Epson Fieldbus I/O Manual

Epson Fieldbus I/O Manual

Setup & Operation 12. Option Units

12.3 Fieldbus I/O Board

12.3.1 Overview of Fieldbus I/O

The Fieldbus I/O option is an option to add fieldbus slave function (DeviceNet,

PROFIBUS-DP, CC-Link, EtherNet/IP) to the robot Controller.

A fieldbus is a standard of signal communications between field devices operating in a factory (sensor, actuator, robot controller, etc.) and controller (PLC or robot controller) using serial communications. Compared to signal communications using analog signals, a fieldbus has the following features: a.

Access to signals from multiple devices and multiple data from each device using one cable. b.

Precise signal transmission since there is no need for A/D conversion and D/A conversion. c.

Less wiring costs, including signal relay board costs and installation area due to several dozen (or a hundred) devices connected on one fieldbus. d.

More flexible modification and expansion of a system because multiple devices are simply added to one fieldbus without additional wiring. e.

Slave devices can transmit self-diagnostics information.

Master Device

Master Device

RS-232C

RS-232C

Fieldbus

NOTE

)

Sample Parallel Connection Sample Fieldbus Connection

Fieldbus slave function can be added to the RC170 / RC180 Controller. For each fieldbus on the controller, there is one board installed. You cannot use more than one fieldbus type on the same controller.

For master device transmission, up to 256 inputs and 256 outputs are available with

Fieldbus I/O.

Response times for Fieldbus I/O can vary and depend on several factors, including baud rate, scan rate, number and types of devices, number of SPEL+ tasks, etc.

12.3.2 Response Speed of Fieldbus I/O

Fieldbus I/O communicates the I/O status using serial communication. I/O status exchange lag occurs according to the serial communication speed. This exchange lag is also influenced by scan cycle, amount and type of the device, and existence of communication error.

In the RC170 / RC180 Controller, status of the Fieldbus I/O is updated approximately every 30 mS. Although the fieldbus communication speed is fast, response is not available for pulses less than or equal to 30 mS.

RC170 / RC180 Rev.11 79

Setup & Operation 12. Option Units

12.3.3 Fieldbus I/O Board Configuration

The Fieldbus I/O board is configured as follows at shipment.

Board Appearance Configuration

CN3 DSW2 DSW1 JMP1

CN3

DSW2

DSW1

JMP1

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

Fixed as above

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

All Open

80 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

12.3.4 DeviceNet

Overview of DeviceNet

DeviceNet is a fieldbus network that provides easy interconnection between control devices (PLC, PC, sensor, actuator, etc.).

DeviceNet was developed by Allen-Bradley as an open communication standard to connect various field devices (sensor, actuator, robot controller, etc.). Because of the open communication standard, DeviceNet users can easily construct a multi-vendor system with various devices developed around the world.

Master Device

DeviceNet Network

Motor Driver from Company A

Motor Driver from Company B

Intelligent I/O from Company C

Intelligent I/O from Company D

Photo Sensor from Company E

Analog Device from Company G

HMI Device from Company F

DeviceNet Communication Specifications

Item Specification

Code R12B040706

Supported Connection

I/O messaging connection (Polling)

Baud Rates

DeviceNet communication protocol

125 K / 250 K / 500 K (bps)

Transfer Distance

Baud Rates

500 K (bps)

Max. Network

Length

100 m

Drop Length

Total Drop

Line Length

6 m or under 39 m or under

250 K (bps) 250 m * 6 m or under 78 m or under

Cable

125 K (bps) 500 m * 6 m or under 156 m or under

5-wire cable dedicated to DeviceNet (2 wires for signal, 2 wires for power supply, 1 shield wire)

24 V DC (supplied from a connector) Communications

Power Supply Voltage

Communication

Power Supply Current

Maximum 30 mA

Consumption

Mode Slave

Interface

Connection type

1 DeviceNet port

Polling

Explicit messaging

Input data size

Output data size

Not supported

256 bits (32 bytes)

256 bits (32 bytes)

* When thin cable is used for trunk line, the maximum network length is 100 m.

RC170 / RC180 Rev.11 81

Setup & Operation 12. Option Units

DeviceNet Appearance

Status Display LED

Configure Switch

DeviceNet Connector

NS LED : Network status display

MS LED : Module status display

Refer to the following table for functions of

LED.

82

WARNING

LED Description of DeviceNet

LED status represents the status of the fieldbus board.

LED status

GRN

RED

OFF

NS

Communication power supply OFF

Disconnected

ON

Link OK

Online connected

Blinking Online disconnected

ON Link error

Blinking Communication time out

Board Installation of DeviceNet

MS

Device power supply OFF

Device operating

Data size error

Critical error

Error

„ Make sure that the power is turned OFF before installing/removing any boards or connecting/disconnecting any cables. Installing/removing any boards or connecting/disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of equipment.

Set the baud rates between the MAC address of the device and the master by setting the

DeviceNet board configure switch.

(1) Set the MAC address for DeviceNet board by setting the configure switch. Make sure that the MAC address is different from the other devices in the network. Refer to the following table for the configuration.

MAC address

0

1

2

3

62

63

(at shipment) sw3

(MSB)

Switch sw4 sw5 sw6 sw7 sw8

(LSB)

OFF OFF OFF OFF OFF OFF

OFF OFF OFF OFF OFF ON

OFF OFF OFF OFF ON OFF

OFF OFF OFF OFF ON ON

OFF OFF OFF OFF OFF OFF

ON ON ON ON ON OFF

ON ON ON ON ON ON

RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

NOTE

)

(2) Set the DeviceNet baud rate. Check the master configuration and set the same baud rate. Refer to the following table for configuration settings.

Baud Rate

125 K

250 K

500 K

Configuration prohibited

Switch sw1 sw2

OFF OFF

OFF ON

ON OFF

ON ON

Wiring (DeviceNet)

The DeviceNet connector is a 5 pin open connector. Use the connector attached to the board for wiring.

Terminal name for each pin

Terminal No Terminal Name

1 V-

2 CAN_L

3 SHELD

4 CAN_H

5 V+

Prepare the cable for DeviceNet sold in the market as a communication cable.

Install terminating resistors at both ends of the network.

DeviceNet Confirmation with EPSON RC+ 5.0

When the DeviceNet board is installed to the Controller, it is recognized automatically.

Confirm whether EPSON RC+ 5.0 has recognized the DeviceNet board using the following procedure.

(1) Select EPSON RC+ 5.0 menu-[Setup]-[Controller] to display the [Setup Controller] dialog.

(4)

(2)

(3)

(3)

(3)

(2) Select [Inputs / Outputs].

(3) Make sure that the following are displayed.

Feildbus Type : DeviceNet

Fieldbus Slave ID : (MAC address depending on the setting)

(4) Click the <Close> button.

RC170 / RC180 Rev.11 83

Setup & Operation 12. Option Units

Operation

For details, refer to

12.3.8 Operation (DeviceNet, PROFIBUS-DP, EtherNet/IP)

.

Electronic Information File (EDS file)

An EDS file is supplied for DeviceNet network configuration. The file is located in the following folder in the Manual Update CD that is attached to the Robot Controller.

\EpsonRC50\Fieldbus\DeviceNet

84 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

12.3.5 PROFIBUS-DP

Overview of PROFIBUS-DP

PROFIBUS DP is one of the fieldbus networks that provide easy interconnection between control devices (PLC, PC, sensor, actuator, etc.).

PROFIBUS DP was developed as an open communication standard to connect various field devices (sensor, actuator, robot controller, etc.). Because of the open communication standard, PROFIBUS DP can easily construct multi-vendor system with various devices developed around the world.

Master Device

PROFIBUS-DP Network

Motor Driver from Company A

Motor Driver from Company B

Intelligent I/O from Company C

Intelligent I/O from Company D

Photo Sensor from Company E

Analog Device from Company G

HMI Device from

Company F

PROFIBUS DP Specifications

Item Specification board

Code R12B040707

Connection Method Hybrid

Baud Rates (bps)

(token passing procedure and master-slave communication)

9.6 K, 19.2 K, 45.45K, 93.75 K, 187.5 K, 500 K,

1.5 M, 3 M, 6 M, 12 M

Transfer Distance

Baud Rates

12 M (bps)

6 M (bps)

Cable Length

100 m

100 m

3 M (bps)

1.5 M (bps)

500 K (bps)

187.5 K (bps)

93.75 K (bps)

45.45 K (bps)

19.2 K (bps)

9.6 K (bps)

Maximum Stations 126 (including master unit and repeater)

100 m

200 m

400 m

1000 m

1200 m

1200 m

1200 m

1200 m

Data Length / Frame 244 bytes

Cable 2-wire cable dedicated to PROFIBUS (2 wires for signal)

Modes Slave

Interface 1 PROFIBUS-DP port (EN 50170)

Output

Current Capacity

Input Data Size

Output Data Size

Maximum 150 mA

256 bits (32 bytes)

256 bits (32 bytes)

RC170 / RC180 Rev.11 85

Setup & Operation 12. Option Units

Appearance of PROFIBUS-DP

Status Display LED

Address Configure Switch (

×

1)

Address Configure Switch (

×

10)

Terminator Switch

PROFIBUS-DP Connector

ONLINE LED

: Online status display

OFFLINE LED

: Offline status display

ERROR LED

: Error status display

Refer to the following table for functions of LED.

86

LED Description of PROFIBUS-DP

LED status

LED status represents the status of the fieldbus board.

ONLINE GRN

OFF Offline

ON

Online

Data exchangeable

OFFLINE RED

Online

Offline

Data unexchangeable

1 Hz blinking

2 Hz blinking

4 Hz blinking

ERROR RED

Initialization error

(Mismatch with network configuration)

Initialization error

(Mismatch with user parameter)

Initialization error

(Module initialization error)

Board Installation of PROFIBUS-DP

WARNING

„ Make sure that the power is turned OFF before installing/removing any boards or connecting/disconnecting any cables. Installing/removing any boards or connecting/disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of equipment.

Set the node address of the device using the address configuration switch of the

PROFIBUS-DP board. Set network termination ON or OFF with the terminator switch.

NOTE

)

(1) Set the node address of the PROFIBUS-DP board using the address configuration switch. Make sure that the node address is different from the other devices in the network. Switch on the “

×

10” side for tens digit address configuration. Switch on the “

×

1” side for units digit address configuration.

Generally, a node address from 0 to 125 is available for the PROFIBUS-DP device, however, this Controller supports node addresses from 0 to 99.

Generally, node addresses are recommended to be configured as shown in the table.

Node address

0

1

Device Name

Service unit such as PG/PC

Operation panel such as HMI

3-99 ( -125 ) DP slave station

(2) Turn network termination ON or OFF using the terminator switch.

RC170 / RC180 Rev.11

NOTE

)

Setup & Operation 12. Option Units

Wiring (PROFIBUS-DP)

PROFIBUS-DP connector is standard D-sub 9 pins connector.

Terminal name for each pin

Terminal No Terminal Name

Case Shield

1 NC

2 NC

3 B

4 RTS

BUS

6 +5V

7 NC line

9 NC

Prepare the cable for PROFIBUS-DP sold in the market as a communication cable.

Install terminating resistors at both ends of the network.

A terminating resistor is installed in the PROFIBUS-DP board. Turn the terminating resistor ON or OFF using the terminator switch on the front panel.

PROFIBUS-DP Confirmation with EPSON RC+ 5.0

When a PROFIBUS-DP board is installed to the Controller, it is recognized automatically.

Confirm whether EPSON RC+ 5.0 has recognized the PROFIBUS-DP board using the following procedure.

(1) Select EPSON RC+ 5.0 menu-[Setup]-[Controller] to display the [Setup Controller] dialog.

(4)

(2)

(3)

(3)

(3)

(2) Select [Inputs / Outputs].

(3) Make sure that the following are displayed.

Fieldbus Type

Fieldbus Slave ID

(4) Click the <Close> button.

: Profibus DP

: (depends on the address configure switch)

RC170 / RC180 Rev.11 87

Setup & Operation 12. Option Units

Operation

For details, refer to

12.3.8 Operation (DeviceNet, PROFIBUS-DP, EtherNet/IP)

.

Electronic Information File (GSD file)

A GSD file is supplied for PROFIBUS-DP network configuration. The file is located in the following folder in the Manual Update CD that is attached to the Robot Controller.

\EpsonRC50\Fieldbus\Profibus

88 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

12.3.6 CC-Link

Overview of CC-Link

CC-Link is one of fieldbus networks that provide easy interconnection between control devices (PLC, PC, sensor, actuator, etc.).

CC-Link was developed as an open communication standard to connect various field devices (sensor, actuator, robot controller, etc.). Because of the open communication standard, CC-Link can easily construct multi-vendor system with various devices developed around the world.

Master Device

CC-Link Network

Motor Driver Motor Driver from Company A from Company B

Intelligent I/O from Company C

Photo Sensor from Company E

Intelligent I/O from Company D

Analog Device from Company G

HMI Device from Company F

CC-Link Specifications

Item Specification board

Code R12B040708

Connection Method

Baud Rates (bps)

Transfer Distance

Broadcast polling

156 K, 625 K, 2.5 M, 5 M, 10 M

Baud Rates

10 M (bps)

5 M (bps)

2.5 M (bps)

625 K (bps)

156 K (bps)

Cable Length

100 m

160 m

400 m

900 m

1200 m

Maximum Device Volume 64 units

Cable Dedicated cable supporting CC-Link Ver.1.10

Modes Slave

Interface 1 CC-Link V1 port

Occupied stations

Input Data Size

Output Data Size

3 station fixed

256 bits (96 bits + 10 words)*

256 bits (96 bits + 10 words)*

* 16 bits of each system inputs and outputs are reserved. Open data size for user is as follows.

Inputs/Outputs: 80 bits

+

10 words

RC170 / RC180 Rev.11 89

Setup & Operation 12. Option Units

Appearance of CC-Link

Status Display LED

Station Configure Switch (

×

1)

Station Configure Switch (

×

10)

Baud Rate Configure Switch

CC-Link Connector

ERRL LED : Error status display

RUN LED : Offline status display

RD LED : Data reception status display

SD LED : Data transmission status display

Refer to the following table for

LED functions.

LED Description of CC-Link

LED status represents the status of the fieldbus I/O board.

LED status

OFF

ERRL RED

Normal operation

Device power supply

OFF

CRC error: station

ON

Address error

Baud rate

Blinking

− configuration error

RUN GRN

Offline

Device power supply

OFF

Normal operation

Board Configuration (CC-Link)

RD GRN

No data reception

Device power supply

OFF

Data reception

SD GRN

No data transmission

Device power supply

OFF

Data transmission

WARNING

„

Make sure that the power is turned OFF before installing/removing any boards or connecting/disconnecting any cables. Installing/removing any boards or connecting/disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of equipment.

Configuration of the device station is available with the station configure switch on the

CC-Link board.

Baud rate configuration is available with baud rate configure switch on the CC-Link board.

(1) Set the station of the CC-Link board with the station configuration switch.

Make sure that the station does not duplicate with the other devices inside the network at configuration.

Switches on the

×

10 side are for tens place address value configuration. Switches on the

×

1 side are for units digit address value configuration. Stations from 1 to 62 are available. CC-Link board occupies three stations. Assign the configured stations +3 stations to the next node.

90 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

(2) Set the CC-Link baud rate. Check the master configuration and set the same baud rate. Refer to the following table for configuration.

Baud Rate

156 K

625 K

2.5 M

5 M

10 M

Configuration prohibited

Switch

0

1

2

3

4

5-9

Wiring (CC-Link)

The CC-Link connector is a 5 pin open connector. Use the connector attached to the board for wiring.

Terminating

Resistor

Terminal name for each pin

Terminal No Terminal Name

1 DA

2 DB

3 DG

4 SLD

5 FG

Connect the CC-Link master module and the CC-Link board as follows.

Master Station

RC170

CC-Link Board

CC-Link

Module

DA

DA

DA

DB

DB

DB

DG

DG

DG

SLD

SLD SLD

FG

FG

FG

Twisted-pair Cable with Shield

Twisted-pair Cable with Shield

Terminating

Resistor

Prepare the cable for CC-Link Ver.1.10 sold in the market as a communication cable.

NOTE

)

Install terminating resistors at both end of the network.

Use the terminating resistor attached to the CC-Link master station.

Make sure to disconnect the connectors only after turning OFF the power supply of the specific station.

Connect the shield wire for CC-Link to the “SLD” of each unit and ground the both end via the “FG.”

CC-Link Confirmation with EPSON RC+ 5.0

When CC-Link board is installed to the Controller, it is recognized automatically.

Confirm whether EPSON RC+ 5.0 has recognized the CC-Link board using the following procedure.

RC170 / RC180 Rev.11 91

Setup & Operation 12. Option Units

(1) Select EPSON RC+ 5.0 menu-[Setup]-[Controller] to display the [Setup Controller] dialog.

(4)

(2)

92

(3)

(3)

(3)

NOTE

)

(2) Select [Inputs / Outputs].

(3) Make sure that the following are displayed.

Fieldbus-Installed :

Fieldbus Type

Yes

: CC Link

(4) Click the <Close> button.

For CC-Link, station address cannot be confirmed. “

1” is displayed.

Operation (CC-Link)

When CC-Link is installed, some operation differs from the other Fieldbus I/O options.

This section indicates how to operate.

Remote Input

Remote input (RX) and remote output (RY) indicates ON/OFF information. Remote data is bit data and the FROM/TO command is executed per 16 bits (1 word).

“n” in the following tables is address configured as a master station with the station configure. This is calculated by the following expression. n = (Station

1)

×

2

Result of the calculation is in decimal number. Substitute the result to “n” after converting to hexadecimal number.

(Example)

When CC-Link board station is 1

Remote Input RXn0 to RX(n+5)F

RX00 to RX5F

Remote Output RYn0 to RY(n+5)F

RY00 to RY5F

When CC-Link board station is 4

Remote Input RXn0 to RX(n+5)F

RX60 to RXAF

Remote Output RYn0 to RY(n+5)F

RY60 to RYAF

Remote Input List (3 stations occupied, Default configuration *1)

Signal direction : Remote device station (CC-Link board)

Master station (PLC)

Bits indicated as “NA” are left for user. Use these free for SPEL+ program.

Address Signal Name

RXn0 Ready

RXn1 Start

RXn2 Pause

RXn3 Error

Controller Bit No

*1 512

*1 513

*1 514

*1 515

RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

Address Signal Name

RXn4 EStopOn

RXn5 SafeguardOn

RXn6 SError

RXn7 Waning

RXn8 MotorOn

RXn9 Home

RXnA CurrProg1

RXnB CurrProg2

RXnC CurrProg4

RXnD AutoMode

RXnE TeachMode

RXnF ErrorCode1

RX(n+1)0 ErrorCode2

RX(n+1)1 ErrorCode4

RX(n+1)2 ErrorCode8

RX(n+1)3 ErrorCode16

RX(n+1)4 ErrorCode32

RX(n+1)5 ErrorCode64

Controller Bit No

521

522

524

525

527

528

530

531

RX(n+1)6 ErrorCode128

RX(n+1)7 ErrorCode256

RX(n+1)8 ErrorCode512

RX(n+1)9 ErrorCode1024

RX(n+1)A ErrorCode2048

RX(n+1)B ErrorCode4096

535

536

538

539

RX(n+1)C ErrorCode8192 *1

RX(n+1)D NA

RX(n+1)E NA

541

542

RX(n+1)F NA

RX(n+2)0 NA

: :

RX(n+4)F NA

RX(n+5)8 flag reservation reservation

RX(n+5)3 System reservation reservation

RX(n+5)6 System

RX(n+5)7 System

Initial data processing request flag

RX(n+5)9 Initial data configuration complete

RX(n+5)A Error status flag

Ready

RX(n+5)C System reservation reservation

RX(n+5)E System

543

544

591

592

593

594

595

596

597

598

599

*2 600

*2 601

*2 602

603

604

605

606

607

*1 I/O assignment can be changed or invalid (NA). For details, refer to

EPSON RC+

5.0 User’s Guide 10. Remote Control

.

*2 For details, refer to the

CC-Link flag operation

section.

RC170 / RC180 Rev.11 93

Setup & Operation 12. Option Units

Remote Output List (3 stations occupied, Default configuration *1)

Signal direction : Master station (PLC)

Remote device station (CC-Link board)

Bits indicated as “NA” are left for user. Use these free for SPEL+ program.

Address Signal Name

RYn0 Start

RYn1 Pause

RYn2 Reset

RYn3 SelProg1

RYn4 SelProg2

RYn5 SelProg4

RYn6 Stop

RYn7 Continue

Controller Bit No

*1 512

*1 513

*1 514

*1 515

*1 516

*1 517

*1 518

*1 519

RYn8 MotorOn

RYn9 MotorOff

RYnA Home

RYnB NA

RYnC NA

RYnD NA

*1 520

*1 521

*1 522

523

524

RYnE NA

RYnF NA

RY(n+1)0 NA

: :

RY(n+4)F NA

526

527

591

593

594 reservation reservation reservation reservation

RY(n+5)5 System

595

596

RY(n+5)7 System

RY(n+5)8 reservation 598 reservation 599

Initial data processing complete flag *2 600

RY(n+5)9

RY(n+5)A

Initial data configuration request flag

Error reset request flag

*2 601

*2 602 reservation reservation reservation reservation

604

605

606

607

*1 I/O assignment can be changed or invalid (NA). For details, refer to

EPSON RC+

5.0 User’s Guide 10. Remote Control

.

*2 For details, refer to the

CC-Link flag operation

section.

94 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

Remote Register

Remote register (RWr, RWw) is numeric value

“m” indicated in the following tables are master station address configured with station configure. This is calculated by the following expression. m = (Station

1)

×

4

Result of the calculation is in decimal number. Substitute the result to “m” after converting to hexadecimal number.

(Example)

When the CC-Link board is 1

Remote Register RWrm to RWrm+B

RWr0 to RWrB

Remote Register RWwm to RWwm+B

RWw0 to RWwB

When the CC-Link board is 4

Remote Register RWrm to RWrm+B

RWrC to RWr17

Remote Register RWwm to RWwm+B

RWwC to RWw17

Remote Register List (3 stations occupied, Default configuration *1)

Signal direction : Remote device station (CC-Link board)

Master station (PLC)

Bits indicated as “NA” are left for user. Use these free for SPEL+ program.

Address

RWrm

:

RWrm+9

RWrm+A

RWrm+B

Signal Name

NA

:

Controller Word No Controller Bit No

38 608 to 623

NA 47 752 to 767

System reservation - -

System reservation - -

Signal direction : Master station (PLC)

Remote device station (CC-Link board)

Bits indicated as “NA” are left for user. Use these free for SPEL+ program.

Address

RWwm

:

RWwm+9

RWwm+A

RWwm+B

Signal Name

NA

:

Controller Word No Controller Bit No

38 608 to 623

NA 47 752 to 767

System reservation - -

System reservation - -

RC170 / RC180 Rev.11 95

Setup & Operation 12. Option Units

CC-Link Flag Operation

Flag operation of the remote output is describes in this section.

Initial Request Process after Power Supply

Initial request process is executed from the remote device station (CC-Link board).

After turning ON the Controller, the initial data processing request flag [RX(n+5)8] will be ON by completing the CC-Link board initialization. Set the initial data processing complete flag [RY(n+5)8] ON.

Initial Data Processing

Request Flag

Initial Data Processing

Complete Flag

Remote Ready

[RX(n+5)8]

[RY(n+5)8]

[RX(n+5)B]

ON

OFF

ON

OFF

ON

OFF

Initial Processing Request from the Master (PLC)

This is an initial configure request for the CC-Link board. No processing is required for no initial data.

Initial Data Configure

Request Flag

[RY(n+5)8]

Initial Data Configure

Complete Flag

[RX(n+5)8]

Remote Ready [RX(n+5)B]

ON

OFF

ON

OFF

ON

OFF

NOTE

)

NOTE

)

Error Flag, Error Reset Process

Error status flag [RX(n+5)A] turns ON at master error or configure error.

When error reset request flag [RY(n+5)A] turns ON at error occurrence, [RX(n+5)A] turns OFF at status that enables error status clear.

Error Status Flag [RX(n+5)A]

Error Reset

Request Flag

[RY(n+5)A]

ON

OFF

ON

OFF

ON

Remote Ready [RX(n+5)B]

OFF

When CC-Link error occurs (when error status flag is ON), the Controller status changes to the error status. Reset the error status of the Controller after the error reset process indicated above is completed.

When an error occurred at the Robot or the program, the error flag indicated above does not turn ON.

96 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

Electronic Information File (CSP file)

A CSP file is supplied for CC-Link network configuration. The file is located in the following folder in the Manual Update CD that is attached to the Robot Controller.

\EpsonRC50\Fieldbus\CCLink

RC170 / RC180 Rev.11 97

Setup & Operation 12. Option Units

12.3.7 EtherNet/IP

Overview of EtherNet/IP

EtherNet/IP is a fieldbus network that provides easy interconnection between control devices (PLC, PC, sensor, actuator, etc.).

EtherNet/IP was developed by Allen-Bradley as an open communication standard to connect various field devices (sensor, actuator, robot controller, etc.). Because of the open communication standard, EtherNet/IP users can easily construct a multi-vendor system with various devices developed around the world.

Master Device

EtherNet Network

Motor Driver

Motor Driver Intelligent I/O Intelligent I/O from Company A from Company B from Company C from Company D

Photo Sensor from Company E

Analog Device from Company G

HMI Device from Company F

EtherNet/IP Communication Specifications

Item Specification

Code R12B040719

Supported Connection I/O messaging connection (Cyclic)

EtherNet/IP communication protocol

Baud Rates

10 M, 100 M (bps)

Transfer Distance

Standard Ethernet protocol

Cable Standard Ethernet protocol

Mode Slave

Interface 1 EtherNet/IP port

Connection type

Explicit messaging

Input data size

Output data size

Cyclic

Not supported

256 bits (32 bytes)

256 bits (32 bytes)

98 RC170 / RC180 Rev.11

Setup & Operation 12. Option Units

EtherNet/IP Appearance

Status Display LED

Configure Switch

EtherNet/IP Connector

MS LED : Module status display

NS LED : Network status display

LNK LED : Link status display

ACT LED : Communication p reception or transmission status display acket

Refer to the following table for functions of

LEDs.

LED Description of EtherNet/IP

LED status MS NS

GRN

OFF

ON

Power supply OFF

Master connected (executing)

Blinking Master connected (idling)

ON Non-recoverable error

Power supply OFF or IP address not configured

Online operating

Waiting master connection

Wrong IP address (duplication)

RED

Blinking Non-recoverable error

GRN/RED

Connection time out

Self-diagnosing Self-diagnosing alternate

LED status LNK

ON Linking

ACT

No communication packet reception or transmission

Communication packet reception or transmission

Board Installation of EtherNet/IP

WARNING

„ Make sure that the power is turned OFF before installing/removing any boards or connecting/disconnecting any cables. Installing/removing any boards or connecting/disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of equipment.

Set all EtherNet/IP board configure switches OFF. If all EtherNet/IP board configure switches are not OFF, reset error occurs.

All the EtherNet/IP communication configurations are set by the development software

(EPSON RC+ 5.0).

RC170 / RC180 Rev.11 99

Setup & Operation 12. Option Units

Wiring (EtherNet/IP)

Use a standard Ethernet connector for wiring to the board.

CAUTION

„ You can use the general Ethernet hub or Ethernet switch for the EtherNet/IP.

However, be sure to a use product complying with the industrial standards or noise resistant Ethernet cable (STP cable). If you use an office use product or

UTP cable, it may cause communication errors and may not offer the proper performance.

EtherNet/IP Confirmation and Configuration with EPSON RC+ 5.0

When EtherNet/IP board is installed to the Controller, it is recognized automatically.

Confirm whether the EPSON RC+ 5.0 has recognized the EtherNet/IP board by the following procedure.

(1) Select EPSON RC+ 5.0 menu-[Setup]-[Controller] to display the [Setup Controller] dialog.

(4)

(2)

(3)

(3)

(3)

(2) Select the [Inputs / Outputs].

(3) Make sure that followings are displayed.

Feildbus Type

Fieldbus Slave ID

: EtherNet/IP

: -1 (fixed)

(4) Click the “+” displayed on the left of [Input / Output] and [EtherNet/IP] appears.

Select the [EtherNet/IP] to display the configuration dialog.

100 RC170 / RC180 Rev.11

NOTE

)

Setup & Operation 12. Option Units

(5) Set each item to the specific value to connect the Ethernet network.

For information about the setting values, contact your network administrator.

Address Configuration is set to “DHCP/BOOTP/ARP” at shipment.

(6) When the configuration is completed, click the <Apply> button to apply the setting.

(7) Click the <Close> button.

When Address Configuration is set to “DHCP/BOOTP/ARP”, the Controller waits for

DHCP/BOOTP/ARP sever response for 30 seconds at Controller startup. When

DHCP/BOOTP/ARP does not response within a time, the Controller stops the request to the DHCP/BOOTP/ARP server and waits ARP.

Operation

For details, refer to

12.3.8 Operation (DeviceNet, PROFIBUS-DP, EtherNet/IP)

.

Electronic Information File (EDS file)

An EDS file is supplied for EtherNet/IP network configuration. The file is located in the following folder in the Manual Update CD that is attached to the Robot Controller.

\EpsonRC50\Fieldbus\EtherNet/IP

RC170 / RC180 Rev.11 101

Setup & Operation 12. Option Units

12.3.8 Operation (DeviceNet, PROFIBUS-DP, EtherNet/IP)

This section indicates how to use the Fieldbus I/O option after it has been installed.

For details of CC-Link, refer to

12.3.5 CC-Link – Operation (CC-Link)

.

SPEL+ Fieldbus I/O Commands

All the commands for the Fieldbus I/O are the same as the standard I/O.

Bit numbers differ from standard I/O. There is no restriction for command use.

Typical I/O commands are listed in the following table.

For command details, refer to EPSON RC+ 5.0

Online Help

or

SPEL

+

Language

Reference

.

Command Function

In

InW

Returns the status of the specified 8 bits input port.

Returns the status of the specified 16 bits input port.

Off

On

Out

OutW

Sw

Wait

Turns Off the specified output.

Turns On the specified output.

Simultaneously sets 8 output bits.

Simultaneously sets 16 output bits.

Returns the specified input port status.

Waits until the specified input condition.

NOTE

Response times for Fieldbus I/O can vary and depend on several factors, including baud

) rate, scan rate, number and types of devices, communication error, etc.

Outputs Off by Emergency Stop and Reset Instruction

You can configure the controller system so that all outputs including the fieldbus outputs will be turned off when the emergency stop occurs and when a Reset instruction is executed.

For details of the configuration, refer to

[Setup]-[Controller]-[Preference]

in

EPSON

RC+ 5.0 User's Guide 5.12.2 Controller command (Setup Menu)

.

NOTE

A command that was issued just before an emergency stop can be executed after the

) emergency stop condition is cleared. If the outputs from the fieldbus involve risk, check the [Outputs off during Emergency Stop] box to remove all power to output devices when an emergency stop occurs.

102 RC170 / RC180 Rev.11

NOTE

)

Setup & Operation 12. Option Units

Remote I/O Configuration

You can configure the controller system so that all I/O including the fieldbus will be set to remote function.

I/O setup for Fieldbus I/O is the default configuration.

Setup for the Remote I/O can be changed by signal. Configuration with bits of standard

I/O, expansion I/O and Fieldbus I/O is available.

Input Signal Bit No.

Start 512

Pause 513

Reset 514

SelProg1 515

SelProg2 516

SelProg4 517

Stop 518

Continue 519

MotorOn 520

MotorOff 521

Home 522

Output Signal Bit No. Output Signal Bit No.

Ready 512

InsideBox2 NA

SafeguardOn 517

InsideBox7 NA

Waning 519

InsideBox9 NA

Home 521

InsideBox11 NA

CurrProg2 523

InsideBox13 NA

TeachMode 526

InsidePlane1 NA

ErrorCode2 528

InsidePlane3 NA

ErrorCode8 530

InsidePlane5 NA

ErrorCode32 532

InsidePlane7 NA

ErrorCode128 534

InsidePlane9 NA

ErrorCode1024 537

InsidePlane12 NA

ErrorCode4096 539

InsidePlane14 NA

RC170 / RC180 Rev.11 103

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