fanuc IO Link-II Connection Manual

GE Fanuc Automation

Computer Numerical Control Products

I/O Link―II

Connection Manual

GFZ-62714EN/04 February 2001

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.

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

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

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

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.

s - 4

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.

s - 5

B-62714EN/04 Table of Contents

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

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)

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-1.2,III-1.3 IV-1,IV-3 V-2

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

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

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.

- 22 -

Screen 1-1

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-1-1

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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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.

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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fanuc IO Link-II Connection Manual

SAFETY PRECAUTIONS

2 GENERAL WARNINGS AND NOTES

Table of Contents

1 GENERAL

1.1 ORGANIZATION

1.2 APPLICABLE MODELS

1 I/O LINK-II I/O FUNCTION

1.1 FEATURES

1.2 MASTER FUNCTION

1.3 SLAVE FUNCTION

1.4 SPECIFICATIONS

1.5 GLOSSARY

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

1.1 MASTER FUNCTION