Epson Fieldbus I/O Manual

Epson Fieldbus I/O Manual

Robot Controller RC620 Option

Fieldbus I/O

Rev.8 EM15XC3082F

Robot Controller RC620 Option

Fieldbus I/O

Rev.8

Copyright © 2009-2015 SEIKO EPSON CORPORATION. All rights reserved.

RC620 Option Fieldbus I/O Rev.8

i

FOREWORD

This manual contains important information necessary to use the robot controller option

Fieldbus I/O properly and safely. This manual is intended for personnel who perform any operations using the pendant, such as teaching robot points.

Please thoroughly read this manual and other related manuals before and while using the equipment.

WARRANTY

The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your supplier for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

1. Damage or malfunction caused by improper use which is not described in the manual, or careless use.

2. Malfunctions caused by customers’ unauthorized disassembly.

3. Damage due to improper adjustments or unauthorized repair attempts.

4. Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1. If the robot or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards. ii

RC620 Option Fieldbus I/O Rev.8

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® XP Operating system

Microsoft® Windows® Vista Operating system

Microsoft® Windows® 7 Operating system

Throughout this manual, Windows XP, Windows Vista, and Windows 7 refer to above respective operating systems. In some cases, Windows refers generically to Windows XP,

Windows Vista, and Windows 7.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

RC620 Option Fieldbus I/O Rev.8

iii

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier for your region.

Please prepare the following items before you contact us.

Your controller model and its serial number

Your manipulator model and its serial number

Software and its version in your robot system

A description of the problem

SERVICE CENTER

MANUFACTURER

Seiko Epson Corporation

Toyoshina Plant

Robotics Solutions Operations Division

6925 Toyoshina Tazawa,

Azumino-shi, Nagano, 399-8285

Japan

TEL : +81-(0)263-72-1530

FAX : +81-(0)263-72-1495

SUPPLIERS

North & South America

Epson America, Inc.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

USA

TEL : +1-562-290-5900

FAX : +1-562-290-5999

E-MAIL : [email protected]

Europe

Epson Deutschland GmbH

Factory Automation Division

Otto-Hahn-Str.4

D-40670 Meerbusch

Germany

TEL : +49-(0)-2159-538-1391

FAX : +49-(0)-2159-538-3170

E-MAIL : [email protected] iv

RC620 Option Fieldbus I/O Rev.8

China

Epson (China) Co., Ltd.

Factory Automation Division

7F, Jinbao Building No. 89, Jinbao Street,

Dongcheng District, Beijing,

China, 100005

TEL : +86-(0)-10-8522-1199

FAX : +86-(0)-10-8522-1120

Taiwan

Korea

Southeast Asia

Epson Taiwan Technology & Trading Ltd.

Factory Automation Division

14F, No.7, Song Ren Road, Taipei 110,

Taiwan, ROC

TEL : +886-(0)-2-8786-6688

FAX : +886-(0)-2-8786-6677

Epson Korea Co., Ltd.

Marketing Team (Robot Business)

27F DaeSung D-Polis A, 606

Seobusaet-gil, Geumcheon-gu, Seoul, 153-803

Korea

TEL : +82-(0)-2-3420-6692

FAX : +82-(0)-2-558-4271

Epson Singapore Pte. Ltd.

Factory Automation System

1 HarbourFront Place, #03-02,

HarbourFront Tower One,

Singapore 098633

TEL : +65-(0)-6586-5696

FAX : +65-(0)-6271-3182

India

Epson India Pvt. Ltd.

Sales & Marketing (Factory Automation)

12th Floor, The Millenia, Tower A, No. 1,

Murphy Road, Ulsoor, Bangalore,

India 560008

TEL : +91-80-3051-5000

FAX : +91-80-3051-5005

Japan

RC620 Option Fieldbus I/O Rev.8

Epson Sales Japan Corporation

Factory Automation Systems Department

Nishi-Shinjuku Mitsui Bldg.6-24-1

Nishishinjuku, Shinjuku-ku, Tokyo 160-8324

Japan

TEL : +81-(0)3-5321-4161 v

Before Reading This Manual

This section describes what you should know before reading this manual.

Safety Precautions

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.

Please carefully read this manual and other related manuals before installing the robot system or before connecting cables.

Keep this manual handy for easy access at all times. Please read the Safety chapter in

User’s Guide to understand safety requirements before installing the robot system.

Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

WARNING

This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

WARNING

This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly.

CAUTION

This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

Security support for the network connection

The network connecting function (Ethernet) on our products assumes the use in the local network such as the factory LAN network. Do not connect to the external network such as the Internet.

In addition, please take security measure such as the antivirus software to block the virus from the network connection.

Security support for the USB memory

Make sure that the USB memory is not infected with virus when connecting to the

Controller. vi

RC620 Option Fieldbus I/O Rev.8

Table of Contents

1. Introduction ..................................................................... 1

1.1 Overview of Fieldbus I/O ............................................................ 1

1.2 DeviceNet .................................................................................. 2

1.2.1 Overview of DeviceNet .................................................................... 2

1.2.2 Features of DeviceNet .................................................................... 2

1.2.3 General Specifications .................................................................... 4

1.3 PROFIBUS DP .......................................................................... 5

1.3.1 Overview of PROFIBUS DP ............................................................ 5

1.3.2 Features of PROFIBUS DP ............................................................. 5

1.3.3 General Specifications .................................................................... 6

1.4 EtherNet/IP ................................................................................ 7

1.4.1 Overview of EtherNet/IP .................................................................. 7

1.4.2 Features of EtherNet/IP ................................................................. 7

1.4.3 General Specifications .................................................................... 8

1.5 CC-Link ...................................................................................... 9

1.5.1 Overview of CC-Link ....................................................................... 9

1.5.2 Features of CC-Link ........................................................................ 9

1.5.3 General Specifications .................................................................. 10

1.6 PROFINET ............................................................................... 11

1.6.1 Overview of PROFINET .................................................................11

1.6.2 Features of PROFINET .................................................................11

1.6.3 PROFINET Communication .......................................................... 12

2. Installation ..................................................................... 13

2.1 DeviceNet ............................................................................... 13

2.1.1 How to Setup a DeviceNet Network ............................................. 13

2.1.2 DeviceNet Network Construction ................................................. 14

2.1.3 DeviceNet Master Board Installation ............................................ 20

2.1.4 DeviceNet Slave Board Installation .............................................. 39

2.2 PROFIBUS DP ....................................................................... 46

2.2.1 How to Setup a FROFIBUS DP Network ..................................... 46

2.2.2 PROFIBUS DP Network Construction ......................................... 46

2.2.3 PROFIBUS-DP Master Board Installation ................................... 51

2.2.4 PROFIBUS-DP Slave Board Installation ...................................... 78

2.3 EtherNet/IP ............................................................................. 85

2.3.1 How to Setup a EtherNet/IP Network ............................................ 85

2.3.2 EtherNet/IP Network Construction ............................................... 85

2.3.3 EtherNet/IP Master Board Installation .......................................... 86

2.3.4 EtherNet/IP Slave Board Installation .......................................... 107

2.4 CC-Link ................................................................................. 113

2.4.1 CC-Link Slave Board Installation ............................................... 113

RC620 Option Fieldbus I/O Rev.8

vii

Table of Contents

2.5 PROFINET ........................................................................... 124

2.5.1 PROFINET Slave Board Installation .......................................... 124

3. Operation .................................................................... 130

3.1 SPEL+ Fieldbus I/O Commands ............................................ 130

3.2 Outputs Off by Emergency Stop and Reset Instruction ......... 130

3.3 Using FbusIO_SendMsg ....................................................... 131

3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP) .. 132

3.5 Remote Control Input and Output Setting ............................. 133

4. Troubleshooting .......................................................... 140

4.1 DeviceNet .............................................................................. 140

Exclusion ............................................................................................... 140

Tools ...................................................................................................... 140

4.1.1 Examining a Problem ................................................................... 140

4.1.2 Problems and Countermeasures ................................................. 142

4.1.3 Procedures for Examining Possible Causes ............................... 160

4.2 PROFIBUS DP Troubleshooting ............................................ 173

Exclusion ............................................................................................... 173

Tools ...................................................................................................... 173

4.2.1 Examining a Problem ................................................................... 173

4.2.2 Problems and Countermeasures ................................................. 175

4.2.3 Procedures for Examining Possible Causes ............................... 190

4.3 EtherNet/IP Troubleshooting ................................................. 200

Exclusion ............................................................................................... 200

4.3.1 Examining a Problem ................................................................... 200

4.3.2 Problems and Countermeasures ................................................. 202

4.3.3 Tests and diagnostics .................................................................. 202

5. Maintenance Parts List ............................................... 209 viii

RC620 Option Fieldbus I/O Rev.8

1. Introduction

1. Introduction

1.1 Overview of Fieldbus I/O

The Fieldbus I/O option is an integrated I/O system that supports the following Fieldbuses:

DeviceNet

PROFIBUS DP

EtherNet/IP

CC-Link

PROFINET

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,

Fieldbus has the following features:

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

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

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

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

Slave devices can transmit self-diagnostics information.

Master Devices Master Devices

RS-232c

RS-232c

Fieldbus

Sample Parallel Connection Sample Fieldbus Connection

The Fieldbus master function can be added to the RC620 robot controller by installing the

Fieldbus master board. Each type of Fieldbus supports the following boards.

DeviceNet master board

PROFIBUS-DP master board

EtherNet/IP master board

You can install one Fieldbus master board per controller. To use the Fieldbus master I/O, the Fieldbus master option of the EPSON RC+ software options key must be enabled.

RC620 Option Fieldbus I/O Rev.8

1

1. Introduction

You can also add the Fieldbus slave function by installing the Fieldbus slave board. Each type of Fieldbus supports the following boards.

DeviceNet slave board

PROFIBUS-DP slave board

EtherNet/IP slave board

CC-Link slave board

PROFINET slave board

You can install one Fieldbus slave board per controller.

One Fieldbus master board and one Fieldbus slave board can be used together regardless of Fieldbus types.

1.2 DeviceNet

1.2.1 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 Devices

DeviceNet Network

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

1.2.2 Features of DeviceNet

Reduced Wiring

Photo Sensor from Company E

Analog Device from Company G

HMI Device from Company F

Compared with parallel wiring, DeviceNet employs a dedicated 5-wire cable (signal wires and power wires) which substantially reduces the number of necessary wires, wiring time and cost.

Detachable communication connectors provide you with simple wiring between nodes and easy network separation or reconstruction.

Specified environment-resistance cables allow you to construct an environment-resistant system at low cost.

2

RC620 Option Fieldbus I/O Rev.8

1. Introduction

NOTE 

Open Standard (Multi-vendor)

Due to an open communication standard, various devices from many manufacturers are available. Standardized communication connectors provide you with easy network reconstruction.

Maintenance spare parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard DeviceNet.

Numbers of Inputs/Outputs

Using a Fieldbus master board, you can control 1,024 inputs (128 bytes) and 1,024 outputs

(128 bytes).

Also, using a Fieldbus slave board, you can exchange 256 inputs (32 bytes) and 256 outputs (32 bytes) with a master.

Communication Types

There are two types of messaging connections: I/O messaging connection and Explicit messaging connection. I/O messaging connection includes the following 4 methods explained below:

Polling

Strobe

: First, a master device sends output data to a slave device and then the slave device responds. Data is normally exchanged in every communication cycle. The communication frequency can be changed by setting. This connection type is the most often used.

: First, a master device requests slave devices to send data with multicast messages, and then, each slave device responds individually.

Data from many sensors on the system can be effectively gathered.

When the master does not receive responses from all requested slave devices, a timeout error occurs.

Change Of State : A device sends data whenever it changes. Signals for device diagnosis are sent regularly in the background. This connection type is useful for remedying DeviceNet communication traffic.

Cyclic : A slave device transfers data regularly according to its internal timer.

This connection type is typically used for communicating with a temperature controller. The data transfer frequency is defined by master configuration.

For Change of State and Cyclic, the ACK which verifies communication completion can be disabled by setting. However, never disable the ACK since communication errors cannot be detected.

RC620 Option Fieldbus I/O Rev.8

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1. Introduction

1.2.3 General Specifications

DeviceNet Communication Specifications

Item Specification

Supported Connection - I/O messaging connection

(Polling, Strove, Cyclic, Change of State)

- Explicit messaging connection

All connections are conformed to DeviceNet communication protocol.

125 kbps, 250 kbps, 500 kbps Baud Rates

Transfer Distance

Baud Rates

0 kbps

250 kbps

Max. Network

Length

10 m

250 m *

Drop Length

6m or under

6 m or under

Maximum Nodes

125 kbps 500 m *

64 (including master unit)

6 m or under

Data Length / Frame 8 byte (data can be divided and transferred.)

Bus Access

Error Detection

Cable

CSMA/NBA

CRC error / Duplicate node address check

Total Drop

Line Length

39 m or under

78 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)

Communications

Power Supply Voltage

24 V DC (supplied from a connector)

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

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RC620 Option Fieldbus I/O Rev.8

1. Introduction

1.3 PROFIBUS DP

1.3.1 Overview of PROFIBUS DP

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

PROFIBUS DP was co-developed by Siemens, Bosch, and ABB 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

Photo Sensor from Company E

Motor Driver

Motor Driver Intelligent I/O Intelligent I/O from Company

A from Company B from Company C from Company D

Analog Device from Company G

HMI Device from

Company F

1.3.2 Features of PROFIBUS DP

Reduced Wiring

Compared with a parallel wiring, PROFIBUS DP employing dedicated 2-wire cable substantially reduces the number of necessary wires, wiring time and cost.

Detachable communication connector provides you a simple wiring between devices

(stations) and an easy network separation or reconstruction.

Fast Communication

PROFIBUS DP communication speed can be set up to 12Mbps. This is faster than

DeviceNet, another communication standard supported by the fieldbus I/O.

Open Standard (Multi-vendor)

Due to an open communication standard, various devices from many manufacturers are available. Standardized communication connectors allow you to reconstruct your network easily.

Maintenance parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard PROFIBUS DP.

Numbers of Inputs/Outputs

Using a Fieldbus master board, you can control 1,024 inputs (128 bytes) and 1,024 outputs

(128 bytes).

Also, using a Fieldbus slave board, you can exchange 256 inputs (32 bytes) and 256 outputs (32 bytes) with a master.

RC620 Option Fieldbus I/O Rev.8

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1. Introduction

1.3.3 General Specifications

PROFIBUS DP Communication Specifications

Item

Communication

Method

Baud Rates

Transfer Distance

Specification

Hybrid

(token passing procedure and master-slave communication)

9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps,

1500 kbps, 3 Mbps, 6 Mbps, and 12 Mbps.

Baud Rates Cable Length

12 Mbps

6 Mbps

3 Mbps

1500 kbps

100 m

100 m

100 m

200 m

500 kbps

187.5 kbps

93.75 kbps

19.2 kbps

400 m

1000 m

1200 m

1200 m

9.6 kbps

Maximum Stations

126 (including master unit and repeater)

1200 m

Data Length /

Frame

Cable

244 bytes

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

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RC620 Option Fieldbus I/O Rev.8

1. Introduction

1.4 EtherNet/IP

1.4.1 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/IP Network

Motor Driver Motor Driver from Company A from Company B from Company C

Intelligent I/O Intelligent I/O from Company D

1.4.2 Features of EtherNet/IP

Reduced Wiring

Photo Sensor from Company E

Analog Device from Company G

HMI Device from Company F

Compared with parallel wiring, EtherNet/IP employs a standard Ethernet cable which substantially reduces the number of necessary wires, wiring time and cost.

Detachable communication connectors provide you with simple wiring between nodes and easy network separation or reconstruction.

Specified environment-resistance cables allow you to construct an environment-resistant system at low cost.

NOTE

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

However, be sure to use a product complying with the industrial standards or a noiseresistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it may causes communication errors and may not offer the proper performance.

Open Standard (Multi-vendor)

Due to an open communication standard, various devices from many manufacturers are available. Standardized communication connectors provide you with easy network construction.

Maintenance spare parts stored on site (factory, etc.) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard EtherNet/IP.

RC620 Option Fieldbus I/O Rev.8

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8

1. Introduction

Numbers of Inputs/Outputs

Using a Fieldbus master board, you can control 1,024 inputs (128 bytes) and 1,024 outputs

(128 bytes).

Also, using a Fieldbus slave board, you can exchange 256 inputs (32 bytes) and 256 outputs (32 bytes) with a master.

Connection Types

There are two types of messaging connections: I/O messaging connection and Explicit messaging connection. I/O messaging connection includes the following 2 methods explained below:

Change Of State : A device sends data whenever it changes. Signals for device diagnosis are sent regularly in the background. This connection type is useful for remedying EtherNet/IP communication traffic.

Cyclic : A slave device transfers data regularly according to its internal timer.

This connection type is typically used for communicating with a temperature controller. The data transfer frequency is defined by master configuration.

NOTE

For Change of State and Cyclic, the ACK which verifies communication completion can be disabled by setting. However, never disable the ACK since communication errors cannot be detected.

1.4.3 General Specifications

EtherNet/IP Communication Specifications

Item

Supported Connection

Baud Rates

Maximum Nodes

Data Length / Frame

Access Control Type

Cable

Specification

- I/O messaging connection

(Cyclic, Change of State)

- Explicit messaging connection

All connections are conformed to EtherNet/IP communication protocol.

100 Mbps, 10 Mbps

128 (including master unit)

244 bytes

CSMA/CD

Universal Ethernet cable

RC620 Option Fieldbus I/O Rev.8

1. Introduction

1.5 CC-Link

1.5.1 Overview of CC-Link

CC-Link is a Fieldbus network that provides 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 Intelligent I/O from Company A from Company B from Company C

Photo Sensor from Company E

Intelligent I/O from Company D

Analog Device from Company G

HMI Device from Company F

1.5.2 Features of CC-Link

Reduced Wiring

Compared with a parallel wiring, CC-Link employs triplex shielded twisted pair cable which substantially reduces the number of necessary wires, wiring time and cost.

Detachable communication connector provides you a simple wiring between devices

(nodes) and an easy network separation or reconstruction.

Fast Communication

From 156k bps to 10M bps is available. The speed of 10M bps is the fastest field network next to PROFIBUS-DP.

Transmission Control

The communication network includes master stations and slave stations. Normally, PLC becomes a master station. Up to 64 slave stations can be connected to a master station.

The slave station includes remote device stations (handling the bit data and word data), remote I/O stations (handling the bit data), and others. The master station stores the information such as the type and address of slave stations in the network and controls the whole network.

Open Standard (Multi-vendor)

Due to an open communication standard, various devices from many manufactures are available. Standardized communication connectors allow you to reconstruct your network easily.

RC620 Option Fieldbus I/O Rev.8

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1. Introduction

Maintenance parts stored on site (such as factory) can be reduced because different manufacturers’ devices can be used in case of a breakdown. Similar products are available around the world due to a global standard PROFIBUS DP.

1.5.3 General Specifications

CC-Link Specifications (Ver.1.10)

Item

Baud Rates (bps)

Connection Method

Synchronization Method

Encoding Method

Transmission Channel Type

Transmission Format

Specification

156 k, 625 k, 2.5 M, 5 M, 10 M (bps)

Broadcast polling

Frame synchronization

NRZI

Bus (EIA RS485 compliant)

HDLC compliant

Maximum Number of Devices 64 units

Slave Station Number 1 to 64

Connection Cable

CC-Link Ver1.10 cable

(3 core twist cable with a shield)

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RC620 Option Fieldbus I/O Rev.8

1. Introduction

1.6 PROFINET

1.6.1 Overview of PROFINET

PROFINET is a fieldbus network that uses industrial Ethernet.

PROFINET 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.

PROFINET IO Controller

PROFINET IO Network

IO device

Motor Driver

Motor Driver from Company A from Company B from Company C

Photo Sensor from Company E

IO device from Company D

Analog Device from Company G

HMI Device from Company F

1.6.2 Features of PROFINET

Everything on one cable

With its integrated, Ethernet-based communication, PROFINET satisfies a wide range of requirements, from extremely fast I/O data transmission to parameter monitoring and configurations of equipment.

Flexible network topology

PROFINET is 100% Ethernet compatible according to IEEE standards and adapts to the environment of existing plant due to its flexible line, ring, and star structures.

Standardization

PROFINET is defined by international standards “IEC 61158” and “IEC 61784”.

Concept of PROFINET has been developed based on standard Ethernet of IEEE802 through a joint effort with its users. Functionality has been added to cover the area that standard Ethernet cannot satisfy.

RC620 Option Fieldbus I/O Rev.8

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1. Introduction

1.6.3 PROFINET Communication

PROFINET is designed to support all applications in a plant versatilely with one bus.

Therefore, PROFINET has three different performance levels as described below.

For RC620 option fieldbus I/O, “2: RT (Real-time)” communication is supported.

1: NRT (Non Real-time)

This communication is based on TCP/IP.

This is used for applications where real-time communication is not required, such as inter-unit communication and parameter communication.

2: RT (Real-time)

By adding a software protocol to the standard Ethernet hardware, this method actualizes real-time communication with approximately 10 ms intervals.

In particular, by defining a priority in VLAN tag (IEEE803.1Q) in Ethernet frame, RT frame is processed with a higher priority to non-real-time data (NRT, TCP/IP, etc.)

RT can offer almost the same performance as the existing fieldbus.

3: IRT (Isochronous Real-time)

Isochronous real-time communication (IRT) guarantees that communication is surely executed within an arbitral communication time (Deterministic) at a higher level than

Real-time communication (RT).

This enables a clock rate of < 1 ms and a jitter precision of < 1 μs.

IRT is used for applications where a strict real-time performance is required, such as motion control. As a communication hardware, switch-function-embedded special

ASIC is used. This method guarantees the real-time performance by dividing the communication band on Ethernet.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

2. Installation

This chapter describes procedures for installing the network.

DeviceNet

PROFIBUS DP

EtherNet/IP

CC-Link

PROFINET

Refer to the sections according to the type of network you are installing.

2.1 DeviceNet

2.1.1 How to Setup a DeviceNet Network

The following is a basic procedure for setting up a DeviceNet network:

1.

Choose node layout and pathway on your network.

For details, refer to the following section 2.1.2 DeviceNet Network Construction.

2.

Choose power supply method for communication.

For details, refer to the following section 2.1.2 DeviceNet Network Construction.

3.

Choose baud rate.

Choose the baud rate based on the network length. Select the fastest baud allowed for the length. Increasing network load due to slow baud rate may cause trouble including communication failure.

4.

Lay cables.

For details, refer to the following section 2.1.2 DeviceNet Network Construction.

5.

Configure the nodes.

For details, refer to respective manuals of your desired nodes.

6.

Turn ON the communications power supply and nodes.

Turn ON the communications power supply. After that (or simultaneously), turn ON the nodes to supply power. When the power to the nodes is supplied earlier than the power to the communication power supply, communication with the nodes may fail.

7.

Install the DeviceNet board in your controller.

When installing the DeviceNet master board, refer to the section

2.1.3 DeviceNet

Master Board Installation

later in this chapter.

When installing the DeviceNet slave board, refer to the section

2.1.4 DeviceNet Slave

Board Installation

later in this chapter.

8.

Operate the DeviceNet network.

RC620 Option Fieldbus I/O Rev.8

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2. Installation

2.1.2 DeviceNet Network Construction

Network Configuration

DeviceNet network is configured as shown in the following figure.

Attach a terminating resistor on each end of the trunk line.

Node

Trunk Line

T branch

Tap

Node

Drop Line Drop

Line

Line

Ground to

100

or less.

Communications power supply

24 V DC

Trunk Line

Trunk Line

Drop

T branch

Tap

Drop Line

Node

Drop Line

Node

Power Supply Tap or

T branch Tap

Trunk

Line

T branch

Connector

Attach a terminating resistor on each end of the trunk line.

Trunk

Line

T branch

Connector

T branch Tap

Connector with terminating resistor

Drop Line

T branch Tap

Drop

Line

Drop

Line

Node

Drop Line

Node

Waterproof slave

Waterproof slave

Use DeviceNet cables.

Node

Node

There are two types of nodes: master and slave. The master controls a network and gathers data from its slaves. The slaves, including external I/O and other devices, output data in response to the master’s output order and informs the master of its input status.

You can install masters anywhere in the network. You can connect up to 64 nodes

(including the server) in the network.

Trunk Line and Drop Line

Trunk line is a backbone cable of DeviceNet network with terminating resistors on the both ends.

Drop line is a branch of the trunk line.

Terminating resistor

Trunk Line

Terminating resistor

T-branch

14

Drop Lines.

- No limits on the number of T-branch

- Limits on the length of drop lines

For DeviceNet, 5-wire cables are used for trunk lines and drop lines. Commercially available DeviceNet cables can be used. There are two types of DeviceNet cables: Thick cable and Thin cable. Environment-resistant cable and flexible cable are available. For details of cables, see ODVA’s Web site (http://www.odva.org/).

RC620 Option Fieldbus I/O Rev.8

2. Installation

Thick Cable

11.2 to 12.1 mm outside diameter

Braid Shield

Thin Cable

6.9 mm outside diameter

Braid Shield

Signal Wire

(Blue/White)

Power Wire

(Red/Black)

Shield Wire

Shield Wire

Communications Cable Signal

Wire Type Color

Signal wire

Power wire

Blue

White

Red

Black

Signal

Signal

Details of Signal

Low

High

Communications Power Positive

Communications Power Negative

Shield wire

- Shield

Signal Wire

Power Wire

(Red/Black)

Wire Identity

CAN L

CAN H

V+

V

S

(Blue/White)

Terminating Resistor

To reduce reflections of communication signal, terminating resistors should be attached on both ends of the trunk line. For DeviceNet, nodes have no terminating resistor on the ends.

Attach 121

+/-1%, 1/4W terminating resistors between the signal wires (CAN-H and

CAN-L) of the trunk line cable. Some commercially available T-branch taps and connectors can accept terminating resistors. Molded terminating resistors with connectors are also available to attach to environment-resistant T-branch taps and connectors.

Node Connection

Nodes can be connected to a DeviceNet network by the following topologies: tree, multidrop, T-branch, daisy chain. For tree topology, there is no limitation of daisy chain layer but drop line length is limited. For details of drop line length, refer to the following section

Drop Line Length

.

Terminating

Resistor

Trunk Line

Branch Tap Terminating

Resistor

Daisy Chain

Tree Multi-drop T-branch

RC620 Option Fieldbus I/O Rev.8

15

2. Installation

Communications Power Supply

DeviceNet supplies 24V DC communications power to each node via 5-wire cables. You can install the communications power supply at any location in the DeviceNet network.

Although the power can be shared to the node internal circuit power supply and I/O power supply, it is recommended to use a dedicated communications power supply.

Shield Ground of Signal Wire

Ground the DeviceNet network at one point with 100

or less.

As a noise countermeasure, you can leave the network ungrounded.

For details, refer to

4.

Trouble shooting

.

Maximum Network Length (Maximum Trunk Length)

The maximum network length is the longest distance either between terminating resistors or between the two most distant nodes on the network.

The longest distance is the maximum network length.

Trunk Line

Terminating

Resistor

Terminating

Resistor

The maximum network length is determined by the type of cable and the baud rate.

Baud Rate

500 kbps

250 kbps

125 kbps

Maximum Network Length

Thick Cable Thin Cable

100 m 100 m

250 m

500 m

100 m

100 m

Both Thick Cable and Thin Cable can be combined and used for trunk lines. In this case, the maximum network length is calculated using the following formulas.

Baud Rate

500 kbps

250 kbps

125 kbps

Maximum Network Length

Thick Cable Length + Thin Cable Length

≤ 100m

Thick Cable Length + 2.5 × Thin Cable Length

≤ 250m

Thick Cable Length + 5.0 × Thin Cable Length

≤ 500m

16

RC620 Option Fieldbus I/O Rev.8

2. Installation

Drop Line Length

Drop line length is the distance from a branch on the trunk line to the end of that branch.

Trunk Line

2 m

1 m

4 m

1 m 3 m

Node 1 Node 2

Node 3

In the figure above, each drop line length is as follows:

Drop Line to Node 1: 4 m

Drop Line to Node 2: 6 m

Drop Line to Node 3: 6 m

One drop line length should be 6m or less.

Total Drop Line Length

Total drop line length is the total distance of all drop lines in one network.

Terminating

Resistor

2 m

2 m

Trunk Line

Terminating

Resistor

4 m

1 m

4 m

1 m

3 m

In the figure above, the total drop line length is 17 m.

The maximum total drop line length is restricted by baud rate as shown in the table below.

The cable thickness is not related to the restriction.

Baud Rate Max. Total Drop Line Length

500 kbps

250 kbps

125 kbps

39 m

78 m

156 m

Cable Current Capacity

Current-carrying capacity of the DeviceNet network cable is restricted as below:

Trunk Line

Drop Line (Unit: A)

Thick Cable Thin Cable

Current Capacity 8A 3A 4.57 / Drop Line Length (m)

≤ 3A

Following figures illustrate examples of power supply configuration.

When an external power supply is installed in the network as shown in the figure below, the current capacity is 11A and it exceeds the permissible current of the cable.

Terminating

Resistor

External Power

Supply 24 V DC

Power Supply Tap

Trunk Line

2A 2A

2A

Terminating

Resistor

1A

2A

1A 1A

RC620 Option Fieldbus I/O Rev.8

17

2. Installation

If the location of the external power supply is changed as shown in the figure below, the power supply can be used because the current capacity on the left side of the power supply tap is 5 A and 6 A on the right side.

Power Supply Tap

Terminating

Resistor

Trunk Line

2A 2A

Terminating

Resistor

2A

1A

External

Power Supply

24 V DC

2A

1A 1A

If the current capacity consumed in the network exceeds the restriction of cable current capacity, it is possible to install more than one power supply in the network. If you attempt to install two or more power supplies, take necessary measures (pulling out a fuse on the power supply tap, etc.) to avoid conflicts between power outputs from multiple power supplies.

Power Supply Tap

Terminating

Resistor

Trunk Line

2A 2A

Power Supply Tap

Terminating

Resistor

2A 2A

CAUTION

1A 1A

1A

External

Power Supply

24 V DC

2A

1A 1A

1A

Following figure illustrates a sample wiring. An OMRON power supply tap is used in the example.

Trunk Line

Pull out the fuse.

Ground the network at only one point.

Ground 100

or less.

Ground 100

or less.

If you cannot ground the network with 100

or less, do not connect V- and FG wires.

V+ V+

L CAN L

S Shield

H CAN H

V- V-

Carefully connect the wires. Incorrect wiring may cause node malfunction and severe damage to the entire DeviceNet network.

18

RC620 Option Fieldbus I/O Rev.8

2. Installation

CAUTION

Modification and Installation of Communication Cables

Follow the steps described below to modify communication cables and connect them to connectors.

Be careful not to injure your hands or fingers on any sharp blades or tools used to modify the cable.

Use appropriate blades and/or tools to modify the cable. Using inappropriate blades and/or tools may result in bodily injury and/or equipment damage.

1.

Strip approx. 30 mm of the cable covering with extra care so that you do not scratch on the braided shield underneath. Do not strip the cable covering more than necessary. Excess stripping may cause short-circuit and/or make the cable more sensitive to noise.

2.

Carefully expand the meshes of the braided shield.

Under the braided shield, there is one exposed bare twisted shield wire other than the signal wires and power wires that are wrapped with aluminum tape.

The shield wire is slightly harder than the mesh.

3.

Cut off the expanded braided shield and remove the aluminum tape around the signal wires and power wires. Then, strip the insulation from the signal wires and power wires for a length sufficient to connect them to crimp terminals.

Twist each stripped signal wire and power wire.

4.

Set the crimping terminal on the stripped part of the wire and crimp it with a crimp tool. The following crimping terminals are recommended products.

Approx. 30 mm

Shield Wire

Peel the coverings in enough length to connect the wires to crimping terminals.

Crimping

Terminal

NICHIFU TC series

Model Number

TMEV TC-0.5

TMEV TC-2-11

TMEV TC-1.25-11

Phoenix Contact AI series

Model Number

AI 0.5-8WH

AI 0.25-8YE

AI 2.5-8BU

AI 1-8RD

Specifications

For Thin Cable

For Thick Cable (power wire)

For Thick Cable (signal wire)

Specifications

For Thin Cable (power wire)

For Thin Cable (signal wire)

For Thick Cable (signal wire)

For Thick Cable (signal wire)

Special Tool

MH-32

Special Tool

CRIMPFOX UD6

5.

Wrap or cover the cable with vinyl tape or heatshrink tubing.

Heat-shrinkable Tube, etc.

NOTE 

Loosen the screws securing the cables on the connector. If the screws are not loosened, the wires go into different openings on the rear of connector instead of the correct openings and the wires cannot be secured.

RC620 Option Fieldbus I/O Rev.8

19

2. Installation a b c d e

6.

Ensure the correct connector orientation and insert the signal wires and shield wire to their respective holes on the connector.

As shown in the figure, insert the wires (black, blue, shield, white, and red) into the holes in the order named.

The following table shows the specified colors of the cables.

Insert wires in this direction.

a b c d e

Insert the connector in this direction.

Color

Black

Blue

-

White

Red

Details of Signal Wire Identity

Communications Power Supply (negative) V-

Signal (Low) CAN L

Shield

Signal (High)

S

CAN H

Communications Power Supply (positive) V+

7.

Tighten each screw securing the wires on the connector.

Tighten the screw securing the wire at a correct tightening torque (0.25 to 0.3 N·m).

To prevent thick cable from coming out due to cable tension, install the thick cable with enough length to allow for stretch.

Use a small flat blade screwdriver that has the correct width and thickness. If you use a typical screwdriver whose point is narrow, you cannot

Thickness Width deeply insert it into the hole on the connector.

Specific screwdrivers for DeviceNet connector screw are:

OMRON : XW4Z-00C

Phoenix Contac : SZF-1 0.6

×

3.5

0.6 mm 3.5 mm

2.1.3 DeviceNet Master Board Installation

Board Appearance

Part names and functions of the DeviceNet master board are shown in the following figure.

For details of the status display LEDs (Module/NetWork LED and IO LED), refer to

4.

Troubleshooting

in this manual.

PCI-DVNIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

Jumper pin for Board Address

JP1

Male 9-pin D-Sub

Port for Board Configuration

Status Display LED (2)

Left: Module/NetWork LED

Right: IO LED

DeviceNet Port

JP1

0

1

C0 C1 C2

20

RC620 Option Fieldbus I/O Rev.8

2. Installation

Specifications

Name

Item Specification

DeviceNet master board

Part Number

Modes

Baud rates

Interface

Supported Devices

Maximum Nodes

Connection Types

Explicit Messaging

Connection applicom PCI-DVNIO

Master

125, 250, 500 kbps

1 DeviceNet port

Group 2 Only Server and U.C.M.M. capable

63

Strobe, Polling, Cyclic and Change of State

Yes

EDS Support

Max. Input Data Size

Yes

1024 bits (128 bytes)

Max. Output Data Size 1024 bits (128 bytes)

Automatic Detection

Yes. Devices can be detected automatically.

Modes

DeviceNet master board has the master mode and slave mode as motion modes. However, do not select the slave mode.

Master mode

The master device gathers and controls all nodes on one network.

DeviceNet master can control up to 64 nodes (max. 128 bytes) in one network.

PLC is typically configured as a master and controls all nodes in factory automation system, but EPSON RC+ is also capable of being a master.

DeviceNet network configuration is specified by configuration management software.

This is normally provided by a master device manufacturer. The configuration management software determines parameters for each slave device via an Electronic Data

Sheet (EDS).

Available connection types are Polling, Strove, Cyclic, Change Of State, and Explicit messaging.

Available baud rates are 125 kbps, 250 kbps, and 500 kbps.

For the setting instruction, refer to

Master Mode

later in this chapter.

RC620 Option Fieldbus I/O Rev.8

21

2. Installation

Software Installation

Before installing DeviceNet master boards in your controller, you must install the applicomIO console application and drivers according to the type of board you are using.

1. Start the controller.

2. Run the file from the install folder in the controller to start the installation.

C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE

3. The dialog shown below appears. Select the desired language for the installer.

22

4. The [Summary] dialog box appears. Select “Products Installation”.

5. The [applicomIO] dialog box appears. Select “Installation”.

RC620 Option Fieldbus I/O Rev.8

6. The [Installation] dialog box appears. Select “applicomIO”.

2. Installation

7. The applicomIO console application installer starts, and the [Welcom to applicomIO

2.4 Setup] dialog box appears.

Click <Next>.

8. The [License Agreement] dialog box appears.

Read the software license agreement and click <Yes>.

RC620 Option Fieldbus I/O Rev.8

23

2. Installation

9. The [User Information] dialog box appears. Now register the user information.

Type in the user name (Name:) and company name (Company:).

10. The [Choose Destination Location] dialog box appears.

Specify the installation folder for the applicomIO console application.

The default specifies here:

C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4

If you agree to the default installation folder, click <Next>.

24

11. The [Select Components] dialog box appears.

Install the default components.

Click <Next>.

RC620 Option Fieldbus I/O Rev.8

12. The [Select protocols] dialog box appears. Select the protocol.

Check the [DeviceNet] checkbox.

(12)

(13)

2. Installation

(14)

13. Check the device data file you want to install (EDS for DeviceNet).

14. Click <Next>.

15. The [Select options] dialog box appears. Click <Next>.

16. The [Start Copying files] dialog box appears. Click <Next>.

RC620 Option Fieldbus I/O Rev.8

25

2. Installation

17. The [Setup Status] dialog box appears. Installation of applicomIO console application starts.

18. When the installation is completed, the [Setup Complete] dialog box appears.

The message prompting you to reboot your controller appears.

Select “Yes, I want to restart my computer now.”

(18)

(19)

19. Click <Finish> and reboot the controller.

20. Start the C:\Install\FieldBus\Install\SP\Setup.exe, and install the service pack.

No installation is necessary when a service pack is not attached to controller.

21. After completing the installation of the service pack, shutdown the computer.

22 Refer to the next section

Board Installation

to install the DeviceNet master board.

26

RC620 Option Fieldbus I/O Rev.8

2. Installation

WARNING

Board Installation

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

1. Configure the board address jumper (JP1) on DeviceNet master board.

You can install one Fieldbus master board in the RC620 robot controller.

The board number should be “1”.

Refer to the following table for JP1 configuration.

Board No.

Short Socket

C0

1 0: Short

C1

0: Short

C2

0: Short

2. Follow the instruction below and insert the board to the general purpose slot.

2-1 Remove ten screws (+) on the top face of RC620 controller.

Remove the top plate.

Back

RC620 Top

Front

2-2 Remove two screws (+) inside the RC620 controller.

Back

RC620 Top

2-3

Front

2-3 Insert the Fieldbus master board into the general purpose slot on the far right (recommended).

2-4 Put two screws removed in the step 2-2 back and secure them.

2-5 Put the top plate back and secure it with ten screws.

RC620 Option Fieldbus I/O Rev.8

27

2. Installation

3. Connect the board with the Fieldbus.

4. Start up the controller.

5. The DeviceNet master board is detected and the [Found New Hardware Wizard] dialog box appears.

Select <No, not this time> and click <Next>.

6. The next dialog appears.

Confirm that the detected hardware is “applicomIO PCI Boad 32K”.

(6)

(7)

(8)

7. Select<Install the software automatically (Recommended)>.

8. Click <Next>.

9. The following dialog box appears.

Necessary software is automatically installed.

28

RC620 Option Fieldbus I/O Rev.8

2. Installation

10. When the installation is completed, the [Completing the Found New Hardware

Wizard] dialog box appears.

Click <Finish>.

11. Start the <applicomIO Console> application.

12. The [applicomIOR console] dialog box appears. Add the DeviceNet master board.

Click the <Add Board> icon.

RC620 Option Fieldbus I/O Rev.8

29

2. Installation

13. The [Add New Board] dialog box appears.

Confirm that “PCI-DVNIO” is displayed in [Board to Add]-[Board Type] and click <OK>.

If the board cannot be detected, the following dialog appears. Make sure that the board is correctly inserted.

14. When you finish adding the DeviceNet master board to the applicomIO Console application, reboot the controller.

14-1 Shutdown the applicomIO Console application.

When the applicomIO Console application shuts down, the message below appears. Click <Yes>.

14-2 The next message dialog follows. Click <OK>.

14-3 Reboot the Windows.

15. After the controller is rebooted, refer to the next section

Master Mode

and continue the step.

30

RC620 Option Fieldbus I/O Rev.8

Master Mode

1. Ensure that the board is connected to the Fieldbus.

2. Start the <applicomIO Console> application.

2. Installation

3. The [applicomIOR console] dialog box appears. Register the device information (EDS file) that is necessary for the network setup.

(4)

(6)

(5)

4. Select [Protocol].

5. Select the [Equipment Library] tab.

6. Click the <Add> icon.

7. The [Select configuration files] dialog box appears.

Specify the EDS file that is supplied by the device manufacturer. Click <Open>.

RC620 Option Fieldbus I/O Rev.8

31

2. Installation

8. Select [Protocol]-[Properties] from the applicomIOR console menu.

9. The [Device Net Master] dialog box appears.

Configure the Baud Rate, MAC ID (master address), and so on for the DeviceNet network.

When the master setting is completed, click <OK>.

NOTE 

Load on a bus can be controlled by the Baud Rate and Interscan Delay settings.

When the load exceeds 60%, the DeviceNet network communication will be unstable, for example, more communication errors. Set the configuration to minimize the load.

For verification of the load on the bus using the applicomIO Console application, refer to

4. Troubleshooting

in this manual.

32

RC620 Option Fieldbus I/O Rev.8

2. Installation

10. Select [Network Detection].

(11)

(10)

11. Click the <Read Network Configuration> icon.

12. The following message appears. Click <Yes>.

13. The [Network Detection] dialog box appears and the devices on the Fieldbus will be read in.

14. The list of detected devices is displayed in [Network detection] panel.

RC620 Option Fieldbus I/O Rev.8

33

2. Installation

15. Select a device you want to scan.

(16)

(15)

16. Click the <Insert in Configuration> icon.

17. The following dialog box appears.

17-a Select [Connection Configuration] tab and the following panel appears.

34

You can verify the connection configuration. Change the configuration if necessary. When the device setting is completed, click <OK>.

NOTE 

Not every slave device supports all connection types. Understand the specifications of the slave device you want to use and configure the connection correctly.

RC620 Option Fieldbus I/O Rev.8

2. Installation

17-b <Expert Mode> will appear when the applicomIO Console application is used in the “Expert Mode”.

To configure details of “Change Of State” and “Cyclic”, click <Expert

Mode> and display the [Expert Mode] dialog box.

NOTE

Never disable [Ack]. When the [Ack] checkbox is unchecked, a failed connection is not regarded as an error.

17-c When the system cannot identify the device you want to use (its EDS file is not registered), the following dialog box will appear.

RC620 Option Fieldbus I/O Rev.8

In this case, obtain the EDS file from the device manufacturer and register it by following the step 7. After that, follow the step 10.

35

2. Installation

18. Select [File]-[Download in Flash] from the applicomIOR console menu. Register the configuration to the Fieldbus master board.

NOTE 

Make sure that the flash memory of Fieldbus master board stores the configuration; otherwise the Fieldbus master board cannot correctly function.

Also, you cannot control it from EPSON RC+6.0.

If you changed the configuration, select [File]-[Download in Flash] from the applicomIOR console menu and register the configuration to the Fieldbus master board.

19. After few seconds, the display of “Configured boards state” on the status bar turns to green.

Now, the Fieldbus master board is ready to operate in the master mode.

20. Close the applicomIO Console application.

21. Refer to the section

EPSON RC+6.0 configuration

and continue the step.

36

RC620 Option Fieldbus I/O Rev.8

2. Installation

EPSON RC+6.0 configuration

To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled.

1. Select [Setup]-[Option Setting] and display the [Option] dialog box.

2. See the

EPSON RC+ Users Guide: 18. Installing Controller Options

and enable the

Fieldbus Master option.

3. The following message dialog appears.

Click <OK> and reboot the EPSON RC+6.0.

After the EPSON RC+6.0 is started, the option setting is enabled.

4. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

5. Select [Inputs/Outputs]-[Fieldbus Master]-[General].

6. Set the following items:

[Type:] DeviceNet

[Updata Interval:] Update cycle for the DeviceNet master I/O

7. Click <Apply>.

Confirm that the following is displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

RC620 Option Fieldbus I/O Rev.8

37

2. Installation

8. Click <Close>. The following dialog box appears.

SPEL

+

control part of the RC620 robot controller automatically starts rebooting.

9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(10)

(11)

10. Select [Inputs / Outputs].

11. Confirm that “Fieldbus master” displays the following:

Installed : Yes

Inputs : 1024 – ( 1024 + Number of inputs the master controls (Bits) )

Outputs : 1024 – ( 1024 + Number of outputs the master controls (Bits) )

12. Select [Fieldbus Master]-[General].

(12)

(13)

13. Confirm that the following is displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

38

RC620 Option Fieldbus I/O Rev.8

2. Installation

14. Select [Fieldbus Master]-[Slaves].

(14)

(15)

(15)

15. Confirm that the following information the master controls is displayed.

ID : Fieldbus station ID of slave

Input Bytes : Number of inputs per slave (Bytes)

Output Bytes : Number of outputs per slave (Bytes)

Spel Inputes : Number of inputs per slave (Bits)

Spel Outputs : Number of outputs per slave (Bits)

2.1.4 DeviceNet Slave Board Installation

Appearance

Status Display LED

Configure Switch

DeviceNet Connector

NS LED : Network status display

MS LED : Module status display

The LED shows the board status.

For details, refer to the section

LED Description of

DeviceNet

.

RC620 Option Fieldbus I/O Rev.8

39

2. Installation

The Fieldbus slave board is configured as follows at shipment.

Board Appearance Configuration

CN3 DSW2

CN3

DSW2

DSW1

JMP1

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

DSW1 JMP1

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

Fixed as above All Open

DeviceNet Communication Specifications

Item Specification

Name

DeviceNet slave board

Code R12B040706

Supported Connection

I/O messaging connection (Polling), Explicit message connection

DeviceNet communication protocol

Baud Rates

Transfer Distance

125 k / 250 k / 500 k (bps)

Baud Rates

Max.

Network

Length

Drop Length

Total Drop Line

Length

500 k (bps) 100 m 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)

Communications

Power Supply Voltage

Communication

Power Supply Current

Consumption

24 VDC (supplied from a connector)

Maximum 30 mA

Mode

Interface

Slave

1 DeviceNet port

Max. Input data size 256 bits (32 bytes)

Max. Output data size 256 bits (32 bytes)

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

LED Description of DeviceNet

LED status represents the status of the fieldbus board.

LED status

OFF

GRN

ON

NS

Communications power supply OFF

Disconnected

Link OK

Online connected

Blinking Online disconnected

MS

Device power supply OFF

Device operating

Data size error

RED

ON Link error

Blinking Communication time out

Critical error

Error

40

RC620 Option Fieldbus I/O Rev.8

2. Installation

Configure switch configuration

WARNING

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

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

DeviceNet slave board configure switch.

1.

Set the MAC address for DeviceNet slave 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 sw4

Switch sw5 sw6 sw7

0

1

2

3

.

62

63

(at shipment) sw3

(MSB)

OFF

OFF

OFF

OFF

OFF

ON

ON

OFF

OFF

OFF

OFF

OFF

ON

ON

OFF

OFF

OFF

OFF

OFF

ON

ON

OFF

OFF

OFF

OFF

OFF

ON

ON

OFF

OFF

ON

ON

OFF

ON

ON sw8

(LSB)

OFF

ON

OFF

ON

OFF

OFF

ON

2.

Set the DeviceNet slave 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

ON

OFF

ON

NOTE 

Wiring

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

Terminal name for each pin

Terminal Number Terminal Name

1

2

V-

CAN_L

3

4

5

SHELD

CAN_H

V+

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

Install terminating resistors at both ends of the network.

RC620 Option Fieldbus I/O Rev.8

41

2. Installation

Board Installation

WARNING boards or connecting/disconnecting any cables. Working with the power ON is extremely hazardous and may result in electrical shock and/or malfunction of equipment.

Follow the instruction below and insert the board into the dedicated slot of the controller.

1.

Remove two screws (+) on the back side of the RC620 robot controller.

RC620 Back

Top

Plate

Bottom

2.

Remove the plate.

3.

Insert the board into the slot along the guide.

4.

Put the plate removed in the step 2 back and secure it with two screws.

42

RC620 Option Fieldbus I/O Rev.8

2. Installation

Confirmation with EPSON RC+ 6.0

When the DeviceNet slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 6.0 has recognized the DeviceNet slave board using the following procedure.

1.

Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(2)

(3)

2.

Select [Inputs / Outputs].

3.

Make sure that the following are displayed in the Fieldbus slave.

Installed : Yes

Inputs : 512-767 (default setting)

Outputs : 512-767 (default setting)

4.

Select [Fieldbus Slave]-[General].

(4)

(5)

5.

Make sure that the following is displayed.

Fieldbus Type : DeviceNet

Fieldbus Slave ID : (Displays the configure switch MAC address)

Baud Rate : (Displays the configure switch baud rate)

Input Bytes

Output Bytes

: 32 (default setting)

: 32 (default setting)

6.

Click <Close>.

RC620 Option Fieldbus I/O Rev.8

43

2. Installation

Editing of input / output size

You can change the input/output size of DeviceNet slave board if necessary.

1.

Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

2.

Select [Inputs / Outputs]-[Fieldbus Slave]-[General].

3.

Change the settings of [Input Bytes] and [Output Bytes].

In this example, both of them are changed to 20 Bytes.

44

4.

Click <Apply>.

5.

Click <Close> and the following message dialog appears.

SPEL

control part of RC620 robot controller automatically starts rebooting.

RC620 Option Fieldbus I/O Rev.8

2. Installation

6.

Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

NOTE

7.

Select [Inputs / Outputs].

8.

Make sure that the following is displayed in “Fieldbus Slave”.

Inputs : 512 – ( 512 + Changed number of input (Bits) )

Outputs : 512 – ( 512 + Changed number of output (Bits) )

In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in

Inputs.

Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs.

9.

Click <Close>.

When you change the input/output size of DeviceNet slave board, you need to change the input/output size of the slave information registered in the Fieldbus master device.

Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the applicomIO console application.

Electronic Information File (EDS file)

An EDS file is supplied for DeviceNet slave board network configuration. The file is located in the following folder in the Installer DVD that is attached to the Robot

Controller.

\EpsonRC60\Fieldbus\DeviceNet

RC620 Option Fieldbus I/O Rev.8

45

2. Installation

2.2 PROFIBUS-DP

2.2.1 How to Setup a PROFIBUS DP Network

The following is a basic procedure for setting up a PROFIBUS DP network:

1. Choose station layout and pathway in your network.

For details, refer to the following section

2.2.2 PROFIBUS DP Network Construction

.

2. Choose the baud rate.

Choose the baud rate based on the network length. Select the fastest baud rate allowed for the length. Increasing network load due to slow baud rate may cause trouble including communication failure.

3. Lay cables.

For details, refer to the following section

2.2.2 PROFIBUS DP Network Construction

.

4. Configure stations.

For details, refer to respective manuals of your desired stations.

5. Turn ON the stations.

6. Install the PROFIBUS-DP board into the controller.

When installing the PROFIBUS-DP master board (Code: R12B040702), refer to the section

2.2.3 PROFIBUS-DP Master Board Installation

.

When installing the PROFIBUS-DP salve board (Code: R12B040707), refer to the section

2.2.4 PROFIBUS-DP Slave Board Installation

.

7. Operate the PROFIBUS DP network.

2.2.2 PROFIBUS DP Network Construction

Network Configuration

PROFIBUS DP network is configured as shown in the following figure.

Terminating

Resistor ON

Master 1

Network

Cable

Master 2

Slave Slave Slave Slave Slave

Terminating

Resistor ON

Terminating

Resistor ON

Slave Slave Slave Slave Slave

Repeater

Terminating

Resistor ON

46

RC620 Option Fieldbus I/O Rev.8

2. Installation

Station

There are four types of stations (devices):

Master : Controls a network and gathers its slaves.

Slave : External I/O and other devices/

Slave outputs data as a response to a master’s output order and informs the master of its input status.

Repeater : Repeater is necessary for a network with more than 32 slaves to separate network segments.

Configurator : Used only for network installation. It configures a scan list of the slaves on the master device.

You can install masters anywhere in the network. You can connect up to 126 stations including server and repeater in the network. However, it is recommended to keep one device for the engineering device.

Network Cable

The PROFIBUS cable can be used as a network cable. There are four types (A, B, C, and

D) of PROFIBUS cables. Normally, cable type A is used for PROFIBUS DP network.

The cable type A specifications are shown in the table below.

Item

Impedance

Capacity

Loop resistance

Wire diameter

Core cross-section

Specification

135 to 165

< 30 pf/m

110

Ω/km

0.64 mm

> 0.34 mm

2

It is recommended to use a 9-pin D-Sub connector for protecting rating IP 20. For IP 65/67,

M12 connector (IEC 947-5-2 compliant), Han-Bird connector (DESINA compliant), and

Siemens hybrid connector are available.

Pin assignment (9-pin D-Sub)

Pin No. Signal

4

5

6

7

1

2

3

8

9

Shield

M24

RxD/TxD-P

CNTR-P

DGND

VP

P24

RxD/TxD-N

CNTR-N

Assignment

Shield / Protective ground

Ground of output voltage (24 V)

Data line B

Repeater control signal (directional control)

Communications power supply (5 V)

Supply voltage to terminating resistor (P5V)

Output voltage (24 V)

Data line A

Repeater control signal (directional control)

Use pins 2 and 7 for connecting a maintenance device without any power supply.

RC620 Option Fieldbus I/O Rev.8

47

2. Installation

The following figure illustrates wiring sample.

Station 1

RxD/TxD-P (3)

DGND (5)

VP (6)

RxD/TxD-N (8)

Station 2

(3) RxD/TxD-P

(5) DGND

(6) VP

(8) RxD/TxD-N

Shield

Protective Ground Protective Ground

PROFIBUS cables are produced by a variety of manufacturers.

For details of the PROFIBUS cables, see PROFIBUS International’s website

(http://www.profibus.com/).

Terminating Resistor

To reduce reflections of communication signal, terminating resistors should be attached on both ends of each segment. Attach the terminating resistor as shown below.

VP (6)

390

Data Line B

RxD/TxD-P (3)

220

Data Line A

RxD/TxD-N (8)

390

DGND (5)

Some commercially available PROFIBUS 9-pin D-Sub connectors have functions of terminating resistor and they can enable/disable the terminating resistors. (Example:

Woodhead MA9D00-32)

Molded terminating resistors with connector that can be attached to environment-resistant

M12 connector are also available.

48

RC620 Option Fieldbus I/O Rev.8

2. Installation

Baud Rate and Maximum Cable Length

Available baud rates are 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps, 1500 kbps,

3 Mbps, 6 Mbps, and 12 Mbps.

PROFIBUS DP requires approximately 1ms at 12 Mbps for transmission of 512 bits input data and 512 bits output data distributed over 32 stations. The following figure shows typical PROFIBUS DP transmission times depending on the number of stations and baud rate.

18

14

10

6

2

2

500 kbps

10

1.5 Mbps

12 Mbps

20 30

Number of Slaves

The maximum cable length is restricted by the baud rate.

Baud Rate Maximum Cable Length

12 Mbps

6 Mbps

3 Mbps

1500 kbps

500 kbps

187.5 kbps

93.75 kbps

19.2 kbps

9.6 kbps

100 m

100 m

100 m

200 m

400 m

1000 m

1200 m

1200 m

1200 m

Multi-Master Configuration

PROFIBUS DP allows you to install multiple masters in a single physical network.

All slave devices in the network can be accessed by different masters. Only one master on the network can be used for device configuration.

The following figure illustrates the communication procedure for a multi-master configuration.

Token-passing Procedure

Master 1

Master 2 Master 3

Master-slave communication

Slave Slave Slave Slave Slave Slave Slave

When the master receives the logic token, it inquires data from its slaves. After all communications are completed, the master passes the token to another master. In this way, the master can only communicate with its slaves while it is holding the token. The slaves respond to only the inquiry from the master. No slave can output any messages.

RC620 Option Fieldbus I/O Rev.8

49

2. Installation

Modification and Installation of Communication Cables

The following procedure explains how to modify and install a Woodhead 9-pin D-Sub connector (MA9D00-32).

CAUTION

Follow the steps described below to modify communication cables and connect them to the connector.

Be careful not to injure your hands or fingers on any sharp blades or tools used to modify the cable.

Use appropriate blades and/or other tools to modify the cable. Using inappropriate blades and/or other tools may result in bodily injury and/or equipment damage.

1.

Strip approx. 47.5 mm of the cable covering with extra care so that you do not scratch on braided shield underneath.

Do not strip the cable covering more than necessary.

Excess stripping may cause short-circuit and/or make the cable more sensitive to noise.

2.

Carefully expand meshes of the braided shield and fold back the shield over the cable covering. Cut off the shield at approx. 10 mm from the stripped side of the cable covering.

3.

Strip the covering of the signal wire as shown in the figure.

Approx. 47.5 mm

10 mm

40 mm 7.5 mm

4.

Insert the signal wires into the terminal block on the connector and secure the signal wires. Carefully connect the same signal wire to the same terminal on both ends.

To prevent faulty wiring, make a rule of connection. For instance, connect the green signal wire to the A1/A2 terminal and the red signal wire to the B1/B2 terminal.

50

RC620 Option Fieldbus I/O Rev.8

2. Installation

2.2.3 PROFIBUS-DP Master Board Installation

Appearance

Part names and functions of the PROFIBUS-DP master board are shown in the following figure. For details of the status display LEDs, refer to

4.

Trouble shooting

in this manual.

PCI-DPIO

Configuration Port

Communication Status LED

Male 9-pin D-Sub

Port for Board

Status Display LED (2)

Left: Communication Status LED

Right: Physical Error LED

Female 9-pin D-Sub

PROFIBUS DP Port

4-pin Terminal

Watchdog Port

(Do not use this port.)

Jumper Pin for Board Address

JP1

JP1

0

1

C0 C1 C2

PCU-D2PIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

Status Display LED (2)

PROFIBUS-DP Port

Jumper Pin for Board Address Setting

JP1

LED (2)

(Unused)

C0 C1 C2

JP1

ON

RJ45 Connector

(Unused)

Specifications

Item Specification

Part Number

Models

Modes

Baud Rates

PROFIBUS-DP master board applicom PCI-DPIO

Master

9.6, 19.2, 93.75, 187.5, 500, 1500, 3000, 6000, 12000 kbps

Interface

1 PROFIBUS port (EN 50 170)

Output Current Capacity

Maximum 150mA

Supported Devices

Maximum Stations

All DP Devices

126 (32 per segment)

GDS Support Yes

PROFIBUS DP Class 1 Yes

PROFIBUS DP Class 2 Yes

Max. Input Data Size 1024 bits (128 bytes)

Max. Output Data Size

1024 bits (128 bytes)

Automatic Detection

Yes. Devices can be detected automatically.

RC620 Option Fieldbus I/O Rev.8

51

2. Installation

Moiton Mode

PROFIBUS-DP master board has two motion modes; Master mode and Slave mode.

However, do not select the Slave mode.

Master Mode

There are two types of PROFIBUS DP master: DPM1 and DPM2. DPM1 (DP Master

Class 1) gathers and controls all stations in one PROFIBUS DP network. DPM2 (DP master Class 2) operates network configurations, network maintenance, and diagnosis.

PROFIBUS DP master can control up to 126 stations (max. 128 bytes) in one network.

PLC is typically configured as a master and controls all devices in factory automation system, but EPSON RC+ is also capable of being a master.

PROFIBUS DP network configuration is specified by the configuration management software. This software is normally provided by a master device manufacturer. The configuration management software determines parameters for each slave device via an

Electronic Data Sheet (GSD).

The connection type is token passing procedure and master-slave communication. The token passing procedure is applied to the PROFIBUS DP network with more than two master devices to transfer network control between masters. The master-slave communication is applied to the communication between the master device with network control and its slave devices.

Available baud rates are 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps, 1500 kbps,

3 Mbps, 6 Mbps, and 12 Mbps.

For the instruction of configuration, refer to the section

Master Mode

.

52

RC620 Option Fieldbus I/O Rev.8

2. Installation

Software Installation (PCI-DPIO)

Before installing the PROFIBUS-DP master board in your controller, you must install the applicomIO Console application and drivers according to the type of board you are using.

For PCU-D2PIO, refer to

Software Installation (PCU-D2PIO)

.

1. Start the controller.

2. Execute the following file in the install folder of the controller and start the installation.

C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE

3. The following dialog box appears. Select the desired language for the installer.

4. The [Summary] dialog box appears. Select “Products Installation”.

5. The [applicomIO] dialog box appears. Select “Installation”.

RC620 Option Fieldbus I/O Rev.8

53

2. Installation

6. The [Installation] dialog box appears. Select “applicomIO”.

54

7. The applicomIO Console application installer starts up and the [Welcom to applicomIO 2.4 Setup] dialog box appears

Click <Next>.

8. The [License Agreement] dialog box appears.

Read the software license agreement and click <Yes>.

RC620 Option Fieldbus I/O Rev.8

2. Installation

9. The [User Information] dialog box appears. Register the user information.

Type in the user name (Name:) and company name (Company:).

10. The [Choose Destination Location] dialog box appears.

Specify the installation folder for the applicomIO console application.

The default specifies here:

C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4

If you agree to the default installation folder, click <Next>.

11. The [Select Components] dialog box appears.

Install the default components.

Click <Next>.

RC620 Option Fieldbus I/O Rev.8

55

2. Installation

12. The [Select protocols] dialog box appears. Check the [Profibus-DP] checkbox.

(13)

(12)

(14)

13. Check the device data file you want to install (GSD for PROFIBUS-DP).

14. Click <Next>.

15. The [Select options] dialog box appears. Click <Next>.

16. The [Start Copying files] dialog box appears. Click <Next>.

56

RC620 Option Fieldbus I/O Rev.8

17. The [Start Copying Files] dialog box appears. Click <Next>.

2. Installation

18. The [Setup Status] dialog box appears and the installation of applicomIO Console application starts.

19. When the installation is completed, the [Setup Complete] dialog box appears.

The message prompts you to reboot your controller. Select “Yes”.

(18)

(19)

20. Click <Finish> and reboot the controller.

21. Start the following file and install the service pack.

C:\Install\FieldBus\Install\Sp\Setup.EXE

No installation is necessary when a service pack is not attached to the controller.

22. After completing the installation of the service pack, shutdown the computer.

23. Refer to the next section

Board Installation

and install the PROFIBUS-DP master board.

RC620 Option Fieldbus I/O Rev.8

57

2. Installation

Software Installation (PCU-D2PIO)

Before installing the PROFIBUS-DP master board in your controller, you must install the applicomIO Console application and drivers according to the type of board you are using.

1. Start the controller.

2. Execute the following file in the install folder of the controller and start the installation.

C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE

3. The following dialog box appears. Select <Run setup.exe>.

58

4. The [Summary] dialog box appears. Select “Products Installation”.

5. The [Installation] dialog box appears. Select “applicomIO”.

RC620 Option Fieldbus I/O Rev.8

2. Installation

6. If the Microsoft.NET Framwork 4.0 is not installed, following dialog window appears.

Click <Install>.

7. The applicomIO Console application installer starts up and the [Welcome to the

InstallShield Wizard for applicomIO] dialog box appears

Click <Next>.

8. The [License Agreement] dialog box appears.

Read the software license agreement and click <Next>.

RC620 Option Fieldbus I/O Rev.8

59

2. Installation

9. The [Customer Information] dialog box appears. Register the user information.

Type in the user name (Name:) and company name (Company:).

10. The [Destination Folder] dialog box appears.

Specify the installation folder for the applicomIO console application.

The default specifies here:

C:\Program Files(x86)\BoadCommunications\applicomIO\4.1

If you agree to the default installation folder, click <Next>.

60

11. The [Ready to Install the Program] dialog box appears.

Click <Install>.

RC620 Option Fieldbus I/O Rev.8

2. Installation

12. Installation of applicomIO Console application starts.

After the installation completes, the [InstallShield Wizard Completed] dialog box appears.

Click<Finish>.

13. The message prompting you to reboot your PC appears.

Select “Yes” and reboot the PC.

14. Refer to the next section

Board Installation

and install the PROFIBUS-DP master board.

RC620 Option Fieldbus I/O Rev.8

61

2. Installation

WARNING

Board Installation

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

1. Configure the board address jumper (JP1) on PROFIBUS-DP master board.

You can install one Fieldbus master board in the RC620 robot controller.

The board number should be “1”.

Refer to the following table for JP1 configuration.

PCI-DPIO

Board No.

Short Socket

1

PCU-D2PIO

Switch

Board No.

1

C0

0: Short

C0

OFF

C1

0: Short

C1

OFF

C2

0: Short

C2

OFF

2. Follow the instruction below and insert the board to the general purpose slot.

2-1 Remove ten screws (+) on the top face of RC620 controller.

Remove the top plate.

Back

RC620 Top

Front

2-2 Remove two screws (+) inside of the RC620 controller.

Back

RC620 Top

(2)-3

62

Front

2-3 Insert the Fieldbus master board into the general purpose slot on the far right

(recommended).

RC620 Option Fieldbus I/O Rev.8

2. Installation

2-4 Put two screws removed in the step 2-2 back and secure them.

2-5 Put the top plate back and secure it with ten screws.

3. Connect the board with the Fieldbus.

4. Start up the controller.

5. The PROFIBUS-DP master board is detected and the [Found New hardware Wizard] dialog box appears.

Select <No, not this time> and click <Next>.

6. The following dialog box appears.

Confirm that the detected hardware is “applicomIO PCI Board 32K”.

(6)

(7)

(8)

7. Select <Install the software automatically (Recommended)>.

8. Click <Next>.

RC620 Option Fieldbus I/O Rev.8

63

2. Installation

9. The following dialog box appears.

Necessary software is automatically installed.

10. When the installation is completed, the [Complating the Found New Hardware

Wizard] dialog box appears.

Click <Finish>.

64

11. Start the <applicomIO Console> application.

RC620 Option Fieldbus I/O Rev.8

2. Installation

12. The [Add New Board] dialog box appears. Add the PROFIBUS-DP master board.

Click <Add Board>.

13. The [Add New Board] dialog box appears.

Confirm that “PCI-DPIO” is displayed in [Board to Add]-[Board Type] and click

<OK>.

PCI-DPIO

PCU-D2PIO

If the board cannot be detected, the following dialog appears. Make sure that the board is correctly inserted.

RC620 Option Fieldbus I/O Rev.8

65

2. Installation

14. When you finish adding the PROFIBUS-DP master board to the applicomIO

Console application, reboot the controller.

14-1 Close the applicomIO Console application.

When closing the applicomIO Console application, the following message box appears. Click <Yes>.

14-2 The following dialog appears. Click <OK>.

14-3 Reboot the Windows.

15. After the controller is rebooted, refer to the next section

Master Mode

and continue the step.

66

RC620 Option Fieldbus I/O Rev.8

Master Mode

1. Ensure that the board is connected to the fieldbus.

2. Start the applicomIO Console application.

2. Installation

3. The [applicomIOR console] dialog box appears. Register the device information

(GSD file) that is necessary for the network setup.

(4)

(6)

(5)

4. Select “Protocol”.

5. Select the [Equipment Library] tab.

6. Click the<Add> icon.

7. The [Seelct configuration files] dialog box appears. Specify the GSD file that is supplied from the device manufacturer. Click <Open>.

PCI-DPIO

RC620 Option Fieldbus I/O Rev.8

67

2. Installation

PCU-D2PIO

7-(1) The [GSD Management] dialog box appears. Register the GSD file that is supplied from the device manufactuerer in the controller. Click <Next>.

7-(2) Following dialog box appears. Specify the folder in which the GSD file is stored.

Select <Add all the GSD from the Directory>.

(7)-2

(7)-3

(7)-4

7-(3) Click <Browse>.

7-(4) Click <Next>.

68

RC620 Option Fieldbus I/O Rev.8

2. Installation

7-(5) The following dialog box appears. Confirm the retrieved device information.

(7)-6

7-(6) Click <Next>.

7-(7) The following dialog box appears. Click <Finish> to complete the GSD file registration.

RC620 Option Fieldbus I/O Rev.8

69

2. Installation

8. Configure the PROFIBUS-DP master.

Select [Description]-[Properties] from the applicomIOR console menu.

9. The [Channel Properties] dialog box appears.

Selecct “Profibus, Master/Slave” and click <OK>.

10. Select [Protocol]-[Properties] from the applicomIOR console menu.

PCI-DPIO

PCU-D2PIO

70

RC620 Option Fieldbus I/O Rev.8

2. Installation

11. The [Profibus Master] dialog box appears.

Set Baud Rate for the PROFIBU-DP network, the master address (Master Profibus

Address), and Number of Repeaters in the network.

PCI-DPIO

PCU-D2PIO

When the master setting is complted, click <OK>.

12. Select the [Network Detectionta] tab.

(13)

(12)

13. Clcik the <Read Network Configuration> icon.

RC620 Option Fieldbus I/O Rev.8

71

2. Installation

14. The following message box appears. Click <Yes>.

15. The [Network Detection] dialog box appears and starts loading the device information on the Fieldbus.

16. The list of detected devices is displayed in the [Network Detection] panel.

17. Select a device you want to scan.

(18)

(17)

72

18. Click the <Insert in Configuration> icon.

RC620 Option Fieldbus I/O Rev.8

2. Installation

19. The following dialog box appears. The dialog displays the device name.

Click <OK>.

When the system cannot identify the device you want to use (its GSD file is not registered), the following dialog box will appear.

In this case, get the EDS file from the device manufacturers and register it by following the step 3 through 6. After that, follow the steps 12 and 13.

RC620 Option Fieldbus I/O Rev.8

73

2. Installation

20. Select [File]-[Download in Flash] from the applicomIOR console menu. Register the configuration to the Fieldbus master board.

NOTE 

Make sure that the flash memory of the Fieldbus master board stores the configuration; otherwise, the Fieldbus master board cannot correctly function.

Also, you cannot control it from EPSON RC+6.0.

If you changed the configuration, select [File]-[Download in Flash] from the applicomIOR console menu and register the configuration to the Fieldbus master board.

21. After a few seconds, the display of “Configured boards state” on the status bar turns to green.

Now, the Fieldbus master board is ready to operate in the master mode.

22. Close the applicomIO console application.

23. Refer to the section

EPSON RC+6.0 configuration

and continue the step.

74

RC620 Option Fieldbus I/O Rev.8

2. Installation

EPSON RC+6.0 configuration

To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled.

1. Select [Setup]-[Option Setting] and display the [Option] dialog box.

2. Refer to the EPSON RC+ Users Guide:

18. Installing Controller Options

and enable the Fieldbus Master option.

3. The following message dialog appears.

Click <OK> and reboot the EPSON RC+6.0.

After the EPSON RC+6.0 is started, the option setting is enabled.

4. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

5. Select [Inputs/Outputs]-[Fieldbus Master]-[General].

6. Set the following items:

[Type:] PROFIBUS-DP

Update cycle for the PROFIBUS-DP master I/O [Update Interval:]

7. Click <Apply>.

Confirm that the following is displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

RC620 Option Fieldbus I/O Rev.8

75

2. Installation

8. Click <Close>. The following dialog box appears.

SPEL

+ control part of the RC620 robot controller automatically starts rebooting.

9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(10)

(11)

10. Select [Inputs / Outputs].

11. Confirm that the following are displayed in “Fieldbus Master”.

Installed : Yes

Inputs : 1024 – ( 1024 + Number of inputs the master controls (Bits) )

Outputs : 1024 – ( 1024 + Number of outputs the master controls (Bits) )

12. Select [Fieldbus Master]-[General].

(12)

(13)

13. Confirm that the following are displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

76

RC620 Option Fieldbus I/O Rev.8

2. Installation

14. Select [Fieldbus Master]-[Slave].

(15)

(14)

(15)

15. Confirm that the following information the master controls is displayed.

ID : Fieldbus station ID of slave

Input Bytes : Number of inputs per slave (Bytes)

Output Bytes : Number of outputs per slave (Bytes)

Spel Inputs : Number of inputs per slave (Bits)

Spel Outputs : Number of outputs per slave (Bits)

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77

2. Installation

2.2.4 PROFIBUS-DP Slave Board Installation

Appearance

Status Display LED

Address Configure Switch (

×

1)

Address Configure Switch (

×

10)

Terminator Switch

ONLINE LED : Online status display

OFFLINE LED : Offline status display

ERROR LED : Error status display

The LED shows the board status.

PROFIBUS-DP Connector

For details, refer to the section

LED

Description

.

The Fieldbus slave board is configured as follows at shipment.

Board Appearance Configuration

CN3 DSW2

CN3

DSW2

DSW1

JMP1

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

DSW1 JMP1

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

Fixed as above All Open

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RC620 Option Fieldbus I/O Rev.8

2. Installation

Specifications

Name

Item

Code

Connection Method

Baud Rates (bps)

Transfer Distance

Specification

PROFIBUS-DP slave board

R12B040707

Hybrid

(token passing procedure and master-slave communication)

9.6 k, 19.2 k, 45.45 k, 93.75 k, 187.5 k, 500 k,

1.5 M, 3 M, 6 M, 12 M (bps)

Baud Rates

12 M (bps)

6 M (bps)

3 M (bps)

1.5 M (bps)

500 k (bps)

Cable Length

100 m

100 m

100 m

200 m

400 m

187.5 k (bps)

93.75 k (bps)

45.45 k (bps)

19.2 k (bps)

1000 m

1200 m

1200 m

1200 m

Cable

Modes Slave

9.6 k (bps)

Maximum Stations

126 (including master unit and repeater)

Data Length / Frame

244 bytes

1200 m

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

Interface

Output

Current Capacity

1 PROFIBUS-DP port (EN 50170)

Maximum 150 mA

Max. Input Data Size 256 bits (32 bytes)

Max. Output Data Size 256 bits (32 bytes)

LED Description

LED status represents the status of the fieldbus board.

LED status ONLINE GRN

OFF Offline

OFFLINE RED

Online

ERROR RED

Normal operation

ON

Online

Data exchangeable

Offline

Data unexchangeable

1 Hz blinking

2 Hz blinking

4 Hz blinking

Initialization error

(Mismatch with network configuration)

Initialization error

(Mismatch with user parameter)

Initialization error

(Module initialization error)

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2. Installation

WARNING

Configure switch configuration

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

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

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

1.

Set the node address of the PROFIBUS-DP slave 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 is for tenths digit address configuration. Switch on the “

×

1” side is for units digit address configuration.

NOTE 

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

2

3-99 (-125)

Device Name

Service unit such as PG/PC

Operation panel such as HMI

Master station

DP slave station

2.

Turn the network termination ON or OFF using the terminator switch.

Wiring

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

NOTE 

Terminal name for each pin

Terminal No Terminal Name

Case Shield

1

2

NC

NC

3

4

5

B line

RTS

GND BUS

6

7

8

9

+5V BUS

NC

A line

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 slave board. Turn the terminating resistor ON or OFF using the terminator switch on the front panel.

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2. Installation

WARNING

Board Installation

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

Follow the instruction below and insert the board into the dedicated slot of the controller.

1.

Remove two screws (+) on the back side of the RC620 robot controller.

RC620 Back

Top

Plate

Bottom

2.

Remove the plate.

3.

Insert the board into the slot along the guide.

4.

Put the plate removed in the step 2 back and secure it with two screws.

Confirmation with EPSON RC+ 6.0

When a PROFIBUS-DP slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 6.0 has recognized the PROFIBUS-DP board using the following procedure.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(2)

(3)

2. Select [Inputs / Outputs].

3. Make sure that the following are displayed in “Fieldbus Slave”.

Installed : Yes

Inputs : 512-767 (default setting)

Outputs : 512-767 (default setting)

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81

2. Installation

4.

Select [Fieldbus Slave]-[General].

(4)

(5)

5. Make sure that the following are displayed.

Fieldbus Type : PROFIBUS-DP

Fieldbus Slave ID : (Displays the configure switch node address)

Input Bytes

Output Bytes

: 32 (default setting)

: 32 (default setting)

6. Click <Close>.

Editing of input / output size

You can change the input/output size of PROFIBUS-DP slave board if necessary.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

2. Select [Inputs / Outputs]-[Fieldbus Slave]-[General].

82

RC620 Option Fieldbus I/O Rev.8

3. Change the settings of [Input Bytes] and [Output Bytes].

In this example, both of them are changed to 20 Bytes.

2. Installation

4. Click <Apply>.

5. Click <Close> and the following dialog box appears.

SPEL

control part of RC620 robot controller automatically starts rebooting.

6. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

7. Select [Inputs / Outputs].

8. Make sure that the following are displayed in “Fieldbus Slave”.

Inputs : 512 – ( 512 + Changed number of input (Bits) )

Outputs : 512 – ( 512 + Changed number of output (Bits) )

In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs.

Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs.

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2. Installation

NOTE

When you change the input/output size of PROFIBUS-DP slave board, you need to change the input/output size of the slave information registered in the Fieldbus master device.

Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the aplicomIO console application.

16 Byte Out Output : 20 Byte

4 Byte Out

16 Byte In Input : 20 Byte

4 Byte In

Electronic Information File (GSD file)

A GSD file is supplied for PROFIBUS-DP slave board network configuration. The file is located in the following folder in the Installer DVD that is attached to the Robot Controller.

\EpsonRC60\Fieldbus\Profibus

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2. Installation

2.3 EtherNet/IP

2.3.1 How to Setup a EtherNet/IP Network

The following is a basic procedure for setting up an EtherNet/IP network:

1. Choose node layout and pathway in your network.

For details, refer to the following section

2.3.2 EtherNet/IP Network Construction

.

2. Lay cables.

For details, refer to the following section

2.3.2 EtherNet/IP Network Construction

.

3. Configure nodes.

For details, refer to respective manuals of your desired nodes.

4. Turn ON the nodes.

5. Install the EtherNet/IP board in the controller.

When installing the EtherNet/IP master board (Code: R12B040720), refer to

2.3.3 EtherNet/IP Master Board Installation

.

When installing the EtherNet/IP slave board (Code: R12B040719), refer to

2.3.4 EtherNet/IP Slave Board Installation

.

6. Operate the EtherNet/IP network.

2.3.2 EtherNet/IP Network Construction

Network Configuration

EtherNet/IP network is configured as shown in the following figure.

Ethernet switch Ethernet switch

Waterproof

Ethernet switch

Network inside the factory, etc

Node

Node

Node

Node

Node

Node

Node

Node

Node

Waterproof Waterproof slave slave

Node

There are two types of node: master and slave. The master controls a network and gathers data from its slaves. The slaves, including external I/O and other devices, output data in response to the master’s output order and informs the master of its input status.

You can install the master anywhere in the network. One master node can control up to

127 nodes.

Universal Ethernet cable is used for EtherNet/IP. Use a proper cable such as environmental resistance and refraction resistance that fulfills the environment.

For details, see the website of ODVA. (http://www.odva.org/)

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2. Installation

Wiring

Wirings should be conformed to EtherNet/IP connection protocol.

NOTE

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

However, be sure to use a 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 causes communication errors and may not offer the proper performance.

2.3.3 EtherNet/IP Master Board Installation

Appeance

Part names and functions of the EtherNet/IP Master Board is shown in the following figure.

For details of the status display LEDs, refer to

4.

Troubleshooting

in this manual.

PCU-ETHIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

LED (2)

(Not in use)

D-Sub 9 pin

(Not in use)

Jumper Pin for Board Address

JP1

Status Display LED (2)

EtherNetI/P Connector

JP1

0

1

C0 C1 C2

Specifications

Item Specification

Part Number

Mode

Baud Rates

Interface

EtherNet/IPMaster Board applicom PCU-ETHIO-EI

Master

10, 100 Mbps

Maximum Node

Connection Type

Explicit message

EtherNet/IP 1 port

127 connection

EDS support

Automatic Detection

Cyclic, Change of State

Yes

Part Number

Max. Input Data Size

Yes

1024 bit (128 bytes)

Max. Output Data Size

1024 bit (128 bytes)

Yes. Devices can be detected automatically.

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2. Installation

Modes

EtherNet/IP master board has the Master mode and Slave mode as the motion mode.

However, do not select the Slave mode.

Master mode

The Master device gathers and controls all nodes in one network.

EtherNet/IP master can control up to 127 nodes (max. 128 bytes) on one network.

PLC is typically configured as a master and controls all nodes in factory automation system, but EPSON RC+ is also capable of being a master.

EtherNet/IP network configuration is specified by configuration management software.

This software is normally provided by a master device manufacturer. The configuration management software determines parameters for each slave device via an Electronic Data

Sheet (EDS).

Available connection types are Cyclic, Change Of State, and Explicit messaging.

Available baud rates are 100 Mbps and 10 Mbps. (auto-detect)

For the instruction of configuration, refer to the section

Master Mode

in this chapter.

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87

2. Installation

Software Installation

Before installing EtherNet/IP master board in your controller, you must install the applicomIO Console application and drivers according to the type of board you are using.

1. Start the controller.

2. Run the following file from the install folder in the controller to start the installation.

C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE

3. The following dialog box appears. Select the desired language for the installer.

88

4. The [Summary] dialog box appears. Select “Products Installation”.

5. The [applicomIO] dialog box appears. Select “Installation”

RC620 Option Fieldbus I/O Rev.8

6. The [Installation] dialog box appears. Select “applicomIO”.

2. Installation

7. The applicomIO console application starts and the [Welcom to applicomIO 2.4

Setup] dialog box appears.

Click <Next>.

8. The [License Agreement] dialog box appears.

Read the software license agreement and click <Yes>.

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89

2. Installation

9. The [User Information] dialog box appears. Now register the user information.

Type in the user name (Name:) and company name (Company:).

90

10. The [Choose Destination Location] dialog box appears.

Specify the installation folder for the applicomIO Console application.

The default specifies here:

C:\Program Files\Woodhead\Direct-Link\applicomIO\2.4

If you agree to the default installation folder, click <Next>.

11. The [Select Components] dialog box appears.

Install the default components.

Click <Next>.

RC620 Option Fieldbus I/O Rev.8

2. Installation

12. The [Select protocols] dialog box appears. Check the [EtherNet/IP] checkbox.

(13)

(12)

(14)

13. Check the device data file you want to install (EDS for EtherNet/IP).

14. Click <Next>.

15. The [Select options] dialog box appears. Click <Next>.

16. The [Start Copying files] dialog box appears. Click <Next>.

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2. Installation

17. The [Setup Status] dialog box appears and the installation of applicomIO Console application starts.

18. When the installation is completed, the [Setup Complete] dialog box appears.

The message prompts you to reboot your controller. Select “Yes, I want to restart my computer now”.

(18)

(19)

19. Click <Finish> and reboot the controller.

20. Start the following file and install the service pack.

C:\Install\FieldBus\Install\Sp\Setup.EXE

No installation is necessary when a service pack is not attached to the controller.

21. After completing the installation of the service pack, shutdown the computer.

22. Refer to the next section

Board Installation

to install the EtherNet/IP master board.

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2. Installation

WARNING

Board Installation

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

1. Configure the board address jumper (JP1) on EtherNet/IP master board.

You can install one Fieldbus master board in the RC620 robot controller.

The board number should be “1”.

Refer to the following table for JP1 configuration.

Short Socket

Board No.

C0 C1

1 0: Short 0: Short

C2

0: Short

2. Follow the instruction below and insert the board to the general purpose slot.

2-1 Remove ten screws (+) on the top face of RC620 controller.

Remove the top plate.

Back

RC620 Top

Front

2-2 Remove two screws (+) inside of the RC620 controller.

Back

RC620 Top

2-3

Front

2-3 Insert the fieldbus master board into the general purpose slot on the far right (recommended).

2-4 Put two screws removed in the step 2-2 back and secure them.

2-5 Put the top plate back and secure it with ten screws.

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93

2. Installation

3. Connect the board with the Fieldbus.

4. Start up the controller.

5. The EtherNet/IP master board is detected and the [Found New Hardware Wizard] dialog box appears.

Select <No, not this time> and click <Next>.

6. The following dialog box appears.

Confirm that the detected hardware is “applicomIO PCI Boad 32K”.

(6)

(7)

(8)

7. Select <Install the software automatically (Recommended)>.

8. Click <Next>.

9. The following dialog box appears.

Necessary software is automatically installed.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

10. When the installation is completed, the [Complating the Found New Hardware

Wizard] dialog box appears.

Click <Finish>.

11. Start <applicomIO Console> application.

12. The [applicomIOR console] dialog box appears. Add the EtherNet/IP master board.

Click <Add Board>.

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95

2. Installation

13. The [Add New Board] dialog box appears.

Confirm that “PCI/PCU-ETHIO” is displayed in [Board to Add]-[Board Type] and click <OK>.

If the board cannot be detected, the following dialog box appears. Make sure that the board is correctly inserted.

14. The [Channnel Properties] dialog box appears.

Select [Protocol]-[EtherNet/IP] and click <OK>.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

15. The following dialog box appears. Set the IP address for the EtherNet/IP master board.

Select the IP address from [Configuration]. There are following three types (Do not select “Flash Memory”)

“Static (assign as fixed IP address)”

“DHCP (obtain from the DHCP server)”

“BOOTP (obtain from the BOOTP server”

If you select “Static (Fixed IP address)”, enter the values in each item.

16. When you complete adding the DeviceNet master board to the applicomIO

Console application, reboot the controller.

16-1 Close the applicomIO Console application.

When closing the applicomIO Console application, the following message appears. Click <Yes>.

16-2 The following message appears. Click <OK>.

16-3 Reboot the Windows.

17. After the controller is rebooted, refer to the next section

Master Mode

and continue the step.

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2. Installation

Master Mode

1. Ensure that the board is connected to the fieldbus.

2. Start <applicomIO Console> application.

3.

The [applicomIOR console] dialog box appears. Register the device information

(EDS file) that is necessary for the network setup.

(4)

(6)

(5)

4. Select “Protocol”.

5. Select the [Equipment Library] tab.

6. Click the <Add> icon.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

7. The [EDS Management] dialog box appears. Register the EDS file that is supplied from the device manufacturer in the controller. Click <Next>.

8. The following dialog box appears. Specify the folder in which the EDS file is stored.

Select <Add all the EDS from the Directory>.

(8)

(9)

9. Click <Browse>.

10. Click <Next>.

(10)

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99

2. Installation

11. The following dialog box appears. Confirm the retrieved device information.

(11)

(12)

12. Click <Next>.

13. The following dialog box appears. Click <Finish> to complete the EDS file registration.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

14. Select the [Network Detection] tab.

(15)

(14)

15. Click the <Read Network Configuration> icon.

16. The following message appears. Click <Yes>.

17. Specify the range of detection. If you do not change the range, click <OK>.

18. The following dialog box appears and read in the devices on the Fieldbus.

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101

2. Installation

19. The list of detected devices is displayed in the [Network detection] panel.

20. Select a device you want to scan.

(21)

(20)

21. Click the <Insert in Configuration> icon.

22. The following dialog box appears. Clear the [Link Parameters] checkbox.

(23) (22)

102

(24)

23. Assign the values from 1 to 127 in [Number:].

This number is “Device ID” and required to create a SPEL

+

program.

RC620 Option Fieldbus I/O Rev.8

2. Installation

24. Click <OK> and complete the registration.

25. Select [File]-[Download in Flash] from the applicomIOR console menu. Register the configuration to the Fieldbus master board.

NOTE 

Make sure that the flash memory of Fieldbus master board stores the configuration; otherwise, the Fieldbus master board cannot function correctly.

Also, you cannot control it from EPSON RC+6.0.

If you changed the configuration, select [File]-[Download in Flash] from the applicomIOR console menu and register the configuration to the Fieldbus master board.

26. After a few seconds, the display of “Configured boards state” on the status bar turns to green.

Now, the Fieldbus master board is ready to operate in the master mode.

27. Close the applicomIO console application.

28. Refer to the section

EPSON RC+6.0 configuration

and continue the step.

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2. Installation

EPSON RC+6.0 configuration

To use the Fieldbus master board, the RC620 option setting and Fieldbus master setting should be enabled.

1. Select [Setup]-[Option Setting] and display the [Option] dialog box.

2. See

EPSON RC+ User’s Guide: 17. Installing Controller Options

and enable the

Fieldbus Master option.

3. The following dialog box appears.

Click <OK> and reboot EPSON RC+6.0.

After EPSON RC+6.0 is started, the option setting is enabled.

4. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

5. Select [Inputs/Outputs]-[Fieldbus Master]-[General].

6. Set the following items:

[Type:] EtherNet/IP

[Update Interval:] Update cycle for the EtherNet/IP master I/O

104

7. Click <Apply>.

Confirm that the following are displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

RC620 Option Fieldbus I/O Rev.8

2. Installation

8. Click <Close>. The following dialog box appears.

SPEL

+ control part of the RC620 robot controller automatically starts rebooting.

9. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(10)

(11)

10. Select [Inputs / Outputs].

11. Confirm that the following are displayed in “Fieldbus Master”.

Installed : Yes

Inputs : 1024 – ( 1024 + Number of inputs the master controls (Bits) )

Outputs : 1024 – ( 1024 + Number of outputs the master controls (Bits) )

12. Select [Fieldbus Master]-[General].

(12)

(13)

13. Confirm that the following are displayed.

Total Input Bytes : Number of inputs the master controls (Bytes)

Total Output Bytes : Number of outputs the master controls (Bytes)

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105

2. Installation

14. Select [Fieldbus Master]-[Slave].

(15)

(14)

(15)

15. Confirm that the following information the master controls are displayed.

ID : Fieldbus station ID of slave

Input Bytes : Number of inputs per slave (Bytes)

Output Bytes : Number of outputs per slave (Bytes)

Spel Inputs : Number of inputs per slave (Bits)

Spel Outputs : Number of outputs per slave (Bits)

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2. Installation

2.3.4 EtherNet/IP Slave Board Installation

Appearance

Status Display LED

Configure Switch

EtherNet/IP Connector

MS LED : Module status display

NS LED : Network status display

LNK LED : Communication packet reception or transmission status display

ACT LED : Link status display

The LED shows the board status.

For details, refer to the section

LED Description

.

The Fieldbus slave board is configured as follows at shipment.

Board Appearance

CN3

DSW2

DSW1

JMP1

Configuration

CN3 DSW2

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

DSW1 JMP1

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

Fixed as above All Open

Specifications

Name

Code

Item

Supported Connection

Baud Rates

Transfer Distance

Cable

Mode

Interface

Slave

1 EtherNet/IP port

Specification

EtherNet/IP slave board

R12B040719

I/O messaging connection (Cyclic),

Explicit messaging connection

EtherNet/IP communication protocol

10 M, 100 M (bps)

Standard Ethernet protocol

Standard Ethernet protocol

Max. Input data size 256 bits (32 bytes)

Max. Output data size 256 bits (32 bytes)

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107

2. Installation

LED Description

LED status

OFF

MS

Power supply OFF

NS

Power supply OFF or IP address not configured

GRN

RED

ON Master connected (executing) Online operating

Blinking Master connected (idling) Waiting master connection

ON Non-recoverable error

Blinking Recoverable error

GRN/RED alternate

Self-diagnosing

Wrong IP address (duplication)

Connection time out

Self-diagnosing

OFF

ON

LED status

No link

Linking

LNK ACT

No communication packet reception or transmission

Communication packet reception or transmission

Configure switch configuration

WARNING

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

Set all EtherNet/IP board configure switches OFF. Otherwise, the initialization error occurs.

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

(EPSON RC+ 6.0).

CAUTION

Wiring

Use a standard Ethernet connector for wiring to the board.

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

However, be sure to use a 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.

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RC620 Option Fieldbus I/O Rev.8

2. Installation

WARNING

Board Installation

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

Follow the instruction below and insert the board into the dedicated slot of the controller.

1. Remove two screws (+) on the back side of the RC620 robot controller.

RC620 Back

Top

Plate

Bottom

2. Remove the plate.

3. Insert the board into the slot along the guide.

4. Put the plate removed in the step 2 back and secure it with two screws.

Confirmation and configuration of EPSON RC+ 6.0

When the EtherNet/IP slave board is installed to the controller, it is recognized automatically. Confirm whether EPSON RC+ 6.0 has recognized the EtherNet/IP slave board using the following procedure.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(2)

(3)

2. Select [Inputs / Outputs].

3. Make sure that the following are displayed in “Fieldbus Slave”.

Installed : Yes

Inputs : 512-767 (default setting)

Outputs : 512-767 (default setting)

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109

2. Installation

4. Select [Fieldbus Slave]-[General].

(4)

5. Make sure that the following are displayed.

Fieldbus Type : EtherNet/IP

Input Bytes : 32 (default setting)

Output Bytes : 32 (default setting)

6. Click <Close>.

7. Select [Fieldbus Slave]-[EtherNet/IP].

(5)

NOTE

8. 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.

9. When the configuration is completed, click <Apply> to apply the setting.

10. Click <Close>.

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 respond within the time, the Controller stops the request to the DHCP/BOOTP/ARP server and waits ARP.

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110

2. Installation

Editing of input / output size

You can change the input/output size of the EtherNet/IP slave board if necessary.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

2. Select [Inputs / Outputs]-[Fieldbus Slave]-[General].

3. Change the settings of [Input Bytes] and [Output Bytes].

In this example, both of them are changed to 20 Bytes.

4. Click <Apply>.

5. Click <Close> and the following dialog box appears.

SPEL

control part of the RC620 robot controller automatically starts rebooting.

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111

2. Installation

6. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

7. Select [Inputs / Outputs].

8. Make sure that the following are displayed in “Fieldbus slave”.

Inputs : 512 – ( 512 + Changed number of input (Bits) )

Outputs : 512 – ( 512 + Changed number of output (Bits) )

In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in

Inputs.

Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs.

9. Click <Close>.

NOTE

When you change the input/output size of EtherNet/IP slave board, you need to change the input/output size of the slave information registered in the Fieldbus master device.

Use the window below to change the input/output size of the slave information registered in the Fieldbus master device by the aplicomIO Console application.

112

Electronic Information File (EDS file)

An EDS file is supplied for EtherNet/IP slave Board network configuration. The file is located in the following folder in the Installer DVD that is attached to the Robot Controller.

\EpsonRC60\Fieldbus\EtherNet/IP

RC620 Option Fieldbus I/O Rev.8

2. Installation

2.4 CC-Link

2.4.1 CC-Link Slave Board Installation

Appearance

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

The LED shows the board status.

For details, refer to the section

LED Description

.

The Fieldbus slave board is configured as follows at shipment.

Board Appearance

CN3

DSW2

DSW1

JMP1

Configuration

CN3 DSW2

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

DSW1 JMP1

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

Fixed as above All Open

RC620 Option Fieldbus I/O Rev.8

113

2. Installation

Specifications

Item

Name

Code

Connection Method

Baud Rates (bps)

Transfer Distance

Specification

CC-Link Slave Board

R12B040708

Broadcast polling

156 k, 625 k, 2.5 M, 5 M, 10 M (bps)

Baud Rates Cable Length

10 M (bps)

5 M (bps)

2.5 M (bps)

625 k (bps)

100 m

160 m

400 m

900 m

1200 m 156 k (bps)

64 units

Dedicated cable supporting CC-Link Ver.1.10

Maximum Device Number

Cable

Mode

Interface

Occupied Stations

Slave

1 CC-Link V1 port

1 to 3 station(s) (Remote device station)

Master Station’s Handshake

Max. Input Data Size

Max. Output Data Size

LED Description

256 bits (32 bytes)

256 bits (32 bytes)

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

LED status

OFF

ON

Blinking

ERRL RED

Normal operation

Device power supply

OFF

CRC error: station

Address error

Baud rate configuration error

WARNING

OFF

RUN GRN

Offline

Device power supply

Normal operation

RD GRN

No data reception

Device power supply

OFF

Data reception

SD GRN

No data transmission

Device power supply

OFF

Data transmission

− − −

Configure switch configuration

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

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

Link slave board.

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

1. Set the station of the CC-Link slave 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 tenths digit address value configuration. Switches on the

×

1 side are for units digit address value configuration. Stations from 1 to 62 are available.

114

RC620 Option Fieldbus I/O Rev.8

2. Installation

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

The CC-Link 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 DA

2

3

DB

DG

4

5

SLD

FG

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

Master Station

DA

RC620

CC-Link Board

DA

CC-Link

Module

DA

Terminating

Resistor

DB

DB

Terminating

Resistor

DB

DG

DG

DG

SLD

SLD

SLD

FG

FG

FG

Twisted-pair Cable with Shield

Twisted-pair Cable with Shield

NOTE 

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

Install terminating resistors at both ends of the network.

Use the terminating resistors 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 ends via “FG”.

RC620 Option Fieldbus I/O Rev.8

115

2. Installation

WARNING

Board Installation

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

Follow the instruction below and insert the board into the dedicated slot of the controller.

1.

Remove two screws (+) on the back side of the RC620 robot controller.

RC620 Back

Top

116

Plate

Bottom

2. Remove the plate.

3. Insert the board into the slot along the guide.

4. Put the plate removed in the step 2 back and secure it with two screws.

Confirmation of EPSON RC+ 6.0

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

Confirm whether EPSON RC+ 6.0 has recognized the CC-Link board using the following procedure.

1.

Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(2)

(3)

2.

Select [Inputs / Outputs].

3.

Make sure that the following are displayed in “Fieldbus slave”.

Installed : Yes

Inputs : 512-767 (default setting)

Outputs : 512-767 (default setting)

RC620 Option Fieldbus I/O Rev.8

2. Installation

4.

Select [Fieldbus Slave]-[General].

(4)

5. Make sure that the following are displayed.

Fieldbus Type : CC-Link

Input Bytes : 32 (default setting)

Output Bytes : 32 (default setting)

6. Click <Close>.

Editing of input / output size

You can change the input/output size of the CC-Link slave board if necessary.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

2. Select [Inputs / Outputs]-[Fieldbus Slave]-[General].

RC620 Option Fieldbus I/O Rev.8

117

2. Installation

3. Change the settings of [Input Byte] and [Output Byte].

In this example, both of them are changed to 20 Bytes.

4. Click <Apply>.

5. Click <Close> and the following dialog box appears.

SPEL

+

control part of the RC620 robot controller automatically starts rebooting.

6. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

118

7. Select [Inputs / Outputs].

8. Make sure that the following are displayed in “Fieldbus slave”.

Inputs : 512 – ( 512 + Changed number of input (Bits) )

Outputs : 512 – ( 512 + Changed number of output (Bits) )

In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs.

Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs.

9. Click <Close>.

RC620 Option Fieldbus I/O Rev.8

2. Installation

Operation

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

This section describes about these differences.

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

RXn0

RXn1

RXn2

RXn3

RXn4

RXn5

RXn6

RXn7

RXn8

RXn9

RXnA

RXnB

RXnC

RXnD

RXnE

RXnF

CurrProg4

AutoMode

TeachMode

ErrorCode1

RX(n+1)0 ErrorCode2

RX(n+1)1 ErrorCode4

Ready

Running

Paused

Error

EStopOn

SafeguardOn

SError

Warning

MotorsOn

AtHome

CurrProg1

CurrProg2

Signal Name

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

Controller Bit No

512

513

514

515

516

517

518

519

520

521

522

523

524

525

526

527

528

529

RC620 Option Fieldbus I/O Rev.8

119

2. Installation

Address

RX(n+1)2 ErrorCode8

RX(n+1)3 ErrorCode16

RX(n+1)4 ErrorCode32

RX(n+1)5 ErrorCode64

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

RX(n+1)C ErrorCode8192

RX(n+1)D CmdRunning

RX(n+1)E CmdError

RX(n+1)F NA

RX(n+2)0 NA

: :

RX(n+4)F NA

RX(n+5)0

NA

RX(n+5)1

NA

RX(n+5)2

NA

RX(n+5)3

NA

RX(n+5)4

NA

RX(n+5)5

NA

RX(n+5)6

NA

RX(n+5)7

NA

RX(n+5)8

NA

RX(n+5)9

NA

RX(n+5)A

NA

RX(n+5)B

NA

RX(n+5)C

NA

RX(n+5)D

NA

RX(n+5)E

NA

RX(n+5)F

NA

Signal Name

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

Controller Bit No

601

602

603

604

605

606

607

594

595

596

597

598

599

600

541

542

543

544

591

592

593

530

531

532

533

534

535

536

537

538

539

540

*1: Remote control input and output are not allocated to fieldbus slave I/O by default.

To allot remote control inputs and outputs to fieldbus slave I/O, refer to

3.5 Remote

Control Input and Output setting

later in this manual.

120

RC620 Option Fieldbus I/O Rev.8

2. Installation

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

Signal direction: Master station (PLC)

Remote device station (CC-Link board)

RYnC

RYnD

RYnE

RYnF

RY(n+1)0

:

RY(n+4)F

RY(n+5)0

RY(n+5)1

RY(n+5)2

RY(n+5)3

RY(n+5)4

RY(n+5)5

RY(n+5)6

RY(n+5)7

RY(n+5)8

RY(n+5)9

RY(n+5)A

RY(n+5)B

RY(n+5)C

RY(n+5)D

RY(n+5)E

RY(n+5)F

Address

RYn0

RYn1

RYn2

RYn3

RYn4

RYn5

RYn6

RYn7

RYn8

RYn9

RYnA

RYnB

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

NA

NA

NA

NA

NA

NA

NA

NA

:

NA

NA

NA

NA

NA

NA

NA

NA

NA

NA

NA

NA

Start

SelProg1

SelProg2

SelProg4

Stop

Pause

Continue

Continue

SetMotorsOn

SetMotorsOff

Home

Shutdown

NA

NA

Signal Name

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

*1

Controller Bit No

512

513

514

515

516

517

518

519

520

521

522

523

524

525

526

527

528

591

592

593

594

595

596

597

598

599

600

601

602

603

604

605

606

607

*1: Remote control inputs and outputs are not allocated to fieldbus slave I/O by default.

To allot remote control inputs and outputs to fieldbus slave I/O, refer to

3.5 Remote

Control Input and Output setting

later in this manual.

RC620 Option Fieldbus I/O Rev.8

121

2. Installation

122

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

:

NA

System reserved

System reserved

-

-

Controller Word No Controller Bit No

38 608 to 623

47 752 to 767

-

-

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

NA

:

Signal Name

NA

System reserved

System reserved

Controller Word No Controller Bit No

-

-

38

47

-

-

608 to 623

752 to 767

The number of stations, remote I/O range, and remoteregister range depend on the input / output size.

Input / Output Size ( x )

0 < x = < 4

4 < x = < 12

12 < x = < 24

24 < x = < 32

Occupied Stations

1

2

3

Remote I/O

(Bytes)

S

4

8

12

Remote Register

(Bytes)

0 x

4 x

8 x

12

RC620 Option Fieldbus I/O Rev.8

2. Installation

The number of occupied stations is the ones on the CC-Link network. Set this number to the master station.

Remote I/O is the information of ON/OFF.

Remote I/O data is in bit data and the FROM/TO command are executed in units of 16 bits.

Remote register is in numeric data.

Electronic Information File

A CSP file is supplied for the CC-Link slave board network configuration. The file is located in the following folder in the Installer DVD that is attached to the robot controller.

\EpsonRC60\Fieldbus\CCLink

According to the inpout/output size, the CSP file you use differs.

See the table below and select the CSP file.

Input / Output Size ( x )

0 < x = < 12

12 < x = < 24

24 < x = < 32

Occupied stations

1

2

3

Electronic file name

EPSN0200_1.csp

EPSN0200_2.csp

EPSN0200_3.csp

RC620 Option Fieldbus I/O Rev.8

123

2. Installation

2.5 PROFINET

2.5.1 PROFINET Slave Board Installation

Appearance

MS LED

Status Display LED

RJ45 Connector

CS LED

: Module status display

: IO Controller connection status display

LNK/ACT LED : Link status /

Communication packet reception or transmission status display

The LED shows the board status.

For details, refer to the section LED Description.

The Fieldbus slave board is configured as follows at shipment.

Board Appearance

CN3

DSW2

DSW1

JMP1

Configuration

CN3 DSW2

All Open

SW4

SW3

SW2

SW1

All ON

SW8

SW7

SW6

SW5

SW4

SW3

SW2

SW1

DSW1 JMP1

IRQ15

IRQ11

IRQ10

IRQ7

IRQ5

1 2

JP5

JP4

JP3

JP2

JP1

Fixed as above All Open

Specifications

Item Specification

Name

Code

Connection Method

PROFINET board

R12B040707

Protocol

Device type

Output Data Size

IO device

Baud Rates (bps) 100 M bps, full duplex

Maximum segment length

100 m

Cable

Cycle time

Interface

Input Data Size

RT (Real-Time)

PROFINET IO

RJ45 with connector 100BASE-TX (Cat5)

2 msec

RJ45 port

×

1

256 bits (32 bytes)

256 bits (32 bytes)

124

RC620 Option Fieldbus I/O Rev.8

2. Installation

LED Description

LED status represents the status of the fieldbus board.

LED status

OFF

MS

Power OFF or

Device is being initialized

Offline

CS LNK/ACT

No link or

Power OFF

ON Normal operation

Offline

IO controller is in RUN

Linking

Blinking - -

Receiving/transmitting communication packet

Blinking once Evaluating

Offline /

IO controller is in STOP

-

Blinking once

Blinking 3 times

Blinking 4 times

Structure Error

- Too many (Sub) Modules

- I/O size set by IO controller is too large.

- Structure mismatched

(No module, wrong module)

No station name has been set or

No IP address has been set

Internal error

-

-

-

-

-

-

Configure switch configuration

WARNING

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

The PROFINET board requires no configurations.

All the PROFINET communication configurations are set by the development software

(EPSON RC+ 6.0).

Wiring

CAUTION

PROFINET connector is RJ45 connector. Use 100BASE-TX (STP type) cable.

Be sure to use cables and connectors 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.

RC620 Option Fieldbus I/O Rev.8

125

2. Installation

Board Installation

WARNING

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

Follow the instruction below and insert the board into the dedicated slot of the controller.

1.

Remove two screws (+) on the back side of the RC620 robot controller.

RC620 Back

Top

126

Plate

Bottom

2.

Remove the plate.

3.

Insert the board into the slot along the guide.

4.

Put the plate removed in the step 2 back and secure it with two screws.

Confirmation with EPSON RC+ 6.0

When PROFINET slave board is installed in the controller, it is recognized automatically.

Confirm that EPSON RC+ 6.0 has recognized the board in the following procedure.

1.

Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

(2)

(3)

2. Select [Inputs / Outputs].

3. Make sure that following are displayed in “Fieldbus”.

Installed : Yes

Inputs : 512-767 (default setting)

Outputs : 512-767 (default setting)

RC620 Option Fieldbus I/O Rev.8

2. Installation

4. Click [Fieldbus Slave]-[General].

(4)

(5)

5. Make sure that following are displayed.

Fieldbus Type : PROFINET IO

Input Byte : 32 (default setting)

Output Byte : 32 (default setting)

6. Click <Close>.

Editing of input / output size and DAP mode

You can change the input/output size of the PROFINET slave board if necessary.

1. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

2. Select [Inputs / Outputs]-[Fieldbus Slave]-[General].

RC620 Option Fieldbus I/O Rev.8

127

2. Installation

3. Change the settings of [Input Byte] and [Output Byte].

In this example, both of them are changed to 20 Bytes.

4. Change the setting of [DAP mode] if necessary.

NOTE 

5. Set [DAP mode] according to the PROFINET IO controller that you want to use.

Usually, select DAP Ver.2. DAP Ver.1 is available for the obsolete PROFINET IO controller.

The PROFINET option does not have the alert function that is an optional function in

DAP Ver.2.

6. Click <Apply>.

7. Click <Close> and the following dialog box appears.

SPEL

+ control part of the RC620 robot controller automatically starts rebooting.

8. Select [Setup]-[System Configuration] and display the [System Configuration] dialog box.

128

9. Select [Inputs / Outputs].

RC620 Option Fieldbus I/O Rev.8

2. Installation

NOTE

10. Make sure that the following are displayed in “Fieldbus slave”.

Inputs : 512 – ( 512 + Changed number of input (Bits) )

Outputs : 512 – ( 512 + Changed number of output (Bits) )

In this example, Input byte is 20 bytes (160 bits) and 512-671 is displayed in Inputs.

Also, Output byte is 20 bytes (160 bits) and 512-671 is displayed in Outputs.

11. Click <Close>.

When setting this option to the PROFINET IO controller (Master), configure as below.

The RC620 controller includes eight pseudo I/O slots. In these slots, add 1 to 8 bytes input modules, output modules.

Make sure to add the output modules first, and then, add the input modules.

<Example> Input: 21 bytes / Output: 10 bytes (set in the RC+ window)

Slot 1 : 8 bytes output module

Slot 2 : 8 bytes output module

Slot 3 : 5 bytes output module

(Set 21 bytes in total for the Output.)

Slot 4

8 bytes input module

Slot 5

2 bytes input module

(Set 10 bytes in total for the Input.)

Electronic Information File (GSDML file)

A GSDML file is provided for the PROFINET slave board network configuration. The file is located in the following folder in the Installer DVD that is attached to the robot controller.

\EpsonRC60\Fieldbus\PROFINET

RC620 Option Fieldbus I/O Rev.8

129

3. Operation

3. Operation

This chapter describes how to use the Fieldbus I/O option after installing it.

3.1 SPEL

+

Fieldbus I/O Commands

Here are the main commands for Fieldbus I/O. Input/output command and function for fieldbus I/O are same as these for the normal I/O. For details, refer to the

Online Help

or

SPEL

+

Language Reference manual

.

FbusIO_GetBusStatus

Returns the status of the specified fieldbus.

FbusIO_GetDeviceStatus

Returns the status of the specified fieldbus device.

FbusIO_SendMsg

In

Sends an explicit message to a device and returns the reply.

Returns the status of an 8-bit input port.

InW

IONumber

Returns the status of a 16-bit input port.

Returns the I/O port number of the specified Fieldbus I/O label.

Off

On

Out

OutW

Sw

Turns an output off.

Turns an output on.

Simultaneously sets eight output bits.

Simultaneously sets 16 output bits.

Returns the status of one input bit.

NOTE

Response times for Fieldbus I/O varies and depends on several factors, including baud rate, scan rate, number of tasks, communication error, etc. EPSON RC+ does not guarantee the real-time response for the fieldbus I/O and message inputs. When the fastest and most consistent response times are required, please use EPSON Standard digital I/O, which incorporates interrupt driven inputs and outputs.

3.2 Outputs Off by Emergency Stop and Reset Instruction

You can configure the 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 the chapter

SPEL+ Options

in the EPSON RC+ User's

Guide.

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, the

“Outputs off during Emergency Stop” option should be enabled to remove all power to output devices when an emergency stop occurs.

RC620 Option Fieldbus I/O Rev.8

130

3. Operation

3.3 Using FbusIO_SendMsg

To use FbusIO_SendMsg, install the Fieldbus master board.

FbusIO_SendMsg is used to send an explicit message to a device and return a reply. This command operates according to the protocol.

The syntax is as follows:

FbusIO_SendMsg

bus

,

device

,

msgParam

,

sendBytes

(),

recvBytes

()

Description of parameter

There are two arrays passed to the parameter. The sendData array contains the data that is sent to the device in bytes. This array must be dimensioned to the correct number of bytes to send. If there are no bytes to send, you must use “0” for the parameter. The recvData array returns the response in bytes. This array is automatically re-dimensioned to the number of bytes received.

For DeviceNet, you need to initialize the sendData array with the command, class, instance, and attribute, as shown in the example below. Consult the documentation that came with the device for the values that can be used. The msgParam parameter value is always “0” for DeviceNet messages.

Here is an example for DeviceNet and EtherNet/IP:

The following example acquires the information of a device MacID = 1.

' Send explicit message to the device

Byte sendData(5)

Byte recvData(10)

Integer i sendData(0) = 14 ' Command (GetAttributeSingle) sendData(1) = 1 ' Class sendData(3) = 1 ' Instance sendData(5) = 7 ' Attribute

FbusIO_SendMsg 16, 1, 0, sendData(), recvData()

For i = 0 To UBound(recvData)

Print recvData(i)

Next i

For PROFIBUS DP, you need to specify the service number in the msgParam parameter.

Consult the documentation that came with the device for the services that are supported.

Some services require “0” send bytes. In this case, use “0” for the sendBytes parameter.

Here is an example for PROFIBUS DP:

' Send message to Profibus device

Byte recvData(10)

Integer i

' Service 56 - read all inputs

' sendBytes = 0

FbusIO_SendMsg 1, 1, 56, 0, recvData()

For i = 0 To UBound(recvData)

Print recvData(i)

Next i

RC620 Option Fieldbus I/O Rev.8

131

3. Operation

3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP)

Issuing an Explicit message from the DeviceNet/EtherNet/IP master unit to the RC620 controller acquires and configures the DeviceNet and EtherNet/IP I/O area.

Supported function and Class ID configurations are as follows:

When using Assembly Object Class (Class ID = 4)

Function

Input acquisition

Class ID

4 (04h)

Instance

100 (64h)

Output configuration 4 (04h)

Output acquisition 4 (04h)

150 (96h)

150 (96h)

Service Code

14 (0Eh)

16 (10h)

14 (0Eh)

When using I/O Data Mapping Object Class (Class ID = 160, 161)

Function Class ID Instance Service Code

Input acquisition 160 (A0h)

Output configuration 161 (A1h)

Output acquisition 161 (A1h)

01 (01h)

01 (01h)

01 (01h)

14 (0Eh)

16 (10h)

14 (0Eh)

Command response

It can acquire up to 32 bytes* input/output data.

* It depends on the input/output size setting.

132

RC620 Option Fieldbus I/O Rev.8

3. Operation

3.5 Remote Control Input and Output Setting

Remote control inputs and outputs are not allocated to fieldbus I/O by default.

To allot remote control inputs and outputs to fieldbus I/O, follow the steps below.

(1) Select EPSON RC+6.0 menu-[Setup]-[System Configuration] and display the [System

Configuration] dialog box. Select-[Controller]-[Remote Control]-[Inputs] or [Outputs].

(2) Click <Defaults> to display the [Default Remote Type] dialog box.

(3) Select [Fieldbus Master I/O] or [Fieldbus Slave I/O] and click <OK>.

(4) Fieldbus I/O will be allotted default remote control input and output setting. Select bit numbers by clicking the input or output numbers corresponding to the signals to be used for remote control.

(5) Click <Apply> to save the settings. Then, click <Close>.

To enable the remote control, refer to

EPSON RC+ 6.0 User’s Guide 11. Remote Control.

RC620 Option Fieldbus I/O Rev.8

133

3. Operation

Default Remote Control Input Setting for Fieldbus Master I/O

Input Signal

Start

SelProg1

SelProg2

SelProg4

SelProg8

SelProg16

SelProg32

Stop

Pause

Continue

Reset

Shutdown

SelRobot1

SelRobot2

SelRobot4

SelRobot8

SelRobot16

SetMotorsOn

SetMotorsOff

SetPowerHigh

SetPowerLow

ForcePowerLow

Home

MCal

Recover

Default remote control input settings for fieldbus master I/O are as follows:

Controller Input Bit No

1024

1025

1026

1027

Not used

Not used

Not used

1028

1029

1030

1031

1035

Not used

Not used

Not used

Not used

Not used

1032

1033

Not used

Not used

Not used

1034

Not used

Not used

134

RC620 Option Fieldbus I/O Rev.8

3. Operation

Default Remote Control Output Setting for Fieldbus Master I/O

Default remote control output settings for fieldbus master I/O are as follows:

CurrProg1

CurrProg2

CurrProg4

CurrProg8

CurrProg16

CurrProg32

AutoMode

TeachMode

EnableOn

ErrorCode1

ErrorCode2

ErrorCode4

ErrorCode8

ErrorCode16

ErrorCode32

ErrorCode64

ErrorCode128

ErrorCode256

ErrorCode512

ErrorCode1024

ErrorCode2048

ErrorCode4096

ErrorCode8192

InsideBox1

InsideBox2

InsideBox3

Output Signal

Ready

Running

Paused

Error

EStopOn

SafeguardOn

SError

Warning

MotorsOn

AtHome

PowerHigh

MCalReqd

RecoverReqd

RecoverInCycle

WaitingRC

CmdRunning

CmdError

RC620 Option Fieldbus I/O Rev.8

1037

1038

Not used

1039

1040

1041

1042

1043

1044

1045

1046

1047

1048

1049

1050

1051

1052

Not used

Not used

Not used

Controller Output Bit No

1024

1025

1026

1027

1028

1029

1030

1031

1032

1033

Not used

Not used

Not used

Not used

Not used

1053

1054

1034

1035

1036

Not used

Not used

Not used

135

3. Operation

Output Signal

InsideBox4

InsideBox5

InsideBox6

InsideBox7

InsideBox8

InsideBox9

InsideBox10

InsideBox11

InsideBox12

InsideBox13

InsideBox14

InsideBox15

InsidePlane1

InsidePlane2

InsidePlane3

InsidePlane4

InsidePlane5

InsidePlane6

InsidePlane7

InsidePlane8

InsidePlane9

InsidePlane10

InsidePlane11

InsidePlane12

InsidePlane13

InsidePlane14

InsidePlane15

Controller Output Bit No

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

136

RC620 Option Fieldbus I/O Rev.8

Input Signal

Start

SelProg1

SelProg2

SelProg4

SelProg8

SelProg16

SelProg32

Stop

Pause

Continue

Reset

Shutdown

SelRobot1

SelRobot2

SelRobot4

SelRobot8

SelRobot16

SetMotorsOn

SetMotorsOff

SetPowerHigh

SetPowerLow

ForcePowerLow

Home

MCal

Recover

Default Remote Control Input Setting for Fieldbus Slave I/O

Default remote control input settings for fieldbus slave I/O are as follows:

Controller Input Bit No

512

513

514

515

Not used

Not used

Not used

516

517

518

519

523

Not used

Not used

Not used

Not used

Not used

520

521

Not used

Not used

Not used

522

Not used

Not used

3. Operation

RC620 Option Fieldbus I/O Rev.8

137

3. Operation

138

Default Remote Control Output Setting for Fieldbus Slave I/O

Default remote control output settings for fieldbus slave I/O are as follows:

CurrProg1

CurrProg2

CurrProg4

CurrProg8

CurrProg16

CurrProg32

AutoMode

TeachMode

EnableOn

ErrorCode1

ErrorCode2

ErrorCode4

ErrorCode8

ErrorCode16

ErrorCode32

ErrorCode64

ErrorCode128

ErrorCode256

ErrorCode512

ErrorCode1024

ErrorCode2048

ErrorCode4096

ErrorCode8192

InsideBox1

InsideBox2

InsideBox3

Output Signal

Ready

Running

Pauseed

Error

EStopOn

SafeguardOn

SError

Warning

MotorsOn

AtHome

PowerHigh

MCalReqd

RecoverReqd

RecoverInCycle

WaitingRC

CmdRunning

CmdError

525

526

Not used

527

528

529

530

531

532

533

534

535

536

537

538

539

540

Not used

Not used

Not used

Controller Output Bit No

512

513

514

515

516

517

518

519

520

521

Not used

Not used

Not used

Not used

Not used

541

542

522

523

524

Not used

Not used

Not used

RC620 Option Fieldbus I/O Rev.8

Output Signal

InsideBox4

InsideBox5

InsideBox6

InsideBox7

InsideBox8

InsideBox9

InsideBox10

InsideBox11

InsideBox12

InsideBox13

InsideBox14

InsideBox15

InsidePlane1

InsidePlane2

InsidePlane3

InsidePlane4

InsidePlane5

InsidePlane6

InsidePlane7

InsidePlane8

InsidePlane9

InsidePlane10

InsidePlane11

InsidePlane12

InsidePlane13

InsidePlane1

InsidePlane15

Controller Output Bit No

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

3. Operation

RC620 Option Fieldbus I/O Rev.8

139

4. Troubleshooting (DeviceNet)

4. Troubleshooting

4.1 DeviceNet

Exclusion

Every system has its special environment, conditions, specifications, and usages. This guide is provided as a general reference for troubleshooting a DeviceNet network. Every effort has been made to ensure the information is accurate. However, we do not guarantee the complete accuracy of the information and thus we decline any liability for damages or costs incurred by the use of this troubleshooting.

Before examining a problem on the network, please ensure that your established

DeviceNet system satisfies network specifications. (Refer to this troubleshooting and the section

2.2 DeviceNet Network Construction

.)

Tools

Prepare the following tools for troubleshooting.

Philips screwdriver

Flat-blade screwdriver

Tester

TIP 

Using the Woodhead NetMeter (DeviceNet diagnostic tool) is a simple way to learn physical status of the DeviceNet network. For details of NetMeter, see Woodhead’s Web site (http://www.mysst.com/diagnostics/NetMeter.asp).

4.1.1 Examining a Problem

4.1.1.1 Scanner Board Diagnostic LEDs

The DeviceNet board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure.

PCI-DVNIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

Male 9-pin D-Sub

Port for Board Configuration

Jumper Pin for Board Address

JP1

Status Display LED (2)

Left: Module/NetWork LED

Right: IO LED

DeviceNet Port

JP1

0

1

C0 C1 C2

The Module/NetWork LED is on the left side and the IO LED is on the right side seen from the rear panel. These LED names are used in applicomIO Console application and

RC620 Option Fieldbus I/O Rev.8

140

4. Troubleshooting (DeviceNet) this manual. Only in this troubleshooting section, general names of the status display of the DeviceNet device are used.

The Module/NetWork LED is referred to as the Network Status (NS) in this section.

The IO LED is referred to as the Module Status LED (MS) in this section.

4.1.1.2 Check Network Status

(1) Master Status: MS/NS LEDs

LED

MS (Module Status)

NS (Network Status)

Color Light Condition

Green

Red

ON

Blinking

OFF

Green

Red

ON

Blinking

OFF

(2) Node Number of Absent Slaves

Absent slaves are disconnected from or not added to the network.

1. See the status flag regarding to the removal and addition if the master has status information.

2. See the MS/NE LEDs of all slaves if the master has no status information.

(3) Absent Slave Status: MS/NS LEDs

LED

MS (Module Status)

NS (Network Status)

Color Light Condition

Green

Red

ON

Blinking

OFF

Green

Red

ON

Blinking

OFF

(4) Physical Node Location of Absent Slave

Master PLC

Terminating

Resistor

Branch Tap Branch Tap

Slave Slave

Slave

Communications

Power Supply

Terminating

Resistor

Slave

Slave

A communication time out error occurred.

(5) Error Occurrence Condition

Immediate occurrence (high reproducibility)

Rare occurrence (low reproducibility)

Start the examination from this block when the error occurred here.

RC620 Option Fieldbus I/O Rev.8

141

4. Troubleshooting (DeviceNet)

4.1.2 Problems and Countermeasures

Master Unit LED

NS

Green

Light ON

Error Description [Reference]

MS

Green

Light ON

Green

Light ON

Green

Light ON

Green

Light ON

Green

Light

Blinking

Red Light

Blinking

Red Light

ON

Normal communication

During connection establishment

Communication error

Busoff detection

Duplicate MAC ID

- Normal condition

- Processing connection establishment

(The NS LED will be ON in green in a few seconds.)

- Master function in stop state

(When communication does not start, master analysis with NetMeter is required.)

[Refer to the section

4.1.2.1 Master: Communication

Error

.]

- Slave disconnected from the network (Remote I/O communication error)

- Slave not added to the network (Scan list collation error)

- Communications power supply OFF (Error detection after the communication establishment)

[Refer to the section

4.1.2.2 Master: Busoff

Detection

.]

- Busoff detection:

Communication stopped due to critical error.

- Duplicate MAC ID:

The MAC ID configuration was duplicated.

(This error occurs only during unit start-up)

Green

Light ON

Red Light

Blinking

Red Light

ON

No Matter

Light OFF Green

Light

Blinking

Module error

Absent slave

Light OFF

Light OFF Unestablished communication

[Refer to the section

4.1.2.3 Master: Unestablished

Communication

.]

- No slave (Error detection before communication establishment)

- Communications power supply OFF (Error detection before the communication establishment)

- Duplicate MAC ID:

The MAC ID configuration was duplicated.

No Matter Configuration error - Master unit configuration error

Refer to the respective device manuals.

When EPSON RC+ was configured as a master:

[Refer to the section

4.1.2.4 Master: Configuration

Error

.]

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network

(Scan list collation error)

- Duplicate MAC ID:

The MAC ID configuration was duplicated.

- Broken master unit

Unit Replacement

Light OFF Uninitialized network

Absent slave

[Refer to the section establishment)

4.1.2.5 Absent Slave

- No slave (Error detection before communication

- Communications power supply OFF

.]

[Refer to the section

4.1.2.6 Uninitialized Network

.]

- Master unit start-up error

- No slave (Error detection before communication establishment)

- Communications power supply OFF

142

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Process Flowchart

Master LED

Examining a trouble.

See

4.1.1. Examining

Details of Trouble

.

MS: Green ON

NS: Red Blinking

Yes

No

Absent Slave LED

MS: OFF

NS: OFF

No

Yes

MS: Green ON

NS: Red Blinking

Yes

No

1

Slave:

Not Operating

See 4.1.2.1.1.

2

Slave:

Communication

Error Detection

See 4.1.2.1.2.

MS: Green ON

NS: Red ON

Yes

No

3

Slave:

Busoff Detection

See 4.1.2.1.2.

MS: Green ON

NS: OFF

Yes

No

(Other)

4

Slave:

Not Added

See 4.1.2.1.2.

Broken Slave Unit

Replace the unit.

5

Master:

Busoff Detection

See 4.1.2.2.

MS: Green ON

NS: Red ON

Yes

No

MS: Green ON

NS: OFF

Yes

No

6

Master:

Unestablished

Communication

See 4.1.2.3.

MS: Red Blinking

Yes

No

MS: OFF

NS: Green Blinking

Yes

No

MS: OFF

NS: OFF

No

Yes

7

Master Unit:

Configuration Error

See 4.1.2.4.

8

Master:

Absent Slave

See 4.1.2.5.

9

Master:

Uninitialized Network

See 4.1.2.6.

MS: Red ON

Other

Broken Master Unit

Replace the Unit.

RC620 Option Fieldbus I/O Rev.8

143

4. Troubleshooting (DeviceNet)

4.1.2.1 Master: Communication Error

Master Unit LED

Error

MS NS

Green

Light ON

Red Light

Blinking

Communication error

Description

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network

(Scan list collation error)

- Communications power supply OFF

(Error detection after the communication establishment)

Process Flowchart

Check

Slave: Not Operating

Master LED Condition

Absent Slave LED Condition

1

MS

Green Light ON

Light OFF

NS

Red Light Blinking

Light OFF

No Problem

Is power supplied to slaves?

Yes

No

Replace the unit.

Supply power.

No

Is MS LED light ON?

Yes

Normal communication?

Yes

No

Finish

See other errors.

144

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause Examination Method

Slave power OFF Measure the power voltage of the slaves. (It should be within the range of sufficient voltage for the slave operation.)

NOTE: For slaves operating with communications power supply, measure voltage at the

DeviceNet connector.

Broken unit Slave unit replacement

Countermeasure

Supply power to the slave.

Replace the broken slave unit with a new one.

Slave: Communication Error Detection / Busoff Detection / Not-added

Master LED Condition

(1) Absent Slave LED Condition

(Communication error detection)

(2) Absent Slave LED Condition

(Busoff detection)

(3) Absent Slave LED Condition

(Slave not added to the network)

MS NS

Green Light ON Red Light Blinking

Green Light ON

Green Light ON

Green Light ON

Red Light Blinking

Red Light ON

Light OFF

RC620 Option Fieldbus I/O Rev.8

145

4. Troubleshooting (DeviceNet)

Process Flowchart

Check

2 3 4

No Problem

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No Problem

No problem

Measure voltage of communications power supply.

No problem

Replace the trouble unit.

No Change

No Change

No change

Replace moving cable

(Replace deteriorated cable).

No change

No Change

Check for noise influence.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

Problem exits. (Fix it.)

The problem is fixed.

The problem is fixed.

The problem is fixed.

See 4.1.3.3.

Immediately

Divide the network and find the trouble unit.

The unit is not found.

The unit is found.

Replace the unit.

Normal Communication?

No

Yes

Analyze the network with NetMeter.

Consult the DeviceNet manufacturer.

146

Finish

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Voltage drop of communications power supply

Noise

(external cause)

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power supply OFF.

→ Normal: 50 to 70 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.1.3.1 Connection

Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all nodes and all branch taps

For details, refer to the section

4.1.3.2 Loose

Connector and Signal Wire

.

Measure voltage of communications power supply at the unit with a trouble.

→ Normal: 11V or more between V+ and V-

If the voltage is 11 to 14 V, the unit is a possible cause.

Fix the problem on the unit.

Check the noise intrusion via the following paths (1) to (3).

(1) Noise via DRAIN (FG)

(2) Induced noise via communication cable

(3) Communications power supply

→ For details, refer to the section

4.1.3.3 Noise

Intrusion

.

Replace the broken unit with a new one.

→ Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.1.3.4 Broken Unit

Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Connect the connectors and signal wires again.

Check the voltage of the power supply.

Calculate the current capacity of the cable and add more communications power supplies.

Take countermeasures against noise.

Replace the unit with a new one.

RC620 Option Fieldbus I/O Rev.8

147

4. Troubleshooting (DeviceNet)

4.1.2.2 Master: Busoff Detection

Master Unit LED

MS NS

Green

Light ON

Red Light

ON

Error Description

Busoff detection Communication stopped due to critical error.

Duplicate MAC ID The MAC ID configuration was duplicated. (This error occurs only during unit start-up)

148

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Process Flowchart

Check

5

No Problem

No Problem

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No problem

Measure voltage of communications power supply.

Problem exits. (Fix it.)

No problem

The problem is fixed.

Replace the master unit.

No Change

No Change

No change

Replace moving cable

(Replace deteriorated cable).

No change

No Change

Check for noise influence.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

The problem is fixed.

The problem is fixed.

See 4.1.3.3.

Immediately

Divide the network and find the trouble unit.

The unit is not found.

The unit is found.

Replace the unit.

Normal Communication?

No

Yes

Analyze the network with NetMeter.

Consult the DeviceNet manufacturer.

Finish

RC620 Option Fieldbus I/O Rev.8

149

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Voltage drop of communications power supply

Noise

(external cause)

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power supply OFF.

→ Normal: 50 to 70 Ω

Measuring point: Connection of the problem unit

For details, refer to the section

4.1.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all nodes and all branch taps

For details, refer to the section

4.1.3.2 Loose Connector and

Signal Wire

.

Measure voltage of communications power supply at the trouble unit.

→ Normal: 11V or more between

V+ and V-

If the voltage is 11 to 14 V, the unit is a possible cause. Fix the problem on the unit.

Check the noise intrusion via the following paths (1) to (3).

(1) Noise via DRAIN (FG)

(2) Induced noise via communication cable

(3) Communications power supply

→ For details, refer to the section

4.1.3.3 Noise Intrusion

.

Replace the broken unit with a new one.

→ Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.1.3.4 Broken Unit

Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Connect the connectors and signal wires again.

Check the voltage of the power supply.

Calculate the current capacity of the cable and add more communications power supplies.

Take countermeasures against noise.

Replace the unit with a new one.

150

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Process Flowchart

Check

4.1.2.3 Master: Unestablished Communication

Master Unit LED

MS NS

Green

Light ON

Light

OFF

Master

Error

Unestablished communication

Description

Communications power supply OFF

No slave

6

No Problem

No Problem

No Problem

No Problem

Measure voltage of communications power supply at the master unit.

No problem

Problem exists. (Fix it.)

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No problem

Check that power is supplied to all slaves.

Problem exists. (Fix it.)

No problem

Problem exists. (Fix it.)

Check for master unit configuration.

No problem

Finish

Replace the master unit.

RC620 Option Fieldbus I/O Rev.8

151

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Voltage drop of communications power supply

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

All slaves power

OFF

Master unit configuration

Examination Method

Measure voltage of communications power supply at the master unit.

→ Normal: 11V or more between

V+ and V-

If the voltage is 11 to 14 V, the master unit is a possible cause.

Fix the problem on it.

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power supply OFF.

→ Normal: 50 to 70Ω

Measuring point: Connection of the master

For details, refer to the section

4.1.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: Between the master and its slaves

For details, refer to the section

4.1.3.2 Loose Connector and

Signal Wire

.

Countermeasure

Check voltage of the power supply.

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Connect the connectors and signal wires again.

Measure the power voltage of the slaves. (It should be within the range of sufficient voltage for slave operation.)

Supply power to the slaves.

(1) Start applicomIO Console application and check that the

Change the configuration. configuration has no difference with the network condition.

(2) Check that the configuration data were written in flash.

For details, refer to the section

4.1.3.6 EPSON RC+ Master

Configuration

.

152

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

4.1.2.4 Master: Configuration Error

Master Unit LED

MS NS

Red

Light

Blinking

No

Matter

Error

Configuration error

Slave error detection

Description

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network

(Scan list collation error)

- Duplicate MAC ID: The MAC ID configuration was duplicated.

RC620 Option Fieldbus I/O Rev.8

153

4. Troubleshooting (DeviceNet)

Process Flowchart

Check 7

No Problem

Check for master unit configuration (scan list configuration).

The problem is fixed.

No Problem

No Problem

No Change

No problem

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No problem

Measure voltage of communications power supply.

Problem exists. (Fix it.)

No problem

The problem is fixed.

Replace moving cable

(Replace deteriorated cable).

No Change

No change

Check for noise influence.

No change

Replace the master unit.

No Change

The trouble unit is not found.

Rarely

No change

Does an error occur immediately?

Immediately

Divide the network and find the trouble unit.

The problem is fixed.

The problem is fixed.

The unit is found.

See 4.1.3.3.

The unit is not found.

Replace the unit.

Normal Communication?

No

Yes

Analyze the network with NetMeter.

Consult the DeviceNet manufacturer.

Finish

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Master unit configuration

Examination Method

(1) Start applicomIO Console application and check that the configuration has no difference with the network condition.

(2) Check that the configuration data were written in flash.

(3) Check that the network load is within allowable range.

For details, refer to the section

4.1.3.6 EPSON RC+ Master

Countermeasure

Change the configuration.

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Configuration

.

(1) Check that terminating resistors Fix the problem. are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power

How to find the trouble point:

Remove the terminating

 supply OFF.

→ Normal: 50 to 70Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.1.3.1 Connection Problem

. resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Loose connector

Loose signal wire

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all nodes and all branch taps

For details, refer to the section

4.1.3.2 Loose Connector and Signal

Connect the connectors and signal wires again.

Voltage drop of communications power supply

Noise

(external cause)

Broken unit

No cause is identified.

Wire

.

Measure voltage of communications power supply at the unit with a trouble.

→ Normal: 11V or more between V+ and V-

If the voltage is 11 to 14 V, the unit is a possible cause. Fix the problem

Check the voltage of the power supply.

Calculate the current capacity of the cable and add more communications power supplies. on the unit.

Check the noise intrusion via the Take countermeasures following paths (1) to (3). against noise.

(1) Noise via DRAIN (FG)

(2) Induced noise via communication cable

(3) Communications power supply

→ For details, refer to the section

4.1.3.3 Noise Intrusion

.

Replace the broken unit with a new one.

→ Verify whether the problem is fixed.

Replace the unit with a new one.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.1.3.4 Broken Unit Examination

.

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155

4. Troubleshooting (DeviceNet)

4.1.2.5 Absent Slave

Master Unit LED

MS

Light

OFF

NS

Green

Light

Blinking

Error

Absent slave

Process Flowchart

Check

8

Description

- No slave (Error detection before communication establishment)

- Communications power supply OFF

No Problem

No Problem

No Problem

No Problem

Measure voltage of communications power supply at the master unit.

No problem

Problem exists. (Fix it.)

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No problem

Problem exists. (Fix it.)

Check that power is supplied to all slaves.

No problem

Problem exists. (Fix it.)

Check for master unit configuration.

No problem

Finish

Replace the master unit.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Voltage drop of communications power supply

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

All slaves power

OFF

Master unit configuration

Examination Method

Measure voltage of communications power supply at the master unit.

→ Normal: 11V or more between

V+ and V-

If the voltage is 11 to 14 V, the unit is a possible cause. Fix the problem on the unit.

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power supply

OFF.

→ Normal: 50 to 70 Ω

Measuring point: Connection of the master

For details, refer to the section

4.1.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: Between the master and its slaves

For details, refer to the section

4.1.3.2 Loose Connector and

Signal Wire

.

Countermeasure

Check voltage of the power supply.

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Connect the connectors and signal wires again.

Measure the power voltage of the slaves.

(It should be within the range of sufficient voltage for the slave

Supply power to the slaves. operation.)

(1) Start applicomIO Console application and check that the configuration has no difference with the network condition.

(2) Check that the configuration data were written in flash.

For details, refer to the section

4.1.3.6 EPSON RC+ Master

Configuration

.

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157

4. Troubleshooting (DeviceNet)

4.1.2.6 Uninitialized Network

Master Unit LED

Error

MS NS

Light OFF Light OFF Uninitialized network

Absent slave

Description

- Master unit start-up error

- No slave (Error detection before communication establishment)

- Communications power supply OFF

Process Flowchart

Check

9

No Problem

No Problem

No Problem

No Problem

Measure voltage of communications power supply at the master unit.

No problem

Problem exists. (Fix it.)

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.1.3.1 and 4.1.3.2.

No problem

Problem exists. (Fix it.)

Check that power is supplied to all slaves.

No problem

Problem exists. (Fix it.)

Check for master unit configuration.

No problem

Finish

Replace the master unit.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Causes of Error

Possible Cause

Voltage drop of communications power supply

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

All slaves power

OFF

Master unit configuration

Examination Method

Measure voltage of

Countermeasure

Check voltage of the power communications power supply at the master unit.

→ Normal: 11V or more between

V+ and V-

If the voltage is 11 to 14 V, the master unit is a possible cause.

Fix the problem on it.

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with communications power supply OFF.

→ Normal: 50 to 70 Ω

Measuring point: Connection of the master

For details, refer to the section

4.1.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: Between the master and its slaves

For details, refer to the section

4.1.3.2 Loose Connector and

Signal Wire

. supply.

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 120

Ω.

Connect the connectors and signal wires again.

Measure the power voltage of the slaves.

(It should be within the range of sufficient voltage for slave

Supply power to the slaves. operation.)

(1) Start applicomIO Console Change the configuration. application and check that the configuration has no difference with the network condition.

(2) Check that the configuration data were written in flash.

For details, refer to the section

4.1.3.6 EPSON RC+ Master

Configuration

.

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159

4. Troubleshooting (DeviceNet)

4.1.3 Procedures for Examining Possible Causes

4.1.3.1 Connection Problem (Disconnected Terminating Resistors, Cable

Disconnection, Disconnected Connector, and Disconnected Signal Wire)

(1) Ensure that two terminating resistors are connected to both ends of the network.

(2) Turn OFF the communications power supply.

(3) Measure resistance between CAN_H and CAN_L wires of the absent slave using the tester.

Tester

Measure resistance between signal wires with tester.

Red (CAN H) Blue (CAN L)

Resistance Determination

0

Ω

Short circuit

Under 50

Ω

Three or more terminating resistors on one network

50 to 70

Ω

Normal

70 to 120

Ω

Error (cable disconnection or disconnected signal wire on the trunk line)

Over 120

Ω

Error (cable disconnection or disconnected signal wire on drop line or trunk line

→ Both CAN_H and CAN_L)

(4) How to find the trouble point:

- Remove the terminating resistor on one end of the network.

(The resistance at the point where the terminating resistor is connected is 120

Ω.)

- Measure resistance at branch taps of all units.

- The trouble point is where resistance changes from 120

Ω.

- After finding the trouble point, verify the connector and cable conditions.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Process Flowchart

Check for cable laying.

Check that terminating resistors are connected.

Problem exists.

(Add terminating resistors.)

Normal

Turn OFF communications power supply.

Measure resistance with tester.

50 to 70

Ω

Normal

Out of 50 to 70

(Error)

Resistance: over 70

Ω

No

See 4.1.3.2.

Yes

Remove one terminating resistor on either side.

Resistance: under 50

Ω

Under 10

10 to 50

Ω

Approx.

120

Ω

Measure resistance at connectors and branch taps with tester.

Check for connection with terminating resistors and branch taps.

(1) Three or more terminating resistors

(2) Wrong terminating resistors, etc.

Other

Find the trouble point.

(1) Unconnected or loose connector

(2) Cable disconnection, etc.

Check for short circuit between signal wires.

Short circuit between signal wires

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4. Troubleshooting (DeviceNet)

4.1.3.2 Loose Connector and Signal Wire

Check for the connections of the following parts on the connector and cable.

(1) Crimping Terminal

Crimping Terminal

(2) Connection of the connector and the signal wire

Small flat-blade screwdriver with even thickness

(3) Connection of the connector and the unit (T-branch tap)

Connector on the node

(mask) side

Connector on the

T-branch side

Connector on the cable side

Screw

Cable side

Screw

Male

Female

Mounting hole

Male Female

Thin cable

Thin cable

Cable with M12 micro-size shielded connector (at one end or both ends)

Female

Male

Cable with M12 micro-size shielded connector (at one end or both ends)

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

4.1.3.3 Noise Intrusion

Verify how an error occurrence condition changes while taking the following countermeasures.

Ground of FG (DRAIN) wire

Normal Grounding: Ground the DeviceNet network at only one point.

Power Supply Tap

V+

CAN H

Shield (S)

CAN L

V-

V+

CAN H

Shield (S)

CAN L

V-

DeviceNet cable

V+ V- S

V+ V- FG

Ground 100

or less.

Communications power supply

24 V DC

Countermeasure 1: Disconnect the wire between V- and FG.

Disconnect the wire between V- and FG when you cannot ground the FG wire.

Power Supply Tap

V+

CAN H

Shield (S)

CAN L

V-

V+

CAN H

Shield (S)

CAN L

V-

DeviceNet cable

V+ V- S

Disconnect here.

V+ V- FG

Ground 100

or less.

Communications

Power Supply

24 V DC

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163

4. Troubleshooting (DeviceNet)

Countermeasure 2: Disconnect the shield wire to isolate it from the ground.

When noise intrudes the ground line due to a noise source such as an inverter installed near the communications power supply, disconnect the shield wire of the communication cable and isolate it from the ground to restrain noise intrusion.

Power Supply Tap

V+

CAN H

Shield (S)

CAN L

V-

V+

CAN H

Shield (S)

CAN L

V-

DeviceNet cable

V+ V- S

Disconnect here.

V+ V- FG

Ground 100

or less.

Communications

Power Supply

24 V DC

Induced noise via communication cable

Separate the DeviceNet signal wire from the other wires (especially power wires).

* Separate the signal wire from the power wires 300 mm or more.

Signal wire

PLC input/output wire

Light electrical cable

Communication cable

Suspended ducts

1

Floor ducts

1 2

300 mm or more

2

Control cable

PLC power wire

Control circuit wire

300 mm or more

Conduit

1 2

1 Signal wire

PLC input/output wire

2 Power wire

Power cable

Power wire

During site inspection, bypass the wire that is possibly affected by induced noise with other cables and then lay the cables. Establish the communication under no induced noise condition and verify whether an error occurs.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Communications Power Supply

When sharing the communications power supply with I/O devices, provide power sources separately.

Separating power source prevents noise caused by I/O device operations from affecting communication.

Communications

Power Supply 24V

Power Supply Tap

Disconnect I/O devices from the communications power supply.

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165

4. Troubleshooting (DeviceNet)

4.1.3.4 Broken Unit Examination (Dividing Network Examination)

When you cannot quickly find the trouble point due to a broken unit, connection failure including loose connector, or cable partial disconnection, divide the network to find the trouble point. Verify how error occurrence conditions change while taking the following countermeasures.

How to Examine

Divide the network to find which node is the cause of the problem.

Verify that a master can establish communications with the slaves even though one slave is separated from the network.

After finding the problem node, check the cables connected to it and replace the unit.

How to Divide

To divide the network, follow either procedure described below depending on the cable layout.

(1) Separating each block from the network

Divide the network by block and check each block.

1.

Ensure that the master has no problem by connecting it to its slaves one by one.

(MS/NS: green light ON)

2.

Divide the network in the middle of it and check for the communication condition.

(MS/NS: green light ON)

Normal: The trouble point is on the other half of the network.

Error: The trouble point is on the current half of the network.

(Continue dividing the network further to distinguish error part from normal part.)

3.

Check for communication on the block to specify the trouble point.

Master PLC

Connect the terminating resistor to the branch taps one by one to specify which device is the limit of the normal communications.

Terminating

Resistor

Branch Tap Branch Tap

Slave

Slave

Slave Slave

Communications

Power Supply

Terminating Resistor

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

(2) Separate each slave from the network

Check for each slave. The trouble point is where error condition changes into normal condition.

Master PLC

Terminating

Resistor

Branch Tap Branch Tap

Communications

Power Supply

Terminating

Resistor

Slave

Slave

Slave

Second First

Slave

4.1.3.5 Network Configuration and Specifications

Separate slaves one by one from the network.

(1) Maximum Network Length and Drop Line Length

Check that the cables used on the network meet the following specifications.

Type

Thick Cable

Baud Rate

500 kbps

250 kbps

125 kbps

500 kbps

Max. Network

Length

100 m

250 m

500 m

100 m

Drop Line

Length

6 m

Total Drop

Line Length

39 m

78 m

156 m

39 m Thin Cable

250 kbps 100 m 78 m

125 kbps 100 m 156 m

(2) Terminating Resistor

Ensure that two terminating resistors are connected to both ends of the network (trunk line). The terminating resistor should be 121

1/4 W.

(3) Cable and Branch Tap

The cables and branch taps should meet the DeviceNet specifications.

(4) Communications Power Supply

The communications power supply should be dedicated to DeviceNet.

Do not share the communications power supply with I/O devices. *

* Noise due to load on/off may affect DeviceNet communications via the communications power supply.

(The noise causes remote I/O communication error, Busoff detection, and broken unit.)

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167

4. Troubleshooting (DeviceNet)

4.1.3.6 EPSON RC+ Master Configuration

For details of EPSON RC+ master configuration, refer to the section

2.5 DeviceNet Board

Installation

.

The following section describes the procedure for verifying the scanner board condition with applicomIO Console application.

Verifying applicomIO Console application condition

The status bar at the bottom of the window shows the applicomIO Console application status. The status bar varies as shown below:

Character : The address number of the scanner board is indicated with characters. When the character “F” appears, the flash memory on the board initialized the scanner board.

Background color : The background color indicates the scanner board status.

For details, refer to the table below.

Background Character

Gray Black

Magenta

Red

Yellow

Dark green

Green

Black

Black

Black

White

Black

Status

Access to scanner board was failed.

After that, the status bar will not be renewed automatically. To renew the status bar, right-click the status bar and select

Refresh

.

The scanner board was initialized with an earlier version applicomIO Console application.

It is recommended that the scanner board be written into the flash memory (reinitializing the scanner board) again with the current version applicomIO Console application.

The scanner board was not initialized.

Initialize the scanner board to use it.

The scanner board was partially initialized.

This status happens only during network detection and on-line actions.

Although the scanner board was initialized, it is different than the currently opened configuration.

(Different version, etc.)

It is recommended that the scanner board be written into the flash memory (reinitializing the scanner board) again with the current version applicomIO Console application.

This status happens only during network detection, online actions, and diagnostic.

The scanner board was initialized properly and it is no different with the currently opened configuration.

This status happens only during network detection, online actions, and diagnostics.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Verifying the DeviceNet network condition

The applicomIO Console application has a network diagnostic function (Diagnostic). The procedure for using the Diagnostic is described below.

(1) Open the Diagnostic window, click the magnifying grass icon, and select the “Channel” on the device tree in the left side of the window.

The window changes as shown below.

NOTE

The

CAN

and

DeviceNet (scanner)

tabs appear on the data display in the right side of the window.

The CAN controller status of the scanner board is displayed on the

CAN

tab.

Rx

Tx

: Number of receive data bytes and flames

: Number of send data bytes and flames

OverRun : Number of communication overrun errors detected by CAN controller

Errors : Number of communication errors detected by CAN controller

Bus Off : Number of Busoff detections

Baud Rate : Baud rate

Bus Load : Load on the bus (maximum, minimum, current)

Use DeviceNet so that the load on a bus is under 60% of the maximum load.

When the load exceeds 60%, the DeviceNet network communication will be unstable. (For example, more communication errors)

For the procedure for master configuration, refer to respective master device manuals. For EPSON RC+ master configuration, refer to the section

2.5.5

Master Mode

.

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169

4. Troubleshooting (DeviceNet)

(2) Select the [DeviceNet (Scanner)] tab. The window changes as shown below.

170

MAC ID

Module/NetWork LED : Network Status (NS) LED status

: MAC ID specified for the scanner board

IO LED applicomR Status

: Module Status (MS) LED status

: Scanner board status

The scanner board status is shown in the “Code No. => Comment” form. The table below shows the code numbers.

Status Code

General Protocol

0

32

36

4

33

34

Descriptions

No fault detected.

The function was performed correctly.

Inaccessible data.

Additional information:

The remote device is in error. Check its status.

The parameters passed to the functions are not correct (eg: Number of requested variables too large)

Response time-out error.

Additional information:

The device does not respond. Check the device status and the wiring.

The DeviceNet master has no device to be scanned in the configuration.

Physical defect on the line.

Additional information:

No +24V power supply was detected.

The CAN component of the applicomIO® interface is "Bus Off".

Check the network wiring and Baud Rate.

Device not configured.

Define the device configuration with the applicomIO® Console and re-initiate the initialization of the applicomIO® product by running the PcInitIO

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (DeviceNet)

Status Code

General Protocol

45

47

63

66

93

99

255

53

55

65

70

79

Descriptions

Non-resident dialogue software.

Additional information:

Initialize the applicomIO® interface before use by running the PcInitIO

Targeted applicomIO® card invalid or incorrectly initialized by the function IO_Init

Synchronization problem on the line.

Additional information:

The DeviceNet master is “off line” (power supply not detected or the CAN component of the applicomIO® is “Bus Off”)

Check the network wiring and Baud Rate.

Response time-out exceeded.

Additional information:

The device accepted the connection but did not respond the request.

Check the device status.

Connection denied.

Additional information:

Connection to the DeviceNet master is in progress or refused by the device.

Connection finished.

Additional information:

Duplication of MAC ID detected on the DeviceNet network.

Modify the MAC ID of the DeviceNet master.

Profile incompatible.

Additional information:

The device does not match the configuration.

Check the device identity and the connection sizes.

Indicates that a communication error has been encountered on serial Port.

Not enough applicomIO® interface memory.

Driver cannot be accessed.

Indicates that applicomIO® solution is already running.

Indicates that the local input buffer was not updated beforehand by the function IO_RefreshInput.

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4. Troubleshooting (DeviceNet)

(3) When you click <I/O

>

icon on the upper left of the window, the window changes as shown below.

Each slave device status is shown in the right side of the window.

A green circle indicates that the communication of the corresponding device is normal, and a red circle indicates that there is a communication error.

A gray circle indicates that the corresponding device does not exist.

(4) When you select “Equipment” on the device tree in the left side of the window, the window changes as shown below.

172

The input and output statuses of the selected device are shown in the right side of the window.

If you want to change output data, click the byte number you want to change in

[Output Mapping]. Then, enter a value in [Selected Output Value:]-[Write] and click the <Write> button.

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

4.2 PROFIBUS DP Troubleshooting

Exclusion

Every system has its special environment, conditions, specifications, and usages. This guide is provided as a general reference for troubleshooting a PROFIBUS DP network.

Every effort has been made to ensure the information is accurate. However, we do not guarantee the complete accuracy of the information and thus we decline any liability for damages or costs incurred by the use of this troubleshooting.

Before examining a problem on the network, please ensure that your established

PROFIBUS DP system satisfies network specifications. (Refer to this troubleshooting and the section

2.4 PROFIBUS DP Network Construction

.)

Tools

Prepare the following tools for troubleshooting.

Philips screwdriver

Flat-blade screwdriver

Tester

4.2.1 Examining a Problem

4.2.1.1 Scanner Board Diagnostic LEDs

The PROFIBUS DP board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure.

PCI-DPIO

Configuration Port

Communication Status LED

Male 9-pin D-Sub

Port for Board Configuration

Jumper for Board Address

JP1

Status Display LED (2)

Left: Communication Status LED

Right: Physical Error LED

Female 9-pin D-Sub

PROFIBUS DP Port

4-pin Terminal

Watchdog Port

(Do not use this port.)

JP1

0

1

C0 C1 C2

The Communication Status LED is on the left and the Physical Error LED is on the right seen from the rear panel.

The Communication Status LED is referred to as the ST LED (ST) in this section.

The Physical Error LED is referred to as the BF LED (BF) in this section.

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4. Troubleshooting (PROFIBUS DP)

4.2.1.2 Check Network Status

As a first step, check the current condition of the network. There are different specifications of status display LED on a device in the PROFIBUS DP standard. This section explains how to check the network status assuming that EPSON RC+ is configured as a master or slave.

(1) Master Status: BF/ST LEDs

LED

BF (Physical error)

Color

Green

Red

ON

Light Condition

Blinking

OFF

ST (Communication Status)

Green

Red

ON

Blinking

OFF

(2) Station Number of Absent Slaves

Absent slaves are disconnected from or not added to the network.

1. See the status flag regarding to the removal and addition if the master has status information.

2. See the BF/ST LEDs of all slaves if the master has no status information.

(3) Absent Slave Status: BF/ST LEDs

LED Color Light Condition

BF (Physical error)

Green

Red

ON

Blinking

OFF

ST (Communication Status)

Green

Red

ON

Blinking

OFF

(4) Physical Node Location of Absent Slave

Master PLC

Terminating Resistor ON

Slave Slave Slave

Terminating

Resistor ON

Slave Slave

Start the examination from this block when an error occurred here.

(5) Error Occurrence Condition

Immediate occurrence (high reproducibility)

Rare occurrence (low reproducibility)

Slave

Terminating Resistor ON

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

4.2.2 Problems and Countermeasures

Master Unit LED

BF ST

Light

OFF

Light

OFF

Light

OFF

Green

Light

Blinking

Green

Light ON

Red

Light

Blinking

Error

Normal communication

Ready for communication

Communication error

Light

OFF

Light

OFF

Red

Light ON

Red

Light ON

Light

OFF

No

Matter

Data link layer error

Uninitialized network

Physical error

Description [Reference]

- Normal condition

- Normal condition

[Refer to the section

4.2.2.1 Master

Communication Error

.]

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network (Scan list collation error)

- Nonstandard wiring

- No or too many terminating resistors

- Noise intrusion

[Refer to the section

4.2.2.2 Master: Data

Link Layer Error

.]

- Nonstandard wiring

- Noise intrusion

[Refer to the section

4.2.2.3 Master:

Uninitialized Network

.]

- Master unit power error

- Master unit configuration error

[Refer to the section

4.2.2.4 Master:

Configuration Error

.]

- Nonstandard wiring

- Signal wire connection failure

- Signal wire short circuit

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4. Troubleshooting (PROFIBUS DP)

Process Flowchart

Master LED

Examining a trouble.

See 4.2.

1 Examining

Details of Trouble

.

BF: OFF

ST: Red Blinking

Yes

No

Absent Slave LED

BF: OFF

ST: Green ON

Yes

No

BF: OFF

ST: Red Blinking

Yes

No

BF: OFF

ST: Red ON

Yes

No

1

Master:

Communication Error

See

4.2.2.1.1.

2

Slave:

Communication Error

See

4.2.2.1.1.

3

Slave:

Data Link Error

See

4.2.2.1.2.

BF: OFF

ST: OFF

No

Yes

4

Slave:

Uninitialized Network

See

4.2.2.1.3.

BF: Red ON

Other

5

Slave:

Physical Error

See

4.2.2.1.4.

BF: OFF

ST: Red ON

No

Yes

BF: OFF

ST: OFF

No

Yes

BF: Red ON

Other

6

Master:

Data Link Error

See

4.2.2.2.

7

Master:

Uninitialized Network

See

4.2.2.3.

8

Master:

Physical Error

See

4.2.2.4.

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4. Troubleshooting (PROFIBUS DP)

4.2.2.1 Master: Communication Error

Master Unit LED

BF

Light

OFF

ST

Red

Light

Blinking error

Error

Communication

Description

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network

(Scan list collation error)

- Nonstandard wiring

- No or too many terminating resistors

- Noise intrusion

Master/Slave: Communication Error

Master LED Condition

Absent Slave LED Condition

(Communication error)

BF

Light OFF

Light OFF

Light OFF

ST

Red Light Blinking

Green Light Blinking

Red Light Blinking

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4. Troubleshooting (PROFIBUS DP)

Process Flowchart

Check

1 2

178

No Problem

No Problem

No Change

No Change

No Change

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.2.3.1 and 4.2.3.2.

No problem

Problem exists. (Fix it.)

Measure voltage of all slave power supplies.

No problem

The problem is fixed.

Replace the trouble unit.

No change

The problem is fixed.

Replace moving cable.

(Replace deteriorated cable).

No change

Check for noise influence.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

The problem is fixed.

See 4.2.3.3.

Immediately

Divide the network and find the trouble unit.

The unit is not found.

The unit is found.

Replace the unit.

Normal Communication?

No

Yes

Consult the PROFIBUS manufacturer.

Finish

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Electrical surges of device power supply

Noise

(external cause)

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with device power supply OFF.

→ Normal: 100 to 120 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.2.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all stations and all branch taps

For details, refer to the section

4.2.3.2 Loose Connector and

Signal Wire

.

Measure voltage of the device power supply at the trouble unit.

→ It should be within the range of sufficient voltage for device operation.

Check the noise intrusion via the following paths (1) to (3).

(1) Noise via shield

(2) Induced noise via communication cable

(3) Device power supply

→ For details, refer to the section

4.2.3.3 Noise Intrusion

.

Replace the trouble unit with a new one.

→ Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.2.3.4 Broken Unit

Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network.

The trouble point is where resistance changes from 220

.

Connect the connectors and signal wires again.

Check voltage of the device power supply.

Take countermeasures against noise.

Replace the unit with a new one.

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4. Troubleshooting (PROFIBUS DP)

Slave: Data Link Error

Master LED Condition

Absent Slave LED Condition

(Data link error)

Process Flowchart

Check

3

MS

Light OFF

Light OFF

NS

Red Light Blinking

Red Light ON

No Problem

No Change

No Change

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.2.3.1 and 4.2.3.2.

No problem

The problem is fixed.

Replace moving cable.

(Replace deteriorated cable).

No change

Check for noise influence.

The problem is fixed.

See 4.2.3.3.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

Immediately

Divide the network and find the trouble unit.

The unit is found.

Replace the unit.

The unit is not found.

Normal Communication?

No

Yes

Consult the PROFIBUS manufacturer.

Finish

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4. Troubleshooting (PROFIBUS DP)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Noise

(external cause)

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with device power supply OFF.

→ Normal: 100 to 120 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.2.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all stations and all branch taps

For details, refer to the section

4.2.3.2 Loose Connector and

Signal Wire

.

Check the noise intrusion via the following paths (1) to (3).

(1) Noise via shield

(2) Induced noise via communication cable

(3) Device power supply

→ For details, refer to the section

4.2.3.3 Noise Intrusion

.

Replace the trouble unit with a new one.

→ Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.2.3.4 Broken Unit

Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network. The trouble point is where resistance changes from 220

.

Connect the connectors and signal wires again.

Take countermeasures against noise.

Replace the unit with a new one.

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4. Troubleshooting (PROFIBUS DP)

Slave: Uninitialized Network

Master LED Condition

Absent Slave LED Condition

(Uninitialized Network)

Process Flowchart

Check

4

BF

Light OFF

Light OFF

ST

Red Light Blinking

Light OFF

No Problem

No Problem

No Change

No

Problem exists. (Fix it.)

Measure voltage of all slave power supplies.

No problem

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.2.3.1 and 4.2.3.2.

No problem

The problem is fixed.

Replace moving cable.

(Replace deteriorated cable).

No change

Replace the unit.

Yes

Normal Communication?

No

Consult the PROFIBUS manufacturer.

Finish

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4. Troubleshooting (PROFIBUS DP)

Causes of Error

Possible Cause

Electrical surges of device power supply

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Broken unit

Examination Method

Measure voltage of the device power supply at the trouble unit.

→ It should be within the range of sufficient voltage for device operation.

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with device power supply OFF.

→ Normal: 100 to 120 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.2.3.1 Connection

Problem

.

Check for the connection of connectors and signal wires.

→ The connectors and signal wires should be firmly connected.

Checkpoint: all stations and all branch taps

For details, refer to the section

4.2.3.2 Loose

Connector and Signal Wire

.

Replace the trouble unit with a new one.

→ Verify whether the problem is fixed.

Countermeasure

Check voltage of the device power supply.

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network.

The trouble point is where resistance changes from 220

.

Connect the connectors and signal wires again.

Replace the unit with a new one.

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4. Troubleshooting (PROFIBUS DP)

Physical Error

Master LED Condition

Absent Slave LED Condition

(Physical error)

Process Flowchart

Check

5

BF

Light OFF

Red Light ON

ST

Red Light Blinking

No Matter

No Problem

No

Measure voltage of all slave power supplies.

No problem

Replace the unit.

Problem exists. (Fix it.)

Yes

Normal Communication?

No

Consult the PROFIBUS manufacturer.

Finish

Causes of Error

Possible Cause

Electrical surges of device power supply

Broken unit

Examination Method

Measure voltage of the device power supply at the trouble unit.

→It should be within the range of sufficient voltage for device operation.

Replace the trouble unit with a new one.

→Verify whether the problem is fixed.

Countermeasure

Check voltage of the device power supply.

Replace the unit with a new one.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Process Flowchart

Check

4.2.2.2 Master: Data Link Layer Error

Master Unit LED

BF ST

Light

OFF

Red

Light ON

Error

Data link layer error

6

Description

- Nonstandard wiring

- Noise intrusion

No Problem

No Change

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.2.3.1 and 4.2.3.2.

No problem

Replace moving cable.

(Replace deteriorated cable).

The problem is fixed.

No change

No Change

Check for noise influence.

The problem is fixed.

See 4.2.3.3.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

Immediately

Divide the network and find the trouble unit.

The unit is not found.

The unit is found.

Replace the unit.

Normal Communication?

No

Yes

Consult the PROFIBUS manufacturer.

Finish

RC620 Option Fieldbus I/O Rev.8

185

4. Troubleshooting (PROFIBUS DP)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Noise

(external cause)

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with device power supply OFF.

→ Normal: 100 to 120 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.2.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→The connectors and signal wires should be firmly connected.

Checkpoint: all stations and all branch taps

For details, refer to the section

4.2.3.2 Loose Connector and

Signal Wire

.

Check the noise intrusion via the following paths (1) to (3).

(1) Noise via shield

(2) Induced noise via communication cable

(3) Device power supply

→For details, refer to the section

4.2.3.3 Noise Intrusion

.

Replace the trouble unit with a new one.

→Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→For details, refer to the section

4.2.3.4 Broken Unit

Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network.

The trouble point is where resistance changes from

220

.

Connect the connectors and signal wires again.

Take countermeasures against noise.

Replace the unit with a new one.

186

RC620 Option Fieldbus I/O Rev.8

4.2.2.3 Master: Uninitialized Network

Process Flowchart

Master Unit LED

BF ST

Light

OFF

Light

OFF

Error

Uninitialized network

Check

7

4. Troubleshooting (PROFIBUS DP)

Description

- Master unit power error

- Master unit configuration error

No Problem

No Problem

No

Measure voltage of all slave power supplies.

No problem

Problem exists. (Fix it.)

Check for master device configuration.

Problem exists. (Fix it.)

No problem

Replace the master unit.

Yes

Normal Communication?

No

Consult the PROFIBUS manufacturer.

Finish

Causes of Error

Possible Cause

Electrical surges of master device power supply

Master device configuration error

Broken master unit

RC620 Option Fieldbus I/O Rev.8

Examination Method

Measure voltage of the device power supply at the master unit.

→It should be within the range of sufficient voltage for device operation.

Check that the master device was configured properly.

→After changing the configuration, verify whether the problem is fixed.

Replace the broken master unit with a new one.

→Verify whether the problem is fixed.

Countermeasure

Check voltage of the device power supply.

Check the master unit configuration.

Replace the master unit with a new one.

187

4. Troubleshooting (PROFIBUS DP)

4.2.2.4 Master: Configuration Error

Master Unit LED

BF ST

Red Light

ON

No

Matter

Error

Physical error

Process Flowchart

Check

8

Description

- Nonstandard wiring

- Signal wire connection failure

- Signal wire short circuit

No Problem

No Change

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Problem exists. (Fix it.)

See 4.2.3.1 and 4.2.3.2.

No problem

Replace moving cable.

(Replace deteriorated cable).

The problem is fixed.

No change

The trouble unit is not found.

Rarely

Does an error occur immediately?

Immediately

Divide the network and find the trouble unit.

The unit is not found.

The unit is found.

Replace the unit.

Normal Communication?

No

Yes

Consult the PROFIBUS manufacturer.

Finish

188

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Causes of Error

Possible Cause

Disconnected terminating resistors

Cable disconnection

Disconnected connector

Disconnected signal wire

Loose connector

Loose signal wire

Broken unit

No cause is identified.

Examination Method

(1) Check that terminating resistors are connected to both ends of the network.

(2) Measure resistance between signal wires with device power supply OFF.

→ Normal: 100 to 120 Ω

Measuring point: Connection of the trouble unit

For details, refer to the section

4.2.3.1 Connection Problem

.

Check for the connection of connectors and signal wires.

→The connectors and signal wires should be firmly connected.

Checkpoint: all stations and all branch taps

For details, refer to the section

4.2.3.2 Loose Connector and

Signal Wire

.

Replace the trouble unit with a new one.

→Verify whether the problem is fixed.

Identify the trouble point by dividing the network.

→ For details, refer to the section

4.2.3.4 Broken Unit Examination

.

Countermeasure

Fix the problem.

How to find the trouble point:

Remove the terminating resistor on one end of the network.

The trouble point is where resistance changes from 220

.

Connect the connectors and signal wires again.

Replace the unit with a new one.

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189

4. Troubleshooting (PROFIBUS DP)

4.2.3 Procedures for Examining Possible Causes

4.2.3.1 Connection Problem (Disconnected Terminating Resistors, Cable

Disconnection, Disconnected Connector, and Disconnected Signal Wire)

(1) Ensure that two terminating resistors are connected to both ends of the network.

(2) Turn OFF all device power supplies.

(3) Measure resistance between A1 and B1 wires of the absent slave using the tester.

Tester

Measure resistance between signal wires with tester.

0

Resistance

Under 100

100 to 120

Over 120

Determination

Short circuit

Three or more terminating resistors on one network

Normal

Error (cable disconnection, disconnected signal wire, one or zero terminating resistor)

(4) How to find the trouble point:

- Remove the terminating resistor on one end of the network.

(The resistance at the point where the terminating resistor is connected is 220

.)

- Measure resistance at branch taps of all units.

- The trouble point is where resistance changes from 220

.

- After finding the trouble point, verify the connector and cable conditions.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Process Flowchart

Check for cable laying.

Check that terminating resistors are connected.

Problem exists.

(Add terminating resistors.)

Normal

Turn OFF all units.

Measure resistance with tester.

100 to 120

Normal

See 4.2.3.2.

Out of 100 to 120

(Error)

Resistance: over 120

Yes

Remove one terminating resistor on either side.

No

Resistance: under 100

Under 10

10 to 100

Approx.

220

Measure resistance at connectors with tester.

Check for connection of terminating resistors.

(1) Three or more terminating resistors

(2) Wrong terminating resistors, etc.

Other

Find the trouble point.

(1) Unconnected or loose connector

(2) Cable disconnection, etc.

Check for short circuit between signal wires.

Short circuit between signal wires

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191

4. Troubleshooting (PROFIBUS DP)

4.2.3.2 Loose Connector and Signal Wire

Check for the connections of the following parts on the connector and cable.

(1) Connection of connector and signal wire

Small flat-blade screwdriver with even thickness

(2) Connection of connector and unit

4.2.3.3 Noise Intrusion

Verify how error occurrence condition changes while taking the following countermeasures.

Ground of FG wire

Normal Grounding: Peel the cable covering and ground the FG wire.

Peel the cable covering and secure the cable with FG clamps.

Turn ON the terminating resistor at the end of the network.

Secure the clamps to the intermediate plate of the board with screws to ground the shield.

192

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Countermeasure 1: Improve FG.

Peel the cable covering and secure the cable with FG clamps.

Isoelectric Line

Grounding Screw

Grounding Screw

Slave Device Slave Device

Countermeasure 2: Disconnect the FG wire to isolate it from the ground.

When noise intrudes the ground line due to a noise source such as an inverter installed near the grounding point, disconnect the shield wire of the signal cable and isolate it from the ground to restrain noise intrusion.

Disconnect the grounding wire.

Induced noise via communication cable

Separate the PROFIBUS DP signal wire from the other wires (especially power wires).

* Separate the signal wire from the power wires 300 mm or more.

Signal wire

PLC input/output wire

Light electrical cable

Communication cable

Suspended ducts

1

Floor ducts

1 2

300 mm or more

Control cable

2

PLC power wire

Control circuit wire

Power cable

300 mm or more

Conduit

1 2

1 Signal wire

PLC input/output wire

2 Power wire

Power wire

During site inspection, bypass the wire that is possibly affected by induced noise with other cables and then lay the cables. Establish the communication under no induced noise condition and verify whether an error occurs.

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193

4. Troubleshooting (PROFIBUS DP)

4.2.3.4 Broken Unit Examination (Dividing Network Examination)

When you cannot quickly find the trouble point due to broken unit, connection failure including loose connector, or cable partial disconnection, divide the network to find the trouble point. Verify how error occurrence conditions change while taking the following countermeasures.

How to Examine

Divide the network to find which station is a cause of a trouble.

Verify that a master can establish communications with the slaves even though one slave is separated from the network.

After finding the trouble station, check the cables connected to it and replace the unit.

How to Divide

Divide the network by block and check each block.

1.

Ensure that the master has no problem by connecting it to its slaves one by one.

(BF/ST: light OFF/green light ON or blinking)

2.

Divide the network in the middle of it and check for the communication condition.

(BF/ST: light OFF/green light ON or blinking)

Normal: The trouble point is on the other half of the network.

Error: The trouble point is on the current half of the network.

(Continue dividing the half of the network further to distinguish error part from normal part.)

3.

Check for communication on the block to specify the trouble point.

Master PLC

Terminating

Resistor ON

Specify which station is the limit of the normal communications.

Terminating

Resistor ON

Slave Slave Slave

Terminating

Resistor ON

Slave Slave

Separate slaves from the network.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

4.2.3.5 Network Configuration and Specifications

(1) Maximum Cable Length

Check that the cables used on the network meet the following specifications.

Baud Rates

12 Mbps

6 Mbps

3 Mbps

1500 kbps

500 kbps

187.5 kbps

93.75 kbps

19.2 kbps

9.6 kbps

Max. Cable Length

100 m

100 m

100 m

200 m

400 m

1000 m

1200 m

1200 m

1200 m

(2) Terminating Resistor

Ensure that two terminating resistors are connected to both ends of the network.

The terminating resistor should be connected as shown below.

VP (6)

390

Data Line B

Data Line A

RxD/TxD-P (3)

220

RxD/TxD-N (8)

390

DGND (5)

(3) Cable

The cables should meet the PROFIBUS specifications.

Item

Impedance

Capacity

Loop resistance

Property

135 to 165

< 30 pf/m

110

/km

Wire diameter 0.64 mm

Core cross-section > 0.34mm

2

RC620 Option Fieldbus I/O Rev.8

195

4. Troubleshooting (PROFIBUS DP)

4.2.3.6 EPSON RC+ Master Configuration

For details of EPSON RC+ master configuration, refer to the section

2.6 PROFIBUS DP

Board Installation

.

The following section describes the procedure for verifying the scanner board condition with the applicomIO Console application.

Verifying applicomIO Console application condition

The status bar at the bottom of the window shows the applicomIO Console application status. The status bar varies as shown below:

Character : The address number of the scanner board is indicated with characters. When the character “F” appears, the flash memory on the board initialized the scanner board.

Background color : The background color indicates the scanner board status.

For details, refer to the table below.

Background Character

Gray Black

Magenta

Red

Yellow

Deep green

Green

Black

Black

Black

White

Black

Status

Access to scanner board was failed.

After that, the status bar will not be renewed automatically. To renew the status bar, right-click the status bar and select [Refresh].

The scanner board was initialized with the earlier version applicomIO Console application.

It is recommended that the scanner board be written into the flash memory (reinitializing the scanner board) again with the current version applicomIO

Console application.

The scanner board was not initialized.

Initialize the scanner board to use it.

The scanner board was partially initialized.

This status happens only during network detection and on-line actions.

Although the scanner board was initialized, it is different with the currently opened configuration.

(Different version, etc.)

It is recommended that the scanner board be written into the flash memory (reinitializing the scanner board) again with the current version applicomIO

Console application.

This status happens only during network detection, on-line actions, and diagnostic.

The scanner board was initialized properly and it is no different with the currently opened configuration.

This status happens only during network detection, on-line actions, and diagnostic.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

Verifying the PROFIBUS DP network condition

The applicomIO Console application has the following functions:

Network Monitor function : Monitoring error condition detected on the network

Diagnostic function : Network diagnosis

(1) Select the [Network Detection] tab in the left center of the applicomIO Console application.

(2) Click the <Online Action> icon. The [Network Monitor] dialog box appears.

You can check the conditions of the following errors on this dialog.

Token Error

Frame Error

Address Error

Network Cycle

Timeout Error

Bus Fault

When an error occurs on the network, it is added to the corresponding error counter.

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197

4. Troubleshooting (PROFIBUS DP)

(3) Select [Protocol]-[Diagnostic] from the applicomIO Console application menu. Click the magnifying grass icon on the [Diagnostic] dialog box.

Then, select the slave you want from the device tree in the left side of the window.

The window changes as shown below.

198

To check the device condition in detail, click <Diagnostic> in [Equipment information] in the right side of the window. If an error occurs, the information is displayed in red.

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (PROFIBUS DP)

(4) When you click the <I/O> icon, the window changes as shown below.

The status of each slave device is shown in the right side of the window.

A green circle indicates that the communication of the corresponding device is normal, and a red circle indicates that there is a communication error.

A gray circle indicates that the corresponding device does not exist.

(5) When you select the slave from the device tree in the left side of the window, the window changes as shown below.

The input and output statuses of the selected device are shown in the right side of the window.

If you want to change output data, click the bite number you want to change in

[Output Mapping]. Then, enter a value in [Write] in the “Selected Output Value” and click <Write>.

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199

4. Troubleshooting (EtherNet/IP)

4.3 EtherNet/IP Troubleshooting

Exclusion

Every system has its special environment, conditions, specifications, and usages. This guide is provided as a general reference for troubleshooting a EtherNet/IP network. Every effort has been made to ensure the information is accurate. However, we do not guarantee the complete accuracy of the information and thus we decline any liability for damages or costs incurred by the use of this troubleshooting.

Before examining a problem on the network, please ensure that your established

DeviceNet system satisfies network specifications. (Refer to this troubleshooting and the section

2.6 EtherNet/IP Network Construction

.)

4.3.1 Examining a Problem

4.3.1.1 Scanner Board Diagnostic LEDs

The EtherNet/IP board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure.

PCU-ETHIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

LED (2)

(Not in use)

D-Sub 9 pin

(Not in use)

Jumper for Board Address

JP1

JP1

Status Display LED (2)

0

1

EtherNetI/P Connector

C0 C1 C2

The Module/NetWork LED is on the left and the IO LED is on the right seen from the rear panel. These LED names are used in applicomIO Console application and this manual.

Only in this troubleshooting section, general names of the status display of the DeviceNet device are used instead.

The Network Status LED is referred to as the NS LED (NS) in this section.

The Module Status LED is referred to as the MS LED (MS) in this section.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (EtherNet/IP)

4.3.1.2 Check Network Status

(1) Master Status: MS/NS LEDs

LED

MS (Module Status)

NS (Network Status)

Color Light Condition

Green

Red

ON

Blinking

OFF

Green

Red

ON

Blinking

OFF

(2) Node Number of Absent Slaves

Absent slaves are disconnected from or not added to the network.

1. See the status flag regarding to the removal and addition if the master has status information.

2. See the MS/NE LEDs of all slaves if the master has no status information.

(3) Absent Slave Status: MS/NS LEDs

LED

MS (Module Status)

NS (Network Status)

Color Light Condition

Green

Red

ON

Blinking

OFF

Green

Red

ON

Blinking

OFF

(4) Physical Node Location of Absent Slave

Master

RC420

Ethernet Switch

Slave

Ethernet Switch

Slave

Slave

A communication time out error occurred.

(5) Error Occurrence Condition

Immediate occurrence (high reproducibility)

Rare occurrence (low reproducibility)

Slave Slave

Start the examination from this block when the error occurred here.

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201

4. Troubleshooting (EtherNet/IP)

4.3.2 Problems and Countermeasures

Master Unit LED

NS

Green

Light ON

Error Description [Reference]

MS

Green

Light ON

Green

Light ON

Green

Light

Blinking

Normal communication

During connection establishment

- Normal condition

- Processing connection establishment

(The NS LED will be ON in green in a few seconds.)

- Master function in stop state

(Communication does not start.)

- Network channel error Green

Light ON

Green

Light ON

Red Light

Blinking

Red Light

ON

Red Light

Blinking

Communication timeout

Light OFF IP address not defined

No Matter Critical error

- The IP address is not defined

No Matter Module error

[Refer to the section

4.3.3 Tests and diagnostics.

]

- Unrecoverable critical error

[Refer to the section

4.3.3 Tests and diagnostics.

]

- Recoverable error occurred

Light OFF Light OFF Not initialized status [Refer to the section

2.3.3

EtherNet/IP Master Board

Installation - Master Mode

.]

- The communication board is not initialized

Check the configuration

4.3.3 Tests and diagnostics

4.3.3.1 The diagnostic tool

After configuring the EtherNet/IP master, adding and configuring the devices of your network and downloading your configuration in the board, the statuses of all devices can be tested with the diagnostic tool.

Start this tool by selecting the menu command “

Protocol/Diagnostic…

” or selecting the <

> icon.

See also

: To display the help, select [Start]-[Program]-[Direct-Link]-[applicomIO 2.3]-

[Help].

Ethernet/IP channel on Ethernet diagnostics

The EtherNet/IP on Ethernet channel diagnostic information can be displayed by selecting the MULTI-MSG ETH channel.

All devices in the configuration are visualized by a LED corresponding to the applicomIO device number.

The LED may be red or green depending on the device error status.

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RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (EtherNet/IP)

1. Diagnostic of the TCP/IP layer

This dialog box displays the status of the TCP/IP layer.

Configuration Type Mode type selected in the configuration: DHCP, BOOTP,

Address From

Static

How the IP address has been obtained: from the server,

IP address

Sub-Network Mask flash memory or factory address.

IP address of the applicomIO master on this channel.

Sub-network address of the applicomIO master on this channel.

Address of the gateway configured on the applicomIO

Gateway IP Address master on this channel.

Primary DNS Address

IP Address of the primary DNS server.

Secondary DNS Address IP address of the secondary DNS server.

Host Name

Host name of the applicomIO master on this channel.

Domain Name Domain name of the applicomIO master on this channel.

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203

4. Troubleshooting (EtherNet/IP)

TCP tab

Passive connections

Active connections

Current connections

Bytes received

Bytes transmitted

Retries on time-out

IP tab

Number of passive connections.

Number of active connections.

Number of current connections.

Number of bytes received.

Number of bytes transmitted.

Number of retries on reception of a time-out.

Packets received

Packets transmitted

Errors

Number of packets received.

Number of packets transmitted.

Number of IP errors.

204

RC620 Option Fieldbus I/O Rev.8

2. Diagnostic of server devices

4. Troubleshooting (EtherNet/IP)

Requests

Requests / s

Useful bytes

Number of requests.

Number of requests per second.

Number of useful data bytes.

Useful bytes / s Number of useful data bytes per second.

Requests in error

Number of requests in error.

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4. Troubleshooting (EtherNet/IP)

3. Overall device diagnostics

View the diagnostic information on a device in the configuration by selecting the node which corresponds to the device.

IP Address

From

IP address of the device.

How the IP address of the device was obtained: from the configuration

Requests

Requests / s from the DNS server (IP address of the device has been resolved)

Number of requests.

Number of requests per second.

Useful bytes Number of useful data bytes.

Useful bytes / s

Number of useful data bytes per second.

Connections Number of connections created for this device.

Time-out errors

Number of time-outs received for this device.

Frame errors Number of frame errors for this device.

Refusal errors Number of errors excluding time-out and frame errors.

206

RC620 Option Fieldbus I/O Rev.8

4. Troubleshooting (EtherNet/IP)

TCP/IP tool

By clicking in the < > icon and selecting [TCP/IP layer], the [

services]

window displays the following options.

DNS

ICMP (ping)

See also

: To display the help, select [Start]-[Program]-[Direct-Link]-[applicomIO 2.3]-

[Help].

1. Resolution of IP address or name

DNS functionality can be enabled by selecting the applicomIO menu-

[Protocol/Diagnostic

]-the [DNS] tab.

(1) Selects the type of resolution to be carried out.

IP Address : the host name is obtained from the IP address.

Host Name : the IP address is obtained from the host name.

(2) Carries out a resolution.

(3) Status: Status of resolution carried out

0 : No error

33

132

: Response time-out exceeded

: Negative reply from DNS server (SERVER FAILURE, etc.)

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4. Troubleshooting (EtherNet/IP)

2. Ping

ICMP ECHO “PING” functionality can be enabled by selecting the applicomIO menu-

[Protocol/Diagnostic

]-the [ICMP] tab.

208

(1) Entry field for the IP address or name of the remote station.

(2) Field showing result obtained:

Status 0

Status 33

: The station is present and has responded

(the response time is given in the Time column)

: The station is not present

(3) Command field:

Clear

Ping

Loop

: Clears the list of results

: Sends a PING command

: Executes PING command in a loop

Stop on Error : If Loop has been selected, stops if an error has occurred

Status : Status of the PING request

0 :OK

33 : TIME-OUT

132 : Resolution error

RC620 Option Fieldbus I/O Rev.8

5. Maintenance Parts List

5. Maintenance Parts List

Slave

Part Name

DeviceNet board

PROFIBUS-DP board

CC-Link board

EtherNet/IP board

PROFINET board

Master

DeviceNet board

Part Name

PROFIBUS-DP board

EtherNet/IP board

PCI-DPIO

PCU-D2PIO

Code

R12B040706

R12B040707

R12B040708

R12B040719

R12B040728

Code

R12B040701

R12B040702

R12N747191

R12B040720

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5. Maintenance Parts List

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RC620 Option Fieldbus I/O Rev.8

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