFIBUS system connection lt Countermeasures gt Check whether the PROFIBUS system cable is disconnected or miswired Reconnect the cable correctly if disconnected or miswired 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 Confirmation item 2 lt Confirmation details gt Check whether an error other than PROFIBUS Link Error is displayed on the programming 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 An error has occurred in the robot controller lt Countermea
42. g box error display confirmation 4 4 3 3 PROFIBUS compatible module LED confirmation 4 5 3 4 Confirmation from master module 4 6 Error messages relating to PROFIBUS eee 4 7 Specifications A M 5 1 gt Details of input output 5 3 3 1 Servo ON and emergency stop 5 7 Dedicated input output signal timing chart 5 7 3 2 AUTO mode changeover program reset and program execution 5 8 3 3 Stopping with program mmterlock 5 9 ample program EN 5 10 PROFIBUS compatible module specifications 5 20 Appendix L Term ettet oreet 6 1 NESSUN 6 2 Chapter I Outline 9 E Contents Feaues EE 1 1 1 2 Names of each part on the PROFIBUS compatible module 1 3 Assignment of PROFIBUS compatible T Om a 1 4 Shift of PROFIBUS system connection status and 1 5 1 Features 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 CAUTION AN EMERGENCY STOP TERMINAL FOR HARDWIRE IS PROVIDED IN THE SAFETY CONNECTOR ON THE ROBOT CONTROLLER WHEN THE PROFIBUS SYSTEM IS USED W
43. g the programming box PB Note that the PB 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 PB The reference unit is the robot controller input output port No SI monitor SI00 amp B000001 11 5140 8811000000 SI10 amp B00001111 SI50 amp B00101000 512 8 800010001 5160 8 800000111 SI30 8 B00000100 SI70 amp B00000000 amp Bxxxxxxx corresponds to the Oth bit to 7th bit from right to left SIW monitor SIWCO amp H0132 SIWC1 amp H0001 SIWC2 amp H8000 SIW 4 8H0000 SIW 5 8H0000 SIW 6 8HFFFF SIW 3 amp H0000 SIWC7 amp HOOOO amp Hxxxx expresses a hexadecimal Operation 1 Press key on the PB A screen like that shown below will appear DI monitor DI0 amp B00000111 DI10 amp B00001111 DI2 amp B00010001 DI30 amp B00000100 DI4 0 amp B1 1000000 0150 lt 800101000 DI60 amp B00000111 DI70 8 amp B00000000 2 Press DISFLAY to 7 key on the PB several times to check the status of SI input ports O DISPLAY 3 Press the key on the PB more to check the status of SI input ports 10 to 15 4 Press the DISPLAY to 7 key on the PB twice more to check the status of SO i
44. idered a correct connection with the PROFIBUS system cannot be established 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 indicated 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 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 also made valid with DI 02 in SAFETY connector 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
45. l amp r 35 Setune hePROBIBUSIcompaiibleimodul sss 8 e ES ASIN OISCMIMEAS INES TI NES IM HE Se BROEBUSS sem 5 1 Connecting the cable to the robot controller 32 Mestina ino lim roja ns masia module ee 6 Parameter setting for PROFIBUS serial I O board 6 1 Parameter setting for PROFIBUS serial I O board 1 Confirming the PROFIBUS compatible module settings When using the PROFIBUS system specification robot controller the PROFIBUS compatible module s station address and communication speed setting can be confirmed from the programming box PB 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 Confirmation position Robot R6YXH250 Axis XYZR Standard SRAM 364kB DIO 2 Opt ifo Profi S1 500K PARAM Operation 1 Press key on the PB 2 Press the F 4 SYSTEM key on the PB 3 The display above will appear The station address and communication speed set for the PROF
46. ller Sequence program is executed when this input is ON Qn 33 1 11 Interlock input Turn OFF to stop execution of robot program Keep tuned ON to continue program execution 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 Qn 33 4 SI 14 Return to 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 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 Qn 33 6 SI 16 MANUAL mode input continued to next page Robot controller must be in AUTO mode Turn ON to select MANUAL mode Robot program enters MANUAL mode when this input is switched from OFF to ON When the YRC robot controller is used with a robot whose axis configuration include
47. master module TO THE PROFIBUS COMPATIBLE MODULE THE LEDS REMAIN OFF ON O Blinks OFF EVEN AFTER THE POWER IS DATA EX lights up only during normal communication with master module TURNED ON 3 Troubleshooting Iftrouble 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 The PWR LED on the YRC is OFF lt Cause gt Power is not being supplied to the robot controller lt Countermeasures gt Measure 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 controller Confirmation item 2 lt Confirmation details gt The ERR LED is lt Cause gt The robot controller is in emergency stop major error has occurred in the robot controller lt Countermeasures gt Confirm the error message displayed on the programming box Take measures by following the troubleshooting section in the robot controll
48. master module and sequence programming Refer to the controller user s manual and programming manual supplied with the OMRON robot controller for details on operating the robot controller and on the robot program Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of 5 test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibilit
49. 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 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 The signals on the PROFIBUS system cannot be exchanged The PROFIBUS Link Error has been added to the error history in the robot controller 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
50. n 4 and Qn 6 double word data into variable C C SID 2 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 variable C will be 65552 word data read with SIW n has the uncoded little endian format The double word data read with SID n has the coded little endian format 3 2 2 Communication with master module Data is transmitted by writing the robot controller s output port data into the master module s input address The correspondence of the master modules input addresses and robot controller output port numbers is shown below Master module Robot controller Master module Robot controller address output port No address output port No SOW 0 Im 32 0 to Im 32 7 SO 00 to SO 07 SOW 1 Im 33 0 to Im 33 7 SO 10 to SO 17 SOD 2 SOW 2 Im 34 0 to Im 34 7 50 20 to 50 27 SOW 3 Im 35 0 to Im 35 7 SO 30 to SO 37 CAUTION SOD 4 SOW 4 Im 36 0 to Im 36 7 50 40 to 50 47 ALWAYS REFER TO THE PLC SOW 5 Im 37 0 to Im 37 7 50 50 to 50 57 MANUAL AND CHECK THE SOD 6 SOW 6 Im 38 0 to Im 38 7 SO 60 to SO 67 SETTINGS FOR COMMUNICATION SOW 7 Im 39 0 to Im 39 7 SO 70 to SO 77 WITH THE MASTER MODULE SOD 8 SOW 8 Im 40 0 to Im 40 7 SO 100 to SO 107 SIW 0 AND SIW 1 ARE VIEWED AS DEDICATED INPUT PORTS SOW 9 Im 41 0 to Im 41 7 SO 110 to SO 117 SOW 10 Im 42 0 to Im
51. n 43 0 to Qn 43 7 SI 130 to SI 137 KR SID 12 SIW 12 Qn 44 0 to Qn 44 7 SI 140 to SI 147 THESE PORTS AS INEUT SIW 13 Qn 45 0 to Qn 45 7 SI 150 to SI 157 MEANINGFUL DATA SO DO NOT SID 14 SIW 14 USE THEM AS GENERAL PURPOSE INPUT PORTS TO Output address SET THESE PORTS TO 0 IN MOST n Start address assigned by hardware configuration CASES 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 Example To wait for Qn 34 0 to turn ON gt The Si statement n the robot language WAIT SI 20 1 The robot program will wait for SI 20 to can be defined from 510 to 5127 turn ON but the PROFIBUS compatible module accepts from 510 to S115 Example To read the Qn 34 0 to Qn 34 7 data into variable A A SP D The 512 data will be converted into decimal and substituted into variable A If 512 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 The SIW 2 data will be substituted into variable B as a decimal If SIW 2 is O1FFh variable B will be 511 Example To read the Q
52. n 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 E O amp 2 Q gt E 12 22 PROFIBUS hardware error Code amp HOC16 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 option units have been installed Cannot identify installed option unit Action oI Check the DIP switch settings on the option unit 2 Install the correct option units 3 Replace the option unit Chapter 5 Specifications Contents IR Profile E 5 1 VRED AL SY FELT TO UL cpu 5 3 3 Dedicated input output signal timing 5 7 3 1 Saro ON cri CO pa 5 7 3 2 AUTO mode changeover program reset and Programeexecul HE 5 8 9 Stoppineiwithiprostamiintedoc 22277 5 9 5 10 5 PROFIBUS compatible module specifications 5 20 1 Profile YRC robot controller Bit input output Slave Master Master Slave Address Signal name Address o Signal name 00 Emergency stop input status output 01 CPU_OK status output 02 Servo ON status output SO SO SO SO
53. natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not affect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by OMRON or OMRON sales representatives 4 5 6 Use of any other than genuine parts and specified grease and lubricants wm Incorrect or inadequate maintenance and inspection Repairs by other than authorized dealers WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NONINFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRAN
54. ng 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 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 controller user s manual for more gt 34 0 details 9 to Qn 34 7 SI 20 to SI 27 General purpose input Qn 45 0 to Qn 45 7 51 150 to SI 157 General purpose input Set these inputs to ON or OFF to refer to SI port values or execute WAIT command Q Output address n Start address assigned by hardware configuration suoneoyioods 2 Details of input output signals Address Name Details Dedicated 51 0 Used as the remote command area Qn 2 Dedicated SIW 1 Used as the remote command s data area Qn 4 General purpose SID 2 General purpose S General purpose S General purpose SID 4 General purpose S General purpose S General purpose SID 6 General purpose S General purpose S General purpose SID 8 General purpose S General purpose S General purpose SID 10 General purpose S General purpose S General purpose SID 12 General purpose S General purpose S General purpose SID 14 General purpose S
55. nput ports 0 DISPLAY 5 Press the key on the PB more to check the status of SO input ports 10 to 15 6 Press the DISPLAY to 7 key on the PB twice more to check the status of SIW input ports 0 3 7 7 Press the key on the PB more to check the status of SIW input ports 8 to 15 8 Press the key on the PB more to check the status of SOW output ports O to 7 9 Press the key on the PB more to check the status of SOW output ports 8 to 15 10 To stop checking the input output ports press the key 9 2 E 5 o Chapter 4 Troubleshooting Contents 1 Items to confirm before starting up PROFIBUS system 4 1 2 Meanings of LEDs on PROFIBUS compatible module 4 2 a qo EG 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 4 5 SACO onirommasten Module 4 6 EE E 4 7 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 Is the robot controller set to the PROFIBUS system specifications NOTE Refer to Chapter 2 section 1 The dedicated input of STD
56. ode select the Profi with the cursor 1 keys and press the Ft SELECT key Fig 2 6 2 gt gt 5 v 1 23M 1 condition VALID 2 remote cmd IO 5105 VALID 3 Output MSG to SOW 1 INVALID 2 7 6 Parameter setting for PROFIBUS serial I O board 4 Select the parameter with the cursor 1 1 keys Fig 2 6 3 gt PARAM gt OP BRD gt SELECT v 1 23M 1 board condition VALID 2 remote cmd IO 5105 VALID 3 Output MSG to SOW 1 INVALID ES GEN 5 Press the 1 EDIT key E o o E E o Fig 2 6 4 gt PARAM gt OP BRD gt SELECT v 1 23M 1 board condition VALID 2 remote cmd IO 5105 VALID 3 Output MSG to SOW 1 INVALID AF 6 Press the 1 INVALID or 22 VALID key 7 Press the key to quit the edit mode To continue setting another parameter use the cursor 1 1 keys to select the parameter 2 8 Chapter 3 Communication Contents 1 State when robot controller power is turned 3 1 2 Communi CATON taS ten module 3 2 3 2 22 ran smit6n ocdd T 3 3 3 Direct connection by emulated serialization on parallel DIO 3 4 3 1 Emulated serialization setting on parallel DIO 3 4 A 3 7 4 1 Referring to the data from the p
57. ot controller Master module controller Master module 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 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 The signals in the PROFIBUS system are not sent or received The PROFIBUS Link Error is added to the error history in the robot controller If the connection to the PROFIBUS system shifts from the normal state to the erroneous state the PROFIBUS system connection must be returned to the normal state The PROFIBUS system will return when the PROFIBUS system connection is recovered to the normal state 1 5 Outline 5 Shift of PROFIBUS system connection status and robot controller status 1 6 9 1 PROFIBUS system erroneous connection state due to following factors when robot controller power is turned ON Connection to PROFIBUS system not possible Error in master module Robot Master module controller Robot controller Emergency stop interlock signals in PROFIBUS system are invalid When SAFE
58. p with an option board setting error after the PROFIBUS compatible module has been installed Make the following settings as explained below Procedure 1 Make connections to all input connectors on the front panel of the robot controller 2 The following type of guestion will appear on the PB screen so answer as YES POWER ON 12 70 Incorrect option setting change OptionSlot OK 3 Ifthe 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 Ifthe robot controller is not correctly connected with the PROFIBUS system the message PROFIBUS Link Error will appear on the PB 2 2 3 Setting the PROFIBUS compatible module To connect the PROFIBUS system specification controller to the PROFIBUS system the station address must be set with the rotary switch on the PROFIBUS compatible module Carry out the operations explained in section 2 1 to confirm the current station address and communication speed settings 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 NOTE The station address for the PROFIBUS system can be set in the range of I to 99 CAUTION MAKE SURE THAT THE MSB SETTING IS
59. purpose S General purpose General purpose SOW 4 Qn 8 eneral purpose General purpose S SOD 4 General purpose SOW 5 Qn 10 D 4 General purpose S General purpose General purpose SOW 6 Qn 12 eneral purpose General purpose S SOD 6 General purpose SOW 7 Qn 14 General purpose General purpose SOW 8 Qn 16 SOD 8 General purpose SOW 9 Qn 18 General purpose General purpose SOW 10 Qn 20 D 6 General purpose S eneral purpose General purpose S D 8 General purpose S eneral purpose General purpose S SOD 10 General purpose SOW 11 Qn 22 General purpose General purpose SOW 12 Qn 24 D 10 General purpose S o c e 6 o o o eneral purpose General purpose S SOD 12 General purpose SOW 13 Qn 26 General purpose General purpose SOW 14 Qn 28 D 12 General purpose S eneral purpose General purpose S wu ae ole alv oleu alu SOD 14 General purpose SOW 15 Qn 30 Input address O Output address m n Start address assigned by hardware configuration D 14 General purpose S 5 2 2 Details of input output signals Address Signal name Details Im 32 0 SO 00 Emergency stop input status outpu Turns ON when robot controller is in emergency stop state Im 32 1 SO 01 CPU OK status output
60. r setting for PROFIBUS serial I O board 1 Press the Fi PARAM key in SYSTEM mode to enter SY STEM 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 PB screen Fig 2 6 1 gt PARAM OP BRD v 1 23M 1 DIO N 1 VALID 2 3 Profi S1 10M VALID 4 NNI Option boards installed into the option slots displayed on the PB screen Type Display Meaning DIO N n An option DIO board ok NPN specifications is installed The number in parentheses is an ID number Option DIO DIO An option DIO board of PNP specifications is installed The 2 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 DeviceNet unit is installed Letters in parentheses indicate a Serial IO D Net n m TT MAC ID number n and communication speed m A Profibus unit is installed Letters in parentheses indicate a Station Profi n m Be address n and communication speed m Network E Net An Ethernet unit is installed A YC Link unit is installed Letters in parentheses indicate a YC Link YCLnk Mn EM station number n 3 In SYSTEM gt PARAM gt OP BRD m
61. r 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 7 suoneoyioods 3 Dedicated input output signal timing chart 3 2 AUTO mode changeover program reset and program execution on 33 0 50 10 AUTO mode status off 1 output be ZA CAUTION 33 1 50 11 PROVIDE AN INTERVAL OF Origin return complete off r 100MS OR MORE WHEN status output on i TURNING THE DEDICATED s 33 3 50 13 i INPUT FROM THE MASTER Robot program execution off MODULE TO THE status output on CONTROLLER ON AND OFF IF THE INTERVAL IS TOO SHORT 1m 33 4 S0 14 THE DEDICATED INPUT MAY Program reset status output o f NOT BE RECOGNIZED nn THIS ALSO APPLIES TO THE Qn 33 t SI 11 i i INTERVAL FOR THE SAME Interlock input off i DEDICATED INPUTS OR on i i i DIFFERING DEDICATED IN Qn 33 2 S1 12 PUTS Robot program start input off 5 4 i on USE THIS ALSO IF THERE IS on T U a 4 A DEDICATED OUTPUT IN Qn 33 3 SI 13 d RESPECT TO THE DEDICATED AUTO mode input off INPUT FROM THE MASTER on Fod d Low 4 MODULE TO THE Qn 33 5 SI 15 Mo dE CONTROLLER Program reset input off mm Dot ic if g h iei 100ms or more 100ms or more AUTO mode changeover process a AUTO mode input ON is input b AUTO mode status output ON is outpu
62. rogramming box 3 7 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 1 When connection to PROFIBUS system is correctly established The following conditions must be satisfied to correctly connect to the PROFIBUS system 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 normal 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 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 When SAFE mode is enabled service mode input signal is also made valid with DI 02 in SAFETY connector unless the Board condition external 24V monitor control of system parameters is set invalid When connection to PROFIBUS system is incorrectly established The following causes can be cons
63. s absolute type incremental 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 and or 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 Qn 33 7 Signal name SI 17 Absolute reset input Return to origin input 2 Details of input output signals Used for absolute reset or absolute reset return to origin depending on parameter 0117 mode setting 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 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 switchi
64. signment method etc Refer to the PLC manual for details Example Master module Robot controller e g CJ PLC DRM board Remote input Input address SOW 15 to SOW 0 1286 to 1256 1303 to 1288 50150 to 500 Remote output Output address SIW 15 to SIW 0 Q286 to Q256 Q303 to Q288 SI15 to SIO gt 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 1 Normal state of PROFIBUS system connection when robot controller power is turned ON Robot controller Emergency stop interlock signal in PROFIBUS system are valid 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 parameters is set invalid 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 The signals in the PROFIBUS system are sent and received 1 Shift from PROFIBUS system normal connection state to PROFIBUS system erroneous connection state Robot Rob
65. situation 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 24 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 Master module Robot controller Master module Robot controller address input port No address input port No SIW 0 Qn 32 0 to Qn 32 7 SI 00 to SI 07 SIW 1 Qn 33 0 to Qn 33 7 SI 10 to SI 17 O SID 2 SIW 2 Qn 34 0 to Qn 34 7 SI 20 to SI 27 SIW 3 Qn 35 0 to Qn 35 7 SI 30 to SI 37 m SID 4 SIW 4 Qn 36 0 to Qn 36 7 SI 40 to SI 47 A CAUTION SIW 5 Qn 37 0 to Qn 37 7 SI 50 to SI 57 ALWAYS TO THE PLC SID 6 SIW 6 Qn 38 0 to Qn 38 7 SI 60 to SI 67 MANUAL AND CHECK THE SIW 7 Qn 39 0 to Qn 39 7 SI 70 to SI 77 SETTINGS FOR COMMUNICATION SID 8 SIW 8 Qn 40 0 to Qn 40 7 SI 100 to SI 107 E WITH THE MASTER MODULE SIW 9 Qn 41 0 to Qn 41 7 SI 110 to SI 117 O SIW 0 AND SIW 1 ARE VIEWED SID 10 SIW 10 Qn 42 0 to Qn 42 7 SI 120 to SI 127 o AS DEDICATED INPUT PORTS THE SIW 11 Q
66. sures gt Check the error message displayed on the programming box 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 ERR OFF RD ON SD ON DATA EX ON lt Cause gt error has occurred in the PROFIBUS system connection Refer to table in section 2 for the meanings of the LED displays lt Countermeasures gt Check whether the PROFIBUS system cable is disconnected or miswired Reconnect the cable correctly if disconnected or miswired Also check that the termination resistor 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
67. t c After confirming that the AUTO mode status output is ON the AUTO mode input OFF is input o c 2 6 2 o o o 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 program start input ON is input h Program reset status output OFF is output Robot program execution status output ON is output 1 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 Ifthe 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 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 RESP
68. ter 9 When the Remote command amp I O command parameter is set to VALID the Output MSG to SOW 1 parameter cannot be set to VALID Likewise when the Out put MSG to SOW 1 parameter is set to VALID the Remote com amp I O command parameter cannot be set to VALID The following functions are enabled or disabled by setting the parameters for the PROFIBUS serial I O board Parameter Meaning 1 Board condition Enables or disables the serial I O board When set to VALID the serial I O can be used When set to INVALID the serial I O cannot be used 2 Remote cmd IO cmd 5105 Enables or disables the functions of remote commands and commands using word information and bit information When set to VALID the remote commands and I O commands can used When set to INVALID the remote commands and I O commands cannot be used This parameter cannot be set to VALID simultaneously with parameter 3 3 Output MSG to SOW 1 Enables or disables the function to send an message number which is displayed on the PB to word information SOW 1 When set to VALID the message number to be displayed on the PB will be output When set to INVALID the message number to be displayed on the PB will not be output This parameter cannot be set to VALID simultaneously with parameter 2 6 Parameter setting for PROFIBUS serial I O board 6 1 Paramete
69. ut 14 words byte 32 33 Dedicated bit input 16 points 1 CAUTION PROFIBUS UO points byte 34 47 General purpose bit input 96 points FOR THE NAMES DESCRIP 48 byte fixed data length TION OF WORD AND BIT INPUT Output byte 0 3 Dedicated word output 2 words OUTPUT SIGNALS REFER TO THE Total 48 bytes TABLES SHOWN IN 1 PROFILE byte 4 31 General purpose word output 14 words AND 2 DETAILS OF INPUT OUTPUT SIGNALS IN THIS byte 32 33 Dedicated bit output 16 points CHAPTER byte 34 47 General purpose bit output 96 points a external UOI The master module and up to four ports be controlled regardless of O the robot program by using the pseudoserialization function 9 6 19 2 93 75 1200 O 187 5K 1000 ao Network Topology 500K 400m CAUTION THE SPECIFICATIONS AND 1 5M 200m o APPEARANCE ARE SUBJECT 3M 6M 12M 100m TO CHANGE WITHOUT PRIOR NOTICE Monitor LED RUN ERR SD RD DATA EX 1 Controller s I O update intervals 10ms at shortest but actual I O update intervals change depending on the update time for the master station 5 20 Chapter 6 Appendix Contents definition EE DER GSD files EE EI 1 Term definition 1 PROFIBUS DP PROFIBUS DP Decentralized Periphery enables high speed data transmission between the controller and a field device
70. xis 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 suoneoyioods PLC data assignment M100 0 Ist unit s SO 00 Emergency stop input status M100 1 lstunit s SO 01 CPU M115 7 Ist unit reservation M200 0 2nd 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 01 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 5 Q o Robot program Ist unit s INIT ROUTINE RESET 5020 RESET SO4 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 50 23 22 21 20 100 SO 40 1 WAIT SI 40 1 50 40 0 WAIT SI 40 0 50 23 22 21 20 0 GOSUB PICK WAIT SI 42 1 50 42 1 WAIT SI 42 0 50 42 0 A A 1 IF A gt 108 THEN A 101 DO 47 1 WAIT DI 47 1 DO 47 0 ENDIF GOTO STI 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
71. y is assumed for clerical typographical or proofreading errors or omissions 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 ADDITIONALLY THERE MAY BE SEVERE PROPERTY DAMAGE A CAUTION FAILURE TO FOLLOW CAUTION INSTRUCTIONS MAY RESULT IN INJURY TO THE OPERA TOR OR PERSON SERVICING PRODUCT OR DAMAGE TO THE PRODUCT OR PERIPHERAL EQUIPMENT 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 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 MODU

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