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RC700 / RC90 Option Fieldbus I/O Rev.14

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.

For T series, VT series Manipulator user only

T series and VT series Manipulators are controller integrated manipulators.
Read “Controller” and “Robot Controller” described in this manual as “T series
Manipulator” “VT series Manipulator”.

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Summary of Contents for RC700

Page 1: ...Robot Controller RC700 RC90 Option Fieldbus I O Rev 14 EM198C4088F ...

Page 2: ...Robot Controller RC700 RC90 Option Fieldbus I O Rev 14 ...

Page 3: ...RC700 RC90 Option Fieldbus I O Rev 14 i Robot Controller RC700 RC90 Option Fieldbus I O Rev 14 Copyright 2012 2019 SEIKO EPSON CORPORATION All rights reserved ...

Page 4: ...ease contact the supplier of your region 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...

Page 5: ... Automation GmbH Germany Other brand and product names are trademarks or registered trademarks of the respective holders TRADEMARK NOTATION IN THIS MANUAL Microsoft Windows 7 Operating system Microsoft Windows 8 Operating system Microsoft Windows 10 Operating system Throughout this manual Windows 7 Windows 8 and Windows 10 refer to above respective operating systems In some cases Windows refers ge...

Page 6: ...uctions 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...

Page 7: ...C 7 0 and the Controller are available Compatible Connection is OK We recommend using EPSON RC 7 0 Ver 7 0 2 or later TYPE C Manipulator Software T series EPSON RC 7 0 VT series EPSON RC 7 0 Ethernet IP PROFINET and EtherCAT of this option are not available for Robot Controller RC90 EPSON RC 5 0 without the label Refer to the Robot Controller RC90 Setup Operation 13 3 Fieldbus I O Board Manual PDF...

Page 8: ...vi RC700 RC90 Option Fieldbus I O Rev 14 ...

Page 9: ... CC Link 10 1 5 1 Overview of CC Link 10 1 5 2 Features of CC Link 10 1 5 3 General Specifications 11 1 6 PROFINET 12 1 6 1 Overview of PROFINET 12 1 6 2 Features of PROFINET 12 1 6 3 PROFINET Communication 13 1 7 EtherCAT 14 1 7 1 Overview of EtherCAT 14 1 7 2 Features of EtherCAT 14 1 7 3 General Specifications 15 2 Installation 16 2 1 DeviceNet 16 2 1 1 How to Setup a DeviceNet Network 16 2 1 2...

Page 10: ...talling CC Link Slave Board 200 2 4 2 Installing CC Link Slave Module 211 2 5 PROFINET 221 2 5 1 Installing PROFINET Slave Board 221 2 5 2 Installing PROFINET Slave Module 227 2 6 EtherCAT 233 2 6 1 Installing EtherCAT Slave Board 233 2 6 2 Installing EtherCAT Slave Module 240 3 Operation 247 3 1 SPEL Fieldbus I O Commands 247 3 2 Outputs Off by Emergency Stop and Reset Instruction 247 3 3 Using F...

Page 11: ...ntents RC700 RC90 Option Fieldbus I O Rev 14 ix 4 3 EtherNet IP Troubleshooting 318 4 3 1 Examining a Problem 318 4 3 2 Problems and Countermeasures 320 4 3 3 Tests and Diagnostics 320 5 Maintenance Parts List 327 ...

Page 12: ...Table of Contents x RC700 RC90 Option Fieldbus I O Rev 14 ...

Page 13: ...unications 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 flex...

Page 14: ...anufactured by Hilscher You can install one Fieldbus master board per PC To use the Fieldbus master I O the Fieldbus master option of EPSON RC software options key must be enabled You can also add the Fieldbus slave function by installing the Fieldbus slave board to the Robot Controller Each type of Fieldbus supports the following boards DeviceNet slave board PROFIBUS DP slave board EtherNet IP sl...

Page 15: ...om Company F DeviceNet Network 1 2 2 Features of DeviceNet Reduced Wiring 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 environm...

Page 16: ...e 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...

Page 17: ...work 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 125 k bps 500 m 6 m or under 156 m or under Maximum Nodes 64 including master unit Data Length Frame 8 bytes data can be divided and transferred Bus Access CSMA NBA Error Detection CRC error Duplicate node address check Cable 5 wire cable dedicated to DeviceNet 2 wir...

Page 18: ...PROFIBUS DP Network 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 sp...

Page 19: ...on Baud Rates 9 6 kbps 19 2 kbps 93 75 kbps 187 5 kbps 500 kbps 1500 kbps 3 Mbps 6 Mbps and 12 Mbps Transfer Distance Baud Rates 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 Maximum Stations 126 including master unit and repeater Data Length Frame 244 bytes Cable 2 wire cable dedicated to PR...

Page 20: ...rnet 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 You can use the general Ethernet hub or Ethernet switch for EtherNet IP Howe...

Page 21: ...ion 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 1 4 3 General Specifications EtherNet IP Communication Specifications Item Speci...

Page 22: ...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 ...

Page 23: ...ates bps 156 k 625 k 2 5 M 5 M 10 M Connection Method Broadcast polling Synchronization Method Frame synchronization Encoding Method NRZI Transmission Channel Type Bus EIA RS485 compliant Transmission Format 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 ...

Page 24: ...G HMI Device from Company F PROFINET IO Controller PROFINET IO Network 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 sta...

Page 25: ...ommunication 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...

Page 26: ...rCAT frames are available for transmission from a general Ethernet Controller master and are able to use standard tools such as a monitoring tool EtherCAT protocol is optimized for the control data It is directly stored in the Ethernet frame and transmitted Reduced Wiring Compared with parallel wiring EtherCAT employs a standard Ethernet cable which substantially reduces the number of necessary wi...

Page 27: ...due to a global standard EtherNet IP Network Topology Network topologies such as line tree star and ring are supported and can be used in combinations Line topology which is most commonly used for fieldbus especially has no factor which reduces network performance since it does not require a network switch or hub Therefore the fastest and most reliable network construction is possible 1 7 3 Genera...

Page 28: ... not to put a load on the connectors 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 2 1 2 DeviceNet Network Construction 2 Choose power supply method for communication For details refer to 2 1 2 DeviceNet Network Construction 3 Choose baud rate Choose the baud rate ba...

Page 29: ...00 Ω or less T branch Tap Drop Line Drop Line Drop Line Drop Line Drop Line Drop Line Drop Line Waterproof slave T branch Connector Attach a terminating resistor on each end of the trunk line Connector with terminating resistor Trunk Line Trunk Line Trunk Line Trunk Line Power Supply Tap or T branch Tap DC24V Attach a terminating resistor on each end of the trunk line T branch Tap T branch Tap T b...

Page 30: ...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 Thick Cable Thin Cable Communications Cable Signal Wire Type Color Details of Signal Wire Identity Signal wire Blue Signal Low CAN L White Signal High CAN H Power wire Red Communications Power ...

Page 31: ...ogies tree multi drop 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 Daisy Chain Terminating Resistor Terminating Resistor Branch Tap Trunk Line T branch Multi drop Tree Communications Power Supply DeviceNet supplies 24V DC communications power to each...

Page 32: ... m 250 m 500 m 100 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 Maximum Network Length 500 kbps Thick Cable Length Thin Cable Length 100m 250 kbps Thick Cable Length 2 5 Thin Cable Length 250m 125 kbps Thick Cable Length 5 0 Thin Cable Length 500m Drop Line Length ...

Page 33: ...cted 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 Trunk Line 1A Power Supply Tap External Power Supp...

Page 34: ...r supplies 1A 1A 1A 2A 2A 2A 1A 1A 1A 2A 2A Trunk Line Power Supply Tap Terminating Resistor External Power Supply 24 V DC Terminating Resistor Power Supply Tap Following figure illustrates a sample wiring An OMRON power supply tap is used in the example Trunk Line Pull out the fuse Ground 100 Ω or less Ground 100 Ω or less If you cannot ground the network with 100 Ω or less do not connect V and F...

Page 35: ...l 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 crim...

Page 36: ...lor Details of Signal Wire Identity a Black Communications Power Supply negative V b Blue Signal Low CAN L c Shield S d White Signal High CAN H e Red 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...

Page 37: ...rt DeviceNet Port LED 2 Unused RJ45 Connector Unused Jumper pin for Board Address setting C0 C1 C2 JP1 JP1 0 1 Status Display LED 2 Specifications Item Specification Name DeviceNet master board manufactured by molex Modes Master Baud rates 125 250 500 kbps Interface 1 DeviceNet port Supported Devices Group 2 Only Server and U C M M capable Maximum Nodes 63 Connection Types Strobe Polling Cyclic an...

Page 38: ...r 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 Strov...

Page 39: ...alled you must install the applicomIO Console application and drivers according to the type of the board you are using 1 Insert the applicomIO Console CD ROM to the PC with the EPSON RC 7 0 installed 2 The dialog box shown below appears Select Run setup exe 3 The Summary dialog box appears Select Product Installation 4 The Installation dialog box appears Select applicomIO ...

Page 40: ...is not installed following dialog box appears Click Install 6 The applicomIO Console application installer runs and the Welcome to the InstallShield Wizard for applicomIO dialog box appears Click Next 7 The License Agreement dialog box appears Read the software license agreement and click Next ...

Page 41: ...ser Name and Organization 9 The Destination Folder dialog box appears Specify the installation folder for the applicomIO Console application The default specifies here C Program Files x86 BradCommunications applicomIO 4 2 If you agree to the default installation folder click Next 10 The Ready to Install the Program dialog box appears Click Install ...

Page 42: ...tion starts After the installation completes the InstallShield Wizard Completed dialog box appears Click Finish 12 The message prompting you to reboot your PC appears Select Yes and reboot the PC 13 Refer to the next section Installing a Board to install the DeviceNet master board manufactured by molex ...

Page 43: ...Short 0 Short 0 Short 2 Install the DeviceNet master board manufactured by molex to the PCI bus of the PC with the EPSON RC 7 0 installed Installation methods of the DeviceNet master board manufactured by molex to the PCI bus and how to open the cover differ depending on the type of PC Refer to the manuals of each PC on how to install the board to the PCI bus 3 Connect the DeviceNet master board m...

Page 44: ...e board is correctly inserted 8 When you finish adding the DeviceNet master board manufactured by molex to the applicomIO Console application reboot the PC 8 1 Shutdown the applicomIO Console application When the applicomIO Console application shuts down the dialog box below appears Click Yes 8 2 Then the following dialog box appears Click OK 8 3 Reboot the Windows 9 After the PC is rebooted refer...

Page 45: ...ion Following is specified for applicomIO Console install folder as default C Program Files x86 BradCommunications applicomIO 4 1 3 The applicomIOR console dialog box appears Register the device information EDS file that is necessary for the network setup 3 4 5 4 Select Protocol 5 Select the Equipment Library tab 6 Click Add 7 The Select configuration files dialog box appears Specify the EDS file ...

Page 46: ...DeviceNet network When the master setting is completed click OK 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 Trouble...

Page 47: ... Network Detection 10 11 11 Click Read Network Configuration 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 ...

Page 48: ...2 Installation 36 RC700 RC90 Option Fieldbus I O Rev 14 15 Select a device you want to scan 15 16 16 Click Insert in Configuration 17 The following dialog box appears ...

Page 49: ...aster board Confirm that the information matches with that of the slave device Change parameters as necessary After completing setting click OK Connections Parameters that are set for the Fieldbus master board and information of the slave device need to be matched Communication with the slave device is not performed if they do not match Change the information of either Connections Parameters or Fi...

Page 50: ...t Mode and display the Expert Mode dialog box 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 In this case obtain the EDS file from the device manufacturer and register it by following the step 7 After that follow t...

Page 51: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 39 18 Check the communication status with each slave devices Click Diagnostic 19 The Diagnostic Board dialog box appears ...

Page 52: ... Connections Parameters for the Fieldbus master board and information of the slave device may not be matched Connections Parameters for the Fieldbus master board can be checked by the following procedure First select the slave device which is registered to the Fieldbus master board Then click the left mouse button and select Properties ...

Page 53: ...on RC700 RC90 Option Fieldbus I O Rev 14 41 The property information of selected slave device is displayed Select the Connection Configuration tab Connections Parameters appear to communicate with the slave device ...

Page 54: ...rrectly function Also you cannot control it from EPSON RC 7 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 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 applic...

Page 55: ...s Master option 3 The following message dialog box appears Click OK and reboot EPSON RC 7 0 After EPSON RC 7 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 Update Interval Update cycle for the DeviceNet master I O 7 Click Apply Con...

Page 56: ... 10 11 10 Select Inputs Outputs 11 Confirm that Fieldbus master displays the following items Installed Yes Inputs 6144 6144 Number of inputs the master controls Bits Outputs 6144 6144 Number of outputs the master controls Bits 12 Select Fieldbus Master General 12 13 13 Confirm that the following items are displayed Total Input Bytes Number of inputs the master controls Bytes Total Output Bytes Num...

Page 57: ...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 Inputs Number of inputs per slave Bits Spel Outputs Number of outputs per slave Bits ...

Page 58: ...tion Fieldbus I O Rev 14 2 1 4 Installing DeviceNet Board manufactured by Hilscher Appearance PCI CIFX 50 DN Rotary switch Status display LED 2 DeviceNet port PCI Express CIFX 50E DN Rotary switch Status display LED 2 DeviceNet port ...

Page 59: ...connection Maximum Configuration data 1000 bytes slave Acyclic communication Explicit connection All service codes are supported Connections Bit Strobe Change of State Cyclic Poll Explicit Peer to Peer Messaging Function Quick Connect Fragmentation Explicit and I O UCMM Supported Objects Identity Object Class Code 0x01 Message Router Object Class Code 0x02 DeviceNet Object Class Code 0x03 Connecti...

Page 60: ... all slaves are established Green Flashing 1 Hz Device operational and on line Device is online No connection is established Configuration missing incomplete or incorrect Green Red OFF Flashing 2 Hz Green Red OFF Self test after power ON Red Flashing 1 Hz Minor fault and or connection time out Device is online One or more connections are established Device has data exchange with at least one of th...

Page 61: ...ster mode The master device gathers and controls all nodes on DeviceNet network DeviceNet board manufactured by Hilscher can control up to 63 nodes max 128 bytes per slave 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 s...

Page 62: ...you must install the Hilscher SYCON net application and drivers according to the type of the board you are using 1 Insert Communication Solutions DVD into the PC with EPSON RC 7 0 installed 2 Execute Communication Solutions exe When Windows Security Alert appears do not click Cancel and proceed to the next step 3 The Communication Solutions window appears Select Install cifX netJACK Device Driver ...

Page 63: ...ount Control dialog box appears Click Yes 5 The Device Driver Setup dialog box appears Select the I accept the terms in the License Agreement check box Click Install 6 The Windows Security dialog box appears Click Install 7 When the dialog box switched click Install again ...

Page 64: ...s I O Rev 14 8 The Completed the cifX Device Driver x64 1 5 0 0 Setup Wizard dialog box appears Click Finish Installing master application software 9 The Communication Solutions dialog box appears Select Install SYCON net Configuration Software ...

Page 65: ...53 10 When Windows Security Alert appears do not click Cancel and proceed to the next step 11 The User Account Control dialog box appears Click Yes 12 The Choose Setup Language dialog box appears Select Englisch USA and click OK Now start the installation ...

Page 66: ... Wizard Welcome dialog box appears Click Next 14 InstallShield Wizard Important Information dialog box appears Select I read the information Click Next 15 The InstallShield Wizard License Agreement dialog box appears Select I accept the terms in the license agreement Click Next ...

Page 67: ... O Rev 14 55 16 The InstallShield Wizard Customer Information dialog box appears Enter the User Name and Organization Click Next 17 The InstallShield Wizard Ready to Install the Program dialog box appears Click Install Now start the installation ...

Page 68: ...installed The slot number should be Not in use 0 Refer to the following table for configuration Slot No Rotary switch position Not in use 0 Slot No 1 1 Slot No 9 9 2 Install the DeviceNet board manufactured by Hilscher to the PCI bus or PCI Express bus of the PC with the EPSON RC 7 0 installed Installation methods of the DeviceNet board manufactured by Hilscher to the PCI bus PCI Express bus and h...

Page 69: ...lave as the setting below Setting item Value Master MACID 0 Slave MACID 1 Baud Rate 500 kbps Slave Input Bytes 20 bytes Slave Output Bytes 20 bytes 5 Start up the PC 6 Select the Start menu SYCON net and execute it 7 Set a Confirm password of SYCON net Click OK Be careful not to forget the Confirm password ...

Page 70: ...ption Fieldbus I O Rev 14 8 SYCON net starts up Click netDevice Device Catalog list on the right side CIFX DN DNM Importing slave EDS files 9 Click Network Import Device Descriptions The Import Device Description dialog box appears ...

Page 71: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 59 10 Select EDS files provided by each device manufacturer Click Open 11 The following message appears Click Yes EDS files are imported ...

Page 72: ...on 12 Click SYCON net application software netDevice Device Catalog list on the right side DeviceNet Master CIFX DN DNM 13 Drag drop CIFX DN DNM on the bold line on the left side of netDevice 14 CIFX_DX_DNM icon indicating DeviceNet board manufactured by Hilscher is connected ...

Page 73: ... Adding a slave icon 15 Click SYCON net application software netDevice Device Catalog list on the right side DeviceNet Slave Slave device In case of DeviceNet slave module 16 Drag drop the selected slave device on the bold line on the left side of netDevice ...

Page 74: ...2 Installation 62 RC700 RC90 Option Fieldbus I O Rev 14 17 DeviceNet Slave is connected and the icon appears ...

Page 75: ...n master side 18 Right click netDevice CIFX_DN_DNM and click Configuration 19 The Configuration dialog box appears Select Settings Device Assignment tab Select the installed CIFX 50E DN checkbox and click Apply 20 Select Settings Driver Firmware Download Click Browse ...

Page 76: ...ption Fieldbus I O Rev 14 21 Display Firmware CIFX folder of Communication Solutions DVD Select cifxdnm nxf Click Open 22 Confirm that Name is DeviceNet Master for CIFX Click Download 23 Click Yes Start the installation of firmware ...

Page 77: ...bus I O Rev 14 65 24 Select Configuration Bus Parameters tab Select MAC ID and Baud Rate on the master side Click Apply 25 Select Configuration MAC ID Tables tab Enter MAC ID on the slave side Click OK 26 Close the Configuration dialog box ...

Page 78: ... appears 29 Select Configuration Connection Poll tab 30 Enter the settings of the slave side and click OK Poll connection configuration Item State Consumption Checked Consumption Size 20 Consumption Connection Path User Defined Consumption Data Production Checked Production Size 20 Production Connection Path User Defined Production Data 31 Close the Configuration dialog box ...

Page 79: ...Option Fieldbus I O Rev 14 67 Downloading to master board 32 Right click netDevice CIFX_DN_DNM icon Select Download By the above step Setting on master side and Setting on slave side are downloaded to the DeviceNet master board ...

Page 80: ...dbus I O Rev 14 Diagnosis 33 Right click netDevice CIFX_DN_DNM icon Select Diagnosis 34 The Diagnosis dialog box appears Select Diagnosis General Diagnosis Confirm that Device status Communication turns to green 35 Close Diagnosis dialog box ...

Page 81: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 69 36 Select File Save 37 The Save As dialog box appears Enter File name and click Save The setting changes are saved ...

Page 82: ...he configuration file csv for RC 38 Right click netDevice CIFX_DN_DNM icon Click Additional Functions Export CSV 39 Save the CSV file to the file Exported CSV file is used in the next EPSON RC 7 0 Configuration Now the settings by SYCON net are complete Close SYCON net ...

Page 83: ...Users Guide 23 Installing Controller Options and enable the Fieldbus Master option 3 The following message dialog box appears Click OK and reboot EPSON RC 7 0 After EPSON RC 7 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 Fieldbus Type DeviceNet...

Page 84: ...le csv for RC Click Open 8 Confirm that the configuration file csv for RC is imported and click OK 9 Confirm that the following items are displayed Total Input Bytes Number of inputs the master controls Bytes Total Output Bytes Number of outputs the master controls Bytes 10 Click Apply ...

Page 85: ...ctor NS MS MS LED Module status display NS LED Network status display The Fieldbus slave board is configured as follows at shipment Board Appearance Configuration CN3 DSW2 DSW1 JMP1 CN3 DSW2 DSW1 JMP1 CN3 1 2 9 10 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 JP1 JP2 JP3 JP4 JP5 1 2 All Open All ON Fixed as above All Open ...

Page 86: ...icated to DeviceNet 2 wires for signal 2 wires for power supply 1 shield wire Communications Power Supply Voltage 24 VDC supplied from a connector Communication Power Supply Current Consumption Maximum 30 mA Mode Slave Interface 1 DeviceNet port Max Input data size 2048 bits 256 bytes Max Output data size 2048 bits 256 bytes When Thin cable is used for trunk line the maximum network length is 100 ...

Page 87: ...able for the configuration MAC address Switch sw3 MSB sw4 sw5 sw6 sw7 sw8 LSB 0 OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF 3 OFF OFF OFF OFF ON ON OFF OFF OFF OFF OFF OFF 62 ON ON ON ON ON OFF 63 at shipment ON ON ON ON ON 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 se...

Page 88: ...ller RC700 Maintenance 6 10 Option Board Robot Controller RC90 Maintenance 6 8 Option Board Confirmation with EPSON RC 7 0 When the DeviceNet slave board is installed to the Controller it is recognized automatically Confirm whether EPSON RC 7 0 has recognized the DeviceNet slave board using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog box ...

Page 89: ...ult setting 6 Click Close 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 4 Click Apply 5 Click Close and ...

Page 90: ... 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 E...

Page 91: ...cation Specifications Item Specification Name DeviceNet slave module Supported Connection I O messaging connection Polling Explicit message connection DeviceNet communication protocol Baud Rates 125 k 250 k 500 k bps Transfer Distance 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 125 k bps 500 ...

Page 92: ...ration device needs commissioning Red Unrecoverable Fault s Flashing Red 1 Hz Recoverable Fault s Alternating Red Green Executing self test Setting Configure Switch The DeviceNet slave module requires no configurations All the DeviceNet communication configurations are set by the development software EPSON RC 7 0 Wiring DeviceNet connector is a 5 pin open connector Use the connector attached to th...

Page 93: ...erence Manipulator manual Setup Operation 17 Fieldbus I O Confirmation with EPSON RC 7 0 When the DeviceNet slave module is installed to the T VT series Manipulator it is recognized automatically Confirm whether EPSON RC 7 0 has recognized the DeviceNet module board using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog box 2 3 2 Select Inputs...

Page 94: ... of DeviceNet slave module if necessary 1 Select Setup System Configuration and display the System Configuration dialog box 2 Select Inputs Outputs Fieldbus Slave General 3 Set the Node address Confirm that the Node address is different from the other devices in the network 4 Set the baud rate Check the master configuration and set the same baud rate 5 Change the settings of Input Bytes and Output...

Page 95: ... is 20 bytes 160 bits and 512 671 is displayed in Outputs 11 Click Close When you change the input output size of DeviceNet slave module 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...

Page 96: ...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 maste...

Page 97: ...ere 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 Specification Impedance 135 to 165 Ω Capacity 30 pf m Loop resistance 110 Ω km Wire diameter 0 64 mm Core cross section 0 34 mm2 It is recommended to use a 9 pin D Sub connector for protecting rating IP 20 For IP 65 67 M12 connect...

Page 98: ... 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 Ω RxD TxD P 3 220 Ω RxD TxD N 8 390 Ω DGND 5 Data Line B Data Line A Some commercially available PROFIBUS 9 pin D Sub connectors have functions of terminating resistor and they can enable disab...

Page 99: ... Slaves 2 10 20 30 18 14 10 6 2 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 c...

Page 100: ...ther 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 Approx 47 5 mm ...

Page 101: ...RJ45 Connector Unused Jumper Pin for Board Address Setting C0 C1 C2 JP1 Status Display LED 2 JP1 ON Specifications Item Specification Part Number PROFIBUS DP master board manufactured by molex Modes Master Baud Rates 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 All DP Devices Maximum Stations 126 32 p...

Page 102: ...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 procedur...

Page 103: ... 0 installed you must install the applicomIO Console application and drivers according to the type of board you are using 1 Insert the applicomIO Console CD ROM to the PC with EPSON RC 7 0 installed 2 The following dialog box appears Select Run setup exe 3 The Summary dialog box appears Select Product Installation 4 The Installation dialog box appears Select applicomIO ...

Page 104: ... not installed following dialog box appears Click Install 6 The applicomIO Console application installer starts up and the Welcome to the InstallShield Wizard for applicomIO dialog box appears Click Next 7 The License Agreement dialog box appears Read the software license agreement and click Next ...

Page 105: ...r Name and Organization 9 The Destination Folder dialog box appears Specify the installation folder for the applicomIO console application The default specifies here C Program Files x86 BradCommunications applicomIO 4 2 If you agree to the default installation folder click Next 10 The Ready to Install the Program dialog box appears Click Install ...

Page 106: ...on starts After the installation completes the InstallShield Wizard Completed dialog box appears Click Finish 12 The message prompting you to reboot your PC appears Select Yes and reboot the PC 13 Refer to the next section Installing a Board and install the PROFIBUS DP master board manufactured by molex ...

Page 107: ...1 OFF OFF OFF 2 Install the PROFIBUS DP master board manufactured by molex to the PCI bus of the PC with EPSON RC 7 0 installed Installation methods of the PROFIBUS DP master board manufactured by molex to the PCI bus and how to open the cover differ depending on the type of PC Refer to the manuals of each PC on how to install the board to the PCI bus 3 Connect the PROFIBUS DP master board manufac...

Page 108: ...the board is correctly inserted 8 When you finish adding the PROFIBUS DP master board manufactured by molex to the applicomIO Console application reboot the PC 8 1 Close the applicomIO Console application When closing the applicomIO Console application the following message box appears Click Yes 8 2 The following dialog box appears Click OK 8 3 Reboot the Windows 9 After the PC is rebooted refer t...

Page 109: ...oard manufactured by molex is connected to the PROFIBUS DP network 2 Start the applicomIO Console application 3 The applicomIOR console dialog box appears Register the device information GSD file that is necessary for the network setup 4 5 6 4 Select Protocol 5 Select the Equipment Library tab 6 Click Add ...

Page 110: ... dialog box appears Register the GSD file that is supplied from the device manufacturer in the Robot system Click Next 8 Following dialog box appears Specify the folder in which the GSD file is stored Select Add all the GSD from the Directory 8 9 10 9 Click Browse 10 Click Next ...

Page 111: ...C700 RC90 Option Fieldbus I O Rev 14 99 11 The following dialog box appears Confirm the retrieved device information 12 Click Next 13 The following dialog box appears Click Finish to complete the GSD file registration ...

Page 112: ...e PROFIBUS DP master Select Protocol and then select Description Properties from the applicomIOR console menu 15 The Channel Properties dialog box appears Select Profibus Master Slave and click OK 16 Select Protocol Properties Configuration from the applicomIOR console menu ...

Page 113: ...te for the PROFIBU DP network the master address Profibus Address of this Station and Highest Station Address in the network When the PROFIBUS DP master setting is completed click OK 18 Select the Network Detection tab 18 19 19 Click the Read Network Configuration 20 The following message box appears Click Yes ...

Page 114: ...te for the PROFIBU DP network the master address Profibus Address of this Station and Highest Station Address in the network Click OK 22 The Network Detection dialog box appears and starts scanning the device information on the Fieldbus 23 The list of detected devices is displayed in the Network Detection panel ...

Page 115: ...0 RC90 Option Fieldbus I O Rev 14 103 24 Select a device you want to register as slave 24 25 25 Click Insert in Configuration 26 The following dialog box appears The device name is displayed in the title of the dialog box ...

Page 116: ...ieldbus master board Make sure that the information matches with that of the slave device 28 Click OK to complete the registration NOTE Connections Parameters that are set for the Fieldbus master board and information of the slave device need to be matched Communication with the slave device is not performed if they do not match Change the information of either Connections Parameters or Fieldbus m...

Page 117: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 105 29 Check the communication status with each slave devices Click Diagnostic The Diagnostic Board dialog box is displayed ...

Page 118: ... Connections Parameters for the Fieldbus master board and information of the slave device may not be matched Connections Parameters for the Fieldbus master board can be checked by the following procedure First select the slave device which is registered to the Fieldbus master board Then click the left mouse button and select Properties ...

Page 119: ...in Flash from the applicomIOR console menu Register the configuration to the Fieldbus master board 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 7 0 If you changed the configuration select File Download in Flash from the applicomIOR console menu and registe...

Page 120: ...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 32 Close the applicomIO console application 33 Refer to the section EPSON RC 7 0 Configuration and continue the step ...

Page 121: ...x 2 Refer to EPSON RC Users Guide 23 Installing Controller Options and enable the Fieldbus Master option 3 The following message dialog box appears Click OK and reboot EPSON RC 7 0 After EPSON RC 7 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 T...

Page 122: ...booting 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 6144 6144 Number of inputs the master controls Bits Outputs 6144 6144 Number of outputs the master controls Bits 12 Select Fieldbus Master General 12 13 13 Confirm that the following are displa...

Page 123: ...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 Inputs Number of inputs per slave Bits Spel Outputs Number of outputs per slave Bits ...

Page 124: ... DP Connector OFFLINE ONLINE ERROR ERROR Error status display OFFLINE Offline status display ONLINE Online status display The Fieldbus slave board is configured as follows at shipment Board Appearance Configuration CN3 DSW2 DSW1 JMP1 CN3 DSW2 DSW1 JMP1 CN3 1 2 9 10 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 JP1 JP2 JP3 JP4 JP5 1 2 All Open All ON Fixed as abov...

Page 125: ...44 bytes Cable 2 wire cable dedicated to PROFIBUS 2 wires for signal Modes Slave Interface 1 PROFIBUS DP port EN 50170 Output Current Capacity Maximum 150 mA Max Input Data Size 1952bits 244bytes Max Output Data Size 1952bits 244bytes DP version DP V0 The sum of input and output data size is restricted as follows For Byte format 372 bytes For Word format 208 words LED Description LED state represe...

Page 126: ...is for units digit address configuration Generally a node address from 0 to 125 is available for the PROFIBUS DP device However this Robot system supports node addresses from 0 to 99 Generally node addresses are recommended to be configured as shown in the table Node address Device Name 0 Service unit such as PG PC 1 Operation panel such as HMI 2 Master station 3 99 125 DP slave station 2 Turn the...

Page 127: ...roller RC700 Maintenance 7 10 Option Board Robot Controller RC90 90 B Maintenance 7 9 Option Board Confirmation with EPSON RC 7 0 When a PROFIBUS DP slave board is installed to the Controller it is recognized automatically Confirm whether EPSON RC 7 0 has recognized the PROFIBUS DP board using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog b...

Page 128: ...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 3 Change the settings of Input Bytes and Output Bytes In this example both of them are changed to 20 Bytes The sum of input and output data sizes is re...

Page 129: ...ation and display the System Configuration dialog box 7 Select Inputs Outputs 8 Confirm that the following items 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 ...

Page 130: ...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 16 Bytes Out Output 20 Bytes 4 Bytes Out 16 Bytes In Input 20 Bytes 4 Bytes In NOTE ...

Page 131: ...low to change the input output format of the slave information registered in the Fieldbus master device by the applicomIO console application Byte format 16 Bytes Out Output 32Bytes 16 Bytes Out 16 Bytes In Input 32Bytes 16 Bytes In Word format 16 Word Out Output 32Bytes 16 Word In Input 32Bytes Electronic Information File GSD file A GSD file is supplied for PROFIBUS DP slave board network configu...

Page 132: ...nectors Appearance Operation mode LED Status LED Specifications Item Specification Name PROFIBUS DP slave module Connection Method Hybrid token passing procedure and master slave communication Baud Rates bps 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 Transfer Distance Baud Rates Cable Length 12 M bps 6 M bps 3 M bps 1 5 M bps 500 k bps 187 5 k bps 93 75 k bps 45 45 k bps 19 ...

Page 133: ...eft the NW_INIT state Flashing Green Initialized diagnostic event s present Extended diagnostic bit is set Red Exception error Anybus state EXCEPTION Setting Configure Switch The PROFIBUS DP slave module requires no configurations All the PROFIBUS DP communication configurations are set by the development software EPSON RC 7 0 Wiring PROFIBUS DP connector is standard 9 pins D sub connector Termina...

Page 134: ...is extremely hazardous and may result in electrical shock and or malfunction of equipment Install the module to the dedicated slot on the T VT series Manipulator Reference Manipulator manual Setup Operation 17 Fieldbus I O Confirmation with EPSON RC 7 0 When a PROFIBUS DP slave module is installed to the T VT series Manipulator it is recognized automatically Confirm whether EPSON RC 7 0 has recogn...

Page 135: ... of Configuration You can change the configuration of PROFIBUS DP slave module if necessary 1 Select Setup System Configuration and display the System Configuration dialog box 2 Select Inputs Outputs Fieldbus Slave General 3 Configure a node address A node address from 0 to 125 is available for the PROFIBUS DP device Generally node addresses are recommended to be configured as shown in the table N...

Page 136: ...rs T VT series Manipulator Controller automatically starts rebooting 7 Select Setup System Configuration and display the System Configuration dialog box 8 Select Inputs Outputs 9 Confirm that the following items 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 dis...

Page 137: ... 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 16 Bytes Out Output 20 Bytes 4 Bytes Out 16 Bytes In Input 20 Bytes 4 Bytes In NOTE ...

Page 138: ...vice Use the window below to change the input output format of the slave information registered in the Fieldbus master device by the applicomIO console application Byte format 16 Bytes Out Output 32Bytes 16 Bytes Out 16 Bytes In Input 32Bytes 16 Bytes In Word format 16 Word Out Output 32Byte 16 Word In Input 32Byte Electronic Information File GSD file A GSD file is supplied for PROFIBUS DP slave m...

Page 139: ...P 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 manufactured by Hilscher in the ...

Page 140: ...er 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 Wiring Wirings should be conforme...

Page 141: ...Sub 9 pin Not in use Status Display LED 2 EtherNetI P Connector 4 pin Terminal Watchdog Port Do not use this port Jumper Pin for Board Address LED 2 Not in use Specifications Item Specification Part Number EtherNet IPMaster Board manufactured by molex Mode Master Baud Rates 10 100 Mbps Interface EtherNet IP 1 port Maximum Node 127 Connection Type Cyclic Change of State Explicit message connection ...

Page 142: ...r 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 Cy...

Page 143: ... 0 installed you must install the applicomIO Console application and drivers according to the type of board you are using 1 Insert the applicomIO Console CD ROM to the PC with EPSON RC 7 0 installed 2 The dialog box shown below appears Select Run setup exe 3 The Summary dialog box appears Select Product Installation 4 The Installation dialog box appears Select applicomIO ...

Page 144: ... is not installed following dialog box appears Click Install 6 The applicomIO Console application installer runs and the Welcome to the InstallShield Wizard for applicomIO dialog box appears Click Next 7 The License Agreement dialog box appears Read the software license agreement and click Next ...

Page 145: ...ser Name and Organization 9 The Destination Folder dialog box appears Specify the installation folder for the applicomIO Console application The default specifies here C Program Files x86 BradCommunications applicomIO 4 2 If you agree to the default installation folder click Next 10 The Ready to Install the Program dialog box appears Click Install ...

Page 146: ...ion starts After the installation completes the InstallShield Wizard Completed dialog box appears Click Finish 12 The message prompting you to reboot your PC appears Select Yes and reboot the PC 13 Refer to the next section Installing a Board to install the EtherNet IP master board manufactured by molex ...

Page 147: ... 0 Short 0 Short 2 Install the EtherNet IP master board manufactured by molex to the PCI bus of the PC with EPSON RC 7 0 installed Installation methods of the EtherNet IP master board manufactured by molex to the PCI bus and how to open the cover differ depending on the type of PC Refer to the manuals of each PC on how to install the board to the PCI bus 3 Connect the EtherNet IP master board manu...

Page 148: ...ox 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 8 The Channel Properties dialog box appears Select Protocol EtherNet IP and click OK ...

Page 149: ...TP obtain from the BOOTP server If you select Static Fixed IP address enter the values in each item 10 When you complete adding the EtherNet IP master board manufactured by molex to the applicomIO Console application reboot the PC 10 1 Shutdown the applicomIO Console application When the applicomIO Console application shuts down the following dialog box appears Click Yes 10 2 Then the following di...

Page 150: ...r board manufactured by molex is connected to the EtherNet IP network 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 5 6 4 Select Protocol 5 Select the Equipment Library tab 6 Click Add ...

Page 151: ...ialog box appears Register the EDS file that is supplied from the device manufacturer in the Robot system 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 10 9 9 Click Browse 10 Click Next ...

Page 152: ...RC700 RC90 Option Fieldbus I O Rev 14 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 ...

Page 153: ...ect the Network Detection tab 14 15 15 Click Read Network Configuration 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 ...

Page 154: ...in the Network detection panel 20 Select a device you want to scan 20 21 21 Click Insert in Configuration 22 The following dialog box appears Uncheck the Link Parameters checkbox 23 Assign a number in the range from 1 to 127 in Number This number is Device ID It is required when creating a SPEL program ...

Page 155: ...he slave device 24 1 Double click the items to change if necessary After changing items click OK button The figure below is an example of edit screen of Output Size 25 Click OK to complete the registration NOTE Connections Parameters that are set for the Fieldbus master board and information of the slave device need to be matched Communication with the slave device is not performed if they do not ...

Page 156: ...2 Installation 144 RC700 RC90 Option Fieldbus I O Rev 14 26 Check the communication status with each slave devices Click Diagnostic 27 The Diagnostic Board dialog box is displayed ...

Page 157: ...ctions Parameters that are set for the Fieldbus master board and information of the slave device may not be matched Connections Parameters for the Fieldbus master board can be checked by the following procedure First select the slave device which is registered to the Fieldbus master board Then click the left mouse button and select Properties ...

Page 158: ...ion 146 RC700 RC90 Option Fieldbus I O Rev 14 The property information of selected slave device is displayed Select General on the Connections tab Connections Parameters appear to communicate with the slave device ...

Page 159: ...nction correctly Also you cannot control it from EPSON RC 7 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 29 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 30 Close the appl...

Page 160: ...us Master option 3 The following dialog box appears Click OK and reboot EPSON RC 7 0 After EPSON RC 7 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 7 Click Apply Confir...

Page 161: ...11 10 Select Inputs Outputs 11 Confirm that the following items are displayed in Fieldbus Master Installed Yes Inputs 6144 6144 Number of inputs the master controls Bits Outputs 6144 6144 Number of outputs the master controls Bits 12 Select Fieldbus Master General 12 13 13 Confirm that the following items are displayed Total Input Bytes Number of inputs the master controls Bytes Total Output Bytes...

Page 162: ...slave Bits Spel Outputs Number of outputs per slave Bits Encapsulation Inactivity Timeout Fieldbus EtherNet IP master board manufactured by molex is not supported Encapsulation Inactivity Timeout which is added by EtherNet IP standard update If connecting the EtherNet IP slave device that supports Encapsulation Inactivity Timeout connection will be disconnected due to inconsistency with standard u...

Page 163: ... 1 Connect the fieldbus master and the slave 2 Select Network Online Action on the menu of the applicomIO Console application 3 The Outline Action dialog box appears Select the Explicit Message tab Set as follows Address IP Address IP address of the fieldbus EtherNet IP slave Class 0x000000F5 Instance 1 Attribute 13 Service Name Set_Attribute_Single Data 0000 4 Click Send to Device 5 Confirm that ...

Page 164: ...ation 152 RC700 RC90 Option Fieldbus I O Rev 14 2 3 4 Installing EtherNet IP Board manufactured by Hilscher Appearance Rotary Switch Status display LED 3 Ethernet Interface Channel 0 Ethernet Interface Channel 1 ...

Page 165: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 153 PCI CIFX 50 RE PCI Express CIFX 50E RE ...

Page 166: ...t and output data Maximum number of unscheduled data 1400 bytes per telegram UCMM Class 3 Supported Explicit Messages Client and Server Services Get_Attribute_Single All Set_Attribute_Single All Quick connect Supported Predefined standard objects Identity Object Message Route Object Assembly Object Connection Manager Ethernet Link Object TCP IP Object DLR Object QoS Object Maximal number of user s...

Page 167: ...ected a major unrecoverable fault OFF OFF No power The device is powered OFF NS Network status General name COM 1 Duo LED red green green ON Connected An IP address is configured at least one CIP connection any transport class is established Exclusive Owner connection has not timed out green Flashing 1 Hz No connections An IP address is configured but no CIP connections are established Exclusive O...

Page 168: ...s Ethernet frames OFF OFF The device does not send receive Ethernet frame LED state Description Blinking 1 Hz The indicator turns ON and OFF with a frequency of 1 Hz Turn ON for 500 ms followed turn OFF for 500 ms Flickering load dependent The indicator turns ON and OFF with a frequency of approx 10Hz to indicate high Ethernet activity Turn ON for approx 50 ms followed turn OFF for 50 ms The indic...

Page 169: ...e 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 EtherNet IP 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 Da...

Page 170: ...d you must install the Hilscher SYCON net application and drivers according to the type of the board you are using 1 Insert Communication Solutions DVD into the PC with EPSON RC 7 0 installed 2 Execute Communication Solutions exe When Windows Security Alert appears do not click Cancel and proceed to the next step 3 The Communication Solutions window appears Select Install cifX netJACK Device Drive...

Page 171: ...ount Control dialog box appears Click Yes 5 The Device Driver Setup dialog box appears Select the I accept the terms in the License Agreement check box Click Install 6 The Windows Security dialog box appears Click Install 7 When the dialog box switched click Install again ...

Page 172: ...e Driver x64 1 5 0 0 Setup Wizard dialog box appears Click Finish Installing master application software 9 The Communication Solutions dialog box appears Select Install SYCON net Configuration Software 10 When Windows Security Alert appears do not click Cancel and proceed to the next step ...

Page 173: ...tion RC700 RC90 Option Fieldbus I O Rev 14 161 11 The User Account Control dialog box appears Click Yes 12 The Choose Setup Language dialog box appears Select Englisch USA and click OK Now start the installation ...

Page 174: ... Wizard Welcome dialog box appears Click Next 14 InstallShield Wizard Important Information dialog box appears Select I read the information Click Next 15 The InstallShield Wizard License Agreement dialog box appears Select I accept the terms in the license agreement Click Next ...

Page 175: ...O Rev 14 163 16 The InstallShield Wizard Customer Information dialog box appears Enter the User Name and Organization Click Next 17 The InstallShield Wizard Ready to Install the Program dialog box appears Click Install Now start the installation ...

Page 176: ...stalled The slot number should be Not in use 0 Refer to the following table for configuration Slot No Rotary switch position Not in use 0 Slot No 1 1 Slot No 9 9 2 Install the EtherNet IP board manufactured by Hilscher to the PCI bus or PCI Express bus of the PC with the EPSON RC 7 0 installed Installation methods of the EtherNet IP board manufactured by Hilscher to the PCI bus PCI Express bus and...

Page 177: ...t the master and the slave as the setting below Setting item Value Address configuration Fixed address Master IP address 192 168 0 2 Slave IP address 192 168 0 3 Subnet mask 255 255 255 0 Input Bytes 32 Output Bytes 32 5 Start up the PC 6 Select the Start menu SYCON net and execute it ...

Page 178: ... RC700 RC90 Option Fieldbus I O Rev 14 7 Set a Confirm password of SYCON net Click OK Be careful not to forget the Confirm password 8 SYCON net starts up Click netDevice Device Catalog list on the right side CIFX RE EIM ...

Page 179: ... RC90 Option Fieldbus I O Rev 14 167 Importing slave EDS files 9 Click Network Import Device Descriptions The Import Device Description dialog box appears 10 Select EDS files provided by each device manufacturer Click Open ...

Page 180: ...llowing message appears Click Yes EDS files are imported Adding a master icon 12 Click SYCON net application software netDevice Device Catalog list on the right side EtherNet IP Master CIFX RE EIM 13 Drag drop CIFX RE EIM on the bold line on the left side of netDevice ...

Page 181: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 169 14 The CIFX_RE_EIM icon indicating EtherNet IP board manufactured by Hilscher is connected ...

Page 182: ...dding a slave icon 15 Click SYCON net application software netDevice Device Catalog list on the right side EtherNet IP Slave Slave device In case of EtherNet IP slave module 16 Drag drop the selected slave device on the bold line on the left side of netDevice ...

Page 183: ...2 Installation RC700 RC90 Option Fieldbus I O Rev 14 171 17 EtherNet IP Slave is connected and the icon appears ...

Page 184: ... Rev 14 Setting on master side 18 Right click netDevice CIFX_RE_EIM and click Configuration 19 The Configuration dialog box appears Select Settings Driver tab Select the CIFX Device Driver checkbox and click Apply 20 Select Settings Device Assignment ...

Page 185: ...tion Fieldbus I O Rev 14 173 21 Select the CIFX 50E RE checkbox Click Apply 22 Select Settings Driver Firmware Download tab Click Browse 23 Display Firmware CIFX folder of Communication Solutions DVD Select cifxeim nxf Click Open ...

Page 186: ...onfirm that Name is EtherNet IP Scanner for CIFX Click Download 25 Click Yes Start the installation of firmware 26 Select Settings Licensing tab 27 Confirm that the license of EtherNet IP Scanner is set to Existing YES 28 Select Configuration Network Settings tab ...

Page 187: ...e IP Settings and click Apply Ex IP Address 192 168 0 2 Fixed Addresses 30 Select Configuration Scanlist Select the Activate check box of the slave device 31 Configure IP Settings and click OK Ex IP Address 192 168 0 3 Fixed Address 32 Close the Configuration dialog box ...

Page 188: ...ng on slave side 33 Right click netDevice EPSON_TSERIES_EtherNet_IP icon Select Configuration 34 The Configuration dialog box appears 35 Select Configuration Connection 36 Select Connection parameters tab Connection1 O T Size Enter 32 to Parameter and click Apply ...

Page 189: ...stallation RC700 RC90 Option Fieldbus I O Rev 14 177 37 Select Configuration Connection 38 Select Connection parameters tab T O Size Enter 32 to Parameter and click OK 39 Close the Configuration dialog box ...

Page 190: ...on Address Table 42 Check the settings of Address Table and click OK Address Table Inputs Length 0x0020 Address Table Outputs Length 0x0020 43 Close the Configuration dialog box 44 Right click netDevice CIFX_RE_EIM icon and click Download By the above step Setting on master side and Setting on slave side are downloaded to the EtherNet IP board The settings are applied to EtherNet IP board manufact...

Page 191: ...ice CIFX_RE_EIM icon Select Diagnosis 46 The Diagnosis dialog box appears Select Diagnosis Master Diagnosis Right after this click Diagnosis General Diagnosis 47 State is normal when the indicators of Communication Run and Bus ON are turned to green and the indicator of Ready is turned ON ...

Page 192: ...ation 180 RC700 RC90 Option Fieldbus I O Rev 14 48 Select Tools IO Monitor and perform the input output test Click OK 49 Close the Diagnosis dialog box 50 Click File Save and save the setting changes to the file ...

Page 193: ...he Configuration File csv for RC 51 Right click netDevice CIFX_RE_EIM icon Click Additional Functions Export CSV 52 Save the CSV file to the file Exported CSV file is used in the next EPSON RC 7 0 Configuration Now the settings by SYCON net are complete Close SYCON net ...

Page 194: ...ers Guide 23 Installing Controller Options and enable the Fieldbus Master option 3 The following message dialog appears Click OK and reboot EPSON RC 7 0 After EPSON RC 7 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 Fieldbus Type EtherNet IP Boa...

Page 195: ...guration file csv for RC is imported and click OK 9 Confirm that the following items are displayed Total Input Bytes Number of inputs the master controls Bytes Total Output Bytes Number of outputs the master controls Bytes 10 Click Apply 11 Click Close The following dialog box appears The Robot Controller automatically starts rebooting ...

Page 196: ...ieldbus Master displays the following items Installed Yes Inputs 6144 6144 Number of inputs the master controls Bits Outputs 6144 6144 Number of outputs the master controls Bits 15 Select Fieldbus Master General 15 16 16 Confirm that the following items are displayed Total Input Bytes Number of inputs the master controls Bytes Total Output Bytes Number of outputs the master controls Bytes ...

Page 197: ...18 18 18 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 ...

Page 198: ...acket reception or transmission status display NS LED Network status display MS LED Module status display The Fieldbus slave board is configured as follows at shipment Board Appearance Configuration CN3 DSW2 DSW1 JMP1 CN3 DSW2 DSW1 JMP1 CN3 1 2 9 10 SW4 SW3 SW2 SW1 DSW2 ON 1 2 3 4 SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 1 2 3 4 5 6 7 8 ON DSW1 IRQ15 IRQ11 IRQ10 IRQ7 IRQ5 JMP1 JP5 JP4 JP3 JP2 JP1 1 2 All O...

Page 199: ... bits 256 bytes Assembly Instance Input 100 64h size Depending on I O settings Output 150 96h size Depending on I O settings Configuration 1 size 0 LED Description LED state MS NS OFF Power supply OFF Power supply OFF or IP address not configured GRN ON Master connected executing Online operating Blinking Master connected idling Waiting master connection RED ON Non recoverable error Wrong IP addre...

Page 200: ...ard CAUTION 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 Installing a Board WARNING Make sure that the power is turned OFF before i...

Page 201: ...using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog box 2 3 2 Select Inputs Outputs 3 Confirm that the following items are displayed in Fieldbus Slave Installed Yes Inputs 512 767 default setting Outputs 512 767 default setting 4 Select Fieldbus Slave General 4 5 5 Confirm that the following items are displayed Fieldbus Type EtherNet IP Inp...

Page 202: ...istrator 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 BOOT...

Page 203: ...essary 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 The Robot Controller automatically starts rebooting ...

Page 204: ...te is 20 bytes 160 bits and 512 671 is displayed in Outputs 9 Click Close 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 applicomIO Console applicati...

Page 205: ...ff 1 Use the connectors attached to the module 2 Insert the connectors all the way seated 3 Fix the cables at proper positions in order not to put a load on the connectors Appearance NS LED MS LED port 1 port 2 LINK Activity LED Specifications Item Specification Name EtherNet IP slave module Supported Connection I O messaging connection Cyclic Explicit messaging connection EtherNet IP communicatio...

Page 206: ... state FATAL error etc Red flashing Recoverable fault s Module is configured but stored parameters differ from currently used parameters LINK Activity LED LED State Description Off No link no activity Green Link 100 Mbit s established Green flickering Activity 100 Mbit s Yellow Link 10 Mbit s established Yellow flickering Activity 10 Mbit s Setting Configure Switch WARNING Make sure that the power...

Page 207: ...ng any cables Working with the power ON is extremely hazardous and may result in electric shock and or malfunction of equipment Install the module to the dedicated slot on the T VT series Manipulator Reference Manipulator manual Setup Operation 17 Fieldbus I O Confirmation and Configuration of EPSON RC 7 0 When the EtherNet IP slave module is installed to the T VT series Manipulator it is recogniz...

Page 208: ...nnect 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 DHC...

Page 209: ... 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 T VT series Manipulator Controller automatically starts rebooting ...

Page 210: ...utput 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 EtherNet IP slave module 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 outp...

Page 211: ...ction will be disconnected You need to change the Encapsulation Inactivity Timeout set value of the slave on the EtherNet IP master device side For more details refer to 2 3 3 Installing EtherNet IP Master Board Manufactured by molex How to Change the Set Value on the Master Side Electronic Information File EDS file An EDS file is supplied for EtherNet IP slave module network configuration The fil...

Page 212: ...s attached to the board 2 Insert the connectors all the way seated 3 Fix the cables at proper positions in order not to put a load on the connectors Appearance Status Display LED Baud Rate Configure Switch Station Configure Switch 10 Station Configure Switch 1 CC Link Connector RD ERRL SD RUN SD LED Data transmission status display RUN LED Offline status display RD LED Data reception status displa...

Page 213: ...power supply OFF No data transmission Device power supply OFF ON CRC error station Address error Baud rate configuration error Normal operation Data reception Data transmission Blinking Setting Configure Switch 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 i...

Page 214: ...ink master module and the CC Link slave board as follows DA DB DG SLD FG Terminating Resistor Master Station DA DB DG SLD FG DA DB DG SLD FG CC Link Module Twisted pair Cable with Shield Robot System CC Link Board Terminating Resistor Twisted pair Cable with Shield 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 n...

Page 215: ... Controller RC700 Maintenance 7 10 Option Board Robot Controller RC90 90 B Maintenance 7 9 Option Board Confirmation of EPSON RC 7 0 When the CC Link slave board is installed to the Controller it is recognized automatically Confirm whether EPSON RC 7 0 has recognized the CC Link board using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog box ...

Page 216: ...ze 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 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 The Robot Controlle...

Page 217: ...Select Inputs Outputs 8 Confirm that the following items 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 ...

Page 218: ...tput RYn0 to RY n 5 F RY00 to RY5F When CC Link board station is 4 Remote Input RXn0 to RX n 5 F RX60 to RXAF Remote Output RYn0 to RY n 5 F RY60 to RYAF Remote Input List 3 stations occupied Default configuration 1 Signal direction Remote device station CC Link board Master station PLC Bits indicated as NA are left for user Use these free for SPEL program Address Signal Name Controller Bit No RXn...

Page 219: ...n 5 4 NA 596 RX n 5 5 NA 597 RX n 5 6 NA 598 RX n 5 7 NA 599 RX n 5 8 NA 600 RX n 5 9 NA 601 RX n 5 A NA 602 RX n 5 B Remote Ready 2 603 RX n 5 C NA 604 RX n 5 D NA 605 RX n 5 E NA 606 RX n 5 F NA 607 1 Remote control inputs and outputs are not allocated to fieldbus slave I O by default To allot remote control input and output to fieldbus slave I O refer to 3 5 Setting Remote Control Input and Out...

Page 220: ...519 RYn8 SetMotorsOn 1 520 RYn9 SetMotorsOff 1 521 RYnA Home 1 522 RYnB Shutdown 1 523 RYnC NA 524 RYnD NA 525 RYnE NA 526 RYnF NA 527 RY n 1 0 NA 528 RY n 4 F NA 591 RY n 5 0 NA 592 RY n 5 1 NA 593 RY n 5 2 NA 594 RY n 5 3 NA 595 RY n 5 4 NA 596 RY n 5 5 NA 597 RY n 5 6 NA 598 RY n 5 7 NA 599 RY n 5 8 NA 600 RY n 5 9 NA 601 RY n 5 A NA 602 RY n 5 B NA 603 RY n 5 C NA 604 RY n 5 D NA 605 RY n 5 E ...

Page 221: ...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 Signal Name Controller Word No Controller Bit No RWrm NA 38 608 to 623 RWrm 9 NA 47 752 to 767...

Page 222: ... bits Remote register is in numeric data Electronic Information File CSP File A CSP file is supplied for the CC Link slave board network configuration The file is located in the following folder in where EPSON RC 7 0 is installed EpsonRC70 Fieldbus CCLink According to the input output size the CSP file you use differs See the table below and select the CSP file For Robot Controller RC700 Input Out...

Page 223: ...he module 2 Insert the connectors all the way seated 3 Fix the cables at proper positions in order not to put a load on the connectors Appearance Run LED CC Link Connector Error LED Specifications Items Specification Name CC Link Slave Module Connection Method Broadcast polling Baud Rates bps 156 k 625 k 2 5 M 5 M 10 M bps Transfer Distance Baud Rates Cable Length 10 M bps 5 M bps 2 5 M bps 625 k ...

Page 224: ...erminal name for each pin Terminal No Terminal Name 1 DA 2 DB 3 DG 4 SLD 5 FG Connect the CC Link master module and the CC Link slave module as follows DA DB DG SLD FG Terminating Resistor Master Station DA DB DG SLD FG DA DB DG SLD FG CC Link Module Twisted pair Cable with Shield Robot System CC Link Module Terminating Resistor Twisted pair Cable with Shield Prepare the cable for CC Link Ver 1 10...

Page 225: ...of EPSON RC 7 0 When the CC Link slave module is installed to the T VT series Manipulator it is recognized automatically Confirm whether EPSON RC 7 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 Confirm that the following items are displayed in Fieldbus Slave Installe...

Page 226: ...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 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 T VT series Manipulator Controller automatically starts rebooting ...

Page 227: ...ers 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...

Page 228: ...525 RXnE TeachMode 1 526 RXnF ErrorCode1 1 527 RX n 1 0 ErrorCode2 1 528 RX n 1 1 ErrorCode4 1 529 RX n 1 2 ErrorCode8 1 530 RX n 1 3 ErrorCode16 1 531 RX n 1 4 ErrorCode32 1 532 RX n 1 5 ErrorCode64 1 533 RX n 1 6 ErrorCode128 1 534 RX n 1 7 ErrorCode256 1 535 RX n 1 8 ErrorCode512 1 536 RX n 1 9 ErrorCode1024 1 537 RX n 1 A ErrorCode2048 1 538 RX n 1 B ErrorCode4096 1 539 RX n 1 C ErrorCode8192 ...

Page 229: ... by default To allot remote control input and output to fieldbus slave I O refer to 3 5 Setting Remote Control Input and Output later in this manual 2 When initialization of the CC Link module is completed at the Robot system turn on Remote Ready flag RX n 5 B turns ON I O assignment of Remote Ready cannot be changed or disabled NA ...

Page 230: ... 519 RYn8 SetMotorsOn 1 520 RYn9 SetMotorsOff 1 521 RYnA Home 1 522 RYnB Shutdown 1 523 RYnC NA 524 RYnD NA 525 RYnE NA 526 RYnF NA 527 RY n 1 0 NA 528 RY n 4 F NA 591 RY n 5 0 NA 592 RY n 5 1 NA 593 RY n 5 2 NA 594 RY n 5 3 NA 595 RY n 5 4 NA 596 RY n 5 5 NA 597 RY n 5 6 NA 598 RY n 5 7 NA 599 RY n 5 8 NA 600 RY n 5 9 NA 601 RY n 5 A NA 602 RY n 5 B NA 603 RY n 5 C NA 604 RY n 5 D NA 605 RY n 5 E...

Page 231: ...te 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 module Master station PLC Bits indicated as NA are left for user Use these free for SPEL program Address Signal Name Robot System Word No Robot System Bit No RWrm NA 38 608 to 623 RWrm 9 NA 47 752 to 76...

Page 232: ...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 CSP File CSP File CSP file CSP file are supplied for the CC Link slave board network configuration The file is located in the following folder in where EPSON RC 7 0 is installed EpsonRC70 Fieldbus CCLink CSPfile According to the input output size the CSP f...

Page 233: ...f equipment 2 5 1 Installing PROFINET Slave Board Appearance RJ45 Connector Status Display LED MS CS LNK ACT LNK ACT LED Link status Communication packet reception or transmission status display MS LED Module status display CS LED IO Controller connection status display The Fieldbus slave board is configured as follows at shipment Board Appearance Configuration CN3 DSW2 DSW1 JMP1 CN3 DSW2 DSW1 JMP...

Page 234: ... bytes LED Description LED state represents the states of the fieldbus board LED state MS CS LNK ACT OFF Power OFF or Device is being initialized Offline No link or Power OFF GRN ON Normal operation Offline IO Controller is in RUN Linking Blinking Receiving transmitting communication packet Blinking once Evaluating Offline IO Controller is in STOP RED Blinking Blinking once Structure Error Too man...

Page 235: ...ant 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 Installing a Board 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 e...

Page 236: ...g procedure 1 Select Setup System Configuration and display the System Configuration dialog box 2 3 2 Select Inputs Outputs 3 Confirm that following items are displayed in Fieldbus Slave Installed Yes Inputs 512 767 default setting Outputs 512 767 default setting 4 Click Fieldbus Slave General 4 5 5 Confirm that following items are displayed Fieldbus Type PROFINET IO Input Byte 32 default setting ...

Page 237: ...e 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 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...

Page 238: ...ion to the PROFINET IO Controller Master configure as below The Robot Controller includes 16 pseudo I O slots In these slots add 1 to 32 bytes input modules output modules Make sure to add the output modules first and then add the input modules Example Input 40 bytes Output 48bytes set in the RC window Slot 1 32 bytes output module Slot 2 16 bytes output module Set 48 bytes in total for the Output...

Page 239: ...necter from coming off 4 Use the connectors attached to the module 5 Insert the connectors all the way seated 6 Fix the cables at proper positions in order not to put a load on the connectors Appearance NS LED MS LED port 1 port 2 LINK Activity LED Specifications Item Specification Name PROFINET Slave Module Connection Method RT Real Time Protocol PROFINET IO Device type IO device Baud Rates bps 1...

Page 240: ... set Red 2 flashes IP address error IP address not set Red 3 flashes Configuration error Expected Identification differs from Real Identification MS Module Status LED LED State Description Comments OFF Not Initialized No power OR Module in SETUP or NW_INIT state Green Normal Operation Module has shifted from the NW_INIT state Green 1 flash Diagnostic Event s Diagnostic event s present Red Exceptio...

Page 241: ...ial 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 Installing Module WARNING Make sure that the power is turned OFF before installing removing any modules or connecting disconnecting any cables Working with the power ON is extremely hazardous and may result in electrical ...

Page 242: ...e following procedure 1 Select Setup System Configuration and display the System Configuration dialog box 2 Select Inputs Outputs 2 3 3 Confirm that following items are displayed in Fieldbus Slave Installed Yes Inputs 512 767 default setting Outputs 512 767 default setting 4 Click Fieldbus Slave 4 5 5 5 Confirm that following items are displayed Fieldbus Type PROFINET IO Input Byte 32 default sett...

Page 243: ...lave 3 Change the settings of Input Byte and Output Byte 4 Change the setting of DAP mode if necessary 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 fo...

Page 244: ...ion to the PROFINET IO Controller Master configure as below The Robot Controller includes 16 pseudo I O slots In these slots add 1 to 32 bytes input modules output modules Make sure to add the output modules first and then add the input modules Example Input 40 bytes Output 48bytes set in the RC window Slot 1 32 bytes output module Slot 2 16 bytes output module Set 48 bytes in total for the Output...

Page 245: ...ipment Board Appearance Configuration CN3 DSW2 DSW1 JMP1 CN3 DSW2 DSW1 JMP1 CN3 1 2 9 10 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 IRQ5 IRQ7 IRQ10 IRQ11 IRQ15 JMP1 JP1 JP2 JP3 JP4 JP5 1 2 All Open All ON Fixed as above All Open Specifications Item Specification Name EtherCAT board Protocol EtherCAT Transmission Type 100BASE TX Baud Rate 100 M bps full duplex Maximum Segment Length 100m Maxim...

Page 246: ...dog error LED s blinking patterns are as follows Flickering Repeats lighting on and off every 50 ms Blinking Repeats lighting on and off every 200 ms Single flash Repeats 200 ms of lighting on and 1000 ms c of lighting off Double flash Repeats a cycle of 200 ms of lighting on 200 ms of lighting off 200 ms of lighting on and 1000 ms of lighting off Setting Configure Switch Configuration of an Ether...

Page 247: ...ntroller RC700 Maintenance 7 10 Option Board Robot Controller RC90 90 B Maintenance 7 9 Option Board Confirmation with EPSON RC 7 0 When an EtherCAT slave board is installed to the Controller it is recognized automatically Confirm whether EPSON RC 7 0 has recognized the EtherCAT board using the following procedure 1 Select Setup System Configuration and display the System Configuration dialog box ...

Page 248: ... 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 Cautions when connecting OMRON PLC and this option The input output size has limitations Select any of 32 bytes 64 bytes 128 bytes or 256 bytes for bot...

Page 249: ...nd display the System Configuration dialog box 7 Select Inputs Outputs 8 Confirm that the following items 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 ...

Page 250: ...erCAT master SDO Service Data Object communication is only available in this state Safe operational Set by the EtherCAT master PDO Process Data Object transmission along with SDO Service Data Object communication is available in this state Operational Set by the EtherCAT master All communications are available in this state Control of I O data with the EtherCAT master is possible Electronic Inform...

Page 251: ...2byte When 64 bytes is set for Input Bytes select RxPDO USINT64byte or RxPDO REAL64byte When 128 bytes is set for Input Bytes select RxPDO USINT128byte or RxPDO REAL128byte When 256 bytes is set for Input Bytes select two of RxPDO USINT128byte 256byte When 32 bytes is set for Output Bytes select TxPDO USINT32byte or TxPDO REAL32byte When 64 bytes is set for Output Bytes select TxPDO USINT64byte or...

Page 252: ... the module 2 Insert the connectors all the way seated 3 Fix the cables at proper positions in order not to put a load on the connectors Appearance RUN LED ERR LED IN port OUT port Link Activity LED Specifications Item Specification Name EtherCAT module Protocol EtherCAT Transmission Type 100BASE TX Baud Rate 100 M bps full duplex Maximum Segment Length 100m Maximum Number of Nodes 65535 Cable 100...

Page 253: ...ication Description OFF No error No error or no power Red blinking Invalid configuration State change received from master is not possible due to invalid register or object settings Red single flash Unsolicited state change Slave device application has changed the EtherCAT state autonomously Red double flash Application watchdog timeout Sync manager watchdog timeout Red Application Controller fail...

Page 254: ...the power is turned OFF before installing removing any modules or connecting disconnecting any cables Working with the power ON is extremely hazardous and may result in electrical shock and or malfunction of equipment Install the module to the dedicated slot on the T VT series Manipulator Reference Manipulator manual Setup Operation 17 Fieldbus I O Confirmation with EPSON RC 7 0 When an EtherCAT s...

Page 255: ...ng Output Bytes 32 default setting 6 Click Close Editing of Input Output Size You can change the input output size of the EtherCAT slave module 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 ...

Page 256: ...llowing dialog box appears T VT series Manipulator Controller automatically starts rebooting 6 Select Setup System Configuration and display the System Configuration dialog box 7 Select Inputs Outputs 8 Confirm that the following items 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...

Page 257: ... by the EtherCAT master SDO Service Data Object communication is only available in this state Safe operational Set by the EtherCAT master PDO Process Data Object transmission along with SDO Service Data Object communication is available in this state Operational Set by the EtherCAT master All communications are available in this state Control of I O data with the EtherCAT master is possible Electr...

Page 258: ...s is set for Input Bytes select RxPDO USINT64byte or RxPDO REAL64byte When 128 bytes is set for Input Bytes select RxPDO USINT128byte or RxPDO REAL128byte When 256 bytes is set for Input Bytes select two of RxPDO USINT128byte 256byte When 32 bytes is set for Output Bytes select TxPDO USINT32byte or TxPDO REAL32byte When 64 bytes is set for Output Bytes select TxPDO USINT64byte or TxPDO REAL64byte ...

Page 259: ...taneously sets 16 output bits Sw Returns the status of one input bit 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...

Page 260: ...ibute 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...

Page 261: ...n using Assembly Object Class Class ID 4 Function Class ID Instance Service Code Input acquisition 4 04h 100 64h 14 0Eh Output configuration 4 04h 150 96h 16 10h Output acquisition 4 04h 150 96h 14 0Eh When using I O Data Mapping Object Class Class ID 160 161 Function Class ID Instance Service Code Input acquisition 160 A0h 01 01h 14 0Eh Output configuration 161 A1h 01 01h 16 10h Output acquisitio...

Page 262: ...m 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 contr...

Page 263: ...ed Stop 6148 Pause 6149 Continue 6150 Reset 6151 Shutdown 6155 SelRobot1 Not used SelRobot2 Not used SelRobot4 Not used SelRobot8 Not used SelRobot16 Not used SetMotorsOn 6152 SetMotorsOff 6153 SetPowerHigh Not used SetPowerLow Not used ForcePowerLow Not used Home 6154 MCal Not used Recover Not used ExtCmdSet Not used ExtRespGet Not used ExtCmdReset Not used ExtCmd_0 15 Not used ExtCmd_16 31 Not u...

Page 264: ...Not used MCalReqd Not used RecoverReqd Not used RecoverInCycle Not used WaitingRC Not used CmdRunning 6173 CmdError 6174 CurrProg1 6154 CurrProg2 6155 CurrProg4 6156 CurrProg8 Not used CurrProg16 Not used CurrProg32 Not used AutoMode 6157 TeachMode 6158 TestMode Not used EnableOn Not used ErrorCode1 6159 ErrorCode2 6160 ErrorCode4 6161 ErrorCode8 6162 ErrorCode16 6163 ErrorCode32 6164 ErrorCode64 ...

Page 265: ...ed InsidePlane2 Not used InsidePlane3 Not used InsidePlane4 Not used InsidePlane5 Not used InsidePlane6 Not used InsidePlane7 Not used InsidePlane8 Not used InsidePlane9 Not used InsidePlane10 Not used InsidePlane11 Not used InsidePlane12 Not used InsidePlane13 Not used InsidePlane14 Not used InsidePlane15 Not used ExtCmdGet Not used ExtRespSet Not used ExtCmdResult Not used ExtError Not used ExtR...

Page 266: ...sed Stop 516 Pause 517 Continue 518 Reset 519 Shutdown 523 SelRobot1 Not used SelRobot2 Not used SelRobot4 Not used SelRobot8 Not used SelRobot16 Not used SetMotorsOn 520 SetMotorsOff 521 SetPowerHigh Not used SetPowerLow Not used ForcePowerLow Not used Home 522 MCal Not used Recover Not used ExtCmdSet Not used ExtRespGet Not used ExtCmdReset Not used ExtCmd_0 15 Not used ExtCmd_16 31 Not used Ext...

Page 267: ...igh Not used MCalReqd Not used RecoverReqd Not used RecoverInCycle Not used WaitingRC Not used CmdRunning 541 CmdError 542 CurrProg1 522 CurrProg2 523 CurrProg4 524 CurrProg8 Not used CurrProg16 Not used CurrProg32 Not used AutoMode 525 TeachMode 526 EnableOn Not used ErrorCode1 527 ErrorCode2 528 ErrorCode4 529 ErrorCode8 530 ErrorCode16 531 ErrorCode32 532 ErrorCode64 533 ErrorCode128 534 ErrorC...

Page 268: ...lane2 Not used InsidePlane3 Not used InsidePlane4 Not used InsidePlane5 Not used InsidePlane6 Not used InsidePlane7 Not used InsidePlane8 Not used InsidePlane9 Not used InsidePlane10 Not used InsidePlane11 Not used InsidePlane12 Not used InsidePlane13 Not used InsidePlane14 Not used InsidePlane15 Not used ExtCmdGet Not used ExtRespSet Not used ExtCmdResult Not used ExtError Not used ExtResp_0 15 N...

Page 269: ...nd 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 1 2 DeviceNet Network Construction Tools Prepare the following tools for troubleshooting Philips screwdriver Flat blade screwd...

Page 270: ... 2 Unused RJ45 Connector Unused Jumper Pin for Board Address Setting C0 C1 C2 JP1 JP1 0 1 Status Display LED 2 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 this manual Only in this troubleshooting section general names of the status display of the DeviceNet device are used The ...

Page 271: ...s 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 Color Light Condition MS Module Status Green Red ON Blinking OFF NS Network Status Green Red ON Blinking OFF 4 Physical Node Location of Absent Slave PLC Slave Branch Tap Communications Power Supply Terminating Resistor Slave Slave Slave Slave A communication time out error...

Page 272: ...his error occurs only during unit start up Green Light ON 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 Red Light Blinking No Matter Configu...

Page 273: ...work No No Other Master LED See 4 1 2 6 See 4 1 1 Examining Details of Trouble 2 Yes 3 Yes 4 Yes 5 6 7 8 9 Absent Slave LED No See 4 1 2 1 1 MS Green ON NS Red Blinking MS OFF NS OFF MS Green ON NS Red Blinking MS Green ON NS Red ON MS Green ON NS OFF No No No No MS Red Blinking No MS OFF NS Green Blinking No MS OFF NS OFF No Yes MS Red ON Other Broken Slave Unit Replace the unit Broken Master Uni...

Page 274: ...on error Slave not added to the network Scan list collation error Communications power supply OFF Error detection after the communication establishment Slave Not Operating MS NS Master LED Condition Green Light ON Red Light Blinking Absent Slave LED Condition Light OFF Light OFF Process Flowchart 1 Check Replace the unit No Problem Yes No Supply power Finish Normal communication Is MS LED light ON...

Page 275: ...y measure voltage at the DeviceNet connector Supply power to the slave Broken unit Slave unit replacement Replace the broken slave unit with a new one Slave Communication Error Detection Busoff Detection Not added MS NS Master LED Condition Green Light ON Red Light Blinking 1 Absent Slave LED Condition Communication error detection Green Light ON Red Light Blinking 2 Absent Slave LED Condition Bus...

Page 276: ...le unit is not found Rarely Problem exists Fix it No change No change No change Immediately The unit is not found The unit is found Yes Problem exits Fix it The problem is fixed The problem is fixed The problem is fixed No See 4 1 3 1 and 4 1 3 2 See 4 1 3 3 No problem No problem Replace the trouble unit Check for noise influence Does an error occur immediately Normal Communication Analyze the net...

Page 277: ...oint all nodes and all branch taps For details refer to the section 4 1 3 2 Loose Connector and Signal Wire Connect the connectors and signal wires again Voltage drop of communications power supply 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 t...

Page 278: ...v 14 4 1 2 2 Master Busoff Detection Master Unit LED Error Description MS NS Green Light ON Red Light ON 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 ...

Page 279: ...it No change No change No change Immediately The unit is not found The unit is found Problem exits Fix it The problem is fixed The problem is fixed The problem is fixed No problem No problem See 4 1 3 1 and 4 1 3 2 See 4 1 3 3 Check for noise influence Divide the network and find the trouble unit Does an error occur immediately Yes No Normal Communication Analyze the network with NetMeter Consult ...

Page 280: ...eckpoint all nodes and all branch taps For details refer to the section 4 1 3 2 Loose Connector and Signal Wire Connect the connectors and signal wires again Voltage drop of communications power supply 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 ...

Page 281: ...Check Check the following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection Finish Measure voltage of communications power supply at the master unit No Problem No Problem No Problem Problem exists Fix it Problem exists Fix it Check that power is supplied to all slaves Replace the master unit Problem exists Fix it Problem exists Fix it No problem No pro...

Page 282: ...1 3 1 Connection Problem 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 Loose connector Loose signal wire 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...

Page 283: ...n Error Master Unit LED Error Description MS NS Red Light Blinking No Matter Configuration error Slave error detection 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 ...

Page 284: ... change The problem is fixed Check for noise influence Replace the unit No Normal Communication Check the following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection No Problem Problem exists Fix it No Problem Check for master unit configuration scan list configuration The problem is fixed The trouble unit is not found No problem No problem No problem ...

Page 285: ...e 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 Wire Connect the connectors and signal wires again Voltage drop of communications power supply Measure voltage of communi...

Page 286: ...roblem Check Check the following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection Finish No Problem No Problem No Problem Problem exists Fix it Problem exists Fix it Problem exists Fix it Problem exists Fix it No problem No problem No problem No problem Measure voltage of communications power supply at the master unit Check that power is supplied to a...

Page 287: ...3 1 Connection Problem 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 Loose connector Loose signal wire 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 t...

Page 288: ...rocess Flowchart 9 No Problem Check Check the following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection Finish No Problem No Problem No Problem Problem exists Fix it Problem exists Fix it Problem exists Fix it Problem exists Fix it No problem No problem No problem No problem Measure voltage of communications power supply at the master unit Check that...

Page 289: ...1 3 1 Connection Problem 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 Loose connector Loose signal wire 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...

Page 290: ...res with tester Ω Blue CAN L White CAN H 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 ...

Page 291: ...sure resistance at connectors and branch taps with tester Resistance under 50 Ω Problem exists Add terminating resistors Out of 50 to 70 Ω Error Yes Other Approx 120 Ω 10 to 50Ω Under 10 Ω No 1 Unconnected or loose connector 2 Cable disconnection etc 1 Three or more terminating resistors 2 Wrong terminating resistors etc Short circuit between signal wires Check for cable laying Find the trouble po...

Page 292: ...tor and the signal wire Small flat blade screwdriver with even thickness 3 Connection of the connector and the unit T branch tap Cable side Screw Connector on the node mask side Connector on the T branch side Screw Connector on the cable side Cable with M12 micro size shielded connector at one end or both ends Thin cable Thin cable Cable with M12 micro size shielded connector at one end or both en...

Page 293: ...nly one point Power Supply Tap V CAN H Shield S CAN L V V CAN H Shield S CAN L V V V S V V FG Communications power supply 24 V DC Ground 100 Ω or less DeviceNet cable 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 V V S V V FG Communications Power Supply...

Page 294: ...r less DeviceNet cable Disconnect here 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 Light electrical cable Communication cable Control cable Power cable Signal wire PLC input output wire PLC power wire Control circuit wire Power wire Suspended ducts Floor ducts 1 2 1...

Page 295: ...en 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 ...

Page 296: ...ivide 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 trou...

Page 297: ...k Length Drop Line Length Total Drop Line Length Thick Cable 500 kbps 100 m 6 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 156 m Thin Cable 500 kbps 100 m 39 m 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 Ω 1 4 W 3 Cable and Branch Tap The cables and bra...

Page 298: ...ally To renew the status bar right click the status bar and select Refresh Magenta Black 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 Red Black The scanner board was not initialized Initi...

Page 299: ...d is displayed on the CAN Controller Rx Number of receive data bytes and frames Tx Number of send data bytes and frames 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 ...

Page 300: ...ble data Additional information The remote device is in error Check its status 32 The parameters passed to the functions are not correct eg Number of requested variables too large 33 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 34 Physical defect on the line Ad...

Page 301: ...device accepted the connection but did not respond the request Check the device status 65 Connection denied Additional information Connection to the DeviceNet master is in progress or refused by the device 70 Connection finished Additional information Duplication of MAC ID detected on the DeviceNet network Modify the MAC ID of the DeviceNet master 79 Profile incompatible Additional information The...

Page 302: ...mal 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 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 y...

Page 303: ...ifications Refer to this troubleshooting and the section 2 2 2 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 PCU DPIO 4 ...

Page 304: ... 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 ...

Page 305: ...twork 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 Light OFF Red Light ON Data link layer error Refer to the section 4 2 2 2 Master Data Link Layer Error Nonstandard wiring Noise intrusion Light OFF Light OFF Uninitialized network Refer to the section 4 2 2 3 Master Uninitialized Netw...

Page 306: ... Yes Absent Slave LED No BF OFF ST Red Blinking BF OFF ST Red Blinking BF OFF ST Red ON BF OFF ST OFF No No BF OFF ST Red ON No BF OFF ST OFF No Slave Physical Error 5 No 6 7 8 Master Data Link Error See 4 2 2 2 Slave Uninitialized Network Slave Data Link Error See 4 2 2 1 1 BF OFF ST Green ON See 4 2 2 1 1 See 4 2 2 1 2 See 4 2 2 1 3 See 4 2 2 1 4 See 4 2 2 4 Examining a trouble See 4 2 1 Examini...

Page 307: ...or 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 BF ST Master LED Condition Light OFF Red Light Blinking Absent Slave LED Condition Communication error Light OFF Green Light Blinking Light OFF Red Light Blinking ...

Page 308: ... Problem exists Fix it No change No change No change Immediately The unit is not found The unit is found Yes Problem exists Fix it The problem is fixed The problem is fixed The problem is fixed No No problem No problem See 4 2 3 1 and 4 2 3 2 Replace the trouble unit See 4 2 3 3 Check for noise influence Does an error occur immediately Divide the network and find the trouble unit Normal Communicat...

Page 309: ...al 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 Connect the connectors and signal wires again Electrical surges of device power supply Measure voltage of the device power supply at the trouble unit It should be within the range of sufficient voltage for device op...

Page 310: ... Unconnected or loose connector signal wire Cable disconnection Finish No Change No Change The trouble unit is not found Rarely Problem exists Fix it No change Immediately The unit is not found The unit is found Yes The problem is fixed The problem is fixed No No problem See 4 2 3 1 and 4 2 3 2 See 4 2 3 3 No change Check for noise influence Divide the network and find the trouble unit Does an err...

Page 311: ...sistance changes from 220 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 stations and all branch taps For details refer to the section 4 2 3 2 Loose Connector and Signal Wire Connect the connectors and signal wires again Noise external cause Check the noise intrusion via the follo...

Page 312: ...roblem Check Check the following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection Finish Measure voltage of all slave power supplies No Problem No Change No Problem exists Fix it Problem exists Fix it The problem is fixed No problem No problem No change Replace the unit Yes No See 4 2 3 1 and 4 2 3 2 Consult the PROFIBUS manufacturer Replace moving ca...

Page 313: ...n 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 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 Ω Loose connector Loose signal wire Check for the connection of connec...

Page 314: ... exists Fix it No problem Replace the unit Yes No Consult the PROFIBUS manufacturer Normal Communication Causes of Error Possible Cause Examination Method Countermeasure Electrical surges of device power supply Measure voltage of the device power supply at the trouble unit It should be within the range of sufficient voltage for device operation Check voltage of the device power supply Broken unit ...

Page 315: ...esistor Unconnected or loose connector signal wire Cable disconnection Finish No Change No Change The trouble unit is not found Rarely Problem exists Fix it No problem No change No change Immediately The unit is not found The unit is found Yes The problem is fixed The problem is fixed No See 4 2 3 1 and 4 2 3 2 See 4 2 3 3 Check for noise influence Does an error occur immediately Divide the networ...

Page 316: ...sistance changes from 220 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 stations and all branch taps For details refer to the section 4 2 3 2 Loose Connector and Signal Wire Connect the connectors and signal wires again Noise external cause Check the noise intrusion via the follo...

Page 317: ...blem Consult the PROFIBUS manufacturer Normal Communication Causes of Error Possible Cause Examination Method Countermeasure Electrical surges of master device power supply Measure voltage of the device power supply at the master unit It should be within the range of sufficient voltage for device operation Check voltage of the device power supply Master device configuration error Check that the ma...

Page 318: ...he following Unconnected terminating resistor Unconnected or loose connector signal wire Cable disconnection No Change Problem exists Fix it No problem No change The problem is fixed Replace the unit Finish The trouble unit is not found Rarely Immediately The unit is not found The unit is found Yes No Consult the PROFIBUS manufacturer See 4 2 3 1 and 4 2 3 2 Divide the network and find the trouble...

Page 319: ... 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 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 stations and all branch taps For details refer to the section 4 2 3 2 Loose Connec...

Page 320: ...ng the tester Tester Measure resistance between signal wires with tester Resistance Determination 0 Ω Short circuit Under 100 Ω Three or more terminating resistors on one network 100 to 120 Ω Normal Over 120 Ω 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 a...

Page 321: ...r Yes Other Approx 220 Ω 10 to 100 Ω Under 10 Ω No 1 Unconnected or loose connector 2 Cable disconnection etc 1 Three or more terminating resistors 2 Wrong terminating resistors etc Short circuit between signal wires Check for cable laying Find the trouble point Check for connection of terminating resistors Check that terminating resistors are connected Measure resistance with tester 100 to 120 Ω ...

Page 322: ... 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 Secure the clamps to the intermediate plate of the board with screws to ground the shield...

Page 323: ...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 Light electrical cable Communication cable Control cable Power cable Signal wire PLC input output wire PLC power wire Control circuit wire Power wire Suspended ducts Floor ducts 1 ...

Page 324: ... 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 ...

Page 325: ...bps 19 2 kbps 9 6 kbps 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 Ω RxD TxD P 3 220 Ω RxD TxD N 8 390 Ω DGND 5 Data Line B Data Line A 3 Cable The cables should meet the PROFIBUS specifications Item Property Imped...

Page 326: ...atically To renew the status bar right click the status bar and select Refresh Magenta Black 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 Red Black The scanner board was not initialized ...

Page 327: ... 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 box Token Error Address Error Timeout Error Frame Error Network Cycle Bus Fault When an error occurs on the network it ...

Page 328: ... 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 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 ...

Page 329: ... 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...

Page 330: ...hooting and the section 2 3 2 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 C0 C1 C2 JP1 JP1 0 1 D Sub 9 pin Not in use Status Display LED 2 EtherNetI P Connector 4 pin Terminal Watchdog Port Do not use this port J...

Page 331: ...ion 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 Color Light Condition MS Module Status Green Red ON Blinking OFF NS Network Status Green Red ON Blinking OFF 4 Physical Node Location of Absent Slave Controller Slave Ethernet Switch Slave Slave Slave Slave Master Ethernet Switch A communication t...

Page 332: ...stics Recoverable error occurred Light OFF Light OFF Not initialized status Refer to the section 2 3 3 Installing EtherNet IP Master Board Manufactured by molex Master Mode The communication board is not initialized Check the configuration 4 3 3 Tests and Diagnostics 4 3 3 1 Diagnostic Tool After configuring the EtherNet IP master adding and configuring the devices of your network and downloading ...

Page 333: ...ash memory or factory address IP address IP address of the applicomIO master on this channel Sub Network Mask Sub network address of the applicomIO master on this channel Gateway IP Address Address of the gateway configured on the applicomIO 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 na...

Page 334: ...ber of active connections Current connections Number of current connections Bytes received Number of bytes received Bytes transmitted Number of bytes transmitted Retries on time out Number of retries on reception of a time out IP tab Packets received Number of packets received Packets transmitted Number of packets transmitted Errors Number of IP errors ...

Page 335: ...s I O Rev 14 323 2 Diagnostic of server devices Requests Number of requests Requests s Number of requests per second Useful bytes Number of useful data bytes Useful bytes s Number of useful data bytes per second Requests in error Number of requests in error ...

Page 336: ... obtained from the configuration from the DNS server IP address of the device has been resolved Requests Number of requests Requests s 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 o...

Page 337: ...IO 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 Response...

Page 338: ...e remote station 2 Field showing result obtained Status 0 The station is present and has responded the response time is given in the Time column Status 33 The station is not present 3 Command field Clear Clears the list of results Ping Sends a PING command Loop 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...

Page 339: ...730 EtherNet IP board R12NZ900A7 R12N747061 PROFINET board R12NZ900A6 R12N747051 EtherCAT board R12NZ910CL Slave Module Part Name Code Supported Model RC700 RC700 A RC90 90 B T VT series DeviceNet board R12NZ900TE PROFIBUS DP board R12NZ900TF CC Link module R12NZ900TD EtherNet IP board R12NZ900TH PROFINET board R12NZ900TG EtherCAT board R12NZ900TX Master Part Name Code DeviceNet board manufactured...

Page 340: ...5 Maintenance Parts List 328 RC700 RC90 Option Fieldbus I O Rev 14 ...

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