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YRC Series DeviceNet User´s Manual

1. SOW 6 m 6CH sini SIW 6 n 6CH SOW 7 m 7CH SIW 7 n 7CH SOD 8 SOW 8 m 8CH SID 8 SIW 8 n 8CH SOW 9 m 9CH SIW 9 n 9CH o SOW 10 m 10CH Pm SIW 10 n 10CH 10 SOW 11 m 11CH 10 SIW 11 n 11CH as SOW 12 m 12CH SIW 12 n 12CH SOW 13 m 13CH 12 SIW 13 n 13CH SOD 14 SOW 14 m 14CH SID 14 SIW 14 n 14CH SOW 15 m 15CH SIW 15 n 15CH SO0 7 to 0 SIO 7 to 0 5 m 16CH 5 SO1 7 to 0 SIL 7 to 0 802 7 to 0 812 7 to 0 m 17CH n 17CH 803 7 to 0 813 7 to 0 804 7 to 0 814 7 to 0 m 18CH n 18CH 805 7 to 0 815 7 to 0 806 7 to 0 816 7 to 0 m 19CH n 19CH 807 7 to 0 SI7 7 to 0 8010 7 to 0 8110 7 to 0 20CH n 20CH SO11 7 to 0 8111 7 to 0 8012 7 to 0 8112 7 to 0 21CH n 21CH 8013 7 to 0 8113 7 to 0 8014 7 to 0 SI14 7 to 0 22CH n 22CH 8015 7 to 0 8115 7 to 0 Reserved 23CH Reserved n 23CH n 16CH m Input area head CH number assigned to master module n Output area head CH number assigned to master module Note 1 These are used as a dedicated command and so cannot be used as general purpose I O data 2 These are used as a dedicated I O and so cannot be used as general purpose I O data 3 Reserved area 1 4 4 Assignment of D
2. 3340CH o Es 2nd uni s SOW 15 3341CH 2nd uni s SO 00 Emergency stop input status output 2nd uni s SO 01 CPU OK status output 2nd uni s SO 02 Servo ON status output 2nd uni s SO 03 Alarm status output 2nd uni s SO 04 2nd uni s SO 05 2nd uni s SO 06 2nd uni s SO 07 oO 2nd uni s SO 10 AUTO mode status output 2nd uni s SO 11 Return to origin complete status output 2nd uni 5 SO 12 Sequence program execution status output 2nd uni s SO 13 Robot program execution status output 2nd uni s SO 14 Program reset status output 2nd uni s 80 15 2nd uni s SO 16 IO command execution judgment output 2nd uni s SO I7 Output during IO command execution 3342CH 2nd uni s SO 20 General purpose output 2nd uni s 80 21 General purpose outpu 2nd uni s S002 General purpose outpu 2nd uni s S003 General purpose outpu 2nd uni s SO 24 General purpose output 2nd uni s SO 25 General purpose outpu 2nd uni s SO 26 General purpose outpu 2nd uni s SORT General purpose outpu 2nd uni s 80 30 General purpose outpu 2nd uni s 50 31 General purpose outpu 2nd uni
3. m 15CH SOW 14 SOD 14 sow s m Input area head CH number assigned to master module m 22CH 15 to 08 SO15 7 to 0 O NOILVIINNAWWO9 3 5 When IO size is set to Small Master module Robot controller intput device No serial output port No mCH 07 to 00 SO0 7 to 0 mCH 15 to 08 SO1 7 to 0 m 1CH 07 to 00 802 7 to 0 m 1CH 15 to 08 SO3 7 to 0 Chapter m Input area head CH number assigned to master module N CAUTION ALWAYS REFER TO THE PLC MANUAL AND CHECK THE SETTINGS FOR COMMUNICATION WITH THE MASTER MODULE NOTE EOS Hj The IO size can be set by option board parameter Refer to section 6 of chapter 2 for more details When writing the robot controller s bit information into the master module s input channel No write the following commands in the robot program in the same manner as the DO output port SET RESET command Assignment statement OUT command NOILVOINQOWWOO Example To turn m 17CH 0 ON when the IO size is set to Large SET SO 20 or SO 20 1 SO 20 will turn ON Example To write the variable A data into m 17CH 0 to m 17CH 7 when the IO size 15 set to Large S02 0 S sha The variable A data will be converted into a binary and assigned to SO 2 If variable A is 127 SO2 will be 7Fh NOTE la The SO statement in the robot language can be defined from SO2 to SO27 but the Dev
4. Input 50 00 1 Sensor Pi j DeviceNet connection Parallel I O connection NOTE _ _ _ 14 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 NOILVOINQWWOD D 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 Operation 1 Press the SIO key in SYSTEM gt OPTION mode SYSTEM gt OPTION gt SIO 1 Direct 120 gt 0020 2 Direct 5130 gt D030 NO 3 Direct 5140 gt 0040 NO 4 Direct 5150 gt 0050 5 Direct 5020 lt DI20 NO iss ms s 3 8 3 Direct connection by emulated serialization on parallel DIO Valid keys and submenu functions in this mode are as follows Valid keys Function Cursor keys D F1 Sets SIO parameters Selects SIO parameters F2 Jumps to specified SIO parameter NOTE E gt _ _ _ _ _ _ _ _ Chapter A When the port specified by SIO is identical with the port used by the program the output results might be inaccurate O 1 Direct connection from SIn toDOn Serial port input can be directly
5. m 20CH SO 100 to 80 107 General purpose output SI 100 to SI 107 General purpose input SO 110 to SO 117 General purpose output n 20CH SI 110 to SI 117 General purpose input un rm 2 an gt 2 un 80 120 to 80 127 General purpose output SI 120 to SI 127 General purpose input SO 130 to S0 137 General purpose output n 21CH SI 130 to SI 137 General purpose input SO 140 to SO 147 General purpose output SI 140 to SI 147 General purpose input m 22CH SO 150 to SO 157 General purpose output n 22CH SI 150 to SI 157 General purpose input m 23CH Reserved n 23CH Reserved m Input area head CH number assigned to master module n Output area head CH number assigned to master module 1 Used for absolute reset or absolute reset return to origin depending on parameter DI17 mode setting 5 2 1 Profile e Word input output Slave Master Master Slave Channel No Signal name Channel No Signal name mCH SOW 0 Dedicated output nCH SIW 0 Dedicated input m 1CH SOW 1 Dedicated output n 1CH SIW 1 Dedicated input m 2CH SOW 2 General purpose output n 2CH SIW 2 General purpose input SOD 2 2 purp SID 2 2 purp m 3CH SOW 3 General purpose output n 3CH SIW 3 General purpose input m 4CH SOW 4 Gener
6. Number of Significant Bits Compatible 1 O Type Mask Name String Connection Path Size Connection Path Help String Size Number of Significant Bits Compatible I O Type Mask Name String Connection Path Size Connection Path Help String EDS files are included on the OMRON manual CD ROM Use them as needed Chapter XIGNdddV ey Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1153E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revision Revision code NS Revised content 01 June 2010 Original production
7. Consumed connection path O OJOJOJO OJOJO OJOJO O OIOO X X X X X X O X X X X X X X X 4 SNOILVIHIDIdS Reset none Get Attribute Single none Set Attribute Single none 5 33 APPENDIX 1 Term definition Y DeviceNet DeviceNet is a registered trademark of ODVA Open DeviceNet Vendor Association 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 1s 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 1s enabled and can be controlled by service mode input signals 6 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 XIGIN4ddV 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 MAC ID Identification number assigned to each node in DeviceNet Also called the node address 7 Bit information Bit information that can be handled by DeviceNet compatible module 8 Word information Word information that can be handled by DeviceNet compatible modu
8. Dedicated word input Output General purpose word input Total 48 bytes Dedicated bit output General purpose bit output 16 points 96 points 5 N a amp ga o Input Total 4 bytes Output Total 4 bytes byte 0 1 byte 2 3 byte 0 1 byte 2 3 Dedicated bit input General purpose bit input 16 points 16 points eus st 3ZIS Qr WJM Dedicated bit output General purpose bit output 16 points 16 points Parallel external I O SNOILVIHIDIdS 9 The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization function Network Topology Maximum Trunk Distance 4 100m Maximum Drop Length Cumulative Drop Length 500Kbps 250Kbps 250m 125Kbps 500m 39m or less 78m or less 156m or less 6m or less 6m or less 6m or less Monitor LED MS Module Status NS Network Status 1 One channel uses 16 bits 2 bytes 2 The explicit message function is not supported by the controller 3 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 4 When thick cables are used Distance will be short if a thin cable is used or thin and thick cables are used CAUTION FOR THE NAMES AND DESCRIPTION OF WORD AND BIT INPUT OUTPUT SIGNALS REFER TO THE TABLES
9. ON DeviceNet compatible modules hardware error Flicker Communication setting is illegal A non designated setting was made The communication power is not supplied Checking the communication settings ON Normal communication Flicker Establishing communication ON Same MAC ID was found in DeviceNet system Flicker CAUTION TITU AN AFTER THE POWER IS TURNED ON MS WILL LIGHT IN GREEN AND THEN IN RED AND NS WILL LIGHT IN GREEN AND THEN IN RED AFTER THAT THE LED DISPLAYS SHOWN ON THE RIGHT WILL APPEAR IF THE POWER IS NOT SUPPLIED TO THE DEVICENET COMPATIBLE MODULE THE LED WILL REMAIN OFF EVEN AFTER THE POWER IS TURNED ON 4 2 Cannot exchange data due to disconnection etc 3 Troubleshooting If trouble occurs in the connection with the robot controller while starting up the DeviceNet 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 DeviceNet compatible module LED confirmation hapt 3 4 Confirmation from master module 3 1 Robot controller front panel LED confirmation Ja Confirmation item 1 lt Confirmation details gt The PWR LED is OFF lt Cause gt e Power is not being supplied to the robot controller lt Countermeasures gt e Measure the voltage at the AC power input terminal of the power connector with a
10. s S02 General purpose outpu 2nd uni s S083 General purpose output 2nd uni s SO 34 General purpose output 2nd uni 5 SO 35 General purpose output 2nd uni s SO 36 General purpose output 2nd uni s 80 37 General purpose output 3347CH 2nd uni s SO 140 General purpose output 2nd uni s 80 141 General purpose output 2nd uni 5 80 142 General purpose output 2nd uni s SO 143 General purpose output 2nd uni s SO 144 General purpose output 2nd uni s SO 145 General purpose output 2nd uni s SO 146 General purpose output 2nd uni s SO 147 General purpose output 2nd uni s SO 150 General purpose output 2nd uni s SO 151 General purpose output 2nd uni s SO 152 General purpose output 2nd uni s SO 153 General purpose output 2nd uni s SO 154 General purpose output 2nd uni s SO 155 General purpose output 2nd uni s SO 156 General purpose output 2nd uni s SO 157 General purpose output 3348CH 2nd uni reservation area 4 Sample program Word information Bit information Chapter SNOILVIHIDIdS 5 21 un I rm 2 a gt 2 un 4 Sample program Robot program 1st uni
11. y YU 3318 15 3242 15 Y YU START Chapter UN PA al gt O Z N 5 25 Chapter SNOILVIHIDIdS 1 4 Sample program JME 000130 m T 000040 FND 000131 5 26 5 DeviceNet compatible module specifications 5 DeviceNet compatible module specifications Model Spec Item Controller model DeviceNet Unit YRC robot controller Conforms to DeviceNet Specification Volume Release 2 0 Volume 2 Release 2 0 Device Profile Name Generic Device Device Type Number 0 Number of channels used 1 When IO size is Large When IO size is Small Input output 24 channels each Input output 2 channels each MAC ID setting 0 to 63 Set with rotary switch on board Transmission speed setting 500K 250K 125Kbps Set with rotary switch on board Communication data 2 Predefined Master Slave Connection Set Group Only 2 server Dynamic Connections Supported UCMM No Fragmented Explicit Messaging Implemented Yes Chapter DeviceNet I O points 3 48 bytes or 4 bytes selectable byte 0 3 byte 4 31 byte 32 33 byte 34 47 byte 0 3 byte 4 31 byte 32 33 byte 34 47 2 words 14 words Dedicated word input General purpose word input Input Total 48 bytes Dedicated bit input General purpose bit input 16 points 96 points 2 words 14 words
12. 4 Referring to communication data 4 1 Referring to the data from the programming box Chapter 4 TROUBLESHOOTING Items to confirm before starting up DeviceNet system 2 Meanings of LEDs on DeviceNet compatible module EN Troubleshooting 3 1 Robot controller front panel LED confirmation 3 2 Programming box error display confirmation 3 3 DeviceNet compatible module LED confirmation 3 4 Confirmation from master module 4 Error messages relating to DeviceNet Chapter 5 SPECIFICATIONS 1 Profile 1 1 When IO size is set to Large 1 2 When IO size is set to Small 2 Details of input output signals 3 Dedicated input output signal timing chart 3 1 Servo ON and emergency stop 3 2 AUTO mode changeover program reset and program execution 3 3 Stopping with program interlock 4 Sample program 5 DeviceNet compatible module specifications 6 DeviceNet specifications Chapter 6 APPENDIX 1 Term definition 2 EDS files 3 11 3 11 4 1 4 2 4 3 4 3 4 4 4 5 4 5 4 6 5 1 5 1 5 4 5 5 5 11 5 11 5 12 5 14 5 16 5 27 5 26 6 1 6 2 OUTLINE 1 Features The DeviceNet 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 DeviceNet system allows wiring to be reduced h Master module Controls the entire DeviceNet system The PLC master module corresp
13. To continue setting another parameter use the cursor 1 keys to select the parameter 2 11 COMMUNICATION 1 State when robot controller power is turned 1 State when robot controller power is turned ON The DeviceNet system specification robot controller always starts operation in servo OFF state when the power turned ON 1 When connection to DeviceNet system is correctly established The following conditions must be satisfied to correctly connect to the DeviceNet system The DeviceNet system cable must be physically connected Chapter The MAC ID and communication speed must be correctly set The master module is operating normally When the robot controller is correctly connected to the DeviceNet system the normal state will be indicated with the LEDs on the DeviceNet compatible module At this time the emergency stop signal and interlock signal in the DeviceNet 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 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 DeviceNet system The service mode input signal is made valid with DI 02 in SAFETY connector unless the Board condition external 24V monitor co
14. lt Cause gt An error has occurred in the DeviceNet system connection Refer to table in section 2 for the meanings of the LED displays lt Countermeasures gt Chapter Check whether the DeviceNet system cable is disconnected or incorrectly connected and whether the terminator 1s connected and the communication power is supplied Check whether the DeviceNet system cable is laid near the main circuit or power cable or whether it is bundled with these Check that the ferrite core 1s connected to the robot controller s power supply cable Check the MAC ID and communication speed settings for the DeviceNet compatible module Confirm that the master module is operating normally 3 4 Confirmation from master module Confirmation item 1 INILOOHSIIINOYL lt Confirmation details gt Using the master module s line test function confirm robot controller is correctly connected to the DeviceNet 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 DeviceNet connection lt Cause gt The ferrite core for noise measures is not connected The DeviceNet 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
15. m 16CH 9 mCH 9 SO 11 Return to origin complete status output Turns ON when robot has has completed return to origin SNOILVIHIDIdS m 16CH 10 mCH 10 SO 12 Sequence program execution status output Turns ON while sequence program is executed m 16CH 11 mCH 11 SO 13 Robot program execution status output Turns ON while robot program is executed m 16CH 12 mCH 12 80 14 Program reset status output Turns ON when robot program has been reset Turns OFF when robot program starts m 16CH 13 mCH 13 80 15 Battery alarm output Turns ON when system backup battery or absolute battery voltage is low m 16CH 14 mCH 14 SO 16 IO command execution judgment output Turns OFF while executing the command After executing the IO command turns ON if normal and stays OFF if abnormal m 16CH 15 mCH 15 continued to next page 80 17 Output during IO command execution Turns ON while executing the IO command 5 5 2 Details of input output signals Channel No Signal name Details Large Small m 17CH 0 m 1CH 0 SO 20 to to to General purpose output m 17CH 7 m 1CH 7 SO 27 m 17CH 8 m 1CH 8 80 30 10 to to General purpose output General purpose output turns ON OFF when value is m 17CH 15 m 1CH 15 80 37 assigned to SO port or SET RESET command or OUT command is executed
16. to to to m 22CH 8 SO 150 to to General purpose output m 22CH 15 SO 157 Input area head CH number assigned to master module NOTE When the area check output function is used the area check outputs can be assigned to the following general purpose outputs depending I O size When the IO size is set to Small only SO 20 to SO 37 of general purpose outputs are available e Bit input Channel No Signal name Details Large Small Emergency stop Turn OFF to trigger emergency stop on controller ar TOCHA SIOD input Keep turned ON during normal operation Turn ON to cancel emergency stop and turn ON the robot servo motor Servo ON is executed when this input is switched from n 16CH 1 nCH 1 51 01 Servo ON input OFF to ON Emergency stop input SI 00 must have been ON and emergency stop state in the robot controller emergency stop terminal of SAFETY connector etc canceled un rm 2 a gt 2 un Turn OFF to enter the controller in service mode Keep turned ON during normal operation n 16CH 2 S1 02 Service mode input Effective only when SAFE mode is enabled In SAFE mode enabled dedicated input might be disabled depending on service mode parameter setting 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 n 16CH 3 nCH 3 51 03 Step execution
17. Default Producing Connection Default Consuming Connection Size Number of Significant Bits Compatible I O Type Mask Name String 5 Connection Path Size Connection Path Help String Size Number of Significant Bits Compatible I O Type Mask Name String Connection Path Size Connection Path Help String EDS files are included on the OMRON manual CD ROM Use them as needed When IO size is Small DeviceNet Configurator Generated Electronic Data Sheet File Device Info DescText YAMAHA ROBOT EDS File CreateDate 11 17 2006 CreateTime 12 00 00 ModDate 11 17 2006 ModTime 12 00 00 Revision 1 0 VendCode 636 VendName YAMAHA MOTOR LTD ProdType 0 ProdTypeStr Generic Device ProdCode 4 MajRev 1 MinRev 1 ProdName YAMAHA ROBOT RCX Catalog Default 0x0001 PollInfo 0x0001 1 1 4 0 0x0001 6 20 04 24 01 30 03 20 04 24 01 30 03 m gt 2 EDS files File Description Text File Creation Date File Creation Time Last Modification Date Last Modification Time EDS Revision Vendor ID Vendor Name Device Type Device Type String Product Code Major Revision Minor Revision Product Name Catalog Number Default I O Type Mask Compatible I O Type Mask Default Producing Connection Default Consuming Connection Size
18. Press the EDIT key SYSTEM gt OPTION gt SIO v1 23M NOILVIINNAWWO9 4 Direct 5150 gt 0050 5 Direct S020 lt 012 0 6 Direct S030 DI30 NO 7 Direct 5040 lt DI4 0 NO 8 Direct 5050 lt DI50 NO EN s 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 1 keys to continue setting 3 10 4 Referring to communication data The ON OFF information exchanged with the master module can be referred to using the programming box PB Note that the PB display update interval is longer than the DeviceNet data update interval so if the ON OFF interval is short accurate information may not be displayed 41 Referring to the data from the programming box er apter 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 51 monitor 510 0 amp B00000111 514 0 amp B 11000000 5110 amp B00001111 515 0 amp B00101000 512 0 amp B00010001 516 0 amp B00000111 513 0 amp B00000100 517 0 amp B00000000 amp Bxxxxxxx corresponds to the Oth bit to 7th bit from right to left SIW monitor SIW 0 amp H0132 SIW 4 amp H0000 SIW 1 amp H0001 SIW 5 amp H0000 SIW 2 amp H8000 SIW 6 amp HFFFF SIW 3 amp H0000 SIW 7 amp H0000 amp Hxxxx expresses a hexa
19. SHOWN IN 1 PROFILE AND 2 DETAILS OF INPUT OUTPUT SIGNALS IN THIS CHAPTER THE SPECIFICATIONS AND APPEARANCE ARE SUBJECT TO CHANGE WITHOUT PRIOR NOTICE 5 27 6 DeviceNet specifications 6 DeviceNet specifications e General Device Data Volume 1 Release2 0 Volume 2 Release2 0 Vendor Name YAMAHA MOTOR CO LTD OMRON EUROPE B V Device Profile Name Generic Device Device Type Number 0 Product Code 2 Product Revision 1 1 Conforms to DeviceNet Specification e DeviceNet Physical Conformance Data Network Power Consumption Max 55mA DC11V Connector Style Open Pluggable Isolated Physical Layer Yes LEDs Supported Module Network MAC ID Setting Rotary Switch Default MAC ID 1 Communication Rate Setting Rotary Switch Communication Rates Supported 125Kbps 250Kbps 500Kbps e DeviceNet Communication Data Predefined Master Slave Connection Set Group 2 Only Server Dynamic Connections Supported UCMM un I rm 2 a gt 2 un Implemented 5 28 DeviceNet Required Object Implementation e Identity Object 0x01 Object Class Attributes None Supported Object Instance Description Value Limit Vender Product type Product code Revision 1 1 Chapter Attributes Status bits supported bit0 only Serial number each unit Product name OMRON ROBOT YRC State Configuration Consistency Value Heartbeat Interval x DeviceNet Ser
20. THIS ALSO IF THERE IS A DEDICATED OUTPUT IN RESPECT TO THE DEDICATED INPUT FROM THE MASTER MODULE TO THE CONTROLLER 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 5 14 3 Dedicated input output signal timing chart The program also stops when emergency stop input OFF is input At this point emergency stop input status ON and alarm status output ON are output and servo ON status output OFF is output To re execute the program servo ON process is required 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 DeviceNet system SNOILVIHIDIdS 5 15 4 Sample program The YRC Controller is made by YAMAHA This example must be considered just as a draft guideline
21. When not using STD DIO disable invalid the Watch on STD DO DC24V parameter in SYSTEM mode 5 Correct the connection to DeviceNet system A X rm N I 2 Action AO 12 16 12 17 12 18 12 19 12 70 DeviceNet link error 4 Error messages relating to DeviceNet Code 8 0 10 Meaning Cause a b Action nA b2 DeviceNet hardware error Code amp HOCII Meaning Cause a Action ol Incorrect DeviceNet setting Code amp H0C12 Meaning Cause a Action Bs Breakdown in DeviceNet compatible unit Check for a broken wire no connection miswiring or Check the Mac ID and communication speed setting Check if the master station sequencer power is supplied Check if the maser station sequence is operating normally Replace the DeviceNet compatible unit Error in cable for DeviceNet system Wrong MacID and communication speed setting for DeviceNet system Power supply for communication is not supplied Master station sequencer power is turned off or master station sequencer has stopped operating is in abnormal operation or at fault Chapter specifications cable length of DeviceNet cable DeviceNet compatible unit is at fault Replace the DeviceNet compatible unit INILOOHSITINOAL PS Wrong MacID and communication speed setting Check the MacID and communication speed setting DeviceNet
22. Wire the DeviceNet cable away from noise sources such as the power cable 4 5 4 Error messages relating to DeviceNet This section describes error messages relating to DeviceNet 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 H0C01 Meaning Cause a PB emergency stop button was pressed b Emergency stop terminals on SAFETY connector are open emergency stop status PB or terminator is not connected to PB connector SAFETY connector is not connected SI 00 is not ON Error in connection to DeviceNet system Release the PB emergency stop button Close the emergency stop terminals on SAFETY connector Connect PB or terminator to PB connector Attach the SAFETY connector Set SI 00 to ON Correct the connection to DeviceNet system Action Ota d Haan 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 and DI 11 is not turned ON SI 11 is not ON Error in connection to DeviceNet system Cancel the interlock signal and execute program or move axis Set DI 11 on STD DIO connector to ON Set SI 11 to ON
23. be in MANUAL mode Turn ON to reset robot program Program reset is executed when this input is switched n 16CH 13 nCH 13 51 15 Program reset input from OFF to ON Robot controller must be in AUTO mode Turn ON to select MANUAL mode NUAL OR n 16CH 14 nCH 14 51 16 UAL mode Robot program enters MANUAL mode when this input is switched from OFF to ON 5 7 un rm 2 a gt 2 un 2 Details of input output signals Channel No Signal name Large Small Absolute reset Return to origin input n 16CH 15 nCH IS SI 17 Details Used for absolute reset or absolute reset return to origin depending on parameter DI17 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 switching this input from OFF to ON performs return to origin on the incremental axes and absolute search on the semi absolute type axe
24. beacuse it uses some information about devices that are not distributed nor supported by OMRON MXYx Pallet SXYx 2nd unit supply position 1st unit supply position H 101 Zo 0709 foo zz Cot food rm e 2 2 Z M dul Slave module Slave module YRC 1st unit YRC 2nd unit en SXYx 3 axes MXYx 3 axes MAC ID 1 MAC ID 2 CJIW DRM21 MR MAR 3 L NNNM S XD Details of sample Pick amp place work is carried out using the PLC and YRC SXYx 3 axes YRC MXYx 3 axes The workpieces supplied to each robot are arranged on one pallet The workpiece is supplied at a rate faster than the robot operation The two 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 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 CAUTION S A EXPLANATIONS ARE GIVEN BASED ON THE CHANNELS FOR THE OMRON MASTER MODULE REFER TO THE RESPECTIVE MANUALS WHEN USING OTHER MASTER MODULE BRA
25. 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 SI port NOILVIINNAWWO9 NOTE A Hj When the port specified by SIO is 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 512 0 gt DO2 2 Direct 130 gt 0030 NO 3 Direct 5140 gt 0040 NO 4 Direct 5150 gt 0050 NO 5 Direct 5020 lt DI20 NO SETA s 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 1 keys to continue setting 3 9 3 Direct connection by emulated serialization on parallel DIO fF oo 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 Input device such as valve DI port SO port O NOTE _ lll A When the port specified by SIO is 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
26. in this manual 2010 OMRON EUROPE B V General Contents Chapter 1 OUTLINE Bb N m Features Mechanism Names of each part on the DeviceNet compatible module Assignment of DeviceNet compatible I O Shift of DeviceNet system connection status and robot controller status Chapter2 CONNECTION 2 2 1 2 2 2 3 EB 3 1 3 2 4 4 5 1 5 2 6 6 1 Confirming the DeviceNet compatible module settings Setting to the DeviceNet system specification controller Saving the robot controller data Installing the DeviceNet compatible module Response when starting the robot controller Setting the DeviceNet compatible module Setting the MAC ID Setting the communication speed Noise measures Mounting the ferrite core Connecting to the DeviceNet system Connecting to the cable terminal to the controller Testing the line from the master module Parameter setting for DeviceNet serial I O board Parameter setting for DeviceNet serial I O board Chapter 3 COMMUNICATION N 2 1 95 3 1 State when robot controller power is turned ON Communication with master module Receiving data Transmitting data Direct connection by emulated serialization on parallel DIO Emulated serialization setting on parallel DIO 2 1 2 2 29 2 3 2 2 2 3 2 3 2 4 2 6 2 6 2 1 2 7 2 8 5 0 2 10 1 3 1 3 3 3 3 3 5 3 8 3 8 SINA31NOO SINA31NOO
27. input continued to next page 5 6 Channel No Large Small Signal name 2 Details of input output signals Details command Turn from OFF to ON to execute IO command Chapter SNOILVIHIDIdS n 16CH 5 nCH 5 SI 05 execution trigger Always turn ON after IO command is set to general input purpose input ental Turn ON to execute sequence program in the robot n 16CH 8 nCH 8 SI 10 in 2 controller P Sequence program is executed when this input is ON P 1 Turn OFF to stop execution of robot program Interlock input Keep tuned ON to continue program execution Turn ON to execute robot program M Robot program start Robot program is executed when this input is switched from OFF to Robot controller must be in AUTO mode Turn ON to select AUTO mode n 16CH 11 nCH 11 51 13 AUTO mode input Robot program enters AUTO mode when this input is switched from OFF to ON 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 n 16CH 12 nCH 12 8814 YRC Return to origin origin is performed on incremental type axes or absolute input 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
28. input 2nd uni s SI 27 General purpose input 2nd uni s SIGO General purpose input 2nd uni s SIGI General purpose input 2nd uni s SI32 General purpose input 2nd uni s SI 33 General purpose input Bit 2nd uni s SI 34 General purpose input information 2nd uni s SIG5 General purpose input 2nd uni s SI 36 General purpose input 2nd uni s SI 37 General purpose input 3247CH 2nd uni s SI 140 General purpose input 2nd uni s General purpose input 2nd uni s SI 142 General purpose input 2nd uni s SI 143 General purpose input 2nd uni s SI 144 General purpose input 2nd uni s SI 145 General purpose input 2nd uni s SI 146 General purpose input 2nd uni s SI 147 General purpose input 2nd uni s SI 150 General purpose input 2nd uni s SI 151 General purpose input 2nd uni s SI 152 General purpose input 2nd uni s SI 153 General purpose input 2nd uni s SI 154 General purpose input 2nd uni s SI 155 General purpose input 2nd uni s SI 156 General purpose input 2nd uni s SI 157 General purpose input 3248CH 2nd uni reservation area Chapter SNOILVI
29. when the Board condition external 24V monitor control of system parameters is left valid When the Board condition external 24V monitor control of system parameters is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector The signals in the DeviceNet 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 DeviceNet system will return when the DeviceNet system connection is recovered to the normal state 1 9 CONNECTION Yn 1 Confirming the DeviceNet compatible module settings 1 Confirming the DeviceNet compatible module settings When using the DeviceNet system specification robot controller the DeviceNet compatible module s MAC ID and communication speed setting can be confirmed from a programming box PB 2 When connecting DeviceNet compatible module to existing robot controller Follow the procedures given in section 2 and change the settings for the DeviceNet system specifications For DeviceNet system specification robot controller When robot controller is purchased with DeviceNet compatible module mounted Follow the procedures given in section 3 and set the MAC ID and comm
30. which the DeviceNet system cable has been installed to the DeviceNet compatible module terminal block section on the robot controller and completely fix with the two screws on both sides using a flathead screwdriver CAUTION e REFER TO THE MASTER MODULE INSTRUCTION MANUAL FOR DETAILS ON THE DEVICENET SYSTEM CABLE CONNECTION NOILO1NNOO 5 2 Testing the line from the master module The master module in the DeviceNet system has a function to test the line to the slave module Using this function confirm that the robot controller is accurately recognized as a slave module in the DeviceNet system Refer to the master module instruction manual for details AN CAUTION IF THE LINE TEST RESULTS INDICATE A CORRECT CONNECTION PLACE THE DEVICENET SYSTEM CABLE INTO A CONDUIT OR FIX IT WITH A CLAMP 2 8 6 Parameter setting for DeviceNet serial 1 board 6 Parameter setting for DeviceNet serial I O board The following functions are enabled or disabled by setting the parameters for the DeviceNet serial I O board Parameter Meaning Chapter YRC Enables or disables the DeviceNet compatible module Board condition When set to VALID the controller can be connected to the DeviceNet Remote cmd 10 cmd 5105 Enables or disables the functions of remote commands and I O commands When set to VALID the remote commands and I O commands can be used Whe
31. 00057 O N 000016 3342 10 3218 10 p 000059 O e 3342 11 3218 11 000017 ue A 000061 Q 21 000018 3342 12 3218 12 O 000063 O 000019 3342 13 3218 13 000065 O 000020 9342 14 3218 14 000067 O 000021 9342 15 821845 000069 Q 000022 3341 01 3341 00 334102 824101 SERVO ON 000071 Ar 4 V CPU EMGON SERVO ON 3341 02 3341 09 3241 14 MANUAL L E O SERVO ON ORG ON 3341 08 3341 09 3241 15 ABS RESET 4 AUTO ORG ON 3341 09 3241 11 AUTO ORG ON 3341 08 3341 11 3341 12 3241 13 PRG RESET E LA 4 O AUTO PRGGO PRGRESET 5 24 000023 000098 000024 000100 000025 000102 000026 000104 000027 000106 000028 000108 000029 000110 000030 000112 000031 000114 000032 000116 000033 000118 000034 000120 000035 000122 000036 000124 000037 000126 000038 000128 4 Sample program 3341 08 3341 12 3341 11 3241 10 N 1 Hr O AUTO PRG RESET PRG GO 3318 00 3242 00 3318 01 3242 01 Y V 3318 02 3242 02 YU 3318 03 3242 03 YU 3318 04 3242 04 YU 3318 05 3242 05 r y VU 3318 06 3242 06 A 3318 07 3242 07 3318 08 3242 08 YU 3318 09 3242 09 Y UY 3318 10 3242 10 3318 11 3242 11 YU 3318 12 3242 12 3318 13 3242 13 YU 3318 14 3242 14
32. 2 in SAFETY connector The signals on the DeviceNet system cannot be exchanged The DeviceNet Link Error has been added to the error history in the robot controller A standby state for up to 10 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 DeviceNet system is correctly recovered the system will automatically return to the DeviceNet system wG rF W sss 5 Shift of DeviceNet system connection status and robot controller status 4 Transmission from DeviceNet system erroneous connection state to DeviceNet correct connection state when robot controller power is turned ON Robot Master module controller Chapter 1 Robot Master module controller Robot controller DeviceNet 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
33. A SOD 14 m 15CH 15 Input area head CH number assigned to master module gt N CAUTION 2 WHEN THE IO SIZE IS SET TO SMALL WORD OUTPUT SOD AND SOW CANNOT BE Z USED N 5 10 3 Dedicated input output signal timing chart 3 Dedicated input output signal timing chart 3 1 Servo ON and emergency stop on m 16CH 0 SO 00 Emergency stop input of status output m 16CH 1 SO 01 CPU_OK status output on m 16CH 2 SO 02 Servo ON status output i on Chapter m 16CH 3 SO 03 Alarm status output off i n 16CH 0 SI 00 Emergency stop input n 16CH 1 SI 01 Servo ON input CAUTION A THIS EXPLANATION USES THE CHANNEL NUMBERS WHICH AVAILABLE WHEN THE IO SIZE IS SET TO LARGE NOTE THAT THE CHANNEL NUMBERS DIFFER WHEN THE IO SIZE IS SET TO SMALL PROVIDE AN INTERVAL OF 100 5 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 SNOILVIHIDIdS Initial servo ON process after power ON a Servo ON input ON is input b If not in
34. Attributes Produced connection size S AU Consumed connection size Expected packet rate Watchdog time out action 00 Produced connection path length 6 Produced connection path 20 04 24 01 30 03 Consumed connection path length 6 Consumed connection path 20 04 24 01 30 03 un rm 2 a gt 2 un Production inhibit time Reset X X X X X X OX X X X X X X X 00 DeviceNet Services Parameter Options none Services Get_Attribute_Single none 5 32 Set_Attribute_Single none 6 DeviceNet specifications Object Instance 3 Instance Tyne Bit Strobed I O Instance 1 Section Production Trigger Cyclic Transport Type Server Transport Class 2 Description Value Limit State Instance type Transport class trigger Produced connection ID Consumed connection ID Chapter Initial comm Characteristics e Produced connection size Attributes Consumed connection size BR 9 Expected packet rate he N 00 6 20 04 24 01 30 03 6 20 04 24 01 30 03 Production inhibit time 00 DeviceNet Services Parameter Options Services Watchdog time out action Produced connection path length Produced connection path Consumed connection path length ua ON
35. CH 15 to 08 815 7 to 0 n 6CH SIW 6 n 19CH 07 to 00 816 7 to 0 n 7CH SIW 7 n 19CH 15 to 08 817 7 to 0 n 8CH SID 8 SIW 8 n 20CH 07 to 00 SI10 7 to 0 n 9CH SIW 9 n 20CH 15 to 08 SI11 7 to 0 n 10CH Sina SIW 10 n 21CH 07 to 00 SI12 7 to 0 n 11CH SIW 11 n 21CH 15 to 08 SI13 7 to 0 n 12CH SIW 12 n 22CH 07 to 00 8114 7 to 0 n 13CH SIW 13 n 22CH 15 to 08 SI15 7 to 0 n 14CH SIW 14 SID 14 n 15CH SIW 15 NOILVOINQWWOD 4 n Output area head CH number assigned to master module e When IO size is set to Small Master module Robot controller output channel No serial input port No nCH 07 to 00 510 7 to 0 nCH 15 to 08 SIL 7 to 0 n 1CH 07 to 00 812 7 to 0 n 1CH 15 to 08 813 7 to 0 n Output area head CH number assigned to master module A CAUTION ALWAYS REFER TO THE PLC MANUAL AND CHECK THE SETTINGS FOR COMMUNICATION WITH THE MASTER MODULE NOTE _ _ _ LLL A The IO size can be set by option board parameter Refer to section 6 of chapter 2 for more details Chapter When reading the bit information from the master module output channel No with the robot controller write the following command in the robot program in the same manner as the DI input port WAIT command A O Assignment statement lt Example To wait for n 17CH 0 to turn ON when the
36. DeviceNet 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 DeviceNet compatible module This DeviceNet compatible module is an option module that allows the OMRON robot controller YRC to be connected as a DeviceNet system slave module The robot controller explained in this manual refers to the YRC robot controller This manual describes the flow of operations from wiring the DeviceNet compatible module to programming and includes setting examples Refer to the respective product manuals for details on other devices such as connect
37. ECTRIC 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 SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE INSTALLING OR REMOVING THE DEVICENET COMPATIBLE MODULE FAILURE TO SHUT OFF ALL PHASES COULD LEAD TO ROBOT CONTROLLER TROUBLE OR MALFUNCTIONING WHEN USING THE ROBOT CONTROLLER WITH THE DEVICENET 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 A THE DEVICENET 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 A 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 OMRON shall not be held liable for any problems regarding industrial rights that occur through the use of the contents given
38. ET COMPATIBLE MODULE DO NOT PLACE WATER OR CONDUCTIVE MATTERS ETC WHICH COULD CAUSE DAMAGE NEAR THE DEVICENET COMPATIBLE MODULE ACCURATELY SET THE MAC ID WHEN SETTING THE BPS MAKE SURE NOT TO SET THE ROTARY SWITCHES MSB AND LSB BY MISTAKE 2 3 2 Setting the communication speed NOILO1NNOO Using the rotary switch BPS in front of the DeviceNet compatible module set the communication speed for the robot controller in the DeviceNet system NOTE The communication speed must match the DeviceNet system s master module setting BPS Front of the unit 2 4 3 Setting the DeviceNet compatible module A WARNING WHEN SETTING THE MAC ID COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER Procedures 1 Confirm the communication speed for the robot controller in the DeviceNet system The communication speed must be set between 125K and 500Kbps The correspondence of the communication speed and switch is shown below Communication speed bps 125K 250K 500K 2 Using a precision flathead screwdriver set the switch No corresponding to the communication speed with rotary switch BPS 2 NOILO1NNOO AN CAUTION NEVER DIRECTLY TOUCH THE CONDUCTIVE SECTIONS OR ELECTRONIC PARTS OTHER THAN THE ROTARY SWITCH ON THE DEVICENET COMPATIBLE MODULE DO NOT APPLY IMPACT ON THE DEVICENET COMPATIBLE MODULE DONOT PLACE WATER OR CONDUCTIVE MATTERS E
39. H number assigned to master module n Output area head CH number assigned to master module Used for absolute reset or absolute reset return to origin depending on parameter DI17 mode setting 5 4 2 Details of input output signals 2 Details of input output signals CAUTION A EXPLANATIONS ARE GIVEN BASED ON THE CHANNELS FOR THE OMRON MASTER MODULE REFER TO THE RESPECTIVE MANUALS WHEN USING OTHER MANUFACTURERS MASTER MODULES THE NUMBER OF OCCUPIED CHANNELS DIFFERS DEPENDING ON THE 10 SIZE SETTING LARGE OR SMALL NOTE _ in Hj The IO size can be set by option board parameter Refer to section 6 of chapter 2 for more details e Bit output Channel No Large m 16CH 0 Small mCH O SO 00 Signal name Emergency stop input status output Details Turns ON when robot controller is in emergency stop state Chapter m 16CH 1 mCH 1 80 01 status output Turns ON when robot controller is in normal state m 16CH 2 mCH 2 80 02 Servo ON status output Turns ON when robot controller motor power is ON m 16CH 3 mCH 3 80 03 Alarm status output Turns ON when robot controller is in following state Serious error occurred in robot controller Emergency stop input OFF m 16CH 8 mCH 8 80 10 AUTO mode status output Turns ON when selected mode is AUTO mode Turns OFF when other mode is selected
40. HIDIdS 5 19 4 Sample program MAC ID1 un I rm 2 mu gt 2 un 5 20 3301CH Ist unit s SOW 0 3302CH Ist unit s SOW 1 Word information 3316CH ls Ist unit s SOW 15 3317CH 1st unit s SO 00 Emergency stop input status output Ist unit s SO 01 CPU OK status output Ist unit s SO 02 Servo ON status output Ist unit s SO 03 Alarm status output Ist unit s SO 04 Ist unit s SO 05 Ist unit s SO 06 Ist unit s SO 07 Ist unit s SO 10 AUTO mode status output 4 4 ME Win Ist unit s 50 11 Return to origin complete status output lst unit s SO 12 Sequence program execution status output Ist unit s SO 13 Robot program execution status output 181 unit s SO 14 Program reset status output 181 unit s SO 15 lst unit s SO 16 IO command execution judgment output lst unit s SO 17 Output during IO command execution 3318CH lst unit s SO 20 General purpose output Ist unit s SO 21 General purpose outpu Ist unit s SO 22 General purpose outpu Ist unit s SO 23 General purpose outpu Ist unit s SO 24 General purpose outpu Ist unit s SO 25 General purpose 1st unit s SO 26 General purpose outpu
41. ILO1NNOO Front of the unit AN WARNING BEFORE CONNECTING THE CABLE COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER 5 1 Connecting to the cable terminal to the controller Connect the DeviceNet system cable to the DeviceNet system cable terminal on the DeviceNet compatible module Procedure 1 Using a flathead screwdriver completely loosen the two screws on both sides of the DeviceNet system cable terminal and remove the terminal block section from the DeviceNet compatible module A CAUTION ALWAYS REMOVE THE TERMINAL BLOCK SECTION BEFORE INSTALLING THE DEVICENET SYSTEM CABLE 2 Using a flathead screwdriver securely fix the DeviceNet system cable to the terminal block removed in step 1 The name of each terminal on the cable terminal block is shown above When connecting a terminator connect it across CAN H CAN L A slit to prevent incorrect inverted insertion is provided on the cable terminal block 2 7 5 Connecting to the DeviceNet system PO CAUTION SECURELY INSTALL THE DEVICENET SYSTEM CABLE CAREFULLY CARRY OUT THE WORK TO AVOID APPLYING EXCESSIVE FORCE TO THE DEVICENET CABLE USEA CRIMP TERMINAL TO CRIMP CONNECT EACH WIRE END OF THE DEVICENET SYSTEM CABLE SO THAT THE CABLE DOES NOT CAUSE AN OPEN CIRCUIT FAULT MAKE CONNECTIONS SO THAT THE DEVICENET SYSTEM CABLE IS CORRECTLY WIRED 2 3 Connect the cable terminal into
42. IO size is set to Large c WAIT SI 20 1 The robot program will wait for SI 20 to turn 2 ON gt Example To read the n 17CH 0 to n 17CH 7 data into variable A when the IO size is set O to Large Z A N The 512 data will be converted into a decimal and assigned to variable A If SI2 is 7Fh variable A will be 127 NOTE _ in Hj The SI statement in the robot language can be defined from SIO to SI27 but the DeviceNet compatible module accepts from SIO to SI15 When reading the word information from the master module s output channel No with the robot controller write the following command in the robot program Assignment statement Example To read the n 2CH word data into variable B when the IO size is set to Large B E The SIW 2 data will be assigned to variable B as a decimal If SIW 2 is 01FFh variable B will be 511 3 4 Example To read the n 2CH and n 3CH double word data into variable C when the IO size is set to Large C SID 2 NOTE 2 Communication with master module 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 endian format 2 2 Transmitting data The serial output port data of the robot controller is transmitted to the master module s input The SIW 2 and SIW 3 data will be assigned to variable C as a decimal If SI
43. ION TIGHTEN THE TERMINAL SCREWS WITHIN THE SPECIFIED TORQUE RANGE 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 DEVICENET 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 DEVICENET 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 4SN DNILAVLS 340439 SAVMTV SNOILNVIJAd ALIAVS ALNVAYVM Precautions for starting and maintenance A WARNING DONOT 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 EL
44. IRE 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 OR PRODUCT DAMAGE CAUTION A 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 DEVICENET 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 DEVICENET 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 e 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 CAUT
45. LID the remote cmd I O cmd parameter function cannot be used When the IO size is set to Small 2CH each of input output the I O commands can be used but the remote commands cannot be used Note that use of the I O commands is partly limited When the IO size is set to Small 2CH each of input output the Dutput MSG to SOW 1 parameter function cannot be used 2 9 6 Parameter setting for DeviceNet serial 1 board 11 6 1 Parameter setting for DeviceNet serial I O board Procedure 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 PB screen gt ARAM gt OP BRD v 1 23M 1 DIO 1 VALID 2 3 D Net M1 500k VALID 2 2 PA A 2 sts Option boards installed into the option slots are displayed on the PB screen Display Meaning An option DIO board of NPN specifications is installed The number in DION parentheses is an ID number Option DIO An option DIO board of PNP specifications is installed The number in mio parentheses is an ID number A CC Link unit is installed Letters in parentheses indicate a station CCLnk n m M s number and a communication speed m A DeviceNet unit is i
46. Movement complete output Chuck hand open close 0 Close 1 Open SNOILVIHIDIdS 5 17 4 Sample program PLC data assignment In this example the first unit MAC ID is designated as 1 and the second unit MAC ID as 25 The PLC output channel is allocated 3200 while the input channel is allocated 3300 MAC ID1 un rm 2 mu gt 2 un 5 18 1510CH Unit error 1512CH IO data communication status 3201CH Ist unit s SIW 0 3202CH Ist unit s SIW 1 3216CH NI Ist unit s SIW 15 3217CH Ist unit s SI 00 Emergency stop input Ist unit s SI 01 Servo ON input Ist unit s SI 02 Service mode input Ist unit s SI 03 Ist unit s SI 04 Ist unit s SI 05 command execution trigger input Ist unit s SI 06 Ist unit s SI 07 Ist unit s SI 10 Sequence control input wo 1 O ta o t oO Ist unit s SI 11 Interlock input Ist unit s SI 12 Robot program start input Ist unit s SI 13 AUTO mode input Ist unit s SI 14 Ist unit s SI 15 Program reset input lst unit s SI 16 MANUAL mode input 1st unit s SI 17 Absolute reset input 3218CH lst unit s SI 20 General purpose input Ist unit s SI 21 General purpose input lst unit
47. N COMMANDS 1 1 2 Mechanism The mechanism of communication is explained in this section to provide an understanding of how the robot controller and master module operate via the DeviceNet system reds ON OFF information Master module Robot controller 1 The robot controller s ON OFF information is sent to the master module via the network DeviceNet system cable 2 The master module s ON OFF information is sent to the robot controller via the network DeviceNet 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 dedicated I O points 96 points each of general purpose I O points as bit information However when the number of channels that the DeviceNet compatible module occupies is set to Small 2CH each of I O by option board parameter bit information consists 16 points each of dedicated I O points and 16 points each of general purpose I O points so that word information cannot be handled NOTE The number of channels that the DeviceNet compatible module occupies can be set to either Large 24CH each of I O or Small 2CH each of I O by option board parameter If the following is executed with the robot program in the robot controller the bit information will be sent to the m
48. NDS 5 16 Robot program data assignment Variables used 181 unit 2nd unit Points used 181 unit 2nd unit Bit data used lst unit 2nd unit A B P100 P101 P108 121 P122 P200 P201 P208 P221 P222 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 4 Sample program 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 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
49. None Supported Services None Supported Total Active Connections Possible Object Instance 1 Explicit Message Type Max Instance 1 ti 2 pection Production Trigger Cyclic Chapter Transport Type Server Transport Class 3 Description Value Limit State Instance type Transport class trigger Produced connection ID Consumed connection ID Initial comm Characteristics Produced connection size Attributes SNOILVIHIDIdS 9 Consumed connection size OlAIT NI tn OG nl Expected packet rate Watchdog time out action 25 Produced connection path length 00 Produced connection path Consumed connection path length 00 ON Consumed connection path x Xx X X X O O X X X X X X X X ua N Production inhibit time 0 0 DeviceNet Services Parameter Options Services Reset none Get_Attribute_Single none Set Attribute Single none 5 31 6 DeviceNet specifications Object Instance 2 Instance Type Polled I O Max Instance 1 Section Production Trigger Cyclic Transport Type Server Transport Class Description State 2 Value Limit Instance type Transport class trigger Produced connection ID Consumed connection ID Initial comm Characteristics
50. OFF state after the Chapter power is turned ON 1 Normal state of DeviceNet system connection when robot controller power is turned ON Robot controller Emergency stop interlock signals in DeviceNet system are valid E Z rm Master module When SAFE mode is enabled service mode input signal 1s made valid with SI 02 in the DeviceNet system Emergency stop terminal in SAFETY connector is valid nterlock 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 left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector The signals in the DeviceNet system are sent and received 2 Shift from DeviceNet system normal connection state to DeviceNet system erroneous connection state gt Robot Master module Robot Master module controller 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 when the Board condition external 24V monitor control of system parameters is left valid When the Board condition external 24V monitor control of system para
51. TC WHICH COULD CAUSE DAMAGE NEAR THE DEVICENET COMPATIBLE MODULE ACCURATELY SET THE COMMUNICATION SPEED WHEN SETTING THE MSB AND LSB MAKE SURE NOT TO SET THE ROTARY SWITCH BPS BY MISTAKE 2 5 4 Noise measures Two ferrite cores must be mounted on the input power cable when connecting to the DeviceNet system 41 Mounting the ferrite core N the front panel of the robot controller A WARNING V _ n o s sr z COMPLETELY SHUT OFF THE POWER SUPPLY TO THE INPUT POWER CABLE BEFORE A STARTING THIS WORK Procedures 1 Mount the two ferrite cores supplied onto the input power cable The ferrite core should Z Mount two ferrite cores onto the input power cable connected to the input power connector on be placed as close to the robot controller body as possible 2 Fix the mounted ferrite core with an Insulock tie etc A CAUTION SECURELY FIX THE FERRITE CORE IF THE FERRITE CORE IS NOT MOUNTED TROUBLE COULD OCCUR WITH THE DEVICENET SYSTEM OPERATIONS 2 6 5 Connecting to the DeviceNet system 5 Connecting to the DeviceNet system The DeviceNet system cable must be connected to the DeviceNet compatible module in order to connect to the DeviceNet system 2 RS pe 18 V Black CAN L Blue SHIELD CAN H White V Red Cable terminal od NO
52. UTO mode by changing the execution level Refer to the controller user s manual for more details e Word input Channel No Details Chapter Large Small SIW 0 Dedicated Used as the remote command area SIW 1 input Used as the remote command s data area SIW 2 SIW 3 SIW 4 SIW 5 SIW 6 SIW 7 SIW 8 General Used to input word or double word data from SIW or SID SID 8 purpose port SIW 9 input Or used as remote command s command data area SIW 10 SIW 11 SIW 12 SIW 13 SIW 14 SIW 15 SID 2 SID 4 SID 6 SNOILVIHIDIdS SID 10 SID 12 SID 14 n Output area head CH number assigned to master module A CAUTION WHEN THE IO SIZE IS SET TO SMALL WORD INPUT SID AND SIW CANNOT BE USED 3 Dedicated input output signal timing chart PO e Word output Channel No De etails Large Small SOW 0 Dedicated Used as the remote command s status area SOW 1 input Used as the remote command s error code area SOW 2 SOD 2 m 3CH SOW 3 SOW 4 SOD 4 SOW 5 SOW 6 SOD 6 SOW 7 SOW 8 General Used to output word or double word data from SOW or SOD 8 purpose SOD port SOW 9 input Or used as remote command s response area m 10CH SOW 10 SOD 10 m 11CH SOW 11 m 12CH SOW 12 un SOD 12 m 13CH SOW 13 PA m 14CH SOW 14
53. W 2 is 0010h and SIW 3 is 0001h variable C will be 65552 channel The table below shows the correspondence of the robot controller s serial output ports and the master module s input channels The correspondence of the robot controller s serial output ports and the master module s input channels differs depending on whether the IO size is set to Large or Small by option board parameter e When IO size is set to Large Master module input channel No mCH Robot controller serial output port No SOW 0 Master module input channel No m 16CH 07 to 00 Robot controller serial output port No SO0 7 to 0 m 1CH SOW 1 m 16CH 15 to 08 SO1 7 to 0 m 2CH m 3CH SOW 2 17CH 07 to 00 SO2 7 to 0 SOD 2 SOW 3 m 17CH 15 to 08 SO3 7 to 0 m 4CH m 5CH SOW 4 SOD 4 m 18CH 07 to 00 SO4 7 to 0 SOW 5 m 18CH 15 to 08 805 7 to 0 m 6CH m 7CH SOW 6 SOD 6 m 19CH 07 to 00 806 7 to 0 SOW 7 m 19CH 15 to 08 SO7 7 to 0 m 8CH m 9CH SOW 8 m 20CH 07 to 00 SO10 7 to 0 SOD 8 SOW 9 20CH 15 to 08 8011 7 to 0 m 10CH m 11CH SOW 10 m 21CH 07 to 00 SO12 7 to 0 SOD 10 SOW 11 m 21CH 15 to 08 SO13 7 to 0 m 12CH m 13CH SOW 12 SOD 12 m 22CH 07 to 00 SO14 7 to 0 SOW 13 m 14CH
54. al purpose output n 4CH SIW 4 General purpose input SOD 4 4 purp SID 4 4 purp m 5CH SOW 5 General purpose output n 5CH SIW 5 General purpose input m 6CH SOW 6 General purpose output n 6CH SIW 6 General purpose input SOD 6 6 purp 510 6 6 m 7CH SOW 7 General purpose output n 7CH SIW 7 General purpose input m 8CH SOD 8 SOW 8 General purpose output n 8CH SID 8 SIW 8 General purpose input m 9CH SOW 9 General purpose output n 9CH SIW 9 General purpose input m 10CH SOW 10 General purpose output n 10CH SID 10 SIW 10 General purpose input Chapter m 11CH SOW 11 General purpose output n 11CH SIW 11 General purpose input m 12CH SOW 12 General purpose output n 12CH SIW 12 General purpose input SOD 12 SID 12 m 13CH SOW 13 General purpose output n 13CH SIW 13 General purpose input m 14CH SOW 14 General purpose output n 14CH SIW 14 General purpose input SOD 14 SID 14 m 15CH SOW 15 General purpose output n 15CH SIW 15 General purpose input m Input area head CH number assigned to master module n Output area head CH number assigned to master module SNOILVIHIDIdS 5 3 1 Profile 1 2 When IO size is set to Small e Bit input output Slave Master Master Slave Channel No SO 00 Channel ignal S
55. and output areas differ depending on the method of assigning the DeviceNet compatible module to the master module and the MAC ID setting Refer to the master module and PLC instruction manuals for details Example When fixed assignment is applied to fixed assignment area while using a programmable controller OMRON CJ1G CPU42H and a DeviceNet unit OMRON CJI W DRM21 Output area CH n 3200 MAC ID Input area head CH m 3300 MAC ID E Z rm MAC ID 1 YRC controller IO size 24CH 24CH 1 Output area 3201CH to 3224CH Input area 3301CH to 3324CH CJ1G CPU42H CJ1W DRM21 MAC ID 25 YRC controller IO size 2CH 2CH 2 Output area 3225 to 3226CH Input area 3325 to 3326CH MAC ID 27 YRC controller IO size 24CH 24CH 3 Output area 3227 to 3250CH Input area 3327 to 3350CH Master module Controller Channel No Number of channels 3201 to 3224 YRC controller 1 serial input 3225 to 3226 YRC controller 2 serial input 3227 to 3250 YRC controller 3 serial input 3301 to 3324 YRC controller 1 serial output 3325 to 3326 YRC controller 2 serial output 3327 to 3350 YRC controller 3 serial output 3akl j ES 5 Shift of DeviceNet system connection status and robot controller status 5 Shift of DeviceNet system connection status and robot controller status Always start the DeviceNet system specification robot controller in the servo
56. aster module via the DeviceNet 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 DeviceNet 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 DeviceNet 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 DeviceNet system will be substituted in integer variable A by 2 A SIW 3 1 2 3 Names of each part on the DeviceNet compatible module 3 Names of each part on the DeviceNet compatible module The part names of the DeviceNet compatible module installed in the robot controller are Chapter described in this section The DeviceNet compatible module is installed into an optional slot in 1 the robot controller E 8 Z FT D Front of the unit 1 DeviceNet system cable terminals These terminals are used to connect the DeviceNet system cable Each of the five terminals has a meaning so do not make miswiring These terminals are V Black CAN L Blue SHIELD CAN H White and V Red from the top 2 Transmission monitor LED The status in the DeviceNet system is indicated
57. ave the data stored in the robot controller into an external memory by using VIP software etc 2 2 Installing the DeviceNet compatible module Install the DeviceNet compatible module into the robot controller At this point set the MAC ID and communication speed for the DeviceNet compatible module by referring to the procedures given in 3 Setting the DeviceNet compatible module in chapter 2 2 3 Response when starting the robot controller The robot controller will always start up with an option board setting error after the DeviceNet 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 question will appear on the PB 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 DeviceNet system the message DeviceNet Link Error will appear on the PB NOTE A When using support software VIP to load data refer to the VIP user s manual 2 2 3 Setting the DeviceNet compatible module 3 Setting the DeviceNet compatible module To connec
58. decimal NOILVIINNAWWO9 Operation 1 Press the DISPLAY key on the PB A screen like that shown below will appear DI monitor DIO 0 amp B00000111 DI4 0 amp B 11000000 DI1 0 amp B00001111 015 0 amp B00101000 0120 amp B00010001 016 0 amp B00000111 013 0 amp B00000100 017 0 amp B00000000 2 Press the DISPLAY key on the PB several times to check the status of SI input ports 0 to 7 3 11 OO NOILVIINNAWWO9 4 Referring to communication data 3 Press the 4 Press the 5 Press the 15 DISPLAY DISPLAY DISPLAY key on the PB once more to check the status of SI input ports 10 to 15 key on the PB twice more to check the status of SO input ports 0 to 7 key on the PB once more to check the status of SO input ports 10 to 6 Press the DISPLAY key on the PB twice more to check the status of SIW input ports 0 to 7 7 Press the DISPLAY key on the PB once more to check the status of SIW input ports 8 to 15 8 Press the DISPLAY key on the PB once more to check the status of SOW output ports 0 to 7 9 Press the DISPLAY key on the PB once more to check the status of SOW output ports 8 to 15 10 To stop checking the input output ports press the key 3 12 TROUBLESHOOTING 1 Items to confirm before starting up DeviceNet system 1 Items to confirm before starting up DeviceNet system Confirm the following items before starting up the Devic
59. eNet system Confirmation details Is the DeviceNet compatible module accurately connected Refer to Chapter 2 section 2 or 3 Is the robot controller set to the DeviceNet system specifications Refer to Chapter 2 section 1 Are the DeviceNet compatible module MAC ID and communication speed correctly set Refer to Chapter 2 section 1 Chapter Is the ferrite core connected to the power input cable to the robot controller Refer to Chapter 2 section 4 4 Is the DeviceNet system cable accurately connected to the DeviceNet compatible module Refer to Chapter 2 section 5 Was the line test from the master module correct Refer to the master module instruction manual m NOTE en The dedicated input of STD DIO connector provided on the YRC controllers will be disabled T 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 O 5 I INILOOHSIIINOYL 2 Meanings of LEDs on DeviceNet compatible module w 2 Meanings of LEDs on DeviceNet compatible module MS NS Front of the unit The LEDs on the DeviceNet compatible module express the following statuses Use these for confirmation when an error occurs Meaning Power is not supplied to DeviceNet compatible module ON DeviceNet compatible module is normal
60. erved SO 10 AUTO mode status output 51 10 Sequence control input m 16CH Return to origin complete status output SO 11 51 11 Interlock input Sequence program execution u status output SI 12 Robot program start input Robot program execution 59619 status output SI 13 AUTO mode input SO 14 Program reset estatus output SI 14 Return to origin input SO 15 Battery alarm output SI 15 Program reset input IO command execution solle judgment output 51 16 MANUAL mode input Output durion IO command Absolute reset Return to SOUT execution SIV XRG origin input 1 continued to next page 5 1 1 Profile Slave Master Master Slave Channel No 80 20 to 80 27 Signal name General purpose output Channel No SI 20 to SI 27 Signal name General purpose input SO 30 to SO 37 General purpose output n 17CH SI 30 to SI 37 General purpose input m 18CH 80 40 to 80 47 General purpose output SI 40 to SI 47 General purpose input SO 50 to SO 57 General purpose output n 18CH SI 50 to 8157 General purpose input SO 60 to SO 67 General purpose output SI 60 to SI 67 General purpose input SO 70 to SO 77 General purpose output n 19CH S1 70 to SI 77 General purpose input
61. eviceNet compatible I O e Using Input 2CH Output 2CH Serial output Serial input Robot controller Master module Master module Robot controller Chapter Robot controller Master module Robot controller Master module Port No Channel No Port No Channel No 1 SOO 7 to 0 SIO 7 to 0 mCH nCH SOI 7 to 0 SI1 7 to 0 SO2 7 to 0 SI2 7 to 0 m 1CH n 1CH 803 7 to 0 813 7 to 0 Input area head CH number assigned to master module n Output area head CH number assigned to master module Note 1 These are used as a dedicated I O and so cannot be used as general purpose I O data NOTE Each channel consists of 16 bit data e SOn and 5110 are handled as unsigned 8 bit integer data SOW n and SIW n are handled as unsigned 16 bit integer data SOD n and SID n are handled as signed 32 bit integer data The upper and lower words of SOD n respectively correspond to SOW n 1 and SOW n The upper and lower words of SID n respectively correspond to SIW n 1 and SIW n The dedicated input of STD DIO connector provided on the YRC controllers 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 4 Assignment of DeviceNet compatible I O The head channel numbers in the input
62. f on n 16CH 11 SI 13 AUTO mode input oft on n 16CH 13 SI 15 Program reset input off 100ms or more 100 or more 5 12 3 Dedicated input output signal timing chart CAUTION AN THIS EXPLANATION USES THE CHANNEL NUMBERS WHICH ARE AVAILABLE WHEN THE IO SIZE IS SET TO LARGE NOTE THAT THE CHANNEL NUMBERS DIFFER WHEN THE IO SIZE IS SET TO SMALL 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 AUTO mode changeover process qum a AUTO mode input ON is input Gi 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 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 SNOILVIHIDIdS 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 out
63. iceNet compatible module accepts from SO2 to SO15 3 6 When writing the robot controller word information into the master module s input channel No write the following command in the robot program Assignment statement Example To write 512 into m 2CH as word data when the IO size is set to Large SOW 2 512 512 is assigned to SOW 2 and SOW 2 becomes 0200h Chapter Example To write 69005 as the double word data into m 2CH and m 3CH when the IO eG size is set to Large SOD 2 69905 69905 is assigned to SOD 2 SOW 2 becomes 1111h and SOW 3 becomes 0001h NOTE A 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 endian format NOILVIINNAWWO9 3 7 3 Direct connection by emulated serialization on parallel DIO 3 Direct connection by emulated serialization on parallel DIO The robot controller s parallel input data can 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 By using this function a sensor or relay connected to the parallel I O of the robot controller can be used like a device connected to the DeviceNet master module DeviceNet master module Robot controller Output Em sit DO m Relay valve etc
64. ignal name No Emergency stop input status output SO 01 CPU OK status output SO 02 Servo ON status output SO 03 Alarm status output Reserved Reserved Reserved Reserved SO 10 AUTO mode status output SO 11 Return to origin complete status output SO 12 Sequence program execution status output SO 13 Robot program execution status output SO 14 Program reset status output SO 15 Battery alarm output un rm 2 an gt 2 un SO 16 command execution judgment output 80 17 Output during IO command execution SI 00 Signal name Emergency stop input SI 01 Servo ON input SI 02 Service mode input SI 03 Step execution input Reserved SI 05 IO command execution trigger input Reserved Reserved SI 10 Sequence control input SI 11 Interlock input 8812 Robot program start input 8813 AUTO mode input SI 14 Return to origin input SI 15 Program reset input SI 16 MANUAL mode input SI 17 Absolute reset Return to origin input 1 SO 20 to 80 27 General purpose output SI 20 to SI 27 General purpose input m 1CH 80 30 to 80 37 n 1CH General purpose output SI 30 to SI 37 General purpose input Input area head C
65. ing the 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 e NOTE The master module explained in this manual is based on the OMRON CJI series If the explanations differ from other brands refer to the manual for the product being used NOILDNAOALNI 4SN ONILAVIS 140439 GVIY SAVMTV SNOILNVIJAd ALIAVS 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 OMRON s test conditions and the users must corre
66. k Error Explicit is displayed on the programming box An addition has been made to the error history e Check the error history with the SYSTEM DIAGNOS gt HISTORY mode INILOOHSIIINOYL lt Cause gt The DeviceNet compatible module was reset by the Explicit message request Reset request to Identity Obj from the master module lt Countermeasures gt Refer to the master module s manual Confirmation item 3 lt Confirmation details gt Check whether an error other than DeviceNet Link Error is displayed on the programming box In this case this problem is not related to the DeviceNet system connection Note however the message DeviceNet Link Error may not appear on the programming box if multiple errors have occurred simultaneouslv lt Cause gt An error has occurred in the robot controller lt Countermeasures 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 4 4 3 33 DeviceNet compatible module LED confirmation Confirmation item 1 lt Confirmation details gt The LED display on the DeviceNet compatible module is not MS Green and NS Green
67. late it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility 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 A 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 CAUTION AN FAILURE TO FOLLOW CAUTION INSTRUCTIONS MAY RESULT IN INJURY TO THE OPERATOR OR PERSON SERVICING PRODUCT OR DAMAGE TO THE PRODUCT OR PERIPHERAL EQUIPMENT h NOTE A 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 importa
68. le 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 Chapter XIGN3ddV 2 EDS files 2 EDS files The contents of an EDS file are shown below just for your reference When IO size is Large DeviceNet Configurator Generated Electronic Data Sheet File DescText YAMAHA ROBOT EDS File CreateDate 04 19 2002 CreateTime 12 00 00 ModDate 04 19 2002 ModTime 12 00 00 Revision 1 1 Device VendCode 636 VendName YAMAHA MOTOR CO LTD ProdType 0 ProdTypeStr Generic Device ProdCode 2 MajRev 1 MinRev 1 ProdName YAMAHA ROBOT RCX Catalog Info Default 0x0001 PollInfo 0x0001 1 1 48 0 0x0001 6 20 04 24 64 30 03 E 48 0 0x0001 mm 6 20 04 24 65 30 03 mm gt File Description Text File Creation Date File Creation Time Last Modification Date Last Modification Time EDS Revision Vendor ID Vendor Name Device Type Device Type String Product Code Major Revision Minor Revision Product Name Catalog Number Default I O Type Mask Compatible I O Type Mask
69. link error Explicit Code amp H0C13 Meaning Cause a Action Incorrect option setting DeviceNet board was reset by an explicit message from a client request for identity object Error in DIP switch setting on option unit Mismatched option units have been installed Cannot identify the installed option unit Check the DIP switch settings on the option unit Install the correct option units Code 8 H0C46 Meaning Cause a b Action 2 3 Replace the option unit SPECIFICATIONS 1 Profile 1 Profile CAUTION A EXPLANATIONS ARE GIVEN BASED ON THE CHANNELS FOR THE OMRON MASTER MODULE REFER TO THE RESPECTIVE MANUALS WHEN USING OTHER MASTER MODULE BRANDS NOTE la The IO size can be set by option board parameter Refer to section 6 of chapter 2 for more details 1 1 When IO size is set to Large Chapter OMRON robot controller e Bit input output Slave Master Master Slave Channel Sionulname Channel No 8 Signal name Emergency stop input status output SO 01 CPU status output SI 01 Servo ON input SO 02 Servo ON status output SI 02 Service mode input SO 00 SI 00 Emergency stop input SO 03 Alarm status output SI 03 Step execution input Reserved Reserved SNOILVIHIDIdS IO command execution Reserved SI 05 trigger input Reserved Reserved Reserved Res
70. meters is left valid while SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector 5 Shift of DeviceNet system connection status and robot controller status The signals in the DeviceNet system are not sent or received The DeviceNet Link Error is added to the error history in the robot controller If the connection to the DeviceNet system shifts from the normal state to the erroneous state the DeviceNet system connection must be returned to the normal state The DeviceNet system will return when the DeviceNet system connection is recovered to the normal state 3 DeviceNet system erroneous connection state due to following factors when robot controller power is turned ON Connection to DeviceNet system not possible E Z rm 1 8 Error in master module Robot Master module controller Robot controller Emergency stop interlock signals in DeviceNet system are invalid When SAFE mode is enabled service mode input signal 1s made valid with SI 02 in the DeviceNet system Emergency stop terminal in SAFETY connector is valid Interlock signal in STD DIO connector is valid when the Board condition external 24V monitor control of system parameters is left valid When the Board condition external 24V monitor control of system parameters is left valid while SAFE mode is enabled service mode input signal is made valid with DI 0
71. multimeter and check that the rated voltage is being supplied INILOOHSIIINOYL 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 ON lt Cause gt The robot controller is in emergency stop A 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 controller user s manual Refer to the robot controller user s manual for details on the errors 4 3 3 2 Programming box error display confirmation Confirmation item 1 lt Confirmation details gt DeviceNet Link Error DeviceNet Hardware Error or DeviceNet Setting Fault is displayed on the programming modules An addition has been made to the error history Check the error history with the SYSTEM gt DIAGNOS gt HISTORY mode lt Cause gt Chapter An error has occurred in the DeviceNet system connection lt Countermeasures gt Check whether the DeviceNet system cable is disconnected or incorrectly connected I Check that the communication power is supplied Check the MAC ID and communication speed settings for the DeviceNet compatible module Confirm that the master module is operating normally Confirmation items 2 Confirmation details DeviceNet Lin
72. n set to INVALID the remote commands and I O commands cannot be used This parameter cannot be set to VALID simultaneously with parameter 3 When parameter 4 is set to Small the remote command cannot be used although this parameter can be set to VALID Output MSG to SOW 1 Enables or disables the function that sends an error message code number which is displayed on the PB to serial word output SOW 1 When set to VALID the error code number will be output to SOW 1 When set to INVALID the error code number will not be output to SOW 1 This parameter cannot be set to VALID simultaneously with parameter 2 Also this parameter cannot be set to VALID when parameter 4 is set to Small NOILDINNOD 5 10 size Selects the number of channels that the DeviceNet compatible module occupies When set to Large 24 channels each are occupied by the input output When set to Small 2 channels each are occupied by the input output This parameter cannot be set to Small when parameter 3 is set to VALID NOTE Hj For remote commands and I O commands refer to the separate command reference manual For a description of codes issued from the Output MSG to SOW 1 parameter function refer to Error message in this manual When the remote cmd I O cmd parameter is set to VALID the Output MSG to SOW 1 parameter function cannot be used Likewise when the Output MSG to SOW 1 parameter is set to VA
73. nput Ist unit s SI 157 General purpose input 3224CH lst unit reservation area Word information Bit information MAC ID25 3225CH 2nd unit s SIW 0 4 Sample program 3226CH 2nd unit s SIW 1 Word information 3240CH o Es 2nd uni s SIW 15 3241CH 2nd uni s SI OO Emergency stop input 2nd uni s 51001 Servo ON input 2nd uni s SI 02 Service mode input 2nd uni s SI 03 2nd uni s SI 04 2nd uni s SI 05 IO command execution trigger input 2nd uni s SI 06 2nd uni s SI 07 0 1 04 A So oO 2nd uni s SI 10 Sequence control input 2nd uni s 81 Interlock input 2nd uni s SI 12 Robot program start input 2nd uni s SI 13 AUTO mode input 2nd uni s SI I4 2nd uni s SI 15 Program reset input 2nd uni s SI 16 MANUAL mode input 2nd uni s SI 17 Absolute reset input 3242CH 2nd uni s 5100 General purpose input 2nd uni s 5101 General purpose input 2nd uni s 5102 General purpose input 2nd uni s SIQ3 General purpose input 2nd uni s 8104 General purpose input 2nd uni s 51 25 General purpose input 2nd uni s SI 26 General purpose
74. nstalled Letters in parentheses indicate a MAC ID Serial VO ae number n and communication speed m A Profibus unit is installed Letters in parentheses indicate a station address and communication speed m Network Net An Ethernet unit is installed Profi n m A YC Link unit is installed Letters in parentheses indicate a station YC Link YCLnk Mn number ta 3 In SYSTEM gt PARAM gt OP BRD mode select the Net with the cursor 1 keys and press the SELECT key gt gt BRD gt SELECT v 1 23M 1 board condition VALID 2 remote cmd 10 cmd 5105 VALID 3 Output MSG to SOW 1 INVALID 4 10 size Large ETA 2 10 6 Parameter setting for DeviceNet serial I O board 4 Select the parameter with the cursor 1 keys BRD gt SELECT 123 1 board condition VALID 2 remote cmd 10 cmd 105 MVALID 3 Output MSG to SOW 1 INVALID 4 10 size Large sasi 5 Press the EDIT key gt gt BRD gt SELECT v1 23M 2 1 board condition VALID 2 remote cmd 10 cmd 105 MVALID NOILLDINNOD 3 Output MSG to SOW 1 INVALID 4 10 size Large ENVALDOBVALCO sss 6 Press the INVALID or VALID key When setting the IO size parameter press the Large or Small key 7 Press the key to quit the edit mode
75. nt 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 DeviceNet is a registered trademark of ODVA Open DeviceNet Vendor Association 4SN DNILAVLS 340439 SAVMTV SNOILNVIFAd ALIAVS 4SN DNILAVLS 140439 QV33 SAVANIV SNOILNVIJAd ALIAVS Precautions for design A e REFER TO THE DEVICENET SYSTEM MASTER MODULE USER S MANUAL AND THIS MANUAL FOR DETAILS ON THE STATE OF THE DEVICENET SYSTEM AND ROBOT CONTROLLER WHEN A COMMUNICATION ERROR OCCURS WITH THE DEVICENET SYSTEM ETC CONFIGURE AN INTERLOCK CIRCUIT IN THE SEQUENCE PROGRAM SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY USING THE COMMUNICATION 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 CONTROLLER WILL WORK SAFETY CAUTION TJ x n g gt y gt C 9 u gt v _ o lt y gt lt gt A 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 Precautions for installation A WARNING e ALWAYS CRIMP PRESS FIT OR SOLDER THE CONNECTOR W
76. ntrol of system parameters is set invalid NOLLVDINNWWOD 2 When connection to DeviceNet system is incorrectly established The following causes can be considered a correct connection with the DeviceNet system cannot be established The DeviceNet system cable is not physically connected The MAC ID or communication speed is set incorrectly The master module is not operating correctly When incorrectly connected to the DeviceNet system an abnormal state will be indicated with the DeviceNet compatible module s LED This also occurs when the master module is not operating correctly The emergency stop signal and interlock signal in the DeviceNet 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 DeviceNet system The emergency stop terminal in SAFETY connector is always kept valid The interlock signal in STD DIO connector is valid unless the Board condition external 24V monitor control of system parameters is set invalid 3 1 OO NOILVIINNAWWO9 1 State when robot controller power is turned ON fF When SAFE mode is enabled service mode input signal is made valid with DI 02 in SAFETY connector unless the Board condition external 24V monitor control of system parameters is set i
77. nvalid Service mode input signal in the DeviceNet system cannot be invalidated when SAFE mode is enabled so change the service mode setting of system parameters In this case take full precautions to prevent improper settings that might lead to a hazardous situation For meanings of LED display see Chapter 4 in this manual 2 Communication with master module 2 Communication with master module The method for communicating with the master module by using the robot program when the DeviceNet system is correctly connected is explained in this section 2 1 Receiving data The master module s output channel data is read via the serial input ports of the robot controller The table below shows the correspondence of the master module s output channels and the robot Chapter controller s serial input ports The correspondence of the master module s output channels and the robot controller s serial input ports differs depending on whether the IO size is set to Large or Small by option board parameter When IO size 18 set to Large Master module Robot controller Master module Robot controller output channel No serial input port No output channel No serial input port No nCH SIW 0 n 16CH 07 to 00 810 7 to 0 n 1CH SIW 1 n 16CH 15 to 08 SI1 7 to 0 n 2CH SIW 2 n 17CH 07 to 00 SI2 7 to 0 n 3CH SIW 3 n 17CH 15 to 08 SI3 7 to 0 n 4CH 55 5 SIW 4 n 18CH 07 to 00 SIA 7 to 0 n 5CH SIW 5 n 18
78. onds to this Slave module Controlled by the master module in the DeviceNet system Slave module Controlled by the master module in the DeviceNet system The robot controller corresponds to this DeviceNet is a registered trademark of ODVA Open DeviceNet Vendor Association NOTE A The dedicated input of STD DIO connector provided on the YRC controllers 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 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 DeviceNet system I O devices A CAUTION AN EMERGENCY STOP TERMINAL FOR HARDWIRE IS PROVIDED IN SAFETY CONNECTOR ON THE ROBOT CONTROLLER IN THE YRC CONTROLLER WHEN THE DEVICENET 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 OPERATIO
79. program UNIT ERR 3217 00 W0 01 1512 15 NL Set emergency stop input for first module ON 3241 00 N U 3217 09 Set interlock input for first module ON 3241 09 ry 1510 00 JMP 3317 01 In IO operation UNIT ERR 3317 00 3317 02 004 H 1 3217 01 Y 3342 00 CPU OK ON EMG ON SERVO ON 3317 02 3317 09 UY SERVO ON 3217 14 SERVO ON ORG OK 3317 08 AUTO 3317 09 3317 09 U MANUAL 3217 15 Y ORG OK YU ABS RESET 3217 11 ry ORG OK 3317 08 3317 11 3317 12 4 8 3317 08 PRG GO 3317 12 PRG RESET 3317 11 AUTO 3217 13 PRG RESET 3217 10 ry AUTO PRG RESET PRG GO UY START 3218 00 Y 3342 01 Nr 3218 01 3342 02 Y A 3342 03 a003 a006 Set emergency stop input for first module ON Set interlock input for first module ON SERVO ON MANUAL ABS RESET AUTO PRG RESET START Chapter SNOILVIHIDIdS 5 23 4 Sample program 000010 3342 04 3218 04 000047 O 000011 9342 05 3218 05 000049 O 000012 3342 06 3218 06 000051 O 000013 3342 07 3218 07 pp 000053 O 000014 3342 08 3218 08 000055 O 000015 3342 09 3218 09 0
80. put 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 return to origin 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 DeviceNet system 5 13 3 Dedicated input output signal timing chart PO 3 3 Stopping with program interlock on m 16CH 8 SO 10 AUTO mode status off output m 16CH 9 SO 11 Return to origin complete status output 16 11 50 13 Robot program execution status output 16 9 51 11 Interlock input Chapter n 16CH 10 SI 12 Robot program start on rm e 100ms more gt A CAUTION O THIS EXPLANATION USES THE CHANNEL NUMBERS WHICH ARE AVAILABLE 2 WHEN THE IO SIZE IS SET TO LARGE NOTE THAT THE CHANNEL NUMBERS DIFFER WHEN THE IO SIZE IS SET TO SMALL PROVIDE AN INTERVAL OF 100 5 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
81. s 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 17CH 0 n 1CH 0 S1 20 to to to General purpose 17CH 7 n ICH 7 51 27 17CH 8 n 1CH 8 S1 30 to to to 17CH 15 n 1CH 15 51 37 General purpose input to to n 22CH 8 to n 22CH 15 General purpose input Use ON OFF of these general purpose inputs for referencing the SI port value and executing a WAIT command n Output area head CH number assigned to master module 5 8 NOTE A When the IO size is set to Small only SI 20 to SI 37 of general purpose inputs are available When the YRC controller is used with a robot whose axis configuration includes 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 A
82. s SI 22 General purpose input lst unit s SI 23 General purpose input 1st unit s SI 24 General purpose input lst unit s SI 25 General purpose input lst unit s SI 26 General purpose input lst unit s SI 27 General purpose input lst unit s SI 30 General purpose input lst unit s SI 31 General purpose input Ist unit s SI 32 General purpose input st unit s SI 33 General purpose input 1st unit s SI 34 General purpose input st unit s SI 35 General purpose input st unit s SI 36 General purpose input st unit s SI 37 General purpose input 3223CH st unit s SI 140 General purpose input st unit s SI 141 General purpose input st unit s SI 142 General purpose input Ist unit s SI 143 General purpose input Ist unit s SI 144 General purpose input Ist unit s SI 145 General purpose input Ist unit s SI 146 General purpose input Ist unit s SI 147 General purpose input Ist unit s SI 150 General purpose input Ist unit s SI 151 General purpose input Ist unit s SI 152 General purpose input Ist unit s SI 153 General purpose input Ist unit s SI 154 General purpose input Ist unit s SI 155 General purpose input Ist unit s SI 156 General purpose i
83. t 1st unit s SO 27 General purpose output 1st unit s SO 30 General purpose 1st unit s SO 31 General purpose outpu st unit s SO 32 General purpose outpu st unit s SO 33 General purpose outpu Bit st unit s SO 34 General purpose outpu information st unit s SO 35 General purpose outpu st unit s SO 36 General purpose outpu st unit s SO 37 General purpose outpu 3323CH st unit s SO 140 General purpose output st unit s SO 141 General purpose outpu st unit s SO 142 General purpose output Ist unit s SO 143 General purpose output Ist unit s SO 144 General purpose outpu Ist unit s SO 145 General purpose outpu Ist unit s SO 146 General purpose outpu Ist unit s SO 147 General purpose outpu Ist unit s SO 150 General purpose outpu Ist unit s SO 151 General purpose outpu Ist unit s SO 152 General purpose outpu Ist unit s SO 153 General purpose outpu Ist unit s SO 154 General purpose outpu Ist unit s SO 155 General purpose output Ist unit s SO 156 General purpose output Ist unit s SO 157 General purpose output 3324CH lst unit reservation area MAC 1025 3325CH 2nd unit s SOW 0 3326CH 2nd unit s SOW 1
84. t s YRC INIT ROUTINE RESET SO2 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 SO 40 0 WAIT SI 40 0 50 23 22 21 20 0 GOSUB PICK WAIT 51 42 1 SO 42 1 WAIT SI 42 0 50 42 0 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 S 20 WAIT ARM 3 DO 40 1 DELAY 500 RETURN 5 22 2nd unit s YRC INIT ROUTINE RESET SO2 RESET SO4 RESET DO4 B 201 MAIN ROUTINE MOVE P P200 Z 0 GOSUB PICK ST2 WAIT 51 41 1 SO 41 1 WAIT SI 41 0 SO 41 0 WAIT 51 40 1 51 23 22 21 20 SO 40 1 WAIT SI 40 0 SO 40 0 B B 200 MOVE P P B Z 0 GOSUB PLACE MOVE P P200 Z 0 50 42 1 WAIT SI 42 1 50 42 0 WAIT 51 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 PLC program 000000 000000 000001 000003 000002 000006 000003 000009 000005 000012 000006 000039 000007 000041 000008 000043 000009 000045 1510 00 4 Sample
85. t the DeviceNet system specification controller to the DeviceNet system the MAC ID and communication speed must be set with the rotary switch on the DeviceNet compatible module Carry out the operations explained in section 2 1 to confirm the current MAC ID and communication speed settings 3 1 Setting the MAC ID A Using the rotary switches MSB and LSB in front of the DeviceNet compatible module set the O MAC ID of the robot controller in the DeviceNet system Z Z NOTE T The MAC ID for the DeviceNet system can be set in the range of 0 to 63 j 2 MSB LSB N Front of the unit A WARNING WHEN SETTING THE MAC ID COMPLETELY SHUT OFF THE POWER SUPPLIED TO THE ROBOT CONTROLLER Procedures 1 Check the MAC ID of the robot controller in the DeviceNet system The MAC ID must be set between 0 and 63 2 Using a precision flathead screwdriver set the 2nd digit of the MAC ID on rotary switch MSB 3 In the same manner set the Ist digit on rotary switch LSB 2 3 3 Setting the DeviceNet compatible module w CAUTION lt gt N a lt sNsvsno o v p a l a L s s gt is s o v x gt gt sx 7 A MAKE SURE THAT THE SETTING IS NOT DUPLICATED WITH OTHER SETTINGS NEVER DIRECTLY TOUCH THE CONDUCTIVE SECTIONS OR ELECTRONIC PARTS OTHER THAN THE ROTARY SWITCH ON THE DEVICENET COMPATIBLE MODULE DO NOT APPLY IMPACT ON THE DEVICEN
86. 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 ON and alarm status output ON are output Servo ON status output OFF is output 5 11 3 Dedicated input output signal timing chart PO 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 1 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 DeviceNet system 4 3 2 AUTO mode changeover program reset and program execution rm T m 16CH 8 SO 10 AUTO mode status off i gt output i m 16CH 9 SO 11 O Return to origin complete 7 status output on 77 m 16CH 11 S0 13 Robot program execution off A status output dii m 16CH 12 SO 14 Program reset status output off n 16CH 9 SI 11 Interlock input off on n 16CH 10 SI 12 Robot program start input of
87. unication speed NOILLDINNOD Confirmation position Robot R6YXG250 Axis XYZR Standard SRAM 364kB DIO N Opt ifo D_Net M1 500k Operation 1 Press the MODE key on the PB 2 Press the SYSTEM key on the PB 3 The display above will appear The MAC ID and communication speed set for the DeviceNet system will appear in the parentheses following D_Net on the screen The meaning of the above example is shown below M1 MACIDI Setting range 0 to 63 500K 500Kbps Setting speed unit bps 125K 250K 500K The communication speed must match the master module CAUTION IF THE ROBOT CONTROLLER IS NOT CONNECTED TO THE DEVICENET SYSTEM OR IF THERE IS AN ERROR IN THE DEVICENET SYSTEM THE ERROR DEVICENET LINK ERROR WILL APPEAR ON THE PB WHEN THE ROBOT CONTROLLER POWER IS TURNED ON THE ABOVE SETTINGS CAN BE CONFIRMED EVEN IN THIS STATE 2 1 2 NOILO1NNOO 2 Setting to the DeviceNet system specification controller 1111 2 Setting to the DeviceNet system specification controller When connecting the DeviceNet compatible module to an existing robot controller the DeviceNet compatible module must be installed in the robot controller Check the DeviceNet system specifications with the procedure given in section 1 2 1 Saving the robot controller data Before installing the DeviceNet compatible module into the robot controller be sure to s
88. vices Parameter Options Services 05H Reset none OEH Get Attribute Single none e Message Router Object 0x02 Object Class Attributes None Supported Object Instance Attributes None Supported Vendor Specific Additions No alu a un xx O OOOOOO X X X X X X X X X X SNOILVIHIDIdS 5 29 6 DeviceNet specifications e DeviceNet Object 0x03 Object Class ID Description Get Set Value Limit m Get Set 1 Reim DeviceNet Services Parameter Options Services Object Instance Description Value Limit 1 MAC ID O x 2 Baud rate x 3 BOI x Chapter 4 Bus off counter x x Attributes 5 Allocation information O x 6 MAC ID switch changed x x y 7 Baud rate switch changed x x A 8 MAC ID switch value x x 9 Baud rate switch value x DeviceNet Services Parameter Options gt Get Attribute Single none Services Allocate_Master Slave_ O Connection_Set 2 Release_Master Slave_ Nn Connection_Set e Assembly Object 0x04 Object Class Attributes None Supported Object Instance Section Static I O stance lype Max Instance 1 Number of Members in List Attributes Member List Data DeviceNet Services Parameter oe Services 5 30 6 DeviceNet specifications e Connection Object 0x05 Object Class Attributes
89. with ON OFF and flickering status of two LEDs These terminals are MS and NS from the top 3 MAC ID setting switch LSB 1st digit This is the rotary switch for setting the robot controller MAC ID in the DeviceNet system The 1st digit of the MAC ID is set with this switch 4 MAC ID setting switch MSB 2nd digit This is the rotary switch for setting the robot controller MAC ID in the DeviceNet system The 2nd digit of the MAC ID is set with this switch 5 Communication speed switch BPS This is the rotary switch for setting the DeviceNet system s communication speed 4 Assignment of DeviceNet compatible I O 4 Assignment of DeviceNet compatible I O The table below shows the correspondence of the robot controller s serial I O to the I O data channel on the DeviceNet The number of channels assigned to the DeviceNet compatible module can be set to either 24 channels each or 2 channels each of I O by robot controller parameter e Using Input 24CH Output 24CH Serial output Serial input Robot controller Master module Master module Robot controller E Z rm Robot controller Master module Robot controller Master module Port No Channel No Port No Channel No SOW 0 mCH SIW 0 nCH SOW 1 m 1CH SIW 1 n 1CH SOD 2 SOW 2 m 2CH SID 2 SIW 2 n 2CH SOW 3 m 3CH SIW 3 n 3CH SOW 4 m 4CH SIW 4 n 4CH SOD 4 SID 4 SOW 5 m 5CH SIW 5 n 5CH

YRC Series DeviceNet User´s Manual

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YRC Series DeviceNet User&acute;s Manual

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YRC Series DeviceNet User´s Manual