mrs6014gb.2 fieldbus pci-card - motoman...page 2 revised: 2011-11-30 mrs6014gb-2 front fieldbus...

MANUAL NO.

2MRS6014GB

Part Number: 158050-1CDRevision: 1

FIELDBUS PCI-CARDINSTRUCTION MANUALFOR NX100 OR DX100 CONTROLLER

Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN INSTRUCTIONSNX100 or DX100 INSTRUCTIONSNX100 or DX100 OPERATOR’S MANUALNX100 or DX100 MAINTENANCE MANUAL

The NX100 or DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

Upon receipt of this product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

INSTRUCTION MANUALFIELDBUS PCI-CARD

© 2011 YASKAWA NORDIC AB · Reg No.: MRS6014GB.2

Revised: 2011-11-30 MRS6014GB-2 Front Fieldbus PCI-card.fm

Reference list

MOTOMAN NX100 Installation and wiring manual Fieldbus appendix (AnyBus manuals form HMS)

Revision

060425 First release of this document.

Revision

070208 New version including new fieldbus brands.

Revision

20111130 Now also covering DX100 controller.

Fieldbus PCI-card

1. General 3About this manual ........................................................................................3System requirements ....................................................................................3In manual included Fieldbus PCI-cards and NetTools .............................4Safety ..............................................................................................................5Manufacturer ................................................................................................5Introduction ..................................................................................................5Terms .............................................................................................................5Fieldbus systems ...........................................................................................6PCI-cards .......................................................................................................7Introduction to the fieldbus PCI-cards .......................................................7Hardware compatibility ...............................................................................7

2. Installation 9General ..........................................................................................................9Hardware installation ...................................................................................9

3. Software configuration 13Settings .........................................................................................................13Manual I/O allocation (FD 134) ................................................................17I/O map ........................................................................................................17Fieldbus status byte ....................................................................................18

4. Profibus DPV1 Slave 19Profibus Interface Details ..........................................................................19Card .............................................................................................................19PROFIBUS network setup .........................................................................21

5. Profibus DPV1 Master 23Profibus interface details ...........................................................................23Card .............................................................................................................23PROFIBUS network setup .........................................................................25

6. DeviceNet Adapter(Slave) 27DeviceNet Interface Details ........................................................................27Card .............................................................................................................27DeviceNet network setup ............................................................................29

7. DeviceNet Scanner(Master) 31DeviceNet Interface Details ........................................................................31Card .............................................................................................................31DeviceNet network setup ............................................................................33

8. AS-Interface Master 35AS-Interface Master ...................................................................................35Card .............................................................................................................35Principle of Input/Outputs in ASI .............................................................37Configuration interface ..............................................................................37

MRS6014GB.2 Fieldbus PCI-cardTOC.fm Revised: 11-11-29 Page 1

Fieldbus PCI-card

9. EtherNet/IP Master/scanner 47EtherNet/IP Master/Scanner interface details ........................................ 47Card ............................................................................................................. 47EtherNet/IP network setup ........................................................................ 49

10. EtherNet/IP Adapter/Slave 51EtherNet/IP Adapter/Slave interface details ........................................... 51Card ............................................................................................................. 51EtherNet/IP network setup ........................................................................ 54

11. PROFINET-IO Slave 55PROFINET-IO Slave interface details ..................................................... 55Card ............................................................................................................. 55Network setup ............................................................................................. 57

12. FL-Net 59FL-Net interface details ............................................................................. 59Card ............................................................................................................. 59Network setup ............................................................................................. 60

Page 2 Revised: 11-11-29 MRS6014GB.2 Fieldbus PCI-

Fieldbus PCI-cardAbout this manual

Fieldbus PCI-card

1. General

1.1 About this manualThis Instruction manual comprises information about: Installation Setup

This documents may not be copied without our written permission and the contents thereof must not be imparted to a third party nor be used for any unauthorized purpose.

The fieldbus PCI-cards are valid for YASKAWA controller NX100 and DX100 (hereafter called the controller).

Text written in BOLD letters means command or button.Text written in ITALIC means text shown on display.

WARNING! Observe precautions for handling electrostatic sensitive devices

1.2 System requirements1.2.1 NX100 Software For the fieldbus PCI-card installation, the PCI card driver and version NS3.14-01A (or

later) of the NX100 system software are required.

1.2.2 DX100 softwareNo specific requirements.

MRS6014GB-ch1.2 Fieldbus PCI-card.fm Revised: 11-11-30 Page 3

Fieldbus PCI-cardIn manual included Fieldbus PCI-cards and NetTools

1.3 In manual included Fieldbus PCI-cards and NetTools

Device: Motoman Part No

DeviceNet PCI-card, Scanner(Master) AB3604 34790090

DeviceNet PCI-card, Adapter(Slave) AB3603 34790080

Profibus DP PCI-card, Master AB3602 34790190

Profibus DP PCI-card, Slave AB3601 34790180

AS-Interface(ASI) PCI-card, Master AB3605 34790290

EtherNet/IP PCI-card, Master/Scanner AB3607 34790390

EtherNet/IP PCI-card, Slave/Adapter AB3606 34790380

PROFINET-IP PCI-card, Slave AB3609 34790480

FL-Net PCI-card, Slave AB3610 34790580

NetTool-DeviceNet (Network setup software) 8501405

NetTool-PROFIBUS (Network setup software) 8501401

ASI configuration cable

347583-80 (3 meters) (standard)

347583-81 (6)

347583-82 (9)

347583-83 (12)

347583-84 (15)

The delivered Fieldbus PCI-card kit comprises: PCI-card Software (drivers, GSD-files, EDS-files etc) Available on www.hms.se

The delivered Fieldbus NetTools comprises: Software Network adapter

Page 4 Revised: 11-11-30 MRS6014GB-ch1.2 Fieldbus

Fieldbus PCI-cardSafety

1.4 SafetyThis equipment is constructed, produced and tested according to the laws of the Member States relating to the EMC-directive (2004/108/EC) as well as the LVD-directives (2006/95/EC).

YASKAWA Nordic AB’s responsibility does not cover errors or safety risks that may occur in equipment connected to the YASKAWA Nordic AB machine, nor errors or safety risks that may occur in the machine caused by equipment con-nected to the YASKAWA Nordic AB’s machine.

External cables must be connected according to our cable connection guide, see separate document.

1.5 ManufacturerAddress YASKAWA Nordic AB

Box 504385 25 TorsåsSweden

Telephone: +46 480 417 800Telefax: +46 486 414 10

1.6 IntroductionThe purposes of this document is to provide instructions for users of the YASKAWA fieldbus PCI-cards and for supporting the configuration process. For further information regarding fieldbus configuration and programming please contact supplier.

This document is limited to the functionality of the fieldbus PCI-cards and the connections to the YASKAWA Robot Controller (hereafter referred to as the robot controller). It is assumed that the reader has an understanding of the functionality of the robot controller.

1.7 TermsThroughout this document the term “user“, refers to the person or persons who are installing and programming the robot controller with a fieldbus PCI-card installed. The end user of the robot equipment will be referred to as the customer.

As in all communication systems the terms “inputs“ and “outputs“ can be ambiguous, because their meaning depends on which end of the link that is being referenced. The convention in this document is that “inputs“ and “outputs“ are always being referenced from the robot con-troller end of the link.


Fieldbus PCI-cardFieldbus systems

1.8 Fieldbus systemsInstead of using traditional wiring to distribute input and output signals, the automation indus-try more frequently relays on computer communications. By using communication systems cost for material, installation, documentation and maintenance can be greatly reduced. The communication system can also be used for more advanced features like connecting different control systems and to distribute the control functions to intelligent sub-systems, sensors and actuators.

The communication systems used for these tasks are commonly called a fieldbus system. Fieldbus systems are used in all sectors of automation: Factory automation, manufacturing automation, assembly automation, building automation, process automation, etc.

Different systems are used because of different technical requirements of the application. Those different requirements are different levels of bus systems, bus structures, real-time behaviour, amount of data being transferred, transmission media, distribution of power on the communication media. The difference between the technical demands and the fact that no system on the market fulfils all requirements has lead to a wide variety of different fieldbus systems.

When designing a product which includes fieldbus systems it is necessary to also take the local computer network or communication system into consideration.


Fieldbus PCI-cardPCI-cards

1.9 PCI-cardsThe PCI cards are optimized for PC-based industrial control and visualization applications and support. All boards are equipped with their own microprocessor to process the complete Fieldbus control independent from the host CPU of the PC. The Anybus PCI card family includes intelligent Master and Slave versions, providing effective solutions for a wide range of PC-based industrial applications.

The interface between the PCI cards and the CPU of the PC is based upon a Dual Port Ram. This guarantees a constant high data throughput and supports data consistency for the pro-cess data. The network configuration is created and loaded into the AnyBus PCI cards with the windows based NetTool configuration software.

1.10 Introduction to the fieldbus PCI-cardsThe PCI-cards are designed to make it possible to connect the robot control system to the most commonly used fieldbus systems on the market. It controls the exchange of data between the robot control system and the AnyBus system modules.

1.11 Hardware compatibilityThe fieldbus PCI-cards are electrically compatible with the motherboards in all current models of robot controllers. From the users point of view the fieldbus board will be used as a standard I/O board available for the robot controller.

Fig.1 PCI card system overview


Fieldbus PCI-cardHardware compatibility


Fieldbus PCI-cardGeneral

2. Installation

2.1 General2.1.1 Specification 3.3 and 5 V support (Universal keyed add-in) Competitively priced - high performance Easy plug-and-play interface 33 Mhz PCI bus clock Common API used for all Anybus-PCI’s - one driver for all buses Supports Interrupt/Polling Free OPC server Drivers and API supporting Win 98/ME/NT/2000/XP SDK included (CD, drivers, DLL’s, sample code) 2 kB Dual Port RAM (4 kB Profibus Master) On-board microprocessor 256 byte mailbox interface extendable up to 2048 bytes for parameter data Galvanically isolated fieldbus interface comDTM driver for Profibus Master CoDeSys support (Profibus cards) 10/100MB Ethernet with included IT functions, Web, FTP server and more

2.1.2 Technical specification Size(W x L x D): 100 x 120 22 mm (3.94” x 4.72” x 0.87”) Power supply: 3.3 and 5 V, 600 mA VDC Temperature: operating 0° +55°C

2.1.3 Compliances and conformances EMC compliance: 2004/108/EC

-Emission: EN 61000-6-4:2001 -Immunity: EN 61000-6-2:2001

CE marked UL conformance Tested and verified for Fieldbus and network conformance RoHS compliance

2.2 Hardware installation

WARNING! To prevent electrical shock to personnel and to prevent equipment damage, ensure

power to the robot control system is turned OFF before beginning the installation The card contains ESD (Electrostatic Discharge) sensetive components. Be sure to

observe ESD precautions when installing the card; do not touch any circuits or connectors, and handle the card only by its edges.

Never change any of the settings on the PCI-card while controller power is ON.The following installation instruction apply to all fieldbus PCI-cards delivered by YASKAWA.


Fieldbus PCI-cardHardware installation

2.2.1 NX100 Installation

PCI-card

Hole for securingscrew

1. Unplug AC power and remote system cover2. If present, remove the bracket opposite the PCI slot.3. Align the card connector with the slot and press firmly until the card is completely seated.4. Secure the card connector to the chassis using a screw.

INFORMATION!To ensure trouble-free operation, the front plate of the card must be screwed together with the system cover. The system cover must also be grounded in compliance with local regulations.5. Re-attach the system cover and AC power

Fig.2 PCI-card installation



2.2.2 DX100 installation1. Remove the installation frame from the CPU rack. To do so, loosen the 4 marked screws.

See Fig.3. Remove installation frame.

2. Remove the cover and the retaining bracket for the PCI-card. Loosen the indicated screws in Fig.4. Cover.

Fig.3 Remove installation frame

Fig.4 Cover



3. Insert the PCI-card in an available slot. See Fig.5. PCI-card in slot.

4. Install the installation frame in the CPU-rack and fasten it using the 4 screws. See Fig.6. Installed frame.

Fig.5 PCI-card in slot

Fig.6 Installed frame


Fieldbus PCI-cardSettings

3. Software configuration

3.1 Settings To setup the configuration of the system, maintenance mode has to be entered firstly.1. Maintenance mode:

To entrance maintenance mode keep the [MAIN MENU] pressed while turning the power supply on. The first window entered is following.

2. Go to Security by: Stepping to SYSTEM and choose by pressing [SELECT] button

3. On the appearing “pull down menu”, choose SECURITY.

4. In the MODE box in security window: Press [SELECT], Choose MANAGEMENT MODE and press [SELECT]. A password window will be shown

Fig.7 Menu maintenance

Fig.8 Security



5. Enter “99999999” and press [ENTER].

6. To do a setup: Step to SYSTEM and choose SETUP on the “pull down menu”.

7. In SETUP screen: Mark the OPTION BOARD and then press [SELECT].

Fig.9 Password

Fig.10 Setup



8. Step to the PCI-card, object for installation(AB3605 ASI M in this fig). Press [SELECT].

9. Step to (A) and set the value to USED by [SELECT].10. On IO SIZE (B) the size of the signals are specified. Type the desired value and press

[ENTER]. The maximum values of this choice depends on the limitation of the different cards, see specific PCI-card.

11. The NODE ADDRESS (C). This is an unavailable choice on the ASI PCI-cards.12. Depending of the design of the fieldbus system, different BAUD RATE’s (D) are

desired. The maximum value of this choice depends on the limitation of the different cards, see specific PCI-card. This is an available choice only at the DeviceNet PCI-cards.

Fig.11 Option board (ASI PCI-card)

Fig.12 Setup for the choosen board(AB3604 DeviceNet M)

A)B)C)

D)



13. Press [ENTER].14. A question “MODIFY” appears. Select YES.15. You will continue to the IO MODULE.

16. In the IO MODULE, press [ENTER]. The card in CPU option 1 will allways be placed as number 16 (card in CPU option 2 as No.17). The amount of desired Inputs and Outputs (I/O’s) are shown (in DeviceNet Master ex. above 20 bytes x 8 bits + 8 status bits = 168 bits)

17. The last position will automatically be marked, press [ENTER] again.18. A question “MODIFY” appears. Select YES.

Fig.13 IO MODULE settings

Fig.14 PCI card (AB3602 Profibus M)


Fieldbus PCI-cardManual I/O allocation (FD 134)

3.2 Manual I/O allocation (FD 134)The installed PCI-cards are given specific areas by default. But from generation DX100 it is possible to allocate certain areas. As an option this possibillity can be enabled. The procedure for this function is located in a separate instruction for External I/O signal allocation function

3.3 I/O mapDepending on the application of the system, the number of userdefinable I/O points will vary. The robot controller I/O’s follows a basic octal numbering system, i.e. each input or output group will occur in a grouping of eight. The NX100 system has the capability of supporting 1024 input and 1024 output signals. The DX100 system has the capability of supporting 2048 input and 2048 output signals.

3.3.1 Fieldbus input data mapThe data received from the PCI fieldbus card appears in the robot controller memory map according the tables below. The base address in the robot controller where the data will appear depends on the installation. In the examples below the PCI card inputs are repre-sented from address 20060.

Table above shows the memory map when the I/O size is set to a total of 24 input bits (16 fieldbus input bits).

Table above shows the memory map when the I/O size is set to a total of 56 input bits (48 fieldbus input bits).

Address Contents DescriptionMSB LSB

20060 Module and network statusStatus information. See section Fieldbus status byte på sidan 18 below.

20070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7)20080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 (b8 - b15)


20060 Module and network statusStatus information. See section Fieldbus sta-tus byte på sidan 18 below.

20070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7)20080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 (b8 - b15)20090 b23 b22 b21 b20 b19 b18 b17 b16 Fieldbus input byte 3 (b16 - b23)20100 b31 b30 b29 b28 b27 b26 b25 b24 Fieldbus input byte 4 (b24 - b31)20110 b39 b38 b37 b36 b35 b34 b33 b32 Fieldbus input byte 5 (b32 - b39)20120 b48 b47 b46 b45 b44 b43 b41 b40 Fieldbus input byte 6 (b40 - b48)


Fieldbus PCI-cardFieldbus status byte

3.3.2 Fieldbus output data mapThe data transferred from the robot controller to the PCI fieldbus card appears in the robot controller memory map according the table below. The base address in the robot controller where the data will appear depends on the installation. In the examples below the PCI card inputs are represented from address 30060.

Table above shows the memory map when the I/O size is set to a total of 24 output bits (16 fieldbus output bits).

Table above shows the memory map when the I/O size is set to a total of 56 output bits (48 fieldbus output bits).The first byte of output data is reserved for future use and is not accessed by the PCI fieldbus card. This byte should not be used by the robot controller program.

3.4 Fieldbus status byteOne byte of input status data is generated by the PCI fieldbus card. The status byte contains information about the PCI card and the fieldbus environment. The byte is continuously updated by the software. The information available in this byte can be used by the robot con-troller to monitor the PCI card and the fieldbus system.

The status byte contains the following information:


30060 Reserved Not available for use30070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 - b7)

30080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus output byte 2 (b8 - b15)


30060 Reserved Not available for use30070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 - b7)30080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus output byte 2 (b8 - b15)30090 b23 b22 b21 b20 b19 b18 b17 b16 Fieldbus output byte 3 (b16 - b23)30100 b31 b30 b29 b28 b27 b26 b25 b24 Fieldbus output byte 4 (b24 - b31)30110 b39 b38 b37 b36 b35 b34 b33 b32 Fieldbus output byte 5 (b32 - b39)30120 b48 b47 b46 b45 b44 b43 b41 b40 Fieldbus output byte 6 (b40 - b48)

Bit no: Function Valid

0 0 Not used

1 0 Not used

2 0 Not used

3 0 Not used

4 0 Not used

5 1 = Some configured slaves are unreachable Master only

6 1 = All configured slaves are unreachable Master only

7 1 = Master is unreachable Slave only


Fieldbus PCI-cardProfibus Interface Details

4. Profibus DPV1 Slave

4.1 Profibus Interface Details Complete Profibus DPV1 Slave functionality according to extensions of IEC 61158 Up to 244 bytes input and 244 bytes output Supports PA baud rate up to 45.45 Kbit/s Supports class 1 and class 2 services Automatic baudrate detection (9.6 kbit/s - 12 Mbit/s) RS-485 optically isolated Profibus interface with on-board DC/DC converter

4.2 Card

Warning!The card contains ESD (Electrostatic Discharge) sensetive components. Be sure to observe ESD precautions when installing the card; do not touch any circuits or connectors , and han-dle the card only by its edges.

4.2.1 Status LED:s

Fig.15 PCI Profibus DPV1 slave card

No. Indication State Meaning

1 Appl. connectedGreen Controlled by application

Red Standalone

2 I/O ACCESS

Green flashing I/O accesses going on

Red flashing I/O access failure (recoverable)

Off No activity


Fieldbus PCI-cardCard

4.2.2 Connectors 9-pin D-sub

The 9-pin D-sub is the standard connector and is recommended for data transfers rates higher than 1500kbit/s.

3 Acyclic TrafficOff No power or no DPV1 request currently being

executed

Green A DPV1 request is currently being executed

4 Fieldbus Diagnostics

Off No diagnostics present or no power on the mod-ule

Red, Flashing 1 Hz Error in configuration data

Red, Flashing 2 Hz Error in parameter data

Red, Flashing 4Hz Profibus ASIC initialisation error

5 Fieldbus On Line

Off Bus is not online, or no power on the nodule

Green Bus is online and data exchange is possible

Green, flashing Clear mode

6 Fieldbus Off lineOff Bus is off line

Red Bus is off line, or no power on the module

Fig.16 D-subs, male and female layout

Pin Signal

Housing Shield

1 NC

2 NC

3 B-Line

4 RTS*

5 GND BUS**

6 +5V BUS**

7 NC

8 A-Line

9 NC


Male Female


Fieldbus PCI-cardPROFIBUS network setup

*) RTS is used in some equipment to determine the direction of transmission. In normal appli-cations only A-Line, B-Line and shield are used.**) +%V BUS and GND BUS are used for bus termination. Some devices, like optical trans-ceivers(RS485 to fibre optics) might require external power supply from these pins.

4.3 PROFIBUS network setupFor a complete network setup See “PROFIBUS network setup” on page 25. Each slave device in a PROFIBUS network is associated with an GSD-file which has to be downloaded to the network.

4.3.1 The GSD-file The GSD-file, contains all the necessary information about the device. The configuration tool uses the GSD-file during configuration of the Profibus DP network.

INFORMATION!The latest version of the GSD-file can either be downloaded from http://www.anybus.com or received by contacting HMS.


Fieldbus PCI-cardProfibus interface details

5. Profibus DPV1 Master

5.1 Profibus interface details Complete Profibus class 1 and class 2 Master according to IEC 61158 Up to 125 DP/DPV1 slaves can be connected Upto 1536 bytes input and 1536 bytes output data Supports Profibus baud rates up to 12 Mbit/s RS-485 optically isolated Profibus interface with on-board DC/DC converter Configuration via Anybus NetTool Windows based configuration software

5.2 Card

WARNING!The card contains ESD (Electrostatic Discharge) sensetive components. Be sure to observe ESD precautions when installing the card; do not touch any circuits or connectors, and handle the card only by its edges.

5.2.1 Status LED:s

Fig.17 PCI Profibus DPV1 Master card



Red Standalone

2 I/O ACCESS



Off No activity



INFORMATION!If all indicators goes RED, it means “Fatal error”.

Fieldbus interface

Male Female

3 Master status

Green Operate Mode

Green flashing Clear Mode

Red Stop Mode

Off Offline

4 Token holdGreen Master has the token

Off Master does not have the token

5 Database Status

Green Database OK

Green flashing Database download in progress

Red Database invalid

Off No database downloaded

6 Communication status

Green Data exchange with all configured slaves

Green, flashing Data exchange with at least one configured slave

Red Bus control error (Possible short circuit or config-uration error)

Off No data exchange with any off the configutated slaves

Fig.18 D-subs, male and female layout

Pin D-sub (Male) Signal

Housing Cable shield

1 -

2 -

3 B-Line

4 RTS




Serial interface


Housing PE

1 -

2 RxD

3 TxD

4 -

5 GND

6 -

7 -

8 -

9 -

5.3 PROFIBUS network setupTo be able to setup the PROFIBUS fieldbus network, the AnyBus NetTool for PROFIBUS is recommended to use.

5.3.1 The AnyBus NetTool for PROFIBUSAnybus NetTool for Profibus is a configuration tool to create complete Profibus-DP network configurations. The graphical workbench of NetTool allows the compilation of Profibus net-work configurations based on slave GS*-files. By online functionality the Profibus configura-tion can be downloaded to the master module and the I/O-data of the connected slaves be monitored and modified.

The configuration tool includes all necessary software and a hardware interface to configure, manage and troubleshoot your PROFIBUS network. When installed, go to the Help-menu where all necessary information/guidelines for the

setup can be found.

5.3.2 TerminationThe end nodes(first and last nodes) in a PROFIBUS network must be terminated to avoid reflections on the bus line. Attach a terminating resistor, equal to 220 ohms, to each end of the data transfer cable.

The resistors are connected across the A- and B-lines(Pin 8 and 3 of the SUB-D connector).

5 GND_BUS

6 +5V BUS (output)

7 -

8 A-Line

9 -




WARNING!If you do not use terminating resistors as described, the PROFIBUS cable system will NOT operate properly.

5.3.3 Node settingsAll nodes have to be, by hardware, setup according to the configuration defined in the soft-ware. The kind of setting device is varying, depending on which manufacturer used.

5.3.4 Coniguration onlineThe network configuration have to be scanned and downloaded to the PCI-card. Before going online a connection must be established to the configuration connector on the PROFIBUS PCI-card.


Fieldbus PCI-cardDeviceNet Interface Details

6. DeviceNet Adapter(Slave)

6.1 DeviceNet Interface Details Complete DeviceNet 2.0 Adapter implementationaccording to ODVA, group 2 only

server DIP switch select baud rate and MACID Baud rate 125-500 kbit/s Optically isolated DeviceNet interface Up to 512 bytes input and 512 output data

6.2 Card

WARNING!The card contains ESD (Electrostatic Discharge) sensetive components. Be sure to observe ESD precautions when installing the card; do not touch any circuits or connectors , and han-dle the card only by its edges.

6.2.1 Status LED:s

Fig.19 PCI DeviceNet adapter(slave) card

No. Indicate State Meaning


Red Standalone

2 I/O ACCESS



Off No activity



6.2.2 Connectors Application interface

The module is available in both serial and parallel versions.

Fieldbus interface

1. 2. 3. 4. 5.

Pin Signal Decription

1 V- Negative supply voltage*

2 CAN_L CAN_L bus line

3 shield Cable shield

4 CAN_H CAN_H bus line

5 V+ Positive supply voltage

INFORMATION!The layout in figure is from a male connector. the female connectors are in opposite order.

3- - (not used)

4

5 Network Status

Off No power or not online

Green Link OK, online, connected

Green, flashing Online not connected

Red Critical link failure

Red, flashing Conection timeout

6 Module status

Off No power to device

Green Device operational

Green, flashing Data size bigger than configured

Red Unrecoverable fault

Red, flashing Minor fault

Fig.20 Male Connector DeviceNet

No. Indicate State Meaning


Fieldbus PCI-cardDeviceNet network setup

6.3 DeviceNet network setupFor a complete network setup See “DeviceNet network setup” on page 33. Each slave device in a DeviceNet network is associated with an EDS-file which has to be downloaded to the network.

6.3.1 The EDS-file The EDS-file contains all the necessary information about the device. The configuration tool uses the EDS-file during configuration of the DeviceNet network.

INFORMATION!The latest version of the EDS-file can either be downloaded from http://www.hms.se or received by contacting HMS.


Fieldbus PCI-cardDeviceNet Interface Details

7. DeviceNet Scanner(Master)

7.1 DeviceNet Interface Details Complete DeviceNet 2.0 scanner implementation according to ODVA Group 2 Client/Server/UCMM support Optically isolated DeviceNet interface Baud rate 125-500 kbit/s Up to 512 bytes input & 512 butes output data Controls up to 63 DeviceNet slaves/Adapters Supports FLASH field upgrades Configuration via Anybus Nettool or RSNetworx

7.2 Card

WARNING!The card contains ESD (Electrostatic Discharge) sensetive components. Be sure to observe ESD precautions when installing the card; do not touch any circuits or connectors, and handle the card only by its edges

7.2.1 Status LED:s

Fig.21 PCI DeviceNet scanner(master)



Red Standalone

2 I/O ACCESS



Off No activity



7.2.2 Connectors Fieldbus interface

1. 2. 3. 4. 5.

Pin Signal Decription

1 V- Negative supply voltage*

2 CAN_L CAN_L bus line

3 shield Cable shield

4 CAN_H CAN_H bus line

5 V+ Positive supply voltage

INFORMATION!The layout in figure is from a male connector. the female connectors are in opposite order.

3 - - (not used)

4 Operation mode

Off No power or not initialized

Flashing Green Idle mode

Green Run mode

5 Network status

Off No power, not initialized or no connection estab-lished

Flashing green Online, no connection established

Green Online, at least one connection established

Flashing Red Minor fault; at least one connection has a minor fault

Red Critical link failure

6 Module status


Green Module status OK

Flashing red Minor fault

Red Major fault

Fig.22 Male Connector DeviceNet




7.3 DeviceNet network setupTo be able to setup the DeviceNet fieldbus network, the AnyBus NetTool for DeviceNet is rec-ommended to use.

7.3.1 The AnyBus NetTool for DeviceNetThe AnyBus NetTool for DeviceNet is a Configuration Tool that allows configuration and main-tenance of your DeviceNet Network. Setup functions include full Scanner configuration and DeviceNet slave configuration. The AnyBus NetTool-DN lets users configure, manage and troubleshoot any DeviceNet network or network component on a DeviceNet network.

The tool consists of a Windows 32-bit graphical network configuration software and a DIN rail mountable adapter that connect a PC, via RS232, to the DeviceNet cable. The configuration tool includes all necessary software and a hardware interface to configure, manage and trou-bleshoot your DeviceNet network. When installed, go to the Help-menu where all necessary information/guidelines for the

setup can be found.

7.3.2 TerminationThe end nodes(first and last nodes) in a DeviceNet network must be terminated to avoid reflections on the bus line.

Attach a terminating resistor equal to 121 ohms, 1 %, 1/4W or greater wattage, to each end of the trunk cable. The resistors are connected across the CAN_H and CAN_L lines (Blue and white wires of the DeviceNet cable).

WARNING!If you do not use terminating resistors as described, the DeviceNet cable system will NOT operate properly.

7.3.3 NodesAll nodes have to be, by hardware, setup according to the configuration defined in the soft-ware. The kind of setting device is varying, depending on which manufacturer used.

7.3.4 Configuration onlineThe network configuration have to be scanned and downloaded to the PCI-card. Before going online a connection must be established to the DeviceNet network. The adapter can be con-nected parallelly anywhere within the fieldbus network


Fieldbus PCI-cardAS-Interface Master

8. AS-Interface Master

8.1 AS-Interface Master Complete AS-Interace Master supporting version 2.1 and also backwards compatible

with version 2.0 Controls up to 62 AS-Interface slaves Up to 248 digital outputs/186 digital inputs Up to 124 (16 bit) analog values Optically isolated interface Full extended master M1E Supports auto-configuration or configuration via RS-232 using standard Windows hyper-

terminal program on PC

8.2 Card


8.2.1 Status LED:s

Fig.23 PCI AS-Interface Master



Red Standalone



8.2.2 Connectors

1. 2. 3.

Pin Signal

1 AS-Interface +

2 -

3 AS-Interface -

8.2.3 Rectifying of interruptionSince there are possibilities of AS-interface being affected by interruption, a ferrite clip should be attached to its bus cable according to this figure.

2 I/O ACCESS



Off No activity

3 Running/IdleGreen Module is in running mode

Red Module is in idle mode

4 Auto prog, slave 0 exist

Off No error, no slave 0, autoprogrammming not possible

8Hz Green Auto programming possible

1Hz Green Slave address 0 exist

Red Periphery error

8Hz Red Perophery error, auto-programming possible

1Hz Red Periphery error, slave address 0 exist

5 Network status


Flashing green online according to configuration

Green Online, but no connections established

Red Offline

6 Module status


Flashing green Protected mode

Green Configuration mode

Red Power fail bus

Fig.24 Connector PCI AS-interface Master

Fig.25 Ferrite clip on cable



Fieldbus PCI-cardPrinciple of Input/Outputs in ASI

8.3 Principle of Input/Outputs in ASI

INFORMATION!For every Input or Output in ASI the respective Input/Output will be allocated(blocked).

The Inputs/Outputs of the nodes in an ASI fieldbus system can be set up as in following example:

8.4 Configuration interfaceThis interface provides a simple text based interface via the onboard RS232 interface. All net-work configuration parameters are available using a standard terminal emulator such as the windows Hyperterminal.

INFORMATION!No data exchange is halted and no mailbox activity is possible while using this interface.

The interface uses the following communication settings:Terminal emulation: ASCIIBaudrate: 38400Databits: 8Stopbits: 1Parity: NoneFlowcontrol: None

I/O NO: Function Comment

25-32 8 bits of system status For NX100 specific fieldbus status data

33-36 4 bits of system status For ASI fieldbus system internal status data. Allways 4 first bits of the first node in ASI.

37-404 bits of data input

Node 14 bits of data output








Fieldbus PCI-cardConfiguration interface

8.4.1 Menu Tree Overwiev

Fig.26 Menu tree



Enable Terminal Interface MenuThe module displays the following screen when connecting to the configuaration interface.

To activate the configuration interface, press [Enter]. Note that data exchange and mailbox activity will be halted until the RS232 cable is physically disconnected.

Main menuThe following menu entries are available from the main menu. Detailed information of each menu entry is presented in the following pages.

Fig.27 Enable terminal interface menu



The status section reflects the contents of the AS-Interface flag bytes.

View scan-listsThis command displays all network status lists in the format shown below:

Fig.28 Main menu



- = No slave presentX = Slave present

Fig.29 Scan-list



View all nodesThis command displays I/O configuration, ID codes and all parameters for slave.

View all detected nodesThis command will display all detected nodes

To alter a setting for a specific node, type the desired node address and press [Enter].

Fig.30 All nodes

Fig.31 Detected nodes



View single nodeThis command displays information about a single node.

To view or alter the settings for a specific node, type the desired node address and press [Enter].

Toggle mode This mode is used to alter the current operating mode of the module.

Press [ESC] to cancel.

Online/Offline modeThis command is used to toggle Online/Offline mode.


Fig.32 Single node

Fig.33 Toggle mode

Fig.34 Online/Offline mode



Auto addressThis command is used to enable/disable the automatic address programming feature.


Save configurationThis command stores the current configuration into non-volatile memory.

Press [Enter] to store the current configuration, or press [ESC] to cancel.

NOTE!This command is not allowed in protected mode.

8.4.2 Alter settingsThis menu is displayed when a specific node has been selected in main menu commands 1 to 4.

Fig.35 Auto address

Fig.36 Save configuration



To alter the value of a parameter, select the desired parameter by typing the corresponding number and press [Enter]

A menu similar to the one below is displayed, allowing the selected parameter to be altered.

Fig.37 Alter settings



Type the new value and press [Enter]. The parameter value will change accordingly.

Fig.38 Change parameter


Fieldbus PCI-cardEtherNet/IP Master/Scanner interface details

9. EtherNet/IP Master/scanner

9.1 EtherNet/IP Master/Scanner interface details Complete EtherNet/IP Master/Scanner interface Dual Port (DPRAM) parallel interface Ethernet settings configurable through an inbuilt web server or with on-board DIP

switches EtherNet/IP level 4 I/O client - ODVA certified Transformer isolated Ethernet interface IT functions dynamic web, FTP server and Email client

9.2 Card


9.2.1 Status LED:s

Fig.39 PCI EtherNet/IP Master card


1 Link/Activity

Green Link estabished

Green flashing Activity; recieving/transmitting data

Off No link or power off

1 2

4 3

A

View A




2 Module status

Green Device operational- Module is operating correctly in Run-state

Green, flashingStandby- Module has not been configured- Scanner in Idle-state

Red Major fault- Major unrecoverable fault

Red flashingMinor fault- Minor recoverable fault (originated on timeout)- An originated connection could not be opened

Alternating Red/Green Self test- Module is performing power up test procedures

Off No power

3 Network status

GreenConnected- The module has at least one established Ether-Net/IP connection (target or originated)

Green flashing

No connections- There are no EtherNet/IP connections estab-lished to the module (class 1 or class 3, target or originated)

Red Duplicate IP- Configured IP address already in use

Red, flashing

Connection timeout- One or several EtherNet/IP target connections have timed-out- The module can only leave this state if all timed-out target connections are re-established, or if the module is reset

Off No power or no IP address

4 - - -



Fieldbus PCI-cardEtherNet/IP network setup

Fieldbus interface

1 8

Pin RJ45 (Female) Signal

1 TD+

2 TD-

3 RD+

4 Termination

5 Termination

6 RD-

7 Termination

8 Termination

9.3 EtherNet/IP network setupTo configure the EtherNet/IP fieldbus network RS-Networx is used.

Fig.40 RJ45 female layout


Fieldbus PCI-cardEtherNet/IP Adapter/Slave interface details

10. EtherNet/IP Adapter/Slave

10.1 EtherNet/IP Adapter/Slave interface details Complete EtherNet/IP Adapter/Slave interface IP address settings configurable through on-board DIP switches, Webpage, DCP or

DHCP Baud rate: 10/100 MBit/s EtherNet/IP level 2 I/O server Transformer isolated Ethernet interface IT functions Dynamic web, FTP server and Email client

10.2 Card


Fig.41 PCI EtherNet/IP Slave card

1 2

4 3

A

View A



10.2.1 Status LED:s

No. Indication Configuration Colour State Meaning

1 Link(Activity)

1 GreenOn The module has a link

Off The module do not sense a link

2 Green

On The module has a link

Off The module do not sense a link

Flashing The module is recieving/transmitting on ethernet

2 Module sta-tus

1

Green Flashing 1HZ IP address not set using configuration switch

Red

Flashing 1HZ Invalid MAC address. (Internal error)

Flashing 2HZ Failed to load Ethernet configuration from FLASH

Flashing 4HZ Internal error. (Fatal)

On Duplicate IP address detected

2

GreenOn The module operates in 100Mbit

Off The module operates in 10Mbit

Red

Telephone flash (2 flashes on and long off)

Invalid MAC address


Failed to load Ethernet configuration from FLASH


Internal error. (Fatal)


Duplicate IP address detected

3

- Off No power applied to the module

GreenOn The module is operating correctly

Flashing The module has not been configured

RedFlashing A minor recoverable fault has been

detected

On A major internal error has been detected

Green/Red Flashing The module is performing a power on self

test

4 - - This configuration deactivates this Led




3 Network sta-tus

1 - -

In this configuration, this Led indicates the number of Modbus/TCP connections to the module. The number of established connections is equal to the number of flashes on this Led.

2 - - This configuration deactivates this Led

3

- Off The module has no power or no IP address has been assigned

GreenOn The module has at least one established

EtherNet/IP connection

Flashing There are no Ethernet/IP connections established to the module

RedFlashing

One or more of the connections in which this module is the target has timed-out. This state is only left if all timed-out con-nections are re-established or if the mod-ule is reset

On The module has detected that its IP address is already in use

Green/Red Flashing The module is performing a power on self

test

4 Activity

1 Green Flashing A packet is recieved or transmitted

2 - -In this configuration, this Led is deactived and the activity and link indications are merged

No. Indication Configuration Colour State Meaning



Fieldbus interface

1 8


1 TD+

2 TD-

3 RD+

4 Termination

5 Termination

6 RD-

7 Termination

8 Termination

10.3 EtherNet/IP network setupTo configure the EtherNet/IP fieldbus network RS-Networx is used.



Fieldbus PCI-cardPROFINET-IO Slave interface details

11. PROFINET-IO Slave

11.1 PROFINET-IO Slave interface details Complete PROFINET-IO device functionality Max. 1300 bytes of input and 1300 bytes of output data 100 Mbit full duplex transmission RJ45 connector Powerful 32 Bit processor for short cycle times GSD file for easy configuration IT functions dynamic web, FTP server and Email client

11.2 Card


11.2.1 Status LED:s

Fig.43 PCI PROFINET-IO Slave card


1 Link/Activity

Green Link established

Green flashing Recieving/transmitting data

Off No link or power off

1 2

4 3

A

View A




2 Communication status

GreenOnline, RUN- Connection with IO controller established- IO controller is in RUN state

Green, 1 flashOnline, STOP- Connection with IO controller established- IO controller is in STOP state

Off Offline- No connection with IO controller

3 Module status

Green Initialized, no error

Green, 1 flash Diagnostic data available

Green, 2 flashes Blink. Used by an engineering tool to identify the Anybus module

Red, 1 flash

Configuration Error- Too many modules/submodules- I/O size derived from IO controller configuration is too large- Configuration mismatch 8no module, wrong module)

Red, 3 flashes No station name or no IP address assigned

Red, 4flashes Internal Error


4 - - -



Fieldbus PCI-cardNetwork setup

Fieldbus interface

1 8


1 TD+

2 TD-

3 RD+

4 Termination

5 Termination

6 RD-

7 Termination

8 Termination

11.3 Network setupTo configure network e.g. Step7 HWconfig is used.



Fieldbus PCI-cardFL-Net interface details

12. FL-Net

12.1 FL-Net interface details Complete FL-Net server functionality Support shielded (STP) and unshielded (UTP) cables FL-Net class 1 node Customizable identity/profile information Up to 512 bytes cyclical I/O in each direction Dual Port (DPRAM) parallel interface Transformer isolated Ethernet interface

12.2 Card


12.2.1 Status LED:s

Fig.45 PCI FL-Net card


1 LNKGreen Link established

Off No link established

1 2

4 3

A

View A




Fieldbus interface

1 8


1 TD+

2 TD-

3 RD+

4 Termination

5 Termination

6 RD-

7 Termination

8 Termination

12.3 Network setupTo configure network e.g. Step7 HWconfig is used.

2 ERR

RedUnit needs to be replaced (e.e. invalid MAC ID)... or.. Anybus watchdog enabled and not updated properly

Red, flashing Parameter error

Off Normal state

3 FL-LNKGreen Participating on FL-Net

Off Not participating on FL-Net

4 COMGreen Packet recieved or transmitted

Off No activity




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YASKAWA Company group:

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Distributors

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ZA Robotic Systems SA PTY LtdJohannesburg +27-11-6083182

FIELDBUS PCI-CARD INSTRUCTION MANUALFOR NX100 OR DX100 CONTROLLER

2MRS6014GBMANUAL NO.

Specifications are subject to change without noticefor ongoing product modifications and improvements.

mrs6014gb.2 fieldbus pci-card - motoman...page 2 revised: 2011-11-30 mrs6014gb-2 front fieldbus...

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