Epson RC+ User Manual

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Rev.6 EM07ZS1647F

EPSON RC+ Option

Fieldbus I/O

E PSON RC+ Option Fieldbus I/O Rev.6

EPSON RC+ Option

Fieldbus I/O

Rev.6

Fieldbus I/O Rev.6 i

FOREWORD

This manual contains important information necessary to use the EPSON RC+ option

Fieldbus I/O properly and safely. This manual is intended for personnel who perform any

operations that use the pendant, such as teaching robot points.

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

equipment.

WARRANTY

The robot and its optional parts are shipped to our customers only after being subjected to

the strictest quality controls, tests, and inspections to certify its compliance with our high

performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of

charge during the normal warranty period. (Please ask your Regional Sales Office for

warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur

during the warranty period):

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

or careless use.

2. Malfunctions caused by customers’ unauthorized disassembly.

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

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

Warnings, Cautions, Usage:

1. If the robot or associated equipment is used outside of the usage conditions and

product specifications described in the manuals, this warranty is void.

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be

responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual

cannot warn the user of all possible hazards.

ii Fieldbus I/O Rev.6

TRADEMARKS

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

Microsoft Corporation in the United States and/or other countries. Other brand and

product names are trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 2000 Operating system

Microsoft® Windows® XP Operating system

Throughout this manual, Windows 2000, and Windows XP refer to above respective

operating systems. In some cases, Windows refers generically to Windows 2000, and

Windows XP.

NOTICE

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

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

Please notify us if you should find any errors in this manual or if you have any comments

regarding its contents.

INQUIRIES

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

If service center information is not indicated below, please contact the supplier office for

your region.

Please prepare the following items before you contact us.

- Your controller model and its serial number

- Your manipulator model and its serial number

- Software and its version in your robot system

- A description of the problem

SERVICE CENTER

Fieldbus I/O Rev.6 iii

MANUFACTURER & SUPPLIER

Japan & Others SEIKO EPSON CORPORATION Suwa Minami Plant

Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295

JAPAN TEL : +81-266-61-1802 FAX : +81-266-61-1846

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics

18300 Central Avenue

Carson, CA 90746

USA TEL : +1-562-290-5900 FAX : +1-562-290-5999 E-MAIL : info@robots.epson.com

Europe EPSON DEUTSCHLAND GmbH

Factory Automation Division

Otto-Hahn-Str.4

D-40670 Meerbusch

Germany TEL : +49-(0)-2159-538-1391 FAX : +49-(0)-2159-538-3170 E-MAIL : robot.infos@epson.de

iv Fieldbus I/O Rev.6

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 sign indicates that a danger of serious injury or death will

exist if those instructions are not followed.

WARNING

This sign indicates that a danger of possible harm to people

caused by electric shock will exist if those instructions are not

followed.

CAUTION

This sign indicates that ignoring these instruction may cause

harm to people or physical damage to equipment and facilities.

Fieldbus I/O Rev.6 v

vi Fieldbus I/O Rev.6

Table of Contents

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

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

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

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

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

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

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

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

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

General Specifications............................................................................. 7

1.4 EtherNet/IP ................................................................................ 8

Overview of EtherNet/IP .......................................................................... 8

Features of EtherNet/IP .......................................................................... 8

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

2. Installation...................................................................... 11

2.1 How to Setup a DeviceNet Network......................................... 11

2.2 DeviceNet Network Construction ............................................. 12

2.3 How to Setup a PROFIBUS DP Network................................. 19

2.4 PROFIBUS DP Network Construction ..................................... 20

2.5 How to Setup a EtherNet/IP Network....................................... 24

2.6 EtherNet/IP Network Construction ...........................................25

2.7 DeviceNet Board Installation.................................................... 26

2.7.1 Board Appearance........................................................................ 26

2.7.2 Specifications................................................................................ 27

2.7.3 Software Installation ..................................................................... 27

2.7.4 Board Installation.......................................................................... 29

2.7.5 Master Mode................................................................................. 31

2.7.6 Slave Mode................................................................................... 37

2.8 PROFIBUS DP Board Installation............................................ 41

2.8.1 Board Appearance........................................................................ 41

2.8.2 Specifications................................................................................ 42

2.8.3 Software Installation ..................................................................... 42

2.8.4 Board Installation.......................................................................... 44

2.8.5 Master Mode................................................................................. 46

2.8.6 Slave Mode................................................................................... 51

2.8.7 GSD File ....................................................................................... 53

Fieldbus I/O Rev.6 vii

Table of Contents

2.9 DeviceNet Board Installation ................................................... 54

2.9.1 Board Appearance ........................................................................54

2.9.2 Specifications................................................................................ 54

2.9.3 Software Installation...................................................................... 55

2.9.4 Board Installation ..........................................................................57

2.9.5 Master Mode .................................................................................60

2.9.6 Slave Mode ...................................................................................64

2.10 EPSON RC+ Fieldbus I/O Installation ................................... 67

Fieldbus I/O Software Configuration ......................................................67

3. Operation....................................................................... 69

3.1 Fieldbus I/O Addressing in SPEL+ .......................................... 69

3.2 SPEL+ Fieldbus I/O Commands.............................................. 69

3.3 Outputs Off by Emergency Stop and Reset Instruction ........... 70

3.4 Waiting for Input or Output Status............................................ 70

3.5 Using FbusIO_SendMsg ......................................................... 71

3.6 Using Slave Mode ................................................................... 72

3.7 Remote Control Slave ............................................................. 72

3.8 Devices available for Fieldbus I/O Option................................ 73

3.9 Fieldbus I/O Response Performance....................................... 73

DeviceNet ..............................................................................................73

PROFIBUS DP....................................................................................... 75

4. Troubleshooting ............................................................. 77

4.1 DeviceNet Troubleshooting ..................................................... 77

Exclusion................................................................................................ 77

Tools ...................................................................................................... 77

4.1.1 Examining a Problem .................................................................... 78

4.1.2 Problems and Countermeasures................................................... 80

4.1.3 Procedures for Examining Possible Causes .................................98

4.2 PROFIBUS DP Troubleshooting .............................................111

Exclusion...............................................................................................111

Tools .....................................................................................................111

4.2.1 Examining a Problem .................................................................. 112

4.2.2 Problems and Countermeasures................................................. 114

4.2.3 Procedures for Examining Possible Causes ...............................130

4.3 EtherNet/IP Troubleshooting.................................................. 140

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

4.3.1 Examining a Problem .................................................................. 141

4.3.2 Problems and Countermeasures................................................. 143

4.3.3 Procedures for Examining Possible Causes ...............................144

viii Fieldbus I/O Rev.6

Table of Contents

5. Maintenance Parts List ................................................ 151

Appendix A applicomIO Upgrade.................................... 153

Fieldbus I/O Rev.6 ix

Table of Contents

x Fieldbus I/O Rev.6

1. Introduction

1.1 Overview of Fieldbus I/O

The Fieldbus I/O option is an integrated I/O system that supports DeviceNet, PROFIBUS DP, and EtherNet/IP fieldbuses.

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

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

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

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

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

• Slave devices can transmit self-diagnostics information.

Controller

RS-232c

Fieldbus

Controller

Sample Parallel Connection Sample Fieldbus Connection

For each fieldbus on the RCxxx controller, there is at least one board installed. You can use more that one fieldbus type on the same controller. You can also use multiple boards for the same fieldbus type. The EPSON RC+ software key Fieldbus I/O Option must be enabled to use this option.

Response times for Fieldbus I/O can vary and depend on several factors, including baud rate, scan rate, number and types of devices, number of SPEL+ tasks, etc. When the fastest and most consistent response times are required, please use EPSON standard digital I/O, which incorporates interrupt driven inputs and outputs.

)

NOTE

Fieldbus I/O Rev.6 1

1. Introduction

1.2 DeviceNet

Overview of DeviceNet

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

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

Controller

Motor Driver

from Company A

Motor Driver

from Company B

Intelligent I/O

from Company C

Intelligent I/O

from Company D

Photo Sensor

from Company E

Analog Device

from Company G

HMI Device

from Company F

DeviceNet Network

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

Open Standard (Multi-vendor)

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

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

Large Numbers of Inputs/Outputs

For EPSON RC+ standard I/O and expansion I/O, the number of inputs/outputs is limited to 512 inputs and 512 outputs. When configuring a device to be a master of fieldbus I/O, you can control more than 16,000 total inputs and outputs. For a slave device, 2,040 inputs (255 bytes) and 2,040 outputs (255 bytes) are available.

2 Fieldbus I/O Rev.6

1. Introduction

Different Connection Types

There are two messaging connections: I/O messaging connection and explicit messaging connection. The I/O messaging connection includes polling, strobe, cyclic, and change of state. I/O messaging connections are explained below:

Polling: First, a master device sends output data to a slave device and then the slave device

responds. Data is normally exchanged in every communication cycle. The communication frequency can be changed by setting. This connection type is the most often used.

Strobe: First, a master device requests slave devices to send data with multicast messages,

and then, each slave device responds separately. Data from many sensors on the system can be effectively gathered. When the master does not receive responses from all requested slave devices, a timeout error occurs.

Change Of State:

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

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

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

For Change of State and Cyclic, you can disable the ACK that is for verifying that communication is completed. Never disable ACK, since communication errors cannot be detected.

)

NOTE

Functions of Master

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

A DeviceNet master can control up to 64 nodes (max. 2 kbytes) on one network.

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

DeviceNet network configuration is specified by configuration management software. This 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 Polling, Strove, Cyclic, Change Of State, and explicit messaging.

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

Functions of Slave

A slave can exchange data with a master device.

The configuration management software identifies parameters of each slave device via Electronic Data Sheet (EDS) where the parameters are registered.

Available connection types are Polling, Strobe, Cyclic, and Change of State.

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

Fieldbus I/O Rev.6 3

1. Introduction

General Specifications

Electrical Specifications

Item Specification

Supply Voltage 5 V DC (supplied from a controller) Power Consumption 7 W Ambient Temperature 5-40 deg C Relative Humidity 20-80%

DeviceNet Communication Specifications

Item Specification

Supported Connection - I/O messaging connection

(Polling, Strove, Cyclic, Change of State)

- Explicit messaging connection

All connections are conformed to DeviceNet communication

protocol.

Baud Rates 125 kbps, 250 kbps, 500 kbps

Baud Rates

Max. Network Length

Drop Length

Total Drop

Line Length

Transfer Distance

500 kbps

250 kbps

125 kbps

100 m

250 m *

500 m *

6 m or under

39 m or under

78 m or under

156 m or under

Maximum Nodes 64 (including master unit) Data Length / Frame 8 byte (The 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 wires for signal,

2 wires for power supply, 1 shield wire) Communications Power Supply Voltage

24 V DC (supplied from a connector)

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

4 Fieldbus I/O Rev.6

1. Introduction

1.3 PROFIBUS DP

Overview of PROFIBUS DP

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

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

Controller

Intelligent I/O from Company C

Photo Sensor from Company E

nalog Device

from Company G

HMI Device from Company F

Motor Driver from Company A

PROFIBUS DP Network

Motor Driver from Company B

Intelligent I/O from Company D

Features of PROFIBUS DP

Reduced Wiring

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

Detachable communication connector provides you a simple wiring between devices (stations) and an easy network separation or reconstruction.

Fast Communication

PROFIBUS DP communication speed can be set up to 12Mbps. This is faster than DeviceNet, another communication standard supported by the fieldbus I/O.

Open Standard (Multi-vendor)

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

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

Large Numbers of Inputs/Outputs

For the standard I/O and expansion I/O, the number of inputs/outputs is limited to up to 512 inputs and 512 outputs. When configuring a device to be a master of fieldbus I/O, you can control more than 16,000 total inputs and outputs.

For a slave device, 1,952 inputs (244 bytes) and 1,952 outputs (244 bytes) are available.

Fieldbus I/O Rev.6 5

1. Introduction

Functions of Master

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

1) gathers and controls all stations on one PROFIBUS DP network. DPM2 (DP master Class

2) operates network configurations, network maintenance, and diagnosis.

PROFIBUS DP master can control up to 126 stations (max. 2 kbytes) on one network.

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

PROFIBUS DP network configuration is specified by configuration management software. This software is normally provided by a master device manufacturer. The configuration management software determines parameters for each slave device via an Electronic Data Sheet (GSD).

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

Available baud rates are 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps, 1500 kbps, 3 Mbps, 6 Mbps, and 12 Mbps.

Functions of Slave

A slave can exchange data with a master device.

The configuration management software identifies parameters of each slave device via an electronic data sheet (GSD) file where the parameters are registered.

The communication type is a cyclic master-slave communication.

The input/output data of each station is up to 244 bytes.

Available baud rates are 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps, 1500 kbps, 3 Mbps, 6 Mbps, and 12 Mbps.

6 Fieldbus I/O Rev.6

1. Introduction

General Specifications

Electrical Specifications

Item Specification

Supply Voltage 5 V DC (supplied from a controller) Power Consumption 5.5 W Ambient Temperature during Operation 5-40 deg C Relative Humidity during Operation 20-80%

PROFIBUS DP Communication Specifications

Item Specification

Connection Method Hybrid

(token passing procedure and master-slave communication)

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.

Baud Rates Cable Length Transfer Distance

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 PROFIBUS (2 wires for signal)

Fieldbus I/O Rev.6 7

1. Introduction

1.4 EtherNet/IP

Overview of EtherNet/IP

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

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

Controller

Motor Driver

from Company A

Motor Driver

from Company B

Intelligent I/O

from Company C

Intelligent I/O

from Company D

Photo Sensor

from Company E

Analog Device

from Company G

HMI Device

from Company F

Ethernet/IP Network

Features of EtherNet/IP

Reduced Wiring

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

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

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

You can use the generic Ethernet hub or Ethernet switch for the EtherNet/IP. However, be sure to a use product complying with the industrial standards or noise resistant Ethernet cable (STP cable). If you use an office use product or UTP cable, it may causes communication errors and may not offer the proper performance.

)

NOTE

Open Standard (Multi-vendor)

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

8 Fieldbus I/O Rev.6

1. Introduction

Large Numbers of Inputs/Outputs

For a slave device, 4,040 inputs (505 bytes) and 4,072 outputs (509 bytes) are available.

Different Connection Types

There are two messaging connections: I/O messaging connection and explicit messaging connection. The I/O messaging connection includes cyclic and change of state. I/O messaging connections are explained below:

Change Of State:

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

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

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

For Change of State and Cyclic, you can disable the ACK that is for verifying that communication is completed. Never disable ACK, since communication errors cannot be detected.

)

NOTE

Functions of Master

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

A EtherNet/IP master can control up to 127 nodes (max. 14 kbytes) on one network.

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

EtherNet/IP network configuration is specified by configuration management software. This software is normally provided by a master device manufacturer. The configuration management software determines parameters for each slave device via an Electronic Data Sheet (EDS).

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

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

Functions of Slave

A slave can exchange data with a master device.

The configuration management software identifies parameters of each slave device via Electronic Data Sheet (EDS) where the parameters are registered.

Available connection type is Cyclic.

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

Fieldbus I/O Rev.6 9

1. Introduction

General Specifications

Electrical Specifications

Item Specification

Supply Voltage 5 V DC (supplied from a controller) Power Consumption 5.5 W Ambient Temperature 5-40 deg C Relative Humidity 20-80%

EtherNet/IP Communication Specifications

Item Specification

Supported Connection - I/O messaging connection

(Cyclic, Change of State)

- Explicit messaging connection All connections are conformed to EtherNet/IP communication

protocol.

Baud Rates 100 Mbps, 10 Mbps Maximum Nodes 128 (including master unit) Data Length / Frame 244 bytes Access Control Type CSMA/CD Cable Universal Ethernet cable

10 Fieldbus I/O Rev.6

2. Installation

This chapter contains procedures for installing a DeviceNet, PROFIBUS DP, or EtherNet/IP network. Refer to the sections that correspond to the type of network you are installing.

2.1 How to Setup a DeviceNet Network

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

1. Choose node distribution and distribution route on your network. For details, refer to the following section 2.2 DeviceNet Network Construction.

2. Choose power supply method for communication. For details, refer to the following section 2.2 DeviceNet Network Construction.

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

4. Lay cables. For details, refer to the following section 2.2 DeviceNet Network Construction.

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

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

7. Install the scanner board in your controller. Refer to the section 2.7 DeviceNet Board Installation later in this chapter.

8. Configure a master and slaves. Use the configuration management software for configuring a master and slaves (scan list). For details, please refer to the configuration management software manual. To configure EPSON RC+ as a master, refer to the section 2.7 DeviceNet Board Installation later in this chapter.

9. Configure EPSON RC+. Refer to the section 2.10 EPSON RC+ Fieldbus I/O Installation later in this chapter.

10. Operate the DeviceNet network.

Fieldbus I/O Rev.6 11

2. Installation

2.2 DeviceNet Network Construction

Network Configuration

A DeviceNet network is configured as shown in the following figure.

Communications

ower suppl

Node

Use DeviceNet cables.

Ground to

100 Ω or less.

T-branch Tap

Drop Line

Waterproof

slave

T-branch Connector

Connector with terminating resistor

Trunk Line

Power Supply Tap or T-branch Tap

24 V DC

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

Trunk Line

Trunk

Line

Drop Line

Drop

Line

T-branch Connector

Trunk

Line

T-branch Tap

Waterproof

slave

T-branch Tap

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

Node

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

You can install masters anywhere in the network. You can connect up to 64 nodes (including the master) on your network.

Trunk Line and Drop Line

A trunk line is a backbone cable of DeviceNet network with a terminating resistor on the both ends.

A drop line is a branch of the trunk line.

These are all drop Lines.

- No limits on the number of T-branch

- Limits on the length of drop lines

T-branch

Terminating resisto

Trunk Line

Terminating resisto

For DeviceNet, 5-wire cables are used for trunk lines and drop lines. The DeviceNet cables on the market can be used for such cables. There are two types of the DeviceNet cable: 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/).

12 Fieldbus I/O Rev.6

2. Installation

Thick Cable Thin Cable

Braid Shield

Signal Wire (Blue/White) Power Wire (Red/Black)

11.2 to 12.1 mm outside diameter

Shield Wire

Braid Shield

Signal Wire (Blue/White) Power Wire (Red/Black)

Shield Wire

6.9 mm outside diameter

Communication Cable Signal

Wire Type Color Details of Signal Wire Identity

Blue Signal Low CAN L

Signal wire

White Signal High CAN H

Red Communications Power Positive V+

Power wire

Black Communications Power Negative V

Shield wire - Shield S

Terminating Resistor

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

Attach 121 Ω +/-1%, 1/4W terminating resistors between the signal wires (CAN-H and CANL) of the trunk line cable. Some T-branch taps and connectors can accept terminal resistors. Molded terminating resistors with connectors are also available to attach to environmentresistant T-branch taps and connectors.

Node Connection

Nodes can be connected to a DeviceNet network by the following topologies: 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”.

Trunk Line

Branch Tap

Daisy Chain

Terminating Resistor

Tree

Multi-drop T-branch

Terminating Resistor

Communications Power Supply

DeviceNet supplies 24V DC communications power to each node via 5-wire cables. You can install the communications power supply at any location on the DeviceNet network. We recommend providing a dedicated communications power supply on the network separately even though it is possible to share power among the communications power supply, node internal circuit power supply, and I/O power supply.

Shield Ground of Signal Wire

Ground the DeviceNet network at one point with 100 Ω or less. As a noise countermeasure, you can leave the network ungrounded. For details, refer to the 4. Troubleshooting.

Fieldbus I/O Rev.6 13

2. Installation

Maximum Network Length (Maximum Trunk Length)

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

Terminating Resistor

Trunk Line

The longest distance is the maximum network length.

Terminating Resistor

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

Maximum Network Length

Baud Rate

Thick Cable Thin Cable

500 kbps 250 kbps 125 kbps

100 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

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

Trunk Line

2 m

4 m

3 m

1 m

Node 1 Node 2

Node 3

In figure above, each drop line length is as follows: Drop Line to Node 1: 4 m Drop Line to Node 2: 6 m Drop Line to Node 3: 6 m

One drop line length should be 6m or less.

14 Fieldbus I/O Rev.6

2. Installation

Total Drop Line Length

The total drop line length is the total distance of all drop lines on one network.

Trunk Line

2 m

1 m

3 m

4 m

Terminating Resistor

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

The maximum total drop line length is restricted by baud rate as shown in the table below. The cable thickness is not related to the restriction.

Baud Rate Max. Total Drop Line Length

500 kbps 250 kbps 125 kbps

39 m 78 m

156 m

Cable Current Capacity

The current-carrying capacity of the DeviceNet network cable is restricted as shown below:

Trunk Line

Thick Cable Thin Cable

Drop Line (Unit: A)

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

The following figures illustrate power supply configuration examples.

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

Trunk Line

Power Supply Tap

External Power Supply 24 V DC

2A2A

Terminating Resistor

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

Trunk Line

Power Supply Tap

2A2A

Terminating Resistor

External Power Supply 24 V DC

Terminating Resistor

Fieldbus I/O Rev.6 15

2. Installation

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

1A 1A

2A2A

1A 1A

Trunk Line

Power Supply Tap

Terminating Resistor

External Power Supply 24 V DC

Terminating Resistor

Power Supply Tap

The following figure illustrates a sample wiring. An OMRON power supply tap is shown in the figure.

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 FG wires.

Ground the network at only one point.

V+ V+

L CAN L S Shield H CAN H

V- V-

CAUTION



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

Procedure for Modifying and Installing Communication Cables

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

CAUTION



Be careful not to injure your hands or fingers on any sharp blades or tools used to modify the cable. Use appropriate blades and/or other tools to modify the cable. Using inappropriate blades and/or other tools may result in bodily injury and/or equipment damage.

(1) Strip approx. 30 mm of the cable covering with extra

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

pprox. 30 mm

16 Fieldbus I/O Rev.6

2. Installation

(2) Carefully expand the meshes of the braided shield.

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

Shield Wire

(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.

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

(4) Set the crimp terminal on the stripped part of the wire

and crimp it with a crimp tool. The following crimping terminals are recommended products.

Crimping Te rm i na l

NICHIFU TC series

Model Number Specifications Special Tool

TMEV TC-0.5 For Thin Cable TMEV TC-2-11 For Thick Cable (power wire) TMEV TC-1.25-11 For Thick Cable (signal wire)

MH-32

Phoenix Contact AI series

Model Number Specifications Special Tool

AI 0.5-8WH For Thin Cable (power cable) AI 0.25-8YE For Thin Cable (signal wire) AI 2.5-8BU For Thick Cable (signal wire) AI 1-8RD For Thick Cable (signal wire)

CRIMPFOX UD6

(5) Wrap or cover the cable with vinyl tape or heat-shrink

tubing.

Heat-shrinkable Tube, etc.

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

(6) Ensure the correct connector orientation and insert the

signal wires and shield wire to their respective holes on the connector. As shown in the figure, insert the wires (black, blue, shield, white, and red) into the holes in the order named. The following table shows the specified colors of the cables.

Color 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+

Insert the connector in this direction.

Insert wires in this direction.

)

NOTE

Fieldbus I/O Rev.6 17

2. Installation

(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 enough thick cable length to allow for stretch. Use a small flat blade screwdriver that has the correct width and thickness. If you use a typical screwdriver whose point is narrow, you cannot deeply insert it into the hole on the connector. Specific screwdriver for DeviceNet connector screw:

OMRON : XW4Z-00C Phoenix Contact : SZF-1 0.6×3.5

Thickness

Width

0.6 mm 3.5 mm

18 Fieldbus I/O Rev.6

2. Installation

2.3 How to Setup a PROFIBUS DP Network

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

1. Choose station distribution and distribution route on your network. For details, refer to the following section 2.4 PROFIBUS DP Network Construction.

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

3. Lay cables. For details, refer to the following section 2.4 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 scanner board in your controller. Refer to the section 2.8 PROFIBUS DP Board Installation later in this chapter.

7. Configure a master and slaves. Use the configuration management software for configuring a master and slaves (scan list). For details, please refer to the configuration management software manual. To configure EPSON RC+ as a master, refer to the section 2.8 PROFIBUS DP Board Installation later in this chapter.

8. Configure EPSON RC+. Refer to the section 2.10 EPSON RC+ Fieldbus I/O Installation later in this chapter.

9. Operate the PROFIBUS DP network.

Fieldbus I/O Rev.6 19

2. Installation

2.4 PROFIBUS DP Network Construction

Network Configuration

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

Slave

Master 1 Master 2

Slave Slave

Slave

Slave Slave Slave Slave Slave

Repeater

Network Cable

Terminating Resistor ON

Station

There are four types of stations (devices): master, slave, repeater, and configurator.

The master controls a network and gathers its slaves.

The slave, including external I/O and other devices, outputs data as a response to a master’s output order and informs the master of its input status.

The repeater is necessary for a network with more than 32 slaves to separate network segments.

The configurator, used only for network installation, configures a scan list of the slaves on the master device.

You can install masters anywhere on the network. You can connect up to 126 stations including server and repeater on your network. However, we recommend you to use one device for the engineering device.

Network Cable

The PROFIBUS cable can be used as a network cable. There are four types (A, B, C, D) of PROFIBUS cables. Normally, cable type A is used for a 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 mm

20 Fieldbus I/O Rev.6

2. Installation

It is recommended that a 9-pin D-Sub connector be used for protecting rating IP 20. For IP 65/67, M12 connector in accordance with IEC 947-5-2, Han-Bird connector in accordance with DESINA, and Siemens hybrid connector are available.

Pin assignment (9-pin D-Sub)

Pin No. Signal Assignment

1 Shield Shield / Protective ground 2 M24 Ground of output voltage (24 V) 3 RxD/TxD-P Data line B 4 CNTR-P Repeater control signal (directional control) 5 DGND Communications power supply (5 V) 6 VP Supply voltage to terminating resistor (P5V) 7 P24 Output voltage (24 V) 8 RxD/TxD-N Data line A 9 CNTR-N Repeater control signal (directional control)

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

The following figure illustrates wiring.

Station 1 Station 2

RxD/TxD-P (3)

DGND (5)

VP (6)

RxD/TxD-N (8)

(3) RxD/TxD-P

(5) DGND

(6) VP

(8) RxD/TxD-N

Shield

Protective Ground Protective Ground

Different manufacturers produce a wide range of PROFIBUS cables. For details of the PROFIBUS cables, see PROFIBUS International’s website (http://www.profibus.com/).

Terminating Resistor

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

VP (6)

390

Ω

RxD/TxD-P (3)

220

Ω

RxD/TxD-N (8)

390

Ω

DGND (5)

Data Line B

Data Line A

Some PROFIBUS 9-pin D-Sub connectors on the market have functions of terminating resistor and they can enable / disable the terminating resistor. (Example: Woodhead MA9D00-32)

Molded terminating resistors with connector are also available to attach them to environmentresistant M12 connector.

Baud Rate and Maximum Cable Length

Available baud rates are 9.6 kbps, 19.2 kbps, 93.75 kbps, 187.5 kbps, 500 kbps, 1500 kbps, 3 Mbps, 6 Mbps, and 12 Mbps.

Fieldbus I/O Rev.6 21

2. Installation

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

Bus Cycle Time [ms]

500 kbps

1.5 Mbps

12 Mbps

Number of Slaves

2 10 20 30

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 on a single physical network.

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

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

Master 1

Master 3

Slave Slave Slave Slave Slave

Master 2

Slave Slave

Token-passing Procedure

Master-slave communication

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

22 Fieldbus I/O Rev.6

2. Installation

Procedure for Modifying and Installing Communication Cables

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

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

CAUTION



(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.

pprox. 47.5 mm

(2) Carefully expand meshes of the braided shield and fold

back the shield over the cable covering. Cut off the shield at approx. 10 mm from the stripped side of the cable covering.

10 mm

(3) Strip the covering of the signal wire as shown in the

figure.

40 mm 7.5 mm

(4) Insert the signal wires into the terminal block on the connector and secure the signal

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

Fieldbus I/O Rev.6 23

2. Installation

2.5 How to Setup a EtherNet/IP Network

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

1. Choose node distribution and distribution route on your network. For details, refer to the following section 2.6 EtherNet/IP Network Construction.

2. Lay cables. For details, refer to the following section 2.6 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 scanner board in your controller. Refer to the section 2.9 EtherNet/IP Board Installation later in this chapter.

6. Configure a master and slaves. Use the configuration management software for configuring a master and slaves (scan list). For details, please refer to the configuration management software manual. To configure EPSON RC+ as a master, refer to the section 2.9 EtherNet/IP Board Installation later in this chapter.

7. Configure EPSON RC+. Refer to the section 2.10 EPSON RC+ Fieldbus I/O Installation later in this chapter.

8. Operate the EtherNet/IP network.

24 Fieldbus I/O Rev.6

2. Installation

2.6 EtherNet/IP Network Construction

Network Configuration

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

Network inside the factory, etc

Waterproof

Ethernet switch

Waterproof

slave

Waterproof

slave

Node

Ethernet switch

Node

Ethernet switch

Node

You can install masters 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 are conformed to EtherNet/IP connection protocol.

)

NOTE

Fieldbus I/O Rev.6 25

2. Installation

2.7 DeviceNet Board Installation

Following two types can be used for the fieldbus I/O option DeviceNet.

- PCU-DVNIO

- PCI-DVNIO

2.7.1 Board Appearance

Part names and functions of the scanner board are shown in the following figure. For details of the status display LEDs (Module/NetWork LED and IO LED), refer to the 4. Troubleshooting in this manual.

PCU-DVNIO

LED (2)

(Not in use)

RJ45 Connector

(Not in use)

C0 C1 C2

JP1

4-pin Terminal

Watchdog Port

(Do not use this port.)

Status Display LED (2)

DeviceNet Port

Jumper for Board Address

PCI-DVNIO

C0 C1 C2

JP1

4-pin Terminal

Watchdog Port

(Do not use this port.)

Male 9-pin D-Sub

Port for Board Configuration

Status Display LED (2) Left: Module/NetWork LED Right: IO LED

DeviceNet Port

Jumper for Board Address

26 Fieldbus I/O Rev.6

2. Installation

2.7.2 Specifications

Part Number applicom PCI-DVNIO / PCU-DVNIO

Modes Master/Slave

Baud rates 125, 250, 500 kbps

Interface

1 DeviceNet port

Supported Devices

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

Maximum Nodes

Connection Types

Strobe, Polling, Cyclic and Change of State

Explicit Messaging

Yes

EDS Support

Yes

Input Data Size

1 to 255 bytes

Output Data Size

1 to 255 bytes

Automatic Detection

Yes. Devices can be detected automatically.

2.7.3 Software Installation

Before installing any boards in your controller, you must install the applicomIO console application and drivers for the type of board you will be using.

(1) Start the controller.

(2) Run the C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE from the install

folder in the controller to start the installation.

(3) Select the desired language for the installer.

(4) Select Install Products.

(5) Select applicomIO. Do not select applicomIO ActiveX.

Fieldbus I/O Rev.6 27

2. Installation

(6) Allow the default components to be installed.

(7) Select the protocol: DeviceNet you will be using. If you also use PROFIBUS DP,

select Profibus-DP as well. Select which type of device data files to install (EDS for DeviceNet, GSD for PROFIBUS DP).

(8) Complete the installation.

(9) The message to ensure the restart appears. Click the Yes button.

(10) Start the C:\Install\FieldBus\Install\SP\Setup.EXE and install the service pack.

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

(11) After completing the installation of the service pack, shutdown the computer.

(12) Proceed to 2.5.4 Board Installation.

28 Fieldbus I/O Rev.6

2. Installation

2.7.4 Board Installation

WARNING



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

(1) Configure the board address jumper (JP1) on each board. The board number must

start with 1 consecutively. Refer to the following table for JP1 configuration.

Short Socke

Board No.

C0 C1 C2

1 0: Short 0: Short 0: Short 2 1: Short 0: Short 0: Short 3 0: Short 1: Short 0: Short 4 1: Short 1: Short 0: Short 5 0: Short 0: Short 1: Short 6 1: Short 0: Short 1: Short 7 0: Short 1: Short 1: Short 8 1: Short 1: Short 1: Short

(2) Install the board(s) in any available PCI slot in the controller.

(3) Connect the board(s) to the Fieldbus.

(4) Start the controller.

(5) The Windows Hardware Wizard will display a message that the applicomIO board

was found and prompt you to restart the computer. The applicomIO console application will automatically start for this first start after installation. Close this application for now and restart the controller.

(6) Start the applicomIO console application.

(7) Click the Add Board button on the upper left of the console window to add a board.

(8) The following dialog will appear.

Check that “PCI-DVNIO” (“PCI-DPIO” or “PCU-DPIO” in case of PROFIBUS DP)

Fieldbus I/O Rev.6 29

2. Installation

is shown in the Board Type: box. Then, click the OK button. When installing more than two fieldbus boards in the system, add all the boards using this dialog. The following dialog will appear when no board is detected. Ensure that the board is correctly inserted and that the board configuration is correct.

(9) After all the boards are added, the system should be restarted.

Close the applicomIO Console application and click the OK button on the Save modification dialog. Click the OK button on the following dialog to restart Windows.

(10) After restarting the system, continue with the following 2.5.5 Master Mode or 2.5.6

Slave Mode sections.

30 Fieldbus I/O Rev.6

2. Installation

2.7.5 Master Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Register the device information (EDS file) that is necessary for the network setup.

Select the [Equipment Library] tab at the center of the dialog’s right side and click the Add icon.

(3) Following dialog appears. Specify the EDS file that is supplied from the device

manufacturer.

(4) Click on the “Protocol list” under the board that was just added.

(5) Select Protocol | Property.

Fieldbus I/O Rev.6 31

2. Installation

(6) Configure the baud rate, MAC ID (master address), and so on for the DeviceNet

network.

The 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 the procedure for verifying the load on the bus using the applicomIO Console application, refer to the 4. Troubleshooting in this manual.

)

NOTE

(7) Click the Network Detection tab on the center left of the console window.

(8) Click the Read Network Configuration button to display the Network Detection

dialog and read in the devices on the Fieldbus.

32 Fieldbus I/O Rev.6

2. Installation

(9) Drag each device you want to scan from the Network Detection tab to the Master

item in the list on the right.

(10) The following dialog will appear.

Select the Connection Configuration tab to verify the connection configuration. Change the configuration if necessary.

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

)

NOTE

Fieldbus I/O Rev.6 33

2. Installation

The Expert Mode button will appear when the applicomIO Console application is used in the expert mode.

To configure details of “Change Of State” and “Cyclic”, click the Expert Mode button and display the Expert Mode dialog.

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

)

NOTE

(11) When the system cannot identify the device you want to use (its EDS file is not

registered), the following dialog will appear. In this case, obtain the EDS file from the device manufacturer and register it. Then, start from step 5 (Network Detection) of this procedure.

34 Fieldbus I/O Rev.6

2. Installation

To create a new EDS file based on the data from the device, click the Create New EDS File button.

When a new EDS file is created, the following dialog will appear to verify the contents of the file.

(12) Select the Equipment Library tab on the center left of the console window and

click the Add button to register the new EDS file in the system.

Fieldbus I/O Rev.6 35

2. Installation

(13) Select File | Download in Flash to register the configuration in the fieldbus board.

After a few seconds, the board's state will show green in the status bar.

(14) Now, the fieldbus board is ready to operate as a master. Close the applicomIO

Console application.

36 Fieldbus I/O Rev.6

2. Installation

2.7.6 Slave Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Click on the “Protocol list” under the board that was just added.

(3) Select Protocol | Properties.

(4) Configure the baud rate, MAC ID (slave address), and so on for the DeviceNet

network. In this example, the MAC ID (slave address) is set to 005.

Specify an unused address on the network for a slave device as well as other devices.

(5) Double-click the “DeviceNet Local Slave” item.

)

NOTE

Fieldbus I/O Rev.6 37

2. Installation

(6) The DeviceNet Local Slave property sheet will appear. Select the Equipment

(device) ID. It must be the same number as the Master ID in step (4).

(7) Click on the Connection Configuration tab. Check the Polling check box and

configure how many inputs and outputs for the slave device. In this example, the Output Size and Input Size are set to 8 bytes.

The load on a bus varies depending on the input/output size settings.

When the load exceeds 60%, the DeviceNet network communications will be unstable, for example: more communication errors. Restrict the input/output sizes to the minimum necessary to minimize the load. The load is also controlled by baud rate in the master configuration.

For the procedure for verifying the load on the bus using the applicomIO Console application, refer to the 4. Troubleshooting in this manual.

The input/output sizes of each node may be restricted depending on the master.

For details of the permitted data size, refer to the respective manuals of the masters.

)

NOTE

(8) Click OK.

38 Fieldbus I/O Rev.6

2. Installation

(9) Select File | Download in Flash to register the configuration in the fieldbus board.

After a few seconds, the board's state will show green in the status bar.

(10) Close the applicomIO console application.

(11) The default slave EDS file is created.

The path is: C:\Program Files\Woodhead\Direct-link\ApplicomIO2.3\ConfigIO \Config01\applicomio.eds.

You may make a copy of the default slave EDS file and modify it to create your original EDS file if necessary.

Edit the copy of the slave EDS file using Notepad. You may want to change the VendName and ProductTypeStr.

Fieldbus I/O Rev.6 39

2. Installation

$ EDS File Generated by applicomIO® Console Version : 2.2

[File] DescText = "EDS for applicomIO Scanner"; CreateDate = 02-01-2004; CreateTime = 08:14:41; ModDate = 02-01-2004; ModTime = 08:14:41; Revision = 1.0;

[Device] VendCode = 579; ProdType = 12; ProdCode = 1; MajRev = 1; MinRev = 2; VendName = "applicom international"; ProdTypeStr = "Communication Adapter"; ProdName = "applicomIO Scanner"; Catalog = "";

[IO_Info] Default = 0x0000;

Copy the EDS file to the system where the master is located. Add the new slave device to the master using the new EDS file.

(12) On the master system, scan the network for new devices. The new slave device

should be detected.

Use the EDS file created in previous steps for the slave device.

40 Fieldbus I/O Rev.6

2. Installation

2.8 PROFIBUS DP Board Installation

Following two board types can be used for the fieldbus I/O option PROFIBUS DP.

- PCU-DPIO

- PCI-DPIO

2.8.1 Board Appearance

Part names and functions of the scanner board are shown in the following figure. For details of the status display LEDs, refer to the 4. Troubleshooting in this manual.

PCU-DPIO

C0 C1 C2

JP1

PROFIBUS-DP Port

LED (2)

(Not in use)

RJ45 Connector

(Not in use)

4-pin Terminal

Watchdog Port

(Do not use this port.)

Jumper for Board Address

Status Display LED (2)

PCI-DPIO

C0 C1 C2

JP1

Configuration Port

Communication Status LED

Male 9-pin D-Sub

Port for Board Configuration

Status Display LED (2) Left: Communication Status LED Right: Physical Error LED

Jumper for Board Address

Female 9-pin D-Sub PROFIBUS DP Port

4-pin Terminal

Watchdog Port

(Do not use this port.)

Fieldbus I/O Rev.6 41

2. Installation

2.8.2 Specifications

Part Number applicom PCI-DPIO / PCU-DPIO

Modes Master/Slave

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 per segment)

GDS Support Yes

PROFIBUS DP Class 1 Yes

PROFIBUS DP Class 2 Yes

Input Data Size 1 to 244 bytes

Output Data Size 1 to 244 bytes

Automatic Detection Yes. Devices can be detected automatically.

2.8.3 Software Installation

Before installing any boards in your controller, you must install the applicomIO console application and drivers for the type of board you will be using.

(1) Start the controller.

(2) Run the C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE from the install

folder in the controller to start the installation.

(3) Select the desired language for the installer.

(4) Select Install Products.

(5) Select applicomIO. Do not select applicomIO ActiveX.

42 Fieldbus I/O Rev.6

2. Installation

(6) Allow the default components to be installed.

(7) Select the protocol: PROFIBUS DP you will be using.

If you also use DeviceNet, select DeviceNet as well. Select which type of device data files to install (GSD for PROFIBUS DP, EDS for DeviceNet).

(8) Complete the installation.

(9) The message to ensure the restart appears. Click the Yes button.

(10) Start the C:\Install\FieldBus\Install\SP\Setup.EXE and install the service pack.

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

(11) After completing the installation of the service pack, shutdown the computer.

(12) Proceed to 2.6.4 Board Installation.

Fieldbus I/O Rev.6 43

2. Installation

2.8.4 Board Installation

WARNING



(1) Configure the board address jumper (JP1) on each board. The board number must

start with 1 consecutively. Refer to the following table for JP1 configuration.

Short Socke

Board No.

C0 C1 C2

(2) Install the board(s) in any available PCI slot in the controller.

(3) Connect the board(s) to the Fieldbus.

(4) Start the controller.

(5) The Windows Hardware Wizard will display a message that the applicomIO board

(6) Start the applicomIO console application.

(7) Click the Add Board button on the upper left of the console window to add a board.

44 Fieldbus I/O Rev.6

2. Installation

(8) The following dialog will appear.

Check that “PCI-DPIO” or “PCU-DPIO” (“PCI-DVNIO” in case of DeviceNet) is shown in the Board Type: box. Then, click the OK button. When installing more than two fieldbus boards in the system, add all the boards using this dialog.

The following dialog will appear when no board is detected. Ensure that the board is correctly inserted and that the board configuration is correct.

(9) After all the boards are added, the system should be restarted.

Close the applicomIO Console application and click the OK button on the Save modification dialog. Click the OK button on the following dialog to restart Windows.

(10) After restarting the system, continue with the following 2.6.5 Master Mode or 2.6.6

Slave Mode sections.

Fieldbus I/O Rev.6 45

2. Installation

2.8.5 Master Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Register the device information (GSD file) that is necessary for the network setup.

Select the [Equipment Library] tab at the center of the dialog’s right side and click the Add icon.

(3) Following dialog appears. Specify the GSD file that is supplied from the device

manufacturer.

(4) Select Description | Properties.

46 Fieldbus I/O Rev.6

2. Installation

(5) Select the “Profibus, Master/Slave” in the Channel Properties dialog and click the

OK button.

(6) Click on the “Protocol list” under the board that was just added.

(7) Select Protocol | Properties.

(8) Configure the baud rate, Master Profibus Address (master address), number of

repeaters, and so on for the PROFIBUS DP network.

Fieldbus I/O Rev.6 47

2. Installation

(9) Click the Network Detection tab on the center left of the console window.

(10) Click the Read Network Configuration button to display the Network Detection

dialog and read in the devices on the fieldbus.

(11) Drag each device you want to scan from the Network Detection tab to the Master

item in the list on the right.

48 Fieldbus I/O Rev.6

2. Installation

(12) The following dialog will appear.

The device name is shown on the dialog title bar. Click the OK button.

When the system cannot identify the device you want to use (its GSD file is not registered), the following dialog will appear. In this case, obtain the GSD file from the device manufacturer and register it. Then, start from step 5 (Network Detection) of this procedure.

Fieldbus I/O Rev.6 49

2. Installation

(13) Select the Equipment Library tab on the center left of the console window and

click the Add button to register the new GSD file in the system.

(14) Select File | Download in Flash to register the configuration in the fieldbus board.

After a few seconds, the board's state will show green in the status bar.

Now, the fieldbus board is ready to operate as a master. Close the applicomIO Console application.

50 Fieldbus I/O Rev.6

2. Installation

2.8.6 Slave Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Select Description | Properties.

(3) Select the “Profibus, Slave” in the Cannel Properties dialog and click the OK

button.

Though you can select the “Profibus, Master/Slave” as a slave, it might not communicate properly in some Master. To use only the slave function, select the “Profibus, Slave”.

)

NOTE

(4) Click on the “Protocol list” under the board that was just added.

(5) Select Protocol | Properties.

Fieldbus I/O Rev.6 51

2. Installation

(6) Configure the baud rate, Master Profibus Address (slave address), number of

repeaters, and so on for the PROFIBUS DP network. In this example, the Master Profibus Address (slave address) is set to 005.

Specify an unused address on the network for a slave device as well as other devices.

)

NOTE

(7) Double-click the “Local DP Slave” item.

(8) The Local DP Slave property sheet will appear.

Select the Equipment (device) ID. It must be the same number as the Master Profibus Address in step (4). In this manual, the input/output sizes are set to 8 bytes.

The input/output sizes of each station may be restricted depending on the master. For details of the permitted data size, refer to the respective manuals of the masters.

)

NOTE

52 Fieldbus I/O Rev.6

2. Installation

(9) Select File | Download in Flash to register the configuration in the fieldbus board.

After a few seconds, the board's state will show green in the status bar.

(10) Now the fieldbus board is ready to operate as a slave. Close the applicomIO Console

application.

2.8.7 GSD File

A GSD file is a device data file for registering slave configuration data in the configurator (device or software that configures the master).

The standard GSD file for EPSON robot controller RC520 and RC420 is provided in the following path:

c:\Program Files\Woodhead\Direct-Link\applicomIO2.3\Equipment Library \Profibus_gsd\app0890.gsd.

For details of the PROFIBUS DP network configuration, contact the manufacturer of the master device you use. If you use EPSON RC+ as a master device, you do not need to register EPSON RC+ since the said GSD file was installed.

Fieldbus I/O Rev.6 53

2. Installation

2.9 EtherNet/IP Board Installation

Following two board types can be used for the fieldbus I/O option EtherNet/IP.

- PCU-ETHIO

2.9.1 Board Appearance

Part names and functions of the scanner board are shown in the following figure. For details of the status display LEDs, refer to the 4. Troubleshooting in this manual.

PCU-ETHIO

C0 C1 C2

JP1

D-Sub 9 pin

(Not in use)

Status Display LED (2)

EtherNetI/P Connector

4-pin Terminal

Watchdog Port

(Do not use this port.)

Jumper for Board Address

LED (2)

(

Not in use)

2.9.2 Specifications

Part Number applicom PCU-ETHIO

Modes Master/Slave

Baud Rates 10, 100 Mbps

Interface EtherNet/IP 1 port

Maximum Node 127

Connection Type Cyclic, Change of State

Explicit messaging Yes

EDS support Yes

Input Data Size 1 to 505 bytes

Output Data Size 1 to 509 bytes

Automatic Detection Yes. Devices can be detected automatically.

54 Fieldbus I/O Rev.6

2. Installation

2.9.3 Software Installation

Before installing any boards in your controller, you must install the applicomIO console application and drivers for the type of board you will be using.

(1) Start the controller.

(2) Run the C:\Install\FieldBus\Install\applicomIO\Disk1\Setup.EXE from the install

folder in the controller to start the installation.

(3) Select the desired language for the installer.

(4) Select Install Products.

(5) Select applicomIO. Do not select applicomIO ActiveX.

(6) Allow the default components to be installed.

Fieldbus I/O Rev.6 55

2. Installation

(7) Select the protocol: Ethernet you will be using.

If you also use DeviceNet, select DeviceNet as well. If you also use PROFIBUS DP, select Profibus-DP as well. Select which type of device data files to install (GSD for PROFIBUS DP, EDS for DeviceNet).

(8) Complete the installation.

(9) The message to ensure the restart appears. Click the Yes button.

(10) Start the C:\Install\FieldBus\Install\SP\Setup.EXE and install the service pack.

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

(11) After completing the installation of the service pack, shutdown the computer.

(12) Proceed to 2.9.4 Board Installation.

56 Fieldbus I/O Rev.6

2. Installation

2.9.4 Board Installation

WARNING



(1) Configure the board address jumper (JP1) on each board. The board number must

start with 1 consecutively. Refer to the following table for JP1 configuration.

Short Socke

Board No.

C0 C1 C2

(2) Install the board(s) in any available PCI slot in the controller.

(3) Connect the board(s) to the Fieldbus.

(4) Start the controller.

(5) The Windows Hardware Wizard will display a message that the applicomIO board

(6) Start the applicomIO console application.

(7) Click the Add Board button on the upper left of the console window to add a board.

Fieldbus I/O Rev.6 57

2. Installation

(8) The following dialog will appear.

Check that “PCI/PCU-ETHIO (“PCI-DVNIO” in case of DeviceNet, and ”“PCIDPIO” or “PCU-DPIO” in case of PROFIBUS-DP) is shown in the Board Type: box. Then, click the OK button. When installing more than two fieldbus boards in the system, add all the boards using this dialog.

The following dialog will appear when no board is detected. Ensure that the board is correctly inserted and that the board configuration is correct.

(9) Click the OK button. The following dialog will appear.

Select EtherNet/IP from Protocol, and click the OK button.

58 Fieldbus I/O Rev.6

2. Installation

(10) Click the OK button. The following dialog will appear.

Configure the IP address for the EtherNet/IP board. Select the IP address from Static, DHCP, or BOOTP at Configuration. Do not select Flash Memory.

When you select Static, set the values for each item.

(11) After all the boards are added, the system should be restarted.

Close the applicomIO Console application and click the OK button on the Save modification dialog. Click the OK button on the following dialog to restart Windows.

(12) After restarting the system, continue with the following 2.9.5 Master Mode or 2.9.6

Slave Mode sections.

Fieldbus I/O Rev.6 59

2. Installation

2.9.5 Master Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Register the device information (EDS file) that is necessary for the network setup.

Select the [Equipment Library] tab at the center of the dialog’s right side and click the Add icon.

(3) Following dialog appears. Register the EDS file that is supplied from the device

manufacturer.

(3)-1 Click Next button.

(3)-2 Specify the folder that EDS is stored, and click the Next button.

60 Fieldbus I/O Rev.6

2. Installation

(3)-3 Check the device information in EDS, and click the Next button.

(3)-4 Click the Complete button to register the EDS file.

(4) Click the Network Detection tab on the center left of the console window.

(5) Click the Read Network Configuration button to display the Network Detection

dialog and read in the devices on the fieldbus.

Fieldbus I/O Rev.6 61

2. Installation

(6) Drag each device you want to scan from the Network Detection tab to the Master

item in the list on the right.

(7) Following dialog appears.

Uncheck the Link Parameter box and assign a value from 1 to 127. This number is called as device ID and necessary to create SPEL+ programs. Click the OK button to complete the registration.

(8) After finishing devices registration, select File | Download in Flash to register the

configuration in the fieldbus board.

62 Fieldbus I/O Rev.6

2. Installation

After a few seconds, the board's state will show green in the status bar.

Now, the fieldbus board is ready to operate as a master. Close the applicomIO Console application.

Fieldbus I/O Rev.6 63

2. Installation

2.9.6 Slave Mode

(1) Ensure that the board is connected to the fieldbus. Then, start the applicomIO

console application.

(2) Double-click the “EtherNet/IP Local Slave” item.

(3) The EtherNet/IP Local Slave property sheet will appear.

Select the Number (device) ID, and check the “Active Configuration”.

(4) Click on the Assembly Instance tab. Configure how many inputs and outputs for

the slave device. In this example, the Sizes and Instances of Input and Output are set as follows.

[Output]-[Instance] : 001 [Output]-[Size] : 256 (bytes) [Input]-[Instance] : 002

[Input]-[Size] : 256 (bytes) Value of Configuration | Size is not available for EPSON RC+. Set “0” (Words) for this box.

Make sure that the input/output size settings do not exceed 14 kbytes in total.

The input/output sizes of each node may be restricted depending on the master.

For details of the permitted data size, refer to the respective manuals of the masters.

)

NOTE

(5) Click OK.

64 Fieldbus I/O Rev.6

2. Installation

(6) Drag EtherNet/IP Local Slave from Equipment Library to the Master item in the

list on the right. Window in step 5 appears. Configure by the procedures from step 7. You can create up to 32 Local Slaves if necessary.

(7) Select File | Download in Flash to register the configuration in the fieldbus board.

After a few seconds, the board's state will show green in the status bar.

(8) Close the applicomIO console application.

Fieldbus I/O Rev.6 65

2. Installation

(9) The default slave EDS file is created.

The path is: C:\Program Files\Woodhead\Direct-link\ApplicomIO2.3\ConfigIO \Config01\applicomio.eds.

You may make a copy of the default slave EDS file and modify it to create your original EDS file if necessary.

Edit the copy of the slave EDS file using Notepad. You may want to change the VendName and ProductTypeStr.

Copy the EDS file to the system where the master is located. Add the new slave device to the master using the new EDS file.

(10) On the master system, scan the network for new devices. The new slave device

should be detected.

Use the EDS file created in previous steps for the slave device.

66 Fieldbus I/O Rev.6

2. Installation

2.10 EPSON RC+ Fieldbus I/O Installation

After you have created your fieldbus network and installed the scanner board(s) in your controller, you must configure the EPSON RC+ Fieldbus I/O option.

Before continuing, the fieldbus scanner boards must have the device configuration stored in the board's flash memory, as described in the chapter Installation. Otherwise, the fieldbus boards will function improperly and EPSON RC+ cannot control them.

See the 2. Installation to store the device configuration in the flash memory.

Fieldbus I/O Software Configuration

To configure Fieldbus I/O, select System Configuration from the Setup menu. Click the I/O Systems tab, then select Fieldbus I/O from the list and click the Configure button. The dialog shown below will be displayed.

Set the bus type, name, and board type properly and click the Read Configuration button.

Option Description

Add Click this button to add a Fieldbus.

Delete Click this button to delete the last Fieldbus. It will be dimmed when

the last Fieldbus is not selected or there are no Fieldbuses installed.

Bus Type Click in the Bus Type field and click the arrow on the right side of the

field to select the Fieldbus type.

Board Number The Board Number field is automatically incremented. The boards

must be configured to use this number. Boards are always numbered consecutively starting with 1.

Read Configuration Use this button to read the Fieldbus configuration for the selected

Fieldbus. You must read the configuration in order for EPSON RC+ to know the devices in the bus.

Before continuing, you must click the Read Configuration button for each bus. This instructs EPSON RC+ to read the device configurations. If the configuration for a board is ever changed, you must Read Configuration again.

Fieldbus I/O Rev.6 67

2. Installation

68 Fieldbus I/O Rev.6

3. Operation

This chapter contains information on how to use the Fieldbus I/O option after it has been installed.

3.1 Fieldbus I/O Addressing in SPEL

Each of the Fieldbus I/O commands in SPEL+ refer to one device on the network. The bit number and port number parameters refer to inputs and outputs local to the device.

3.2 SPEL+ Fieldbus I/O Commands

All Fieldbus I/O commands begin with the same prefix: "FbusIO_". Here are the main commands. For details, please see the online help or SPEL

Language Reference Manual.

FbusIO_GetBusStatus Returns the status of the specified fieldbus.

FbusIO_GetDeviceStatus Returns the status of the specified fieldbus device.

FbusIO_In Returns the status of an 8 bit input port.

FbusIO_InW Returns the status of a 16 bit input port.

FbusIO_IONumber Returns the bit number of the specified Fieldbus I/O label.

FbusIO_Off Turns an output off.

FbusIO_On Turns an output on.

FbusIO_Out Simultaneously sets 8 output bits.

FbusIO_OutW Simultaneously sets 16 output bits.

FbusIO_Sw Returns the status of one input bit.

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

Response times for Fieldbus I/O can vary and depend on several factors, including baud rate, scan rate, number and types of devices, number of SPEL+ tasks, communication error, etc. When the fastest and most consistent response times are required, please use EPSON Standard digital I/O, which incorporates interrupt driven inputs and outputs.

)

NOTE

Fieldbus I/O Rev.6 69

3. Operation

3.3 Outputs Off by Emergency Stop and Reset Instruction

You can configure the system so that all outputs including the fieldbus outputs will be turned off when the emergency stop occurs and when a Reset instruction is executed. For details of the configuration, refer to the chapter SPEL+ Options in the EPSON RC+ User's Guide.

A command that was issued just before an emergency stop can be executed after the emergency stop condition is cleared. If the outputs from the fieldbus involve risk, the “Outputs off during Emergency Stop” option should be enabled to remove all power to output devices when an emergency stop occurs.

)

NOTE

3.4 Waiting for Input or Output Status

The SPEL+ Wait statement cannot be used for Fieldbus I/O. You can make your own function to handle this.

For example:

Function WaitFbusInput(bus As Integer, device As Integer, bit As Integer, state As Integer)

Do If FbusIO_Sw(bus, device, bit) = state Then Exit Function EndIf Wait .01 Loop

Fend

In the program example above, a Wait statement is used to prevent the task from using too much CPU. You can remove the Wait for faster response, but the task will use more CPU. You may also want to add a timeout or other checks.

70 Fieldbus I/O Rev.6

3. Operation

3.5 Using FbusIO_SendMsg

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

The syntax is as follows:

FbusIO_SendMsg bus, device, msgParam, sendBytes(), recvBytes()

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

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

Here is an example for DeviceNet, EtherNet/IP:

' Send explicit message to the device Byte sendData(5) Byte recvData(10) Integer i sendData(0) = 14 ' Command sendData(1) = 1 ' Class sendData(3) = 1 ' Instance sendData(5) = 7 ' Attribute FbusIO_SendMsg 1, 1, 0, sendData(), recvData() For i = 0 To UBound(recvData) Print recvData(i) Next i

For PROFIBUS DP, you need to specify the service number in the msgParam parameter. Consult the documentation that came with the device for the services that are supported. Some services require 0 send bytes. In this case, use 0 for the sendBytes parameter.

Here is an example for PROFIBUS DP:

' Send message to Profibus device Byte recvData(10) Integer i ' Service 56 - read all inputs ' sendBytes = 0 FbusIO_SendMsg 2, 1, 56, 0, recvData() For i = 0 To UBound(recvData) Print recvData(i) Next i

Fieldbus I/O Rev.6 71

3. Operation

3.6 Using Slave Mode

In slave mode, the EPSON RC+ system is a slave on the bus. Outputs from the master are inputs in EPSON RC+, and inputs to the master are outputs in EPSON RC+.

Uses for slave mode:

• External equipment can monitor data in the controller

• Remote control

To use the system in slave mode, perform the following basic steps:

1. Configure local slave on the Fieldbus scanner board. Refer to the 2. Installation for instructions for the type of hardware you are using.

2. Design your application to handle requests from the Fieldbus master and return data or execute functions.

3.7 Remote Control Slave

If the controller will be remotely controlled by a Fieldbus master, your application must auto start and run in a continuous loop to service requests from the master. Use OnErr, Trap Error, Trap Emergency and Restart to accomplish this. Refer to the sample project for Fieldbus remote slave called FieldbusRemoteSlave that is included with EPSON RC+.

72 Fieldbus I/O Rev.6

3. Operation

3.8 Devices available for Fieldbus I/O Option

The fieldbus I/O option operations were checked with the following devices.

)

NOTE

The following information about the devices is just for reference. This is not our guarantee of the proper operation of these devices.

DeviceNet Devices

Specifications Model Number Manufacturer

16-input module TDN-8C0-108 Woodhead

8-output module TDN-808-118 Woodhead

Intelligent I/O module 750-346 WAGO

4-channel digital input module 750-431 WAGO

4-channel digital output module 750-530 WAGO

Photo sensor 42GNP-9000-QD1 Allen-Bradley

Motor Driver I/F JUSP-NS300 YASKAWA ELECTRIC

Motor Driver SGDH YASKAWA ELECTRIC

RC170 DeviceNet option RC170 SEIKO EPSON

PROFIBUS DP Device

Specifications Model Number Manufacturer

16-input module TDP-8C0-B18-02 Woodhead

16-output module TDN-808-B18-02 Woodhead

Intelligent I/O module 750-343 WAGO

4-channel digital input module 750-431 WAGO

4-channel digital output module 750-530 WAGO

Motor Driver I/F JUSP-NS500 YASKAWA ELECTRIC

Motor Driver SGDH YASKAWA ELECTRIC

RC170 PROFIBUS-DP option RC170 SEIKO EPSON

Fieldbus I/O Rev.6 73

3. Operation

3.9 Fieldbus I/O Response Performance

As mentioned previously, respond times for fieldbus I/O can vary and depend on several factors. The values in this section are shown for reference not for guaranteed performance.

DeviceNet

Test Environment

RC520 Controller: Pentium III 850 MHz 128 MB memory Fieldbus I/O: PCI-DVNIO board Master (MAC ID: 0) Baud rate: 500 kbps, 125 kbps Connected Slave: Woodhead 16-input module (TDN-8C0-108) Node address: 2

Connection Image

Power Tap

T-branch

Terminating Resistor

To Standard Input

Waveform Generator

Power Supply

+24V

NPN Output PNP Output Waveform

Modification Jig

Input Module

DeviceNet

I/F Board

T-branch

Terminating Resistor

Evaluation

Signals with various pulse widths (every 5 msec) were input to the standard I/O input and the input module of the fieldbus I/O at 1 Hz. For 10 minutes (600 seconds), pulse widths of the received signals were measured at 125 kbps and 500 kbps.

Result

500 kbps: The input devices responded to 25-msec pulse. 125 kbps: The input devices responded to 30-msec pulse.

74 Fieldbus I/O Rev.6

3. Operation

PROFIBUS DP

Test Environment

RC520 Controller: Pentium III 850 MHz 128 MB memory Fieldbus I/O: PCI-DPIO board Master (station address: 0) Baud rate: 12 Mbps, 9.6 kbps Connected Slave: Woodhead 16-inpout module (TDP-8C0-B18-02) Node address: 2

Connection Image

Terminating Resisto

To Standard Input

Waveform Generator

Power Supply

+24V

NPN Output PNP Output

aveform

modification jig

PROFIBUS I/F Board

Input Module

D-Sub

Evaluation

Result

12 Mbps: The input devices responded to 25-msec pulse.

9.6 kbps: The input devices responded to 80-msec pulse.

Fieldbus I/O Rev.6 75

3. Operation

76 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

4. Troubleshooting

4.1 DeviceNet Troubleshooting

Exclusion

Every system has its special environment, conditions, specifications, and usages. This guide is provided as a general reference for troubleshooting a DeviceNet network. Every effort has been made to ensure the information is accurate. However, we do not guarantee the complete accuracy of the information and thus we decline any liability for damages or costs incurred by the use of this troubleshooting.

Before examining a problem on the network, please ensure that your established DeviceNet system satisfies network specifications. (Refer to this troubleshooting and the section 2.2 DeviceNet Network Construction.)

Tools

Prepare the following tools for troubleshooting.

Philips screwdriver

Flat-blade screwdriver

Tester

Using the Woodhead NetMeter (DeviceNet diagnostic tool) is a simple way to learn physical status of the DeviceNet network. For details of NetMeter, see Woodhead’s Web site (http://www.mysst.com/diagnostics/NetMeter.asp).

)

HINT

Fieldbus I/O Rev.6 77

4. Troubleshooting (DeviceNet)

4.1.1 Examining a Problem

4.1.1.1 Scanner Board Diagnostic LEDs

The DeviceNet board used with EPSON RC+ has two status display LEDs. The layout of the LEDs is shown in the following figure.

PCU-DVNIO

4-pin Terminal

Watchdog Port

(Do not use this port.)

DeviceNet Port

LED (2)

(Not in use)

RJ45 Connector

(Not in use)

C0 C1 C2

JP1

Jumper for Board Address

Status Display LED (2)

PCI-DVNIO

Male 9-pin D-Sub

Port for Board Configuration

C0 C1 C2

JP1

4-pin Terminal

Watchdog Port

(Do not use this port.)

Status Display LED (2) Left: Module/NetWork LED Right: IO LED

DeviceNet Port

Jumper for Board Address

The Module/NetWork LED is on the left and the IO LED is on the right seen from the rear panel. These LED names are used in applicomIO Console application and this manual. Only in this troubleshooting section, general names of the status display of the DeviceNet device are used instead.

The Module/NetWork LED is expressed by the Network Status (NS) in this section.

The IO LED is expressed by the Module Status LED (MS) in this section.

78 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

4.1.1.2 Check Network Status

(1) Master Status: MS/NS LEDs

LED Color Light Condition

MS (Module Status)  Green  Red  ON  Blinking  OFF

NS (Network Status)  Green  Red  ON  Blinking  OFF

(2) Node Number of Absent Slaves

Absent slaves are disconnected from or not added to the network.

1. See the status flag regarding to the removal and addition if the master has status information.

2. See the MS/NE LEDs of all slaves if the master has no status information.

(3) Absent Slave Status: MS/NS LEDs

LED 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

communication time out error occurred.

Start the examination from this block when the error occurred here.

Maste

Branch Tap

Terminating Resistor

(5) Error Occurrence Condition

 Immediate occurrence (high reproducibility)

 Rare occurrence (low reproducibility)

Fieldbus I/O Rev.6 79

4. Troubleshooting (DeviceNet)

4.1.2 Problems and Countermeasures

Master Unit LED

MS NS

Error Description [Reference]

Green Light ON

Normal communication

- Normal condition

Green Light ON

Green Light Blinking

During connection establishment

- Processing connection establishment (The NS LED will be ON in green in a few seconds.)

- Master function in stop state (When communication does not start, master analysis with NetMeter is required.)

Green Light ON

Red Light Blinking

Communication error

[Refer to the section 4.1.2.1 Master: Communication Error.]

- Slave disconnected from the network (Remote I/O communication error)

- Slave not added to the network (Scan list collation error)

- Communications power supply OFF (Error detection after the communication establishment)

Green Light ON

Red Light ON

Busoff detection Duplicate MAC ID

[Refer to the section 4.1.2.2 Master: Busoff Detection.]

- Busoff detection: Communication stopped due to critical error.

- Duplicate MAC ID: The MAC ID configuration was duplicated. (This error occurs only during unit startup)

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 Configuration error - Master unit configuration error

Refer to the respective device manuals.

[Refer to the section 4.1.2.4 Master: Configuration Error.] When EPSON RC+ was configured as a master:

- 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.

Red Light ON

No Matter Module error - Broken master unit → Unit Replacement

Light OFF Green

Light Blinking

Absent slave [Refer to the section 4.1.2.5 Absent Slave.]

- No slave (Error detection before communication establishment)

- Communications power supply OFF

Light OFF Light OFF Uninitialized

network Absent slave

[Refer to the section 4.1.2.6 Uninitialized Network.]

- Master unit start-up error

- No slave (Error detection before communication establishment)

- Communications power supply OFF

80 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

♦ Process Flowchart

Master:

bsent Slave

Master Unit: Configuration Error

Master: Unestablished Communication

Master: Busoff Detection

See 4.1.2.2.

Slave: Not Added

Slave: Busoff Detection

Slave: Communication Error Detection

Yes

Slave: Not Operating

Yes

Master: Uninitialized Network

No (Other)

Master LED

See 4.1.2.6.

See 4.1.1. Examining Details of Trouble.

Yes

Absent Slave LED

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

MS: Red Blinking

MS: OFF

NS: Green Blinking

MS: OFF NS: OFF

Yes

MS: Red ON Other

Broken Slave Unit Replace the unit.

Broken Master Unit Replace the Unit.

Examining a

trouble.

MS: Green ON NS: Red ON

MS: Green ON NS: OFF

See 4.1.2.1.2.

See 4.1.2.3.

See 4.1.2.4.

See 4.1.2.5.

Fieldbus I/O Rev.6 81

4. Troubleshooting (DeviceNet)

4.1.2.1 Master: Communication Error

Master Unit LED

MS NS

Error Description

Green

Light ON

Red Light

Blinking

Communication

error

- Slave disconnected from the network

(Remote I/O communication error)

- Slave not added to the network

(Scan list collation error)

- Communications power supply OFF

(Error detection after the communication

establishment)

4.1.2.1.1 Slave: Not Operating

MS NS

Master LED Condition Green Light ON Red Light Blinking

Absent Slave LED Condition Light OFF Light OFF

♦ Process Flowchart

Check

Replace the unit.



No Problem

Yes

Supply power.

Finish

Normal communication?

Is MS LED light ON?

Is power supplied to slaves?

See other errors.

Yes

82 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

♦ Causes of Error

Possible Cause Examination Method Countermeasure

{ Slave power OFF Measure the power voltage of the

slaves. (It should be within the range of sufficient voltage for the slave operation.) NOTE: For slaves operating with

communications power supply, measure voltage at the DeviceNet connector.

Supply power to the slave.

{ Broken unit

Slave unit replacement Replace the broken

slave unit with a new one.

4.1.2.1.2 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

(Busoff detection)

Green Light ON Red Light ON

(3) Absent Slave LED Condition

(Slave not added to the network)

Green Light ON Light OFF

Fieldbus I/O Rev.6 83

4. Troubleshooting (DeviceNet)

♦ Process Flowchart

Replace the unit.



No Problem

Check

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

3 4

Finish

Divide the network and find the trouble unit.



No Problem



No Change



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

Problem exits. (Fix it.)

The problem is fixed.

See 4.1.3.1 and 4.1.3.2.

See 4.1.3.3.

No problem

Replace the trouble unit.

Check for noise influence.

Does an error occur immediately?

Normal Communication?



Analyze the network with NetMeter.



Consult the DeviceNet manufacturer.

Measure voltage of

communications power supply.

Replace moving cable

(Replace deteriorated cable).

84 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

♦ Causes of Error

Possible Cause Examination Method Countermeasure

{ Disconnected

terminating resistors

{ Cable disconnection { Disconnected

connector

{ Disconnected signal

wire

(1) Check that terminating

resistors are connected to both ends of the network.

(2) Measure resistance

between signal wires with communications power supply OFF. → Normal: 50 to 70 Ω

z Measuring point: Connection

of the trouble unit

z For detail, refer to the section

4.1.3.1 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. z Checkpoint: all nodes and all

branch taps

z 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 Vz If the voltage is 11 to 14 V,

the unit is a possible cause. Fix the problem on the unit.

Check the voltage of the power supply. Calculate the current capacity of the cable and add more communications power supplies.

{ Noise

(external cause)

Check the noise intrusion via the following paths (1) to (3). (1) Noise via DRAIN (FG) (2) Induced noise via

communication cable

(3) Communications power

supply

→ For details, refer to the

section 4.1.3.3 Noise Intrusion.

Take countermeasures against noise.

{ Broken unit Replace the broken unit with a

new one. → Verify whether the problem

is fixed.

Replace the unit with a new one.

z No cause is

identified.

Identify the trouble point by dividing the network. → For details, refer to the

section 4.1.3.4 Broken Unit Examination.

Fieldbus I/O Rev.6 85

4. Troubleshooting (DeviceNet)

4.1.2.2 Master: Busoff Detection

Master Unit LED

MS NS

Error Description

Busoff detection Communication stopped due to critical

error.

Green

Light ON

Red Light

Duplicate MAC ID The MAC ID configuration was

duplicated. (This error occurs only

during unit start-up)

86 Fieldbus I/O Rev.6

4. Troubleshooting (DeviceNet)

♦ Process Flowchart

Replace the unit.



No Problem

Check

Check the following:

- Unconnected terminating resistor

- Unconnected or loose connector/signal wire

- Cable disconnection

Finish



No Problem



No Change



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.

Problem exits. (Fix it.)

The problem is fixed.

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?

Ye s

Normal Communication?



Analyze the network with NetMeter.



Consult the DeviceNet manufacturer.

Measure voltage of

communications power supply.

Replace the master unit.

Replace moving cable

(Replace deteriorated cable).

Fieldbus I/O Rev.6 87

4. Troubleshooting (DeviceNet)

♦ Causes of Error

Possible Cause Examination Method Countermeasure

{ Disconnected

terminating resistors

{ Cable disconnection { Disconnected

connector

{ Disconnected signal

wire

(1) Check that terminating

resistors are connected to both ends of the network.

(2) Measure resistance between

signal wires with communications power supply OFF.

→ Normal: 50 to 70 Ω z Measuring point: Connection

of the problem unit

z For detail, refer to the section

4.1.3.1 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.

z Checkpoint: all nodes and all

branch taps

z 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-

z If the voltage is 11 to 14 V, the

unit is a possible cause. Fix the problem on the unit.

Check the voltage of the power supply. Calculate the current capacity of the cable and add more communications power supplies.

{ Noise

(external cause)

Check the noise intrusion via the following paths (1) to (3). (1) Noise via DRAIN (FG) (2) Induced noise via

communication cable

(3) Communications power

supply

→ For details, refer to the section

4.1.3.3 Noise Intrusion.

Take countermeasures against noise.

{ Broken unit Replace the broken unit with a

new one. → Verify whether the problem is

fixed.

Replace the unit with a new one.

z No cause is

identified.

Identify the trouble point by dividing the network. → For details, refer to the section

4.1.3.4 Broken Unit Examination.

88 Fieldbus I/O Rev.6

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