fanuc IO Link-II Connection Manual

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GE Fanuc Automation

Computer Numerical Control Products

I/O Link―II

Connection Manual

GFZ-62714EN/04 February 2001

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Warnings, Cautions, and Notes as Used in this Publication

Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.

Caution notices are used where equipment might be damaged if care is not taken.

GFL-001

Warning

Caution

Note

Notes merely call attention to information that is especially significant to understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.

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B-62714EN/04 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

This section describes the safety precautions related to the use of CNC units, to ensure safe operation of machines fitted with FANUC CNC units. Read this section carefully before attempting to use any function described in this manaul. Users should also read the relevant descriptions in the Operator’s Manual to become fully familiar with the functions to be used.

CONTENTS

1. DEFINITION OF WARNING, CAUTION, AND NOTE.........s-2

2. GENERAL WARNINGS AND NOTES...................................s-3

s - 1

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SAFETY PRECAUTIONS B-62714EN/04

1 DEFINITION OF WARNING, CAUTION,

AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and Caution.

- Read this manual carefully, and store it in a safe place.

s - 2

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B-62714EN/04 SAFETY PRECAUTIONS

2 GENERAL WARNINGS AND NOTES

WARNING

1 Before operating the machine, thoroughly check the

entered data. Operating the machine with incorrect data may result in the machine behaving unexpectedly, possibly causing damage to the workpiece and/or machine itself, or injury to the user.

2 Never attempt to perform a production run, such as

actually machining a workpiece, without first checking the operation of the machine. Before starting the machine for a production run, ensure that the program command values, offsets, current position, external signals, and other settings are suitable for the operation to be performed. Also check that the machine operates correctly by performing a trial run using, for example, the single block, feedrate override, or machine lock function or by operating the machine with neither a tool nor workpiece mounted.

3 Ensure that the specified feedrate is appropriate for

the intended operation. Generally, for each machine, there is a maximum allowable feedrate. The appropriate feedrate varies with the intended operation. Refer to the manual provided with the machine to determine the maximum allowable feedrate. If a machine is run at other than the correct speed, it may behave unexpectedly, possibly causing damage to the workpiece and/or machine itself, or injury to the user.

4 When using a tool compensation function,

thoroughly check the direction and amount of compensation. Operating the machine with incorrectly specified data may result in the machine behaving unexpectedly, possibly causing damage to the workpiece and/or machine itself, or injury to the user.

s - 3

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SAFETY PRECAUTIONS B-62714EN/04

WARNING

5 The parameters for the CNC and PMC are factory-

set. Usually, there is not need to change them. When, however, there is not alternative other than to change a parameter, ensure that you fully understand the function of the parameter before making any change. Failure to set a parameter correctly may result in the machine behaving unexpectedly, possibly causing damage to the workpiece and/or machine itself, or injury to the user.

6 Immediately after switching on the power, do not

touch any of the keys on the MDI panel until the position display or alarm screen appears on the CNC unit. Some of the keys on the MDI panel are dedicated to maintenance or other special operations. Pressing any of these keys may place the CNC unit in other than its normal state. Starting the machine in this state may cause it to behave unexpectedly.

7 The operator's manual and programming manual

supplied with a CNC unit provide an overall description of the machine's functions, including any optional functions. Note that the optional functions will vary from one machine model to another. Therefore, some functions described in the manuals may not actually be available for a particular model. Check the specification of the machine if in doubt.

8 Some functions may have been implemented at the

request of the machine-tool builder. When using such functions, refer to the manual supplied by the machine-tool builder for details of their use and any related cautions. Refer to the following two examples.

<1> Some machines have a tool replacement

device that operates when a tool feature is executed. When the user is working near the device, he or she may touch it. Execute tool features in a place sufficiently away from the tool replacement device.

<2> Many auxiliary features cause machine

operation such as rotation of the spindle. Understand the operations of auxiliary features before using them.

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B-62714EN/04 SAFETY PRECAUTIONS

NOTE

Command programs, parameters, and variables are stored in nonvolatile memory in the CNC unit. Usually, they are retained even if the power is turned off. Such data may be delated inadvertently, however, or it may prove necessary to delete all data from nonvolatile memory as part of error recovery. To guard against the occurrence of the above, and assure quick restoration of deleted data, backup all vital data, and keep the backup copy in a safe place.

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B-62714EN/04 Table of Contents

SAFETY PRECAUTIONS

SAFETY PRECAUTIONS................................

SAFETY PRECAUTIONSSAFETY PRECAUTIONS

I. GENERAL

I. GENERALI. GENERAL

1111 GENERAL

GENERAL................................

GENERALGENERAL

................................................................

.......................................................

................................................................

...........................................

................................................................

....................... ssss-1

..............................................

........... 3333

......................

-1

-1-1

1.1

1.2

II. SPECIFICATIONS

II. SPECIFICATIONSII. SPECIFICATIONS

1111I/O

1.1

1.2

1.3

1.4

1.5

III. OPERATION

III. OPERATIONIII. OPERATION

1111 16/18/21-B, 16/18-C

1.1

1.2

1.3

ORGANIZATION .............................................................................................................................. 4

APPLICABLE MODELS................................................................................................................... 5

I/O Link

Link-II I/O FUNCTION

I/O I/O

16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16

16/18/21-B, 16/18-C16/18/21-B, 16/18-C

-II I/O FUNCTION................................

LinkLink

-II I/O FUNCTION-II I/O FUNCTION

FEATURES...................................................................................................................................... 10

MASTER FUNCTION..................................................................................................................... 11

SLAVE FUNCTION ........................................................................................................................ 12

SPECIFICATIONS.......................................................................................................................... 13

GLOSSARY...................................................................................................................................... 16

, LCD-MOUNTED TYPE 16i/18

, LCD-MOUNTED TYPE 16, LCD-MOUNTED TYPE 16

MASTER FUNCTION..................................................................................................................... 22

SLAVE FUNCTION ........................................................................................................................ 32

DATA CONCURRENCY................................................................................................................. 42

................................................................

/18i/21

/21i-A

-A ................................

/18/18

............................................................

/21/21

-A-A

................................................................

................................................

................................................................

............................ 21

........................................................

................ 9999

................................

2121

2222 LCD-MOUNTED TYPE 16

LCD-MOUNTED TYPE 16i/18

LCD-MOUNTED TYPE 16LCD-MOUNTED TYPE 16

2.1

2.2

2.3

3333 Power Mate

3.1

3.2

MASTER FUNCTION..................................................................................................................... 45

SLAVE FUNCTION ........................................................................................................................ 61

DATA CONCURRENCY................................................................................................................. 80

Power Mate-D/F/H

Power MatePower Mate

SLAVE FUNCTION ........................................................................................................................ 83

DATA CONCURRENCY................................................................................................................. 92

-D/F/H ................................

-D/F/H-D/F/H

................................................................

/18i/21

/21i-A,

/18/18

/21/21

-A, Power Mate

Power Mate i-D/H

-A, -A,

Power MatePower Mate

................................................................

-D/H ................................

..............................................................

-D/H-D/H

................................................................

............................................................

................................................................

c - 1

.............................. 44

............................................................

............................ 82

........................................................

4444

8282

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Table of Contents B-62714EN/04

IV. CONNECTION

IV. CONNECTIONIV. CONNECTION

1111 COMMUNICATION FUNCT

COMMUNICATION FUNCTION CONNECTION

COMMUNICATION FUNCTCOMMUNICATION FUNCT

ION CONNECTION................................

ION CONNECTIONION CONNECTION

................................................................

..........................................

................................................................

.......... 97

....................

9797

1.1

1.2

1.3

1.4

HARDWARE SPECIFICATIONS .................................................................................................. 98

CABLE CONNECTION .................................................................................................................. 99

SECURING CABLES.................................................................................................................... 101

NOISE PROTECTION.................................................................................................................. 102

1.4.1 Separating Signal Lines ........................................................................................................ 102

1.4.2 Cable Clamps and Shielding ................................................................................................. 102

2222 16/18/21-B, 16/18-C

16/18/21-B, 16/18-C................................

16/18/21-B, 16/18-C16/18/21-B, 16/18-C

2.1

2.2

2.3

3333 LCD-MOUNTED TYPE 16

3.1

3.2

3.3

4444 STAND-ALONE TYPE 16

SPECIFICATIONS........................................................................................................................ 105

INSTALLATION ........................................................................................................................... 106

CABLE CONNECTION ................................................................................................................ 107

LCD-MOUNTED TYPE 16i/18

LCD-MOUNTED TYPE 16LCD-MOUNTED TYPE 16

SPECIFICATIONS........................................................................................................................ 111

INSTALLATION ........................................................................................................................... 112

CABLE CONNECTION ................................................................................................................ 113

STAND-ALONE TYPE 16i/18

STAND-ALONE TYPE 16STAND-ALONE TYPE 16

................................................................

/18i/21

/21i-A

/18/18

/21/21

/18i/21

/21i-A

/18/18

/21/21

................................................................

-A ................................

................................................................

-A-A

................................................................

-A ................................

................................................................

-A-A

................................................................

............................................................

................................................................

.............................................................

................................................................

.........................................................

................................................................

......................... 104

..................................................

............................ 110

........................................................

............................. 116

..........................................................

104

104104

110

110110

116

116116

4.1

4.2

4.3

4.4

5555 Power Mate

5.1

5.2

5.3

5.4

6666 Power Mate

6.1

6.2

6.3

SPECIFICATIONS........................................................................................................................ 117

INSTALLATION ........................................................................................................................... 118

CABLE CONNECTION

(USING CONNECTORS MANUFACTURED BY PHOENIX CONTACT) ............................... 119

CABLE CONNECTION

(USING CONNECTORS MANUFACTURED BY HIROSE ELECTRIC) ................................. 120

Power Mate-D/F/H

Power MatePower Mate

SPECIFICATIONS........................................................................................................................ 123

CONNECTION.............................................................................................................................. 124

COMMUNICATION CABLE CONNECTION............................................................................. 128

CONNECTION WITH BUILT-IN DI/DO .................................................................................... 133

Power Mate i-D/H

Power MatePower Mate

SPECIFICATIONS........................................................................................................................ 145

INSTALLATION ........................................................................................................................... 148

CABLE CONNECTION (I/O Link-II SLAVE BOARD) .............................................................. 149

-D/F/H ................................

-D/F/H-D/F/H

................................................................

-D/H ................................

................................................................

-D/H-D/H

................................................................

..........................................................

................................................................

...........................................................

................................................................

.......................... 122

....................................................

........................... 144

......................................................

122

122122

144

144144

6.4

CABLE CONNECTION (I/O Link-II SLAVE BOARD B)........................................................... 150

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B-62714EN/04 Table of Contents

V. MAINTENANCE

V. MAINTENANCEV. MAINTENANCE

1111 16/18/21-B, 16/18-C

16/18/21-B, 16/18-C................................

16/18/21-B, 16/18-C16/18/21-B, 16/18-C

................................................................

.........................................................

................................................................

......................... 155

..................................................

155

155155

1.1

1.2

1.3

2222 LCD-MOUNT TYPE 16

2.1

2.2

2.3

3333 STAND-ALONE TYPE 16

3.1

COMPONENT LAYOUT .............................................................................................................. 156

LED INDICATIONS AND THEIR MEANINGS......................................................................... 157

SETTING ....................................................................................................................................... 158

LCD-MOUNT TYPE 16i/18

LCD-MOUNT TYPE 16LCD-MOUNT TYPE 16

COMPONENT LAYOUT .............................................................................................................. 160

LED INDICATIONS AND THEIR MEANINGS......................................................................... 161

SETTING ....................................................................................................................................... 162

STAND-ALONE TYPE 16i/18

STAND-ALONE TYPE 16STAND-ALONE TYPE 16

COMPONENT LAYOUT .............................................................................................................. 164

/18i/21

/21i-A

/18/18

/21/21

/18i/21

/18/18

-A ................................

................................................................

-A-A

................................................................

/21i-A

-A ................................

/21/21

................................................................

-A-A

................................................................

.............................................................

................................................................

.................................... 159

................................................................

............................. 163

..........................................................

3.1.1 Board B1................................................................................................................................. 164

3.1.2 Board B2................................................................................................................................. 165

3.2

3.3

4444 Power Mate

4.1

LED INDICATIONS AND THEIR MEANINGS......................................................................... 166

SETTING ....................................................................................................................................... 167

Power Mate-D/F/H

Power MatePower Mate

COMPONENT LAYOUT .............................................................................................................. 169

-D/F/H ................................

-D/F/H-D/F/H

................................................................

..........................................................

................................................................

.......................... 168

....................................................

159

159159

163

163163

168

168168

4.2

5555 Power Mate

5.1

SETTING ....................................................................................................................................... 170

Power Mate i-D/H

Power MatePower Mate

I/O Link-II SLAVE BOARD.......................................................................................................... 172

-D/H ................................

................................................................

-D/H-D/H

................................................................

...........................................................

................................................................

........................... 171

......................................................

5.1.1 Component Layout ................................................................................................................ 172

5.1.2 LED Indications and Their Meanings .................................................................................. 173

5.2

I/O Link-II SLAVE BOARD B ...................................................................................................... 174

5.2.1 Component Layout ................................................................................................................ 174

5.2.2 LED Indications and Their Meanings .................................................................................. 175

5.2.3 Setting .................................................................................................................................... 176

171

171171

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I. GENERAL

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B-62714EN/04 GENERAL 1.GENERAL

1 GENERAL

Describes the organization of this manual, applicable models.

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1.GENERAL GENERAL B-62714EN/04

1.1 ORGANIZATION

This manual consists of the following parts:

SAFETY PRECAUTIONS

Describes the precautions to be observed in reading this manual.

I. GENERAL

Describes the organization of this manual, applicable models.

II. DESCRIPTION

Describes the general for using the I/O Link-II function.

III. OPERATION

Describes the setting and operation procedures for using the I/O Link-II function.

IV. CONNECTION

Describes the method of connecting each device and notes on using the I/O Link-II function.

V. MAINTENANCE

Describes the drawing number of the I/O Link-II board, the meanings of LED indications, and so forth.

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B-62714EN/04 GENERAL 1.GENERAL

1.2 APPLICABLE MODELS

This manual covers the models listed in the table below. In this manual, the their abbreviations may be used.

Model Abbreviation

FANUC Series 16-MODEL B FANUC Series 160-MODEL B FANUC Series 18-MODEL B FANUC Series 180-MODEL B FANUC Series 21-MODEL B 21-B FANUC Series 16-MODEL C FANUC Series 160-MODEL C FANUC Series 18-MODEL C FANUC Series 180-MODEL C LCD-mounted type FANUC Series 16i-MODEL A/B LCD-mounted type FANUC Series 160i-MODEL A/B LCD-mounted type FANUC Series 18i-MODEL A/B LCD-mounted type FANUC Series 180i-MODEL A/B LCD-mounted type FANUC Series 21i-MODEL A/B LCD-mounted type FANUC Series 210i-MODEL A/B Stand-alone type FANUC Series 16i-MODEL A Stand-alone type FANUC Series 160i-MODEL A Stand-alone type FANUC Series 18i-MODEL A Stand-alone type FANUC Series 180i-MODEL A Stand-alone type FANUC Series 21i-MODEL A Stand-alone type FANUC Series 210i-MODEL A FANUC Power Mate-MODEL D FANUC Power Mate-MODEL F FANUC Power Mate-MODEL H FANUC Power Mate i-MODEL D PMi-D FANUC Power Mate i-MODEL H PMi-H

LCD-mounted type 16i-A/B

LCD-mounted type 18i-A/B

LCD-mounted type 21i-A/B

Stand-alone type 16i-A

Stand-alone type 18i-A

Stand-alone type 21i-A

16-B

18-B

16-C

18-C

PM-D

PM-F

PM-H

16/18/21-B

16/18-C

LCD-mounted type 16/18/21i-A/B

Stand-alone type 16/18/21i-A

PM-D/F/H

PMi-D/H

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II. SPECIFICATIONS

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B-62714EN/04 SPECIFICATIONS 1.I/O LINK-II I/O FUNCTION

1 I/O LINK-II I/O FUNCTION

The I/O Link-II function is a communication function that conforms to OPCN-1 (formerly called JPCN-1/JEMA net) defined by the Japan Electrical Manufacturer's Association. The I/O Link-II function includes a master function and slave function.

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1.I/O LINK-II I/O FUNCTION SPECIFICATIONS B-62714EN/04

1.1 FEATURES

The I/O Link-II function has the features listed below. (1) A connection can be made with devices (including devices

produced by other manufacturers) that conform to OPCN-1.

(2) The power to a slave station on the network can be turned on and

off at any time without affecting communications performed by other devices.

(3) Up to thirty-one slave stations can be connected to one master

station.

(4) The slave function includes a global I/O transfer function

(allowing a slave station to receive DO data from other slave stations).

16/18/21-B 16/18-C

LCD-mounted type 16i/18i/21i-A/B Stand-alone type 16i/18i/21i-A (OPCN-1-compliant products of other manufacturers)

<Slave station> #1

16/18/21-B 16/18-C LCD-mounted type 16i/18i/21i-A/B Stand-alone type 16i/18i/21i-A PM-D/F/H PMi-D/H (OPCN-1-compliant products of other manufacturers)

<Slave station> #2

16/18/21-B 16/18-C LCD-mounted type 16i/18i/21i-A/B Stand-alone type 16i/18i/21i-A PM-D/F/H PMi-D/H (OPCN-1-compliant products of other manufacturers)

<Slave station> #31

16/18/21-B 16/18-C LCD-mounted type 16i/18i/21i-A/B Stand-alone type 16i/18i/21i-A PM-D/F/H PMi-D/H (OPCN-1-compliant products of other manufacturers)

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B-62714EN/04 SPECIFICATIONS 1.I/O LINK-II I/O FUNCTION

1.2 MASTER FUNCTION

The master function consists of the following function:

(1) DI/DO data transfer function

NOTE

FANUC I/O Link-II (master function) uses the following services of OPCN-1: (1) Initialization service (2) Input/output service (3) Reset service

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1.I/O LINK-II I/O FUNCTION SPECIFICATIONS B-62714EN/04

1.3 SLAVE FUNCTION

The slave function consists of the following functions: (1) DI/DO data transfer function (2) Global I/O transfer function (FANUC unique function) (3) Capability of turning on and off the power to a slave station at

any time without affecting communications performed by other devices

NOTE

FANUC I/O Link-II (slave function) uses the following services of OPCN-1: (1) Initialization service (2) Input/output service (3) Reset service

About the global I/O transfer function: The figure below shows DI/DO data transfer performed between a master station and slave stations #1 to #N. Suppose that a slave station using the global I/O transfer function is a local slave station, and the other slave stations are remote slave stations. Then, the local slave station (#2) can receive DO data sent from the master station and can also receive DO data sent to the master station from the remote slave stations. So, the local slave station can make a ladder reference.

Master station

Slave station #1

[Remote slave

station]

Slave station #2

[Local slave

station]

NOTE

Slave station #3

[Remote slave

station]

DO data from slave stations #1 to #N (excluding #2)

Slave station #N

[Remote slave

station]

The global I/O transfer function is not a function defined by OPCN-1 but a FANUC unique function. This function can be used even when the network includes products of other manufacturers (even as a master station). In this case, however, the size of data that can be transferred is limited.

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B-62714EN/04 SPECIFICATIONS 1.I/O LINK-II I/O FUNCTION

1.4 SPECIFICATIONS

Type Master station Master station Slave station

Applicable CNC 16/18/21-B, 16/18-C

Board (printed circuit board drawing number) Control software 6546 series 6546 series 6545 series

Maximum DI/DO size of the DI/DO data transfer function

Maximum DI/DO size of the global I/O transfer function

DI/DO allocatable area of the DI/DO data transfer function

DI/DO allocatable area of the global I/O transfer function

Status information allocatable area

Reference items of this manual

JEMA net --- --- ---

I/O Link-II board A16B-2202-0152

62 bytes/62 bytes (16/18-C) 32 bytes/32 bytes (16/18/21-B)

--- --- 48 bytes

R0000-R0999 for both DI and DO (PMC-SA1/SA3) R0000-R1499 for both DI and DO (PMC-SB3/SC3/SB5) R0000-R2999 for both DI and DO (PMC-SB4/SC4/SB6)

I,II III-1.1,III-1.3 IV-1,IV-2 V-1

LCD-mounted type 16i/18i/21i-A/B

I/O Link-II board A20B-8100-0250

128 bytes/128 bytes

R0000-R0999 for both DI and DO (PMC-SA1/SA5) R0000-R1499 for both DI and DO (PMC-SB5) R0000-R2999 for both DI and DO (PMC-SB6) R0000-R7999 for both DI and DO (PMC-SB7) I,II III-1.1, III-1.3 IV-1,IV-3 V-2

16/18/21-B, 16/18-C

I I/O Link-II board A16B-2202-0152

62 bytes/62 bytes (16/18-C) 32 bytes/32 bytes (16/18/21-B)

R0000-R0999 for both DI and DO (PMC-SA1/SA3) R0000-R1499 for both DI and DO (PMC-SB3/SC3/SB5) R0000-R2999 for both DI and DO (PMC-SB4/SC4/SB6)

I,II III-1.2, III-1.3 IV-1,IV-2 V-1

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1.I/O LINK-II I/O FUNCTION SPECIFICATIONS B-62714EN/04

Type Master station Master station Slave station

Applicable CNC

Board (printed circuit board drawing number) Control software 6545 series 8816 series 8816 series Maximum DI/DO size of the DI/DO data transfer function Maximum DI/DO size of the global I/O transfer function

DI/DO allocatable area of the DI/DO data transfer function

DI/DO allocatable area of the global I/O transfer function

Status information allocatable area

Reference items of this manual

JEMA net --- --- ---

LCD-mounted type 16i/18i/21i-A/B

I/O Link-II board A20B-8100-0250

128 bytes/128 bytes

48 bytes 48 bytes(Caution) 48 bytes(Caution)

PM-D/F/H

I/O Link-II board A20B-2100-0041, 0040

32 bytes/32 bytes (PM-F/H) 64 bytes/64 bytes (PM-D)

DI : X1002-X1063 DO : Y1002-Y1063 (PMC-PA1/PA3)

R0000-R0999 for both DI and DO (PMC-PA1/PA3)

I,II III-3.1,III-3.2 IV-1,IV-5 V-4

PMi-D/H

I/O Link-II board A20B-8100-0310

32 bytes.32 bytes

DI : X1032-X1063 DO : Y1032-Y1063 (PMC-SB5/SB6)

R0000-R0999 for both DI and DO (PMC-SB5/SB6)

I,II III-3.1,III-3.2 IV-1,IV-6.1, IV-6.2, IV-6.3 V-5.1

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B-62714EN/04 SPECIFICATIONS 1.I/O LINK-II I/O FUNCTION

Type Master station Slave station Slave station

Applicable CNC

Board (printed circuit board drawing number)

Control software 654B series 654A series 654A series Maximum DI/DO size of the DI/DO data transfer function Maximum DI/DO size of the global I/O transfer function DI/DO allocatable area of the DI/DO data transfer function DI/DO allocatable area of the global I/O transfer function

Status information allocatable area

Reference items of this manual

JEMA net OPCN-1 certified device OPCN-1 certified device OPCN-1 certified device

Stand-alone type 16i/18i/21i-A

I/O Link-II board B1 A20B-8100-0380 I/O Link-II board B2 A20B-8100-0381

128 bytes/128 bytes 128 bytes/128 bytes 128 bytes/128 bytes

--- 48 bytes 48 bytes

R0000-R0999 for both DI and DO (PMC-SA1/SA5) R0000-R1499 for both DI and DO (PMC-SB5) R0000-R2999 for both DI and DO (PMC-SB6) I,II III-2.1,III-2.3 IV-1,IV-4 V-3

Stand-alone type 16i/18i/21i-A

I/O Link-II board B1 A20B-8100-0380 I/O Link-II board B2 A20B-8100-0381

R0000-R0999 for both DI and DO (PMC-SA1/SA5) R0000-R1499 for both DI and DO (PMC-SB5) R0000-R2999 for both DI and DO (PMC-SB6) I,II III-2.2,III-2.3 IV-1,IV-4 V-3

PMi-D/H

I/O Link-II board B A20B-8100-0381

R0000-R1499 for both DI and DO (PMC-SB5) R0000-R2999 for both DI and DO (PMC-SB6)

I,II III-2.2,III-2.3 IV-1, IV-6.1, IV-6.2, IV-6.4 V-5.2

CAUTION

The I/O Link-II board (A20B-2100-041) for PM-D/H and the I/O Link-II board (A20B-8100-0310) for PMiD/H cannot use the global I/O transfer function because of a mixture with the other stations (master station and slave stations) using I/O Link-II boards B, B1, and B2.

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1.I/O LINK-II I/O FUNCTION SPECIFICATIONS B-62714EN/04

1.5 GLOSSARY

Key terms used this manual are explained below.

OPCN-1 (formerly called JPCN-1 or JEMA net)

Field network defined by the Japan Electrical Manufacturer's Association

OPCN-1 certified device

FANUC device that passed the OPCN-1 certification test Certification number: J990705JPCNM026 Date of certification: July 5, 1999

Master station

Station that establishes and cancels logical communication paths to multiple slave stations, manages the data transmission service issue sequence and error recovery sequence, and performs I/O transfer. One OPCN-1 network can include only one master station.

Slave station

Initialization service

Input/output service

Reset service

Initial state

Station that exercises communication control and performs I/O transfer to and from the master station according to instructions from the master station. One OPCN-1 network can include up to 31 slave stations.

Service defined by OPCN-1 for information exchange and setting to establish logical communication paths between the master station and slave stations. When the initialization service is executed successfully, input/output service can be started.

Service defined by OPCN-1 for DI/DO data transfer between the master station and slave stations

Service defined by OPCN-1 for the master station to reset slave stations to the initial state

State where no logical communication path is established

Detachment

Disconnection

State where communication (input/output service being performed) with the remote station is disabled

State where communication is not performed (such as in the initial state or detached state)

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B-62714EN/04 SPECIFICATIONS 1.I/O LINK-II I/O FUNCTION

DI data

Input data when viewed from the local station (master station or slave station)(Caution)

DO data

Output data when viewed from the local station (master station or slave station)(Caution)

CAUTION

In the OPCN-1 specifications, data input/output is defined as data input/output viewed from the master station. Note that the use of the term in this manual for slave stations is opposite to the definition in the OPCN-1 specifications. For communication with devices of other manufacturers, check the definition of data input/output.

DI/DO data transfer function

Function for exchanging DI/DO data between the master station and slave stations of I/O Link-II. This function is implemented by input/output service of OPCN-1.

Global I/O transfer function

FANUC unique function. When DI/DO data is exchanged between the master station and multiple slave stations, a slave station receives DO data sent from the other slave stations to the master station, thus achieving I/O transfer between the slave stations.

Successive error detach detection counter

Maximum allowable number of successive communication errors. When this maximum number is exceeded, a detachment is detected.

One scan

Executing input/output service once for all slave stations connected to the network

Slave type

Initialization service parameter defined by OPCN-1 for determining the type of communication between the master station and slave stations

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1.I/O LINK-II I/O FUNCTION SPECIFICATIONS B-62714EN/04

stypeM

Slave type set by the master station

stypeM bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 and 6 : Reserved (0 at all times)

Bit 5 : SA (whether information and I/O from the master station to a slave

station are specified)

- When SA = 0, information and I/O from the master station to a slave station are not specified.

- When SA = 1, information and I/O from the master station to a slave station are specified

Bit 4 : ST (whether a type of I/O from the master station to a slave station is

specified)

- When ST = 0, no type of I/O from the master station to a slave station is specified.

- When ST = 0, a type of I/O from the master station to a slave station is specified.

NOTE

The setting of bits 3 to 1 is valid when ST = 1.

stypeS

Bit 3 : DW (data write)

Set DW = 1 to enable data write service.

Bit 2 : DR (data read)

Set DR = 1 to enable data read service.

Bit 1 : DO (output)

Set DO = 1 to perform input/output service and enable output.

Bit 0 : DI (input)

Set DI = 1 to perform input/output service and enable input.

Slave type set by a slave station

stypeS bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 to 4 : Reserved (0 at all times)

Bit 3 : DW (data write)

Set DW = 1 to enable data write service.

Bit 2 : DR (data read)

Set DR = 1 to enable data read service.

Bit 1 : DO (output from the master station) when viewed from the master

station Set DO = 1 to perform input/output service and enable output.

Bit 0 : DI (input to the master station) when viewed from the master station

Set DI = 1 to perform input/output service and enable input.

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III. OPERATION

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B-62714EN/04 OPERATION 1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B

1 16/18/21-B, 16/18-C, LCD-MOUNTED

TYPE 16i/18i/21i-A/B

This chapter describes the setting procedure for operating the master function and slave function.

NOTE

The parameters related to the I/O Link-II function are stored in the SRAM on an I/O Link-II board. When using an I/O Link-II board for the first time, initialize the SRAM on the board according to Section 1.3, "SETTING" of Part V, "MAINTENANCE" (for 16/18/21-B and 16/18-C) or Section 2.3 "SETTING" of the same part (for 16i/18i/21i-A/B).

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1.1 MASTER FUNCTION

Display of the setting screen

Procedure

(1) Press the function key SYSTEM, then select the soft key [PMC]

to switch to the PMC screen.

(2) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-1 appears.

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Screen 1-1

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Setting items and display items

Setting items

Table III-1-1

Item Description

Maximum slave station number used for

MAX SLAVE NO.

SCAN TIME

STATUS ADDRESS

OPTION1

OPTION2

DI/DO MAP MODE

DI/DO DATA SIZE

DO ADDRESS

DI ADDRESS

MESSAGE SIZE Not used OUTPUT ADDRESS Not used INPUT ADDRESS Not used

communication with the master station. Setting range: 1 to 31 Interval for performing one scan of input/output service. Set a value greater than the value of REFRESH TIME. Guideline for setting: SCAN TIME = MAX SLAVE NO. × 2 + 2 Setting unit: 2 msec Setting range: 1 to 9999 Example of setting: When 4 is set in SCAN TIME, the setting of 8 msec is assumed. Start address of an area for storing communication status. Setting range: R area of the PMC Slave station communication monitoring time Recommended setting: 14 [hexadecimal] → 40 msec Setting unit: msec Setting range: 03 to D0 (hexadecimal) Successive error detach detection counter. Recommended setting: 3 [hexadecimal] Setting range: 00 to FF (hexadecimal) When the default value 0 is used, the setting of 3 is assumed for operation. Determines the method of allocating a DI/DO data area. Setting: 1, 2 1: A DI data area and DO data area are allocated for

the number of stations set in MAX SLAVE NO..

2: A DI data area is allocated for the number of

stations set in MAX SLAVE NO., and a DO data

area is allocated for one station. DI/DO data area size. Setting range: 0 to 62 (16/18/21-B, 16/18-C) Setting range: 0 to 128 (LCD-mounted type

16i/18i/21i-A) (Unit: Bytes) DO data area start address. Setting range: R area of the PMC DI data area start address. Setting range: R area of the PMC

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NOTE

The baud rate cannot be changed, but is fixed at 1 Mbps.

Display items

Table III-1-1

Item Description

Interval at which DI data from all slave stations set in

REFRESH TIME.

I/O LINK-II

MAX SLAVE NO. is reflected in the R area of the PMC. Unit: 1 msec The series and edition of the EPROM installed on the I/O Link-II board are displayed.

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Operations of the setting screen

Setting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

, then select the soft key [PMC]

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-1 appears.

(4) With the cursor keys, move the cursor to an item for which data

is to be entered.

(5) Enter data with the MDI keys.

(6) Select the soft key [INPUT] or press the function key INPUT

execute the input of data.

Example: Setting 2 in MAX SLAVE NO.

(a) Move the cursor to MAX SLAVE NO..

(b) Enter 2 with the MDI key.

INPUT

to execute the input of data.

Thus, the set data is stored in the nonvolatile memory on the I/O LinkII board.

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Deleting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

(4) With the cursor keys, move the cursor to an item whose setting

(5) Select the soft key [DELETE] or press the function key

Thus, the data is deleted from the nonvolatile memory on the I/O Link-II board.

Deleting parameters in a batch

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

to switch to the PMC screen.

this order. Screen 1-1 appears.

to be deleted.

DELETE

to switch to the PMC screen.

this order. Screen 1-1 appears.

to delete the data.

, then select the soft key [PMC]

Restart

(4) Select the soft key [DELALL] to delete all data in a batch.

Thus, all data is deleted in a batch from the nonvolatile memory on the I/O Link-II board.

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-1 appears.

(4) Select the soft key [START]. The master function is restarted

with the current settings displayed on Screen 1-1.

, then select the soft key [PMC]

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(5) If the settings are correct, LINK STARTED is displayed, and

initialization service is performed.

(6) If a setting item is incorrect, START ERROR is displayed, and

the system waits for the incorrect setting item to be corrected.

CAUTION

When the soft key [START] is selected, the set parameters are updated, and reset service is also performed for slave stations #1 to #[MAX SLAVE NO]. So, the same processing as performed when the power is turned on again after resetting the network to the initial state (initialization service for the slave stations → input/output service) is performed.

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DI/DO data allocation of the master function

DO data allocation (when DI/DO MAP MODE = 1)

A DO area is allocated for each slave.

[DO ADDRESS]

+[DI/DO DATA SIZE] ×1

+[DI/DO DATA SIZE] ×2

+[DI/DO DATA SIZE] ×3

+[DI/DO DATA SIZE]×

([MAX SLAVE NO]-1)

DO data from the master station to

slave station #1

DO data from the master station to

slave station #2

DO data from the master station to

slave station #3

DO data from the master station to

slave station #4 :: :: ::

DO data from the master station to

slave station #[MAX SLAVE NO]

Example:

When [MAX SLAVE NO] = 2, [DI/DO MAP MODE] = 1, [DO ADDRESS] = R0100, and [DI/DO ADDRESS SIZE] = 10, DO data is allocated as follows:

R0100

R0110

DO data from the master station to

slave station #1

DO data from the master station to

slave station #2

↑

[DI/DO DATA SIZE]

↓

DO data allocation (when DI/DO MAP MODE = 2)

Common DO data is allocated for all slaves.

[DO ADDRESS] DO data from the master station to

slave stations #1 to slave station #[MAX SLAVE NO]

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↑

[DI/DO DATA SIZE]

↓

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DI data allocation (when DI/DO MAP MODE = 1 or 2)

[DI ADDRESS]

+[DI/DO DATA SIZE]×1

+[DI/DO DATA SIZE]×2

+[DI/DO DATA SIZE]×3

+[DI/DO DATA SIZE]×

([MAX SLAVE NO]-1)

DI data from slave station #1 to the

master station

DI data from slave station #2 to the

master station

DI data from slave station #3 to the

master station

DI data from slave station #4 to the

master station :: :: ::

DI data from slave station #[MAX SLAVE NO] to the master station

Example:

When [MAX SLAVE NO] = 3, [DI ADDRESS] = R0300, and [DI/DO ADDRESS SIZE] = 10, DI data is allocated as follows:

R0300

R0310

R0320

DI data from slave station #1 to the master station DI data from slave station #2 to the master station DI data from slave station #3 to the master station

↑

[DI/DO DATA SIZE]

↓

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1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B OPERATION B-62714EN/04

Communication status for ladder detection of the master function

Communication status allocation

[STATUS ADDRESS]

ERROR STATUS

+[MAX SLAVE NO]

Status of communication with

slave station #1

Status of communication with

slave station #2

Status of communication with

slave station #3 :: :: ::

Status of communication with

slave station #[MAX SLAVE NO]

ERROR STATUS (1 byte):

Communication line errors detected by the master station are indicated.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : Reserved (0 at all time) Bit 6 : Short frame error Bit 5 : Abort detection Bit 4 : Detection of data consisting of an incorrect number of bits Bit 3 : Overrun error detection Bit 2 : FCS error detection

Bits 1, 0 : Reserved (0 at all times)

NOTE

Many errors are caused by hardware failures (on communication boards or communication cables) and noise. Recheck the method of communication cable connection, terminating resistor, and noise protection.

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Status of communication with remote slave stations

Status of communication with remote slave stations #1 to #[MAX SLAVE NO]:

The status of communication with each slave station is indicated (1 byte for each).

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7: LINK STATUS (status of the link with a slave station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bits 6 to 1: Reserved (0 at all times)

Bit 0: Communication error flag

- When communication error flag = 0, the successive error detach detection counter is not exceeded.

- When communication error flag = 1, the successive error detach detection counter is exceeded.

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1.2 SLAVE FUNCTION

Display of the setting screen

Procedure

(1) Press the function key SYSTEM, then select the soft key [PMC]

to switch to the PMC screen.

(2) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-2 appears.

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Screen 1-2

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B-62714EN/04 OPERATION 1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B

Setting items and display items

Setting items

Table III-1-3

Item Description

Maximum slave station number used for

MAX SLAVE NO.

SCAN TIME

STATUS ADDRESS

OPTION1

OPTION2 Not used

DI/DO MAP MODE

DI/DO DATA SIZE

DO ADDRESS

DI ADDRESS

MESSAGE SIZE Not used OUTPUT ADDRESS Not used INPUT ADDRESS Not used

communication with the master station. Setting range: 1 to 31(Note) Station number of the slave station. Setting range: 1 to 31(Note) Start address of an area for storing communication status. Setting range: R area of the PMC Slave station communication monitoring time Guideline for setting: OPTION1 = MAX SLAVE NO. × 5 Setting unit: 100 msec Setting range: 0000 to 1000 [hexadecimal] When the default value 0 is used, a value determined by the guideline for setting is assumed for operation.

Determines the method of allocating a DI/DO data area. Setting: 0, 2 0: DI/DO data transfer function

A DI data area and DO data area are allocated for one station.

2: Global I/O transfer function(Caution)

A DI data area is allocated for the number of stations set in MAX SLAVE NO. plus 1, and a DO

data area is allocated for one station. DI/DO data area size. For the DI/DO data transfer function Setting range: 0 to 32 (16/18/21-B) Setting range: 0 to 62 (16/18-C) Setting range: 0 to 128 (LCD-mounted type

16i/18i/21i-A) For the global I/O transfer function Setting range: 0 to 48 (Unit: Bytes) DO data area start address Setting range: R area of the PMC DI data area start address Setting range: R area of the PMC

CAUTION (*1)

When using the global I/O transfer function, ensure that the DI data size and DO data size of each slave station on the network do not exceed 48 bytes.

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1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B OPERATION B-62714EN/04

NOTE

- The baud rate cannot be changed but is fixed at 1 Mbps.

- When using the global I/O transfer function, set slave station numbers sequentially to allocate an area efficiently.

Display items

Table III-1-4

Item Description

I/O LINK-II

The series and edition of the EPROM installed on the I/O Link-II board are displayed.

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B-62714EN/04 OPERATION 1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B

Operations of the setting screen

Setting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

, then select the soft key [PMC]

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-2 appears.

(4) With the cursor keys, move the cursor to an item for which data

is to be entered.

(5) Enter data with the MDI keys.

(6) Select the soft key [INPUT] or press the function key INPUT

execute the input of data.

Example: Setting 2 in MAX SLAVE NO.

(a) Move the cursor to MAX SLAVE NO..

(b) Enter 2 with the MDI key.

INPUT

to execute the input of data.

Thus, the set data is stored in the nonvolatile memory on the I/O LinkII board.

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1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B OPERATION B-62714EN/04

Deleting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

(4) With the cursor keys, move the cursor to an item whose setting

(5) Select the soft key [DELETE] or press the function key

Thus, the data is deleted from the nonvolatile memory on the I/O Link-II board.

Deleting parameters in a batch

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

to switch to the PMC screen.

this order. Screen 1-2 appears.

to be deleted.

DELETE

to switch to the PMC screen.

this order. Screen 1-2 appears.

to delete the data.

, then select the soft key [PMC]

(4) Select the soft key [DELALL] to delete all data in a batch.

Thus, all data is deleted in a batch from the nonvolatile memory on the I/O Link-II board.

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Restart

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 1-2 appears.

(4) Select the soft key [START]. The slave function is restarted

with the current settings displayed on Screen 1-2.

(5) If the settings are correct, LINK STARTED is displayed, and

initialization service is awaited.

(6) If a setting item is incorrect, START ERROR is displayed, and

the system waits for the incorrect setting item to be corrected.

, then select the soft key [PMC]

NOTE

The soft key [START] provides an auxiliary way to validate settings modified on this screen. If the soft key [START] is selected after modifying settings, communication may be suspended halfway, and may not be performed normally, depending on the state of the master station. In such a case, restart the master station and slave station.

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1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B OPERATION B-62714EN/04

DI/DO data allocation of the slave function

DO data allocation

↑

[DI/DO DATA SIZE]

↓

[DO ADDRESS]

DO data from the local slave station to

the master station

DI data allocation when DI/DO data transfer is set (when DI/DO MAP MODE = 0)

↑

[DI/DO DATA SIZE]

↓

[DO ADDRESS]

DI data from the master station to the

local slave station

DI data allocation when global I/O transfer is set (when DI/DO MAP MODE = 2)

↑

[DI/DO DATA SIZE]

↓

[DO ADDRESS]

+[DI/DO DATA SIZE]×1

+[DI/DO DATA SIZE]×2

+[DI/DO DATA SIZE]×3

+[DI/DO DATA SIZE]×

[STATION NO]

+[DI/DO DATA SIZE]×

[MAX SLAVE NO]

DI data from the master station to the

local slave station

DO data from slave station #1 to the

master station

DO data from slave station #2 to the

master station

DO data from slave station #3 to the

master station

Not used.(The area for the local slave

station is not used. The area can be

used for other purposes such as a DO

data output area for the local station.)

DO data from slave station #[MAX

SLAVE NO] to the master station

Example:

When [STATION NO] = 2, [MAX SLAVE NO] = 3, [DI ADDRESS] = R0300, and [DI/DO DATA SIZE] = 10, DI data is allocated as follows:

R0300

R0310

R0320 Not used

R0330

DI data from the master station to slave station #2 DO data from slave station #1 to the master station

DO data from slave station #3 to the master station

NOTE

For global I/O transfer, note the following when allocating DI data:

- [DI/DO DATA SIZE] must match the maximum size of other slaves.

- The total DI data area size required is [DI/DO DATA SIZE] × [MAX SLAVE NO].

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Restrictions on the global I/O transfer function

Conditions for taking in DO data from a remote slave station to the master station

When the two conditions below are satisfied, DO data from a remote slave station to the master station is taken in. Condition 1 : 48 bytes ≥ x bytes ≥ y bytes

where x: Size of DI data from the master station to the local slave

station

y: Size of DO data from a remote slave station to the master

station

Condition 2 : Station m ≥ Station n

where m: [MAX SLAVE NO] set at the local slave station n: Station number of a remote slave station

Example:

When the station number of the local slave station is 2, there are five remote slave stations, and each slave station is set as follows:

- Setting of slave station #1: DO data size = 16 bytes

- Setting of slave station #2: [MAX SLAVE NO] = 4, [STATION NO] = 2, [DI/DO MAP MODE] =2, [DI/DO DATA SIZE] = 32

- Setting of slave station #3: DO data size = 32 bytes

- Setting of slave station #4: DO data size = 48 bytes

- Setting of slave station #5: DO data size = 8 bytes

According to the restrictions on global I/O transfer:

- Slave station #4 does not satisfy condition 1.

- Slave station #5 does not satisfy condition 2.

So, slave station #2 takes in only DO data from slave station #1 to the master station and DO data from slave station #3 to the master station.

DI data allocation at slave station #2

DO data from slave station #1

(16 bytes) 32 bytes

Not used

(16 bytes)

Not used

(Area for the local station number)

DO data from slave station #3 32 bytes

Not used

(For slave station #4)

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32 bytes

Page 46

1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B OPERATION B-62714EN/04

Communication status for ladder detection of the slave function

Communication status allocation (when DI/DO MAP MODE = 0 [DI/DO data transfer])

[STATUS ADDRESS] Status of communication with the

master station

Communication status allocation (when DI/DO MAP MODE = 2 [global I/O transfer])

[STATUS ADDRESS] Status of communication with the

master station

+1 Status of communication with

slave station #1

+2 Status of communication with

slave station #2

+3 Status of communication with

slave station #3

(This area corresponds to the

+[STATION NO]

+[MAX SLAVE NO] Status of communication with

local slave station, and is not

used. This area cannot be used

for other purposes.)

slave station #[MAX SLAVE NO]

Status of communication with the master station

Status of communication with the master station (1 byte): The status of communication with the master station is indicated.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with the master station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bit 6 : Short frame error Bit 5 : Abort detection Bit 4 : Detection of data consisting of an incorrect number of bits Bit 3 : Overrun error detection Bit 2 : FCS error detection

Bits 1, 0 : Reserved (0 at all times)

NOTE

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B-62714EN/04 OPERATION 1.16/18/21-B, 16/18-C, LCD-MOUNTED TYPE 16i/18i/21i-A/B

Status of communication with remote slave stations

Status of communication with remote slave stations #1 to #[MAX SLAVE NO]:

The status of reception of DO data from remote slave stations to the master station is indicated (1 byte for each).

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with the master station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bits 6 to 0 : Reserved (0 at all times)

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1.3 DATA CONCURRENCY

When DI data is handled by a ladder program, the I/O Link-II function guarantees the concurrency of data on a byte-by-byte basis, but does not guarantee the concurrency of multiple bytes of data.

The I/O Link-II function does not exchanges data in synchronism with a ladder program, so that the function does not guarantees the concurrency of DI data consisting of 2 bytes or more. This means that when a ladder program reads 2-byte DI data, for example, the higher byte and lower byte of the data may be updated at different timings.

Example where concurrency is not guaranteed

When the 2-byte data 1234 (hex) is entered from the I/O Link-II board to the area R0300 set to the value 0000 (hex), the ladder program may read the value 0034 (hex).

DI data R area of the PMC

R0300 00 00

R0300 00 34

12 If the ladder program reads R0300

during this period, 0034 (hex) is read.

R0300 12 34

Example of countermeasure: Control using synchronization flags

Concurrency can be guaranteed by providing a synchronization flag before and after multi-byte data and synchronizing the data with the flags. An example of guaranteeing the concurrency of 6-byte data is given below.

(1) Data structure

A synchronization flag is prepared at the byte position preceding the 6-byte data and at the byte position following the 6-byte data, thus allocating an 8-byte area in total.

R0099 Synchronization flag 1 R0100

: Data section R0105 R0106 Synchronization flag 2

(2) Processing on the data write side

The data is updated using the procedure below. 1 Synchronization flag 1 is incremented. 2 The data section is updated. 3 The same value as set in synchronization flag 1 is set in

synchronization flag 2.

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(3) Processing on the data read side

The data is processed using the procedure below. 1 At the start of the second level, the 8 bytes are copied from

R0099 to the synchronization area R0199. 2 A check is made to see if R0199 = R0206. 3 If R0199 = R0206, R0200 is handled as 6-byte data.

CAUTION

If the size of the data section to be synchronized is increased by combining multiple bytes of data, synchronization may become difficult. In such a case, divide the data section on a variable-by-variable basis before setting synchronization flags.

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2 LCD-MOUNTED TYPE 16i/18i/21i-A,

Power Mate i-D/H

This chapter describes the setting procedure for operating the master function and slave function.

NOTE

Notes on PMi-D/H

-With PMi-D/H, only the slave function can be used.

-With PMi-D/H, the I/O Link-II board (A20B-8100-

0310) and I/O Link-II board B (A20B-8100-0381) can be used. This chapter provides descriptions based on the use of I/O Link-II B. When using the I/O Link-II board, the same specifications as for Power Mate-D/F/H described in Chapter 3 are applicable. So, see Chapter 3.

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2.1 MASTER FUNCTION

Display of the setting screen

Procedure

(1) Press the function key SYSTEM, then select the soft key [PMC]

to switch to the PMC screen.

(2) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 2-1 appears.

Screen 2-1

(3) Select the soft key [MASTER]. Screen 2-2 appears.

Screen 2-2

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(4) Select the soft key [ADDR] on Screen 2-2. Screen 2-3 appears.

When setting 15 stations or more, switch the screen with the page keys ↑

and ↓ .

Screen 2-3

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Setting items and display items

Setting items

Table III-2-1

Item Description

Maximum slave station number used for

MAX SLAVE NO.

SCAN TIME

BAUD-RATE

STATUS ADDRESS

OPTION1 Not used

OPTION2

DO ADDR

DO SIZ

DI ADDR

DI SIZ

communication with the master station. Setting range: 1 to 31 Interval for performing one scan of input/output service. A maximum speed is set automatically according to [MAX SLAVE NO], so that this parameter need not be set. Communication speed. Setting range: 0 to 3 0: 1.0 Mbps 1: 500 kbps 2: 250 kbps 3: 125 kbps Two methods of setting are available:

- Input using numeric keys

- Input by soft key selection (Displayed when the cursor is placed on this parameter) Start address of an area for storing communication status. Setting range: R area of the PMC The storing of communication status can be disabled by selecting the soft key [DISABLE] displayed when the cursor is placed on this parameter. When the storing of communication status is disabled, "----" is displayed.

Successive error detach detection counter. Recommended setting: 3 [hexadecimal] Setting range: 00 to FF (hexadecimal) When the default value 0 is used, the setting of 3 is assumed for operation. DO data area start address. Setting range: R area of the PMC DO data area size. Setting range: 0 to 128 (Unit: Bytes) When DO is not used, set 0. DI data area start address. Setting range: R area of the PMC DI data area size. Setting range: 0 to 128 (Unit: Bytes) When DI is not used, set 0.

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Table III-2-1

Item Description

Parameter stypeM for initializing slave stations. Setting range: 31 to 33 (hexadecimal) Set one of the following values according to the type

TYPE

MAXT

REFRESH TIME

of communication:

- When enabling both DO and DI: 33 (hexadecimal)

- When enabling both DI only: 31 (hexadecimal)

- When enabling both DO only: 32 (hexadecimal) Parameter max_int (slave station communication monitoring time) for initializing slave stations. Setting range: 0 to 65535 (Unit: 10 msec) When no slave station needs to monitor the communication of the master station, set 0 (for waiting infinitely). Interval at which DI data from all slave stations set in MAX SLAVE NO. is reflected in the R area of the PMC. Unit: 1 msec

Operations of the setting screen

Setting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

(3) Select the soft keys [PMCDGN], [I/OCHK], [IOLNK2], and

(4) With the cursor keys, move the cursor to an item for which data

(5) Enter data with the MDI keys.

(6) Select the soft key [INPUT] to execute the input of data.

, then select the soft key [PMC]

to switch to the PMC screen.

[MASTER] in this order. Screen 2-2 appears.

is to be entered.

Example: Setting 100 in MAX SLAVE NO.

(a) Move the cursor to MAXT.

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(b) Enter 100 with the MDI keys.

Thus, the set data is stored in the nonvolatile memory on the CNC.

Operating the auxiliary soft key [SEQ]

Based on DI/DO ADDRESS and SIZE of the station where the cursor is placed, DI/DO ADDRESS areas can be automatically allocated sequentially for the subsequent stations. For DI/DO SIZE, TYPE, and MAXT, the same values as set for the slave where the cursor is placed are set.

Example:

Allocating addresses for all stations sequentially when the values of DI or DO SIZE are the same for all stations and the values of the initialization service parameters (TYPE, MAXT) are the same for all stations

(1) For station #1, set the start address of DI/DO ADDRESS, DI/DO

SIZE, TYPE, and MAXT. (See Screen 2-a.)

Screen 2-a

(2) Check that the cursor is placed on station #1.

(3) Select this soft key.

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(4) The confirmation message "ARE YOU READY?" is displayed

in the lower-left corner of the screen.

(5) After checking each parameter, select the soft key [YES] for

automatic setting. (See Screen 2-b.)

NOTE

When setting an arbitrary station number and up, move the cursor to the station number, then perform the operation described above.

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Screen 2-b

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Operating the auxiliary soft key [SAME]

The same value can be set in the parameter column where the cursor is placed.

Example:

Setting 16 for DI SIZE of all stations

(1) Set 16 for DI SIZE of an arbitrary station. (See Screen 2-c.)

Screen 2-c

(2) Check that the cursor is placed on the DI SIZE parameter

column.

(3) Select this soft key.

(4) The confirmation message "ARE YOU READY?" is

displayed in the lower-left corner of the screen.

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(5) After checking the parameter, select the soft key [YES] for

automatic setting. (See Screen 2-d.)

Screen 2-d

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Operating the auxiliary soft key [ADDR]

Based on DI/DO SIZE of the station where the cursor is placed, DI/DO ADDRESS areas can be automatically allocated sequentially for the subsequent stations. The values of DI/DO SIZE, TYPE, and MAXT are not affected.

Example:

Allocating addresses for all stations sequentially when the value of DI/DO SIZE differs from one station to another

(1) Set DI/DO SIZE for each station.

(2) For station #1, set the start address of DI/DO ADDRESS.

(See Screen 2-e.)

Screen 2-e

(3) Check that the cursor is placed on station #1.

(4) Select this soft key.

(5) The confirmation message "ARE YOU READY?" is

displayed in the lower-left corner of the screen.

(6) After checking each parameter, select the soft key [YES]

for automatic setting. (See Screen 2-f.)

NOTE

When setting an arbitrary station number and up, move the cursor to the station number, then perform the operation described above.

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Screen 2-f

NOTE

When the soft keys for the auxiliary address allocation functions are used, the confirmation message "ARE YOU READY?" is displayed, and addresses are allocated automatically after confirmation. Automatic address allocation is performed not only for the stations displayed on the screen but also for slave station #1 to #[MAX SLAVE NO].

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Restart

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], [IOLNK2], and

[MASTER] in this order. Screen 2-2 appears.

(4) Select the soft key [START]. The master function is restarted

with the current settings displayed on Screen 2-2 or Screen 2-3.

(5) If the settings are correct, LINK STARTED is displayed.

(6) If a setting item is incorrect, PARAMETERS ARE WRONG is

displayed.

, then select the soft key [PMC]

CAUTION

When the soft key [START] is selected, the set parameters are updated, and reset service is also performed for slave stations #1 to #[MAX SLAVE NO]. So, the same processing as performed when the power is turned on again after resetting the network to the initial state (initialization service for all slave stations → input/output service) is performed.

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DI/DO data allocation of the master function

DO data allocation

A DO data area can be set for each slave station according to [DO ADDR] and [DO SIZ].

NOTE

A DO data area can be shared by slave stations by setting the same DO data area start address and the same DO data area size for each slave station.

DI data allocation

A DI data area can be set for each slave station according to [DI ADDR] and [DI SIZ].

CAUTION

No DI data area can be shared by slave stations.

Example:

A 32-byte DO data area for slave station #1 is allocated starting at R0100, a 32-byte DI data area for slave station #1 is allocated starting at R0300, a 48-byte DO data area for slave station #2 is allocated starting at R0200, and a 48-byte DI data area for slave station #2 is allocated starting at R0400. The DI data area and DI data areas are allocated as shown below.

R0100

R0200

R0300

R0400

DO data from the master station to

slave station #1

DO data from the master station to

slave station #2

DI data from slave station #1 to

the master station

DI data from slave station #2 to

the master station

↑

32 bytes

↓

↑

48 bytes

↓

↑

32 bytes

↓

↑

48 bytes

↓

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Communication status for ladder detection of the master function

Communication status allocation

[STATUS ADDRESS]

ERROR STATUS

Status of communication with

slave station #1

Status of communication with

slave station #2

Status of communication with

slave station #3

ERROR STATUS

+[MAX SLAVE NO]

Status of communication with

slave station #[MAX SLAVE NO]

ERROR STATUS (1 byte) :

Communication line errors detected by the master station are indicated.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 to 5 : Reserved (0 at all time)

Bit 4 : Abort detection Bit 3 : CRC error detection Bit 1 : Detection of data consisting of an incorrect number of bits Bit 0 : Receive buffer overflow

CAUTION

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Status of communication with remote slave stations

Status of communication with remote slave stations #1 to #[MAX SLAVE NO] :

The status of communication with each slave station is indicated (1 byte for each).

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with a slave station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bits 6 to 1 : Reserved (0 at all times)

Bit 0 : Communication error flag

- When communication error flag = 0, the successive error detach detection counter is not exceeded.

- When communication error flag = 1, the successive error detach detection counter is exceeded.

Communication status for user visual check of the master function

User visual check allows the user to visually check communication status while a network is being built or during operation after a network is built. This status information is displayed by selecting the soft key [STATUS] on the setting screen (Screen 2-2) for the master station.

Screen 2-6

(Screen 2-6 indicates that communication with slave stations #1 and #5 is normal, but communication with the other slave stations is disconnected.)

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ERROR STATUS

ERROR STATUS (1 byte) :

Communication line errors detected by the master station are indicated in hexadecimal.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 to 5 : Reserved (0 at all time)

Bit 4 : Abort detection Bit 3 : CRC error detection Bit 1 : Detection of data consisting of an incorrect number of bits Bit 0 : Receive buffer overflow

LINK STATUS with remote slave stations

Link status with remote slave stations #1 to #[MAX SLAVE NO]:

The detailed status of communication with each slave station are indicated (1 byte each): "NO" : Slave station number "LINK" : Status of the link with a slave station "SERV" : Code representing a service where an error was

detected

"LAYR" : Code representing a communication layer where an

error was detected

"CODE" : Code representing the cause of an error

Table III-2-5 indicates the communication status patterns indicated by LINK STATUS.

LINK SERV LAYR CODE Description Cause/action

Input/output normal:

ON 00H 00H 00H

OFF 00H 00H 00H

ER01 30H 81H 20H

ER02 30H 80H A1H

Input/output service is being performed with a target slave station normally. During initialization: A target slave station is being polled for initialization service. Initialization instruction rejected: An attempt to perform initialization service for a target slave station is rejected by the slave station because of an initialization parameter mismatch. Invalid initialization response parameter: Initialization service was performed for a target slave station, but an initialization success response returned from the slave station is invalid

Turn on the power to a target slave station or make a target slave station ready for communication.

Check the initialization parameters (I/O SIZE, slave type) of the master station and target slave station.

A response from the target slave station includes a protocol-related error. If this error occurs frequently, ask the manufacturer of the target slave station to make a check.

---------------------

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LINK SERV LAYR CODE Description Cause/action

When input/output service is performed with a target slave station, ER03 occurs if the value of the successive error detach detection counter is exceeded for a cause. If this error occurs frequently, first check for hardware failures (on communication boards, communication cables) and check noise protection. A response from the target slave station includes a protocol-related error. If this error occurs frequently, ask the manufacturer of the target slave station to make a check. A response frame from a target slave station is destroyed. If this error occurs frequently, first check for hardware failures (on communication boards, communication cables) and check noise protection. If this error still occurs, ask the manufacturer of the target slave station to make a check.

ER03 10H 80H A2H

ER04 10H 70H 61H

ER05 30H 70H 90H

Slave station detached: After communication is established, the value of the successive error detach detection counter is exceeded, and communication with the target slave station is disabled.

No input/output data: A response frame for input/output service from a target slave station contains no data.

Abnormal initialization response command: A response for initialization service from a target slave station is abnormal.

CONNECTION MONITOR

NOTE

The codes indicated by SERV, LAYR, and CODE are defined by OPCN-1. When asking the manufacturer of a target slave station to make a check, inform the manufacturer of these codes.

CONNECTION MONITOR:

The communication status of each slave station is indicated. One of the following values is indicated: "0" : Normal communication "-" : Disconnected "E" : Error(from ER01 to ER05 indicated in Table III-2-5) " " (blank): Slave station not included in MAX SLAVE NO.

NOTE

LINK STATUS and CONNECTION MONITOR provide real-time communication status indications. So, for an error that periodically occurs, the indication blinks.

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2.2 SLAVE FUNCTION

Display of the setting screen

Procedure

(1) Press the function key SYSTEM, then select the soft key [PMC]

to switch to the PMC screen.

(2) Select the soft keys [PMCDGN], [I/OCHK], and [IOLNK2] in

this order. Screen 2-4 appears.

Screen 2-4

(3) Select the soft key [SLAVE]. Screen 2-5 appears.

Screen 2-5

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Setting items

Table III-2-4

Item Description

STATION NO.

BAUD-RATE

STATUS ADDRESS

OPTION1 Not used OPTION2 Not used

DI/DO MAP MODE

MAX SLAVE NO.

DO ADDRESS

DO SIZE

Station number of the slave station. Setting range: 1 to 31(Note) Communication speed. Setting range: 0 to 3 0: 1.0 Mbps 1: 500 kbps 2: 250 kbps 3: 125 kbps Two methods of setting are available:

- Input using numeric keys

Determines the method of allocating a DI/DO data area. Setting: 0, 1 0: DI/DO data transfer function A DI data area and DO data area are allocated for one station. 1: Global I/O transfer function A DI data area is allocated for the number of stations set in MAX SLAVE NO. plus 1, and a DO data area is allocated for one station. Two methods of setting are available: input using numeric keys and input by soft key selection. (Displayed when the cursor is placed on this parameter) Maximum slave number that takes in DO data when global I/O transfer is performed. Setting range: 1 to 31 When DI/DO data transfer (NORMAL) is selected in DI/DO MAP MODE, this parameter is disabled and "-" is displayed. DO data area start address. Setting range: R area of the PMC DO data area size. Setting range: 0 to 128(Caution) (Unit: Bytes) When DO is not used, set 0.

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Table III-2-4

Item Description

DI ADDRESS

DI SIZE

DI data area start address. Setting range: R area of the PMC DI data area size. Setting range: 0 to 128(Caution) (Unit: Bytes) When DI is not used, set 0.

CAUTION

When using the global I/O transfer function, ensure that the DI data size and DO data size of each slave station on the network do not exceed 48 bytes.

NOTE

When using the global I/O transfer function, set slave station numbers sequentially to allocate an area efficiently.

Operations of the setting screen

Setting parameters

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

, then select the soft key [PMC]

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], [IOLNK2], and

[SLAVE] in this order. Screen 2-5 appears.

(4) With the cursor keys, move the cursor to an item for which data

is to be entered.

(5) Enter data with the MDI keys.

(6) Select the soft key [INPUT] to execute the input of data.

Example: Setting 128 in DI SIZE

(a) Move the cursor to MAXT.

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(b) Enter 128 with the MDI keys.

Thus, the set data is stored in the nonvolatile memory of the CNC.

Restart

(1) Place the CNC in the MDI mode.

(2) Press the function key SYSTEM

to switch to the PMC screen.

(3) Select the soft keys [PMCDGN], [I/OCHK], [IOLNK2], and

[SLAVE] in this order. Screen 2-5 appears.

(4) Select the soft key [START]. The slave function is restarted with

the current settings displayed on Screen 2-5.

(5) If the settings are correct, LINK STARTED is displayed.

(6) If a setting item is incorrect, PARAMETERS ARE WRONG is

displayed.

, then select the soft key [PMC]

NOTE

When LINK STARTED is displayed, the slave station waits for initialization service from the master station.

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DI/DO data allocation of the slave function

DO data allocation

[DO ADDRESS] DO data from the local slave station to

the master station

↑

[DO SIZE]

↓

DI data allocation when DI/DO data transfer is set (when DI/DO MAP MODE = 0)

[DI ADDRESS] DI data from the master station to the

local slave station

↑

[DO SIZE]

↓

DI data allocation when global I/O transfer is set (when DI/DO MAP MODE = 1)

↑

[DO SIZE]

↓

[DI ADDRESS]

+[DI SIZE]× 1

+[DI SIZE]× 2

+[DI SIZE]× 3

+[DI SIZE]×

[STATION NO]

+[DI SIZE]×

[MAX SLAVE NO]

DI data from the master station to the

local slave station

DO data from slave station #1 to the

master station

DO data from slave station #2 to the

master station

DO data from slave station #3 to the

master station

Not used. (The area for the local slave

station is not used. The area can be used for other purposes such as a DO data output area for the local station.)

DO data from slave station #[MAX

SLAVE NO] to the master station

Example:

When [STATION NO] = 2, [MAX SLAVE NO] = 3, [DI ADDRESS] = R0300, and [DI SIZE] = 10 for a slave station performing global I/O transfer, DI data is allocated as follows:

R0300

R0310

R0320

R0330

DI data from the master station to

slave station #2

DO data from slave station #1 to the

master station

Not used

DO data from slave station #3 to the

master station

NOTE

For global I/O transfer, note the following when allocating DI data:

- [DI/DO DATA SIZE] must match the maximum size of other slaves.

- The total DI data area size required is [DI/DO DATA SIZE] × [MAX SLAVE NO].

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Restrictions on the global I/O transfer function

Conditions for taking in DO data from a remote slave station to the master station

When the two conditions below are satisfied, DO data from a remote slave station to the master station is taken in. Condition 1 : 48 bytes ≥ x bytes ≥ y bytes

where x : Size of DI data from the master station to the local slave

station

y : Size of DO data from a remote slave station to the master

station

Condition 2 : Station m ≥ Station n

where m : [MAX SLAVE NO] set at the local slave station n : Station number of a remote slave station

Example:

When the station number of the local slave station is 2, there are five remote slave stations, and each slave station is set as follows:

- Setting of slave station #1: DO data size = 16 bytes

- Setting of slave station #2: [MAX SLAVE NO] = 4, [STATION NO] = 2, [DI/DO MAP MODE] =2, [DI/DO DATA SIZE] = 32

- Setting of slave station #3: DO data size = 32 bytes

- Setting of slave station #4: DO data size = 48 bytes

- Setting of slave station #5: DO data size = 8 bytes

According to the restrictions on global I/O transfer:

- Slave station #4 does not satisfy condition 1.

- Slave station #5 does not satisfy condition 2.

So, slave station #2 takes in only DO data from slave station #1 to the master station and DO data from slave station #3 to the master station.

DI data allocation for slave station #2

DO data from slave station #1

(16 bytes) 32 bytes

Not used

(16 bytes)

Not used

(Area for the local station number)

DO data from slave station #3 32 bytes

Not used

(For slave station #4)

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Communication status for ladder detection of the slave function

Communication status allocation (when DI/DO MAP MODE = 0 [DI/DO data transfer])

[STATUS ADDRESS]

Status of communication with the

master station

Communication status allocation (when DI/DO MAP MODE = 1 [global I/O transfer])

[STATUS ADDRESS]

+[STATION NO]

+[MAX SLAVE NO]

Status of communication with the

master station

Status of communication with

used. This area cannot be used

slave station #[MAX SLAVE NO]

slave station #1

Status of communication with

slave station #2

Status of communication with

slave station #3

(This area corresponds to the

local slave station, and is not

for other purposes.)

Status of communication with

Status of communication with the master station

Status of communication with the master station (1 byte):

The status of communication with the master station is indicated.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with the master station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bits 6, 5 : Reserved (0 at all times)

Bit 4 : Abort detection Bit 3 : CRC error detection Bit 2 : Overrun error detection Bit 1 : Detection of data consisting of an incorrect number of bits Bit 0 : Receive buffer overflow

NOTE

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2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H OPERATION B-62714EN/04

Status of communication with remote slave stations

Status of communication with slave stations #1 to #[MAX SLAVE NO]:

The status of reception of DO data from each slave station is indicated (1 byte for each).

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with a remote slave station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally.

Bits 6 to 0 : Reserved (0 at all times)

Communication status for user visual check of the slave function

User visual check allows the user to visually check communication status while a network is being built or during operation after a network is built.

Communication status for user visual check (when DI/DO MAP MODE = 0 [DI/DO data transfer])

This status can be displayed by selecting the soft key [STATUS] on the slave station setting screen (Screen 2-5).

Screen 2-7

(Screen 2-7 shows that the local slave station (#5) and the master station are communicating with each other normally.)

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Communication status for user visual check (when DI/DO MAP MODE = 1 [global I/O transfer])

This status can be displayed by selecting the soft key [STATUS] on the slave station setting screen (Screen 2-5).

ERROR STATUS

Screen 2-8

(Screen 2-8 shows that the local slave station (#5) and the master station are communicating with each other normally, and that the local slave station is performing global I/O transfer with only slave station #1.)

ERROR STATUS (1 byte):

Communication line errors detected by a slave station are indicated in hexadecimal.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 to 5 : Reserved (0 at all time)

Bit 4 : Abort detection Bit 3 : CRC error detection Bit 2 : Overrun error detection Bit 1 : Detection of data consisting of an incorrect number of bits Bit 0 : Receive buffer overflow

NOTE

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2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H OPERATION B-62714EN/04

LINK STATUS with the master station

Link status with the master station (1 byte):

The detailed status of communication of the master station are indicated as follows: "NO" : Slave station number of the local station "LINK" : Status of the link with the master station "SERV" : Code representing a service where an error was

detected

"LAYR" : Code representing a communication layer where an

error was detected

"CODE" : Code representing the cause of an error

Table III-2-6 indicates the communication status patterns indicated by LINK STATUS.

Table III-2-6

LINK SERV LAYR CODE Description Cause/action

Input/output normal:

ON 00H 00H 00H

OFF 00H 00H 00H

ER01 30H 81H 20H

ER02 30H 80H A1H

Input/output service is being performed with the master station normally. Disconnected: Communication with the master station is disconnected. Initialization instruction rejected: An attempt by the master station to perform initialization service for the slave station is rejected by the slave station because of an initialization parameter mismatch.

DL_len invalid: When input/output service is performed, the data length of a request frame from the master station is invalid.

Turn on the power to the master station or make the master station ready for communication.

Check the initialization parameters (I/O SIZE, slave type) of the master station and slave station.

If this error occurs frequently, first check for hardware failures (on communication boards, communication cables) and check noise protection. If this error still occurs, ask the manufacturer of the master station to make a check.

---------------------

NOTE

1 The codes indicated by SERV, LAYR, and CODE

are defined by OPCN-1. When asking the manufacturer of the master station to make a check, inform the manufacturer of these codes.

2 LINK STATUS provides a real-time communication

status indication. So, for an error that periodically occurs, the indication blinks.

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B-62714EN/04 OPERATION 2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H

CONNECTION MONITOR

CONNECTION MONITOR:

The communication status of each slave station is indicated. One of the following values is indicated: "0" : Normal communication "-" : Disconnected "E" : Error (ER01 or ER02 indicated in Table III-2-6) "*" : Local slave station " " (blank) : Slave station not included in MAX SLAVE NO.

NOTE

LINK STATUS and CONNECTION MONITOR provide real-time communication status indications. So, for an error that periodically occurs, the indication blinks.

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2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H OPERATION B-62714EN/04

When the DPL/MDI operation package of Power Mate i-D/H is used

For the method of using the DPL/MDI operation package, refer to "FANUC Power Mate i series DPL/MDI Operation Package Operator's Manual: Supplement (B-63175EN/01-06(03))."

Setting parameters

Set the parameters below when setting the slave function by using the DPL/MDI operation package with PMi-D/H.

30100 Station number of the local station

[Input type] Parameter input

[Data type] Word

[Valid data range] 1 to 31(Note)

NOTE

When using the global I/O transfer function, set slave station numbers sequentially to allocate an area efficiently.

30101 Baud rate

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 3

Set a baud rate. 0 : 1 Mbps 1 : 500 kbps 2 : 250 kbps 3 : 125 kbps

30102 Internal relay address of the start of communication status

[Input type] Parameter input

[Data type] Word

[Valid data range] Set 82 as R.

30103 Internal relay offset of the start of communication status

[Input type] Parameter input

[Data type] Word

[Valid data range] -1, 0 to 9999

Set an offset used to allocate communication status.

-1, 0 : Communication status is not allocated.

1 to 9999:Communication status is allocated.

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30106 DI/DO MAP MODE

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 : DI/DO data transfer function

1 : Global I/O transfer function

30107 Maximum slave station number from which data is received by the local

station when the global I/O transfer function is used

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 31

0 : The global I/O transfer function is not used. 1 to 31 : The global I/O transfer function is used. Set a maximum

slave station number from which data is received by the local slave station.

30108 Internal relay address of the start of DO

[Input type] Parameter input

[Data type] Word

[Valid data range] Set 82 as R.

30109 Internal relay offset of the start of DO

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 9999

30110 DO byte length

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 128(Caution)

Set a DO data area size.

CAUTION

When using the global I/O transfer function, ensure that the DI data size and DO data size of each slave station on the network do not exceed 48 bytes.

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30111 Internal relay address of the start of DO

[Input type] Parameter input

[Data type] Word

[Valid data range] Set 82 as R.

30112 Internal relay offset of the start of DO

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 9999

30113 DI byte length

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 128(Caution)

Set a DI data area size.

CAUTION

When using the global I/O transfer function, ensure that the DI data size and DO data size of each slave station on the network do not exceed 48 bytes.

NOTE

When any of the parameters above is modified, alarm 000 (power-off request) is issued. So, the power must be turned off then back on. A modified parameter value does not become effective until the power is turned off then back on.

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B-62714EN/04 OPERATION 2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H

Diagnostic data

When the DPL/MDI operation package is used with PMi-D/H, check the communication status for user visual check of the slave function according to the diagnostic data below.

8100 DI byte length

[Data type] Word

[Valid data range] 0 to 00FF

[Data] Hexadecimal representation of a communication line error detected

by the slave station

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bits 7 to 5: Reserved (0 at all times)

Bit 4: Abort detection Bit 3: CRC error detection Bit 2: Overrun error detection Bit 1: Detection of data consisting of an incorrect number of bits Bit 0: Receive buffer overflow

NOTE

8101 LINK STATUS 1

[Data type] Word

[Data] The link information of the first station is indicated.

ON : 255 is indicated because this corresponds to FF. OFF : 0 is indicated. ER?? : The hexadecimal value 00?? is represented in decimal. For

example, 0063 is represented as 99.

Blank : When no connection is made

8102 LINK STATUS 2

[Data type] Word

[Data] The link information of the second station is indicated.

Information is indicated in the same format as for the first station.

8103 LINK STATUS 3

[Data type] Word

[Data] The link information of the third station is indicated.

Information is indicated in the same format as for the first station.

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8104 LINK STATUS 4

[Data type] Word

[Data] The link information of the fourth station is indicated.

Information is indicated in the same format as for the first station.

8105 LINK STATUS 5

[Data type] Word

[Data] The link information of the fifth station is indicated.

Information is indicated in the same format as for the first station.

8106 LINK STATUS 6

[Data type] Word

[Data] The link information of the sixth station is indicated.

Information is indicated in the same format as for the first station.

8107 LINK STATUS 7

[Data type] Word

[Data] The link information of the seventh station is indicated.

Information is indicated in the same format as for the first station.

8108 LINK STATUS 8

[Data type] Word

[Data] The link information of the eighth station is indicated.

Information is indicated in the same format as for the first station.

8109 LINK STATUS 9

[Data type] Word

[Data] The link information of the ninth station is indicated.

Information is indicated in the same format as for the first station.

8110 LINK STATUS 10

[Data type] Word

[Data] The link information of the tenth station is indicated.

Information is indicated in the same format as for the first station.

8111 LINK STATUS 11

[Data type] Word

[Data] The link information of the eleventh station is indicated.

Information is indicated in the same format as for the first station.

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8112 LINK STATUS 12

[Data type] Word

[Data] The link information of the twelfth station is indicated.

Information is indicated in the same format as for the first station.

8113 LINK STATUS 13

[Data type] Word

[Data] The link information of the thirteen station is indicated.

Information is indicated in the same format as for the first station.

8114 LINK STATUS 14

[Data type] Word

[Data] The link information of the fourteenth station is indicated.

Information is indicated in the same format as for the first station.

8115 LINK STATUS 15

[Data type] Word

[Data] The link information of the fifteenth station is indicated.

Information is indicated in the same format as for the first station.

8116 LINK STATUS 16

[Data type] Word

[Data] The link information of the sixteenth station is indicated.

Information is indicated in the same format as for the first station.

8117 LINK STATUS 17

[Data type] Word

[Data] The link information of the seventeenth station is indicated.

Information is indicated in the same format as for the first station.

8118 LINK STATUS 18

[Data type] Word

[Data] The link information of the eighteenth station is indicated.

Information is indicated in the same format as for the first station.

8119 LINK STATUS 19

[Data type] Word

[Data] The link information of the nineteenth station is indicated.

Information is indicated in the same format as for the first station.

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2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H OPERATION B-62714EN/04

8120 LINK STATUS 20

[Data type] Word

[Data] The link information of the twentieth station is indicated.

Information is indicated in the same format as for the first station.

8121 LINK STATUS 21

[Data type] Word

[Data] The link information of the twenty-first station is indicated.

Information is indicated in the same format as for the first station.

8122 LINK STATUS 22

[Data type] Word

[Data] The link information of the twenty-second station is indicated.

Information is indicated in the same format as for the first station.

8123 LINK STATUS 23

[Data type] Word

[Data] The link information of the twenty-third station is indicated.

Information is indicated in the same format as for the first station.

8124 LINK STATUS 24

[Data type] Word

[Data] The link information of the twenty-fourth station is indicated.

Information is indicated in the same format as for the first station.

8125 LINK STATUS 25

[Data type] Word

[Data] The link information of the twenty-fifth station is indicated.

Information is indicated in the same format as for the first station.

8126 LINK STATUS 26

[Data type] Word

[Data] The link information of the twenty-sixth station is indicated.

Information is indicated in the same format as for the first station.

8127 LINK STATUS 27

[Data type] Word

[Data] The link information of the twenty-seventh station is indicated.

Information is indicated in the same format as for the first station.

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8128 LINK STATUS 28

[Data type] Word

[Data] The link information of the twenty-eighth station is indicated.

Information is indicated in the same format as for the first station.

8129 LINK STATUS 29

[Data type] Word

[Data] The link information of the twenty-ninth station is indicated.

Information is indicated in the same format as for the first station.

8130 LINK STATUS 30

[Data type] Word

[Data] The link information of the thirtieth station is indicated.

Information is indicated in the same format as for the first station.

8131 LINK STATUS 31

[Data type] Word

[Data] The link information of the thirty-first station is indicated.

Information is indicated in the same format as for the first station.

8132 Service being provided when an error is detected

[Data type] Word

[Valid data range] A value from 0 to 00FF is represented in decimal.

8133 Layer when an error is detected

[Data type] Word

[Valid data range] A value from 0 to 00FF is represented in decimal.

8134 Error code

[Data type] Word

[Valid data range] A value from 0 to 00FF is represented in decimal.

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2.LCD-MOUNTED TYPE 16i/18i/21i-A, Power Mate i-D/H OPERATION B-62714EN/04

2.3 DATA CONCURRENCY

When DI data is handled by a ladder program, the I/O Link-II function guarantees the concurrency of data on a byte-by-byte basis, but does not guarantee the concurrency of multiple bytes of data. The I/O Link-II function does not exchanges data in synchronism with a ladder program, so that the function does not guarantees the concurrency of DI data consisting of 2 bytes or more. This means that when a ladder program reads 2-byte DI data, for example, the higher byte and lower byte of the data may be updated at different timings.

Example where concurrency is not guaranteed

When the 2-byte data 1234 (hex) is entered from the I/O Link-II board to the area R0300 set to the value 0000 (hex), the ladder program may read the value 0034 (hex).

DI data R area of the PMC

R0300 00 00

R0300 00 34

12 If the ladder program reads R0300

during this period, 0034 (hex) is read.

R0300 12 34

Example of countermeasure: Control using synchronization flags

(1) Data structure

A synchronization flag is prepared at the byte position preceding the 6-byte data and at the byte position following the 6-byte data, thus allocating an 8-byte area in total.

R0099 Synchronization flag 1 R0100

: Data section R0105 R0106 Synchronization flag 2

(2) Processing on the data write side

The data is updated using the procedure below. 1 Synchronization flag 1 is incremented. 2 The data section is updated. 3 The same value as set in synchronization flag 1 is set in

synchronization flag 2.

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(3) Processing on the data read side

The data is processed using the procedure below. 1 At the start of the second level, the 8 bytes are copied from

R0099 to the synchronization area R0199. 2 A check is made to see if R0199 = R0206. 3 If R0199 = R0206, R0200 is handled as 6-byte data.

CAUTION

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3.Power Mate-D/F/H OPERATION B-62714EN/04

3 Power Mate-D/F/H

This chapter describes the setting procedure for operating the slave function.

NOTE

With PMi-D/H, only the slave function can be used. With PMi-D/H, the I/O Link-II board (A20B-8100-

0310) and I/O Link-II board B (A20B-8100-0381) can be used. When using the I/O Link-II board with PMi-D/H, read this chapter instead of Chapter 2.

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B-62714EN/04 OPERATION 3.Power Mate-D/F/H

3.1 SLAVE FUNCTION

Setting parameters

Parameters

0171 DI byte length

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0 to 32: Set a DI data area size when the DI/DO data transfer

function is used.

0 to 48: Set a DI data area size when the global I/O transfer function

is used.

Set a DI data area size.

0172 DO byte length

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0 to 32: Set a DO data area size when the DI/DO data transfer

function is used.

0 to 48: Set a DO data area size when the global I/O transfer

function is used.

Set a DO data area size.

CAUTION

When using the global I/O transfer function, ensure that the DI data size and DO data size of each slave station on the network do not exceed 48 bytes.

0173 Local station number

[Input type] Parameter input

[Data type] Byte

[Valid data range] 1 to 31(Note)

Set the station number of the local station.

NOTE

When using the global I/O transfer function, set slave station numbers sequentially to allocate an area efficiently.

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3.Power Mate-D/F/H OPERATION B-62714EN/04

0174 Baud rate

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0(Caution)

Set a baud rate. 0: 1 Mbps

CAUTION

The baud rate is fixed at 1 Mbps.

0180 Maximum slave station number from which data is received by the local

station when the global I/O transfer function is used

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0 to 31(Caution)

0: The global I/O transfer function is not used. 1 to 31: The global I/O transfer function is used. Set a maximum

station number from which data is to be received by the local station.

0181 Internal relay address of the start of DI data

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 999

Set the start address of a DI data area (R area of the PMC). This parameter is valid only when the global I/O transfer function is used.

0182 Internal relay address of the start of DO data

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 999

Set the start address of a DO data area (R area of the PMC). This parameter is valid only when the global I/O transfer function is used.

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0187 Internal relay address of the start of communication status

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 999

Set the start address of communication status (R area of the PMC). 0 :Communication status is not allocated in a R area of the

PMC.

1 to 999 : Communication status is allocated in a R area of the PMC.

NOTE

For communication status, a 32-byte area is allocated from the specified internal relay address of the start of communication status.

0188 Master station communication monitoring time

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 1000

Set a time-out value used when no DI data is sent from the master station. 0 : 300 ms 1 to 1000 : 1 to 1000 ms

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3.Power Mate-D/F/H OPERATION B-62714EN/04

DI/DO data allocation when DI/DO data transfer is set

For PM-D/F/H

- DO data allocation

↑

No.172

↓

Y1002

DO data from the local slave

station to the master station

- DI data allocation

↑

No.171

↓

X1002

DI data from the master station to

the local slave station

When the I/O Link-II board (A20B-8100-310) is used with PMi-D/H

- DO data allocation

↑

No.172

↓

Y1032

DO data from the local slave

station to the master station

- DI data allocation

X1032

DI data from the master station to

the local slave station

NOTE

When the I/O Link-II board (A20B-8100-310) is used with PMi-D/H, and DI/DO data transfer is selected, the maximum allocatable DI/DO sizes are 32 bytes/32 bytes.

↑

No.171

↓

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B-62714EN/04 OPERATION 3.Power Mate-D/F/H

DI/DO data allocation when global I/O transfer is set

DO data allocation

DI data allocation

[No. 0182] (R area)

[No. 0181] (R area)

+[No.0171]× 1

+[No.0171]× 2

+[No.0171]× 3

+[No.0171]× [No.0173]

+[No.0171]× [No.0180]

DO data from the local slave

station to the master station

DI data from the master station to

the local slave station

DO data from slave station #1 to

the master station

DO data from slave station #2 to

the master station

DO data from slave station #3 to

the master station

Not used (The area for the local

slave station is not used. This

area can be used for output of

local station DO data or any other

purposes.)

DO data from slave station [No.

0180] to the master station

↑

[No.172]

↓

↑

[No.171]

↓

Example:

When [No. 0173] = 2, [No. 0180] = 3, [No. 0181] = 300, and [No. 0171] = 10 for a slave station performing global I/O transfer, DI data is allocated as follows:

R0300 DI data from the master station to

slave station #2

R0310 DO data from slave station #1 to

the master station

R0320 Not used

R0330 DO data from slave station #3 to

the master station

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3.Power Mate-D/F/H OPERATION B-62714EN/04

Restrictions on the global I/O transfer function

Conditions for taking in DO data from a remote slave station to the master station

When the two conditions below are satisfied, DO data from a remote slave station to the master station is taken in.

Condition 1: 48 bytes ≥ x bytes = y bytes

where x : Size of DI data from the master station to the local slave

station y : Size of DO data from a remote slave station to the master

station

Condition 2: Station m ≥ Station n

where m : Maximum slave number [No. 0180] set at the local slave

station n : Station number of a remote slave station

CAUTION

When the network includes a CNC that has I/O Link-II board B mounted, the global I/O transfer function cannot be used.

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Example:

When the station number of the local slave station is 2, there are five remote slave stations, and each slave station is set as follows:

- Setting of slave station #1: DO data size = 16 bytes

- Setting of slave station #2: [MAX SLAVE NO] = 4,

[STATION NO] = 2, [DI/DO MAP MODE] =2, [DI/DO

DATA SIZE] = 32

- Setting of slave station #3: DO data size = 32 bytes

- Setting of slave station #4: DO data size = 48 bytes

- Setting of slave station #5: DO data size = 8 bytes According to the restrictions on global I/O transfer:

- Slave station #1 does not satisfy condition 1.

- Slave station #4 does not satisfy condition 1.

- Slave station #5 does not satisfy condition 2. So, slave station #2 takes in only DO data from slave station #3 to the master station. DI data allocation at slave station #2

Not used

(For slave station #1) 32 bytes

Not used

(16 bytes)

Not used

(Area for the local station

number)

DO data from slave station #3 32 bytes

Not used

(For slave station #4)

32 bytes

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3.Power Mate-D/F/H OPERATION B-62714EN/04

Communication status for ladder detection

Communication status allocation

[No. 0187] (R area)

:: :: ::

+31

ERROR STATUS

Status of communication with

slave station #1

Status of communication with

slave station #2

Status of communication with

slave station #3

Status of communication with

slave station #31

CAUTION

A communication status area for 32 stations is always allocated. The area for a free station number cannot be used for other purposes.

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ERROR STATUS

ERROR STATUS (1 byte):

Communication line errors detected by the master station are indicated.

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with the master station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed normally. Bit 6 : Short frame error Bit 5 : Abort detection Bit 4 : Detection of data consisting of an incorrect number of bits Bit 3 : Overrun error detection Bit 2 : FCS error detection

Bits 1, 0 : Reserved (0 at all times)

NOTE

Status of communication with slave stations #1 to #31

Status of communication with slave stations #1 to #31:

The status of reception of DO data from remote slave stations is indicated (1 byte for each).

bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0

Bit 7 : LINK STATUS (status of the link with a remote slave station)

- When LINK STATUS = 0, the link is disconnected.

- When LINK STATUS = 1, communication is performed

normally.

Bits 6 to 0 : Reserved (0 at all times)

NOTE

1 When the value set in parameter No. 180 is not 0, a

32-byte communication status area is allocated.

2 When the value set in parameter No. 180 is 0, no

communication status area is allocated.

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3.Power Mate-D/F/H OPERATION B-62714EN/04

3.2 DATA CONCURRENCY

When DI data is handled by a ladder program, the I/O Link-II function guarantees the concurrency of data on a byte-by-byte basis, but does not guarantee the concurrency of multiple bytes of data.

Example where concurrency is not guaranteed

When the 2-byte data 1234 (hex) is entered from the I/O Link-II board to the area R0300 set to the value 0000 (hex), the ladder program may read the value 0034 (hex).

DI data R area of the PMC

R0300 00 00

R0300 00 34

12 If the ladder program reads R0300

during this period, 0034 (hex) is read.

R0300 12 34

Example of countermeasure: Control using synchronization flags

(1) Data structure

A synchronization flag is prepared at the byte position preceding the 6-byte data and at the byte position following the 6-byte data, thus allocating an 8-byte area in total.

R0099 Synchronization flag 1 R0100

: Data section R0105 R0106 Synchronization flag 2

(2) Processing on the data write side

The data is updated using the procedure below. 1 Synchronization flag 1 is incremented. 2 The data section is updated. 3 The same value as set in synchronization flag 1 is set in

synchronization flag 2.

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B-62714EN/04 OPERATION 3.Power Mate-D/F/H

(3) Processing on the data read side

The data is processed using the procedure below. 1 At the start of the second level, the 8 bytes are copied from

R0099 to the synchronization area R0199. 2 A check is made to see if R0199 = R0206. 3 If R0199 = R0206, R0200 is handled as 6-byte data.

CAUTION

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IV. CONNECTION