Operating
Instructions
RI FB PRO/i TWIN Controller
RI MOD/i CC EtherCAT
DE
EN-US
Bedienungsanleitung
Operating instructions
42,0410,2452 011-03022023
Inhaltsverzeichnis
Allgemeines 4
Sicherheit 4
Anschlüsse und Anzeigen 4
Eigenschaften der Datenübertragung 5
Konfigurationsparameter 6
Vergabe der EtherCAT-Adresse 6
Prozessdaten-Breite des Busmoduls einstellen 7
Prozessdaten-Breite des Busmoduls einstellen 7
Ein- und Ausgangssignale 8
Datentypen 8
Verfügbarkeit der Eingangssignale 8
Eingangssignale (vom Roboter zur Stromquelle) 8
Wertebereich Working mode 15
Wertebereich Processline selection 15
Wertebereich Operating mode TWIN System 16
Wertebereich Documentation mode 16
Wertebereich Process controlled correction 16
Verfügbarkeit der Ausgangssignale 17
Ausgangssignale (von der Stromquelle zum Roboter) 17
Zuordnung Sensorstatus 1-4 22
DE
3
Allgemeines
1234567
8
Sicherheit
WARNUNG!
Gefahr durch Fehlbedienung und fehlerhaft durchgeführte Arbeiten.
Schwere Personen- und Sachschäden können die Folge sein.
Alle in diesem Dokument beschriebenen Arbeiten und Funktionen dürfen
▶
nur von technisch geschultem Fachpersonal ausgeführt werden.
Dieses Dokument vollständig lesen und verstehen.
▶
Sämtliche Sicherheitsvorschriften und Benutzerdokumentationen dieses
▶
Gerätes und aller Systemkomponenten lesen und verstehen.
WARNUNG!
Gefahr durch elektrischen Strom.
Schwere Personen- und Sachschäden können die Folge sein.
Vor Beginn der Arbeiten alle beteiligten Geräte und Komponenten ausschal-
▶
ten und vom Stromnetz trennen.
Alle beteiligten Geräte und Komponenten gegen Wiedereinschalten sichern.
▶
WARNUNG!
Gefahr durch unplanmäßige Signalübertragung.
Schwere Personen- und Sachschäden können die Folge sein.
Über das Interface keine sicherheitsrelevanten Signale übertragen.
▶
Anschlüsse und
Anzeigen
1 TX+
2 TX-
3 RX+
6 RX-
4,5,7,8Normalerweise nicht ver-
wendet; um die Signalvollständigkeit sicherzustellen, sind diese Pins miteinander verbunden und enden
über einen Filterkreis am
Schutzleiter (PE).
Pin-Belegung RJ 45 ProfiNet Anschluss
4
(1) LED RUN - Betrieb
Diese LED gibt den Status der CoE
Kommunikation wieder. (CoE = CANopen over EtherCAT)
Aus:
CoE Gerät im Status ‘init‘ (oder keine Versorgungsspannung)
Leuchtet grün:
CoE Gerät im Status ‘operational‘
Blinkt grün:
CoE Gerät im Status ‘pre-operational‘
Blinkt grün (kurz):
CoE Gerät im Status ‘safe-operational‘
Leuchtet rot:
Wenn die LEDs RUN und ERR leuchten, zeigt das ein schwerwiegendes
Ereignis an, welches das Interface in
einen Ausnahmezustand bringt. In
diesem Fall den Servicedienst
verständigen.
DE
Eigenschaften
der Datenübertragung
(2) LED ERR - Fehler
Aus:
keine Fehler (oder keine Versorgungsspannung)
Blinkt rot:
falsche Konfiguration
Vom Master empfangener Statuswechsel ist nicht möglich wegen
ungültiger Register- oder Objekteinstellungen
Blinkt rot (doppelt):
Application watchdog timeout
Syn manager watchdog timeout
Leuchtet rot:
Application controller failure
Anybus Modul in EXCEPTION
Übertragungstechnik:
EtherCAT
Medium:
Bei der Auswahl der Kabel, Stecker und Abschluss-Widerstände ist die
IEC 61784‑5‑12 für die Planung und Installation von EtherCAT Systemen zu
beachten.
Seitens Hersteller wurden die EMV-Tests mit einem original Beckhoff-Kabel
(ZK1090-9191-xxxx) durchgeführt.
5
Übertragungs-Geschwindigkeit:
100 Mbit/s
Busanschluss:
RJ-45 Ethernet
Application Layer:
CANopen
Konfigurationsparameter
Vergabe der
EtherCATAdresse
Bei einigen Robotersteuerungen kann es erforderlich sein die hier beschriebenen
Konfigurationsparameter anzugeben, damit das Busmodul mit dem Roboter
kommunizieren kann.
Parameter Wert Beschreibung
Vendor ID 0000 02C1
Product Code 0001 0324
(66340
dez
)
hex
hex
(705
) Fronius International GmbH
dez
TWIN Standard Image
Device Name Fronius-RI-FB-Pro-EtherCAT
Die EtherCAT-Adresse wird vom Master vergeben.
6
Prozessdaten-Breite des Busmoduls einstellen
DE
ProzessdatenBreite des Busmoduls einstellen
IP-Adresse der verwendeten Stromquelle notieren:
Am Bedienpanel der Stromquelle „Voreinstellungen“ auswählen
1
Am Bedienpanel der Stromquelle „System“ auswählen
2
Am Bedienpanel der Stromquelle „Information“ auswählen
3
Angezeigte IP-Adresse notieren (Beispiel: 10.5.72.13)
4
Website der Stromquelle (SmartManager) im Internetbrowser aufrufen:
Computer mit dem Netzwerk der Stromquelle verbinden
5
IP-Adresse der Stromquelle in die Suchleiste des Internetbrowsers eingeben
6
und bestätigen
Standard-Benutzernamen (admin) und Passwort (admin) eingeben
7
Website der Stromquelle wird angezeigt
-
Prozessdaten-Breite des Busmoduls einstellen:
Auf der Website der Stromquelle den Reiter „RI FB PRO/i TWIN Controller“
8
auswählen
Bei Punkt „Prozessdaten“ die gewünschte Prozessdaten-Konfiguration
9
auswählen
„Speichern“ auswählen
10
Die Feldbus-Verbindung wird neu gestartet und die Konfiguration über-
-
nommen
7
Ein- und Ausgangssignale
Datentypen Folgende Datentypen werden verwendet:
UINT16 (Unsigned Integer)
-
Ganzzahl im Bereich von 0 bis 65535
SINT16 (Signed Integer)
-
Ganzzahl im Bereich von -32768 bis 32767
Umrechnungsbeispiele:
für positiven Wert (SINT16)
-
z.B. gewünschter Drahtvorschub x Faktor
12.3 m/min x 100 = 1230
für negativen Wert (SINT16)
-
z.B. gewünschte Lichtbogen-Korrektur x Faktor
-6.4 x 10 = -64
= FFC0
dez
= 04CE
dez
hex
hex
Verfügbarkeit
der Eingangssignale
Eingangssignale
(vom Roboter
zur Stromquelle)
Die nachfolgend angeführten Eingangssignale sind ab Firmware V1.8.0 des RI FB
PRO/i TWIN Controller verfügbar.
8
Adresse
relativ absolut
WORD
BYTE
0
0
BIT
0 0 Welding Start steigend
1 1 Robot ready High
2 2 Working mode Bit 0 High
3 3 Working mode Bit 1 High
4 4 Working mode Bit 2 High
5 5 Working mode Bit 3 High
6 6 Working mode Bit 4 High
7 7 —
0 8 Gas on steigend
1 9 Wire forward steigend
2 10 Wire backward steigend
3 11 Error quit steigend
BIT
Signal
Aktivität /
Datentyp
Bereich
Siehe nachfolgende Ta-
belle Wertebereich
Working mode auf Seite
15
DE
Faktor
4 12 Touch sensing High
1
2
1
5 13 Torch blow out steigend
Processline selection Bit 0 (only
6 14
7 15
0 16 Welding Simulation High
1 17 —
2 18 —
3 19 —
4 20 —
5 21 —
6 22 Wire brake on High
7 23 Torchbody Xchange High
0 24 —
1 25 Teach mode High
available for single-wire applications)
Processline selection Bit 1 (only
available for single-wire applications)
High
High
Siehe nachfolgende Ta-
belle Wertebereich Pro-
cessline selection auf
Seite 15
2 26 —
3
3 27 —
4 28 —
5 29 Wire sense start steigend
6 30 Wire sense break steigend
7 31 —
9
Adresse
relativ absolut
WORD
BYTE
4
BIT
0 32
1 33
2 34 —
3 35 —
4 36 —
5 37 Documentation mode High
BIT
Signal
Operating mode TWIN System
Bit 0
Operating mode TWIN System
Bit 1
Aktivität /
High
High
Datentyp
Bereich
Siehe nachfolgende Ta-
belle Wertebereich
Operating mode TWIN
System auf Seite 16
Siehe nachfolgende Tabelle Wertebereich Do-
cumentation mode auf
Seite 16
Faktor
2
5
6 38 —
7 39 —
0 40 —
1 41 —
2 42 —
3 43 —
4 44 —
5 45 —
6 46 —
7 47
Disable process controlled correction, Power source 1
High
10
Adresse
relativ absolut
WORD
BYTE
6
3
7
BIT
0 48 —
1 49 —
2 50 —
3 51 —
4 52 —
5 53 —
6 54 —
7 55 —
0 56 ExtInput1 => OPT_Output 1 High
1 57 ExtInput2 => OPT_Output 2 High
2 58 ExtInput3 => OPT_Output 3 High
3 59 ExtInput4 => OPT_Output 4 High
4 60 ExtInput5 => OPT_Output 5 High
BIT
Signal
Aktivität /
Datentyp
Bereich
DE
Faktor
5 61 ExtInput6 => OPT_Output 6 High
6 62 ExtInput7 => OPT_Output 7 High
7 63 ExtInput8 => OPT_Output 8 High
0 64 —
1 65 —
2 66 —
3 67 —
8
4
9
4 68 —
5 69 —
6 70 —
7 71
0 72
1 73 —
2 74 —
3 75 —
4 76 —
Disable Process controlled correction, Power source 2
Contact tip short circuit detection on
High
High
5 77 —
6 78 —
7 79 —
10 0-7 80-87 —
5
11 0-7 88-95 —
11
Adresse
relativ absolut
WORD
BYTE
12 0-7 96-103
6
13 0-7 104-111
BIT
BIT
Signal
Welding characteristic- / Job
number, Power source 1
Aktivität /
Datentyp
UINT16 0 bis 1000 1
Bereich
Faktor
14 0-7 112-119
7
15 0-7 120-127
16,
8
18,
9
0-7 128-143
17
0-7 144-159
19
Welding characteristic- / Job
number, Power source 2
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG Standard-Manuell,
MIG/MAG PMC,
MIG/MAG LSC,
CMT, ConstantWire:
Wire feed speed command value, Power source 1
Beim Job-Betrieb:
Power correction, Power source
1
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG Standard-Manuell,
MIG/MAG PMC,
MIG/MAG LSC,
CMT, ConstantWire:
Wire feed speed command value, Power source 2
UINT16 0 bis 1000 1
-327,68 bis
SINT16
SINT16
SINT16
327,67
[m/min]
-20,00 bis 20,00
[%]
-327,68 bis
327,67
[m/min]
100
100
100
12
Beim Job-Betrieb:
Power correction, Power source
2
SINT16
-20,00 bis 20,00
[%]
100
Adresse
relativ absolut
WORD
10
BYTE
20,
21
BIT
0-7 160-175
BIT
Signal
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Arclength correction, Power
source 1
Beim Schweißverfahren
MIG/MAG Standard-Manuell:
Welding voltage, Power source
1
Beim Job-Betrieb:
Arclength correction, Power
source 1
Aktivität /
Datentyp
SINT16
UINT16
SINT16
Bereich
-10,0 bis 10,0
[Schritte]
0,0 bis 6553,5
[V]
-10,0 bis 10,0
[Schritte]
DE
Faktor
10
10
10
11
22,
23
0-7 176-191
Beim Schweißverfahren ConstantWire:
Hotwire current, Power source
1
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Arclength correction, Power
source 2
Beim Schweißverfahren
MIG/MAG Standard-Manuell:
Welding voltage, Power source
2
Beim Job-Betrieb:
Arclength correction, Power
source 2
UINT16
SINT16
UINT16
SINT16
0,0 bis 6553,5
[A]
-10,0 bis 10,0
[Schritte]
0,0 bis 6553,5
[V]
-10,0 bis 10,0
[Schritte]
10
10
10
10
Beim Schweißverfahren ConstantWire:
Hotwire current, Power source
2
UINT16
0,0 bis 6553,5
[A]
10
13
Adresse
relativ absolut
WORD
12
13
BYTE
24,
25
26,
27
BIT
0-7 192-207
0-7 208-223
BIT
Signal
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Pulse-/dynamic correction,
Power source 1
Beim Schweißverfahren
MIG/MAG Standard-Manuell:
Dynamic, Power source 1
Beim Schweißverfahren
MIG/MAG Puls-Synergic,
MIG/MAG Standard-Synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Pulse-/dynamic correction,
Power source 2
Aktivität /
Datentyp
SINT16
UINT16
SINT16
Bereich
-10,0 bis 10,0
[Schritte]
0,0 bis 10,0
[Schritte]
-10,0 bis 10,0
[Schritte]
Faktor
10
10
10
28 0-7 224-231
14
29 0-7 232-239
30 0-7 240-247
15
31 0-7 248-255
32 0-7 256-263
16
33 0-7 264-271
34 0-7 272-279
17
35 0-7 280-287
36 0-7 288-295
18
37 0-7 296-303
38 0-7 304-311
19
39 0-7 312-319
40 0-7 320-327
20
41 0-7 328-335
Beim Schweißverfahren
MIG/MAG Standard-Manuell:
Dynamic, Power source 2
Wire retract correction, Power
source 1
Wire retract correction, Power
source 2
Welding speed UINT16
Process controlled correction,
Power source 1
Process controlled correction,
Power source 2
Wire forward / backward length UINT16
Wire sense edge detection UINT16
UINT16
UINT16 0,0 bis 10,0 10
UINT16 0,0 bis 10,0 10
SINT16
SINT16
0,0 bis 10,0
[Schritte]
0,0 bis 1000
[m/min]
Siehe Tabelle Wertebe-
reich Process control-
led correction auf Seite
16
OFF / 1 bis
65535
[mm]
OFF / 0,5 bis
20,0
[mm]
10
10
1
10
14
42 0-7 336-343
21
43 0-7 344-351
—
Adresse
relativ absolut
WORD
BYTE
BIT
44 0-7 352-359
22
45 0-7 360-367
46 0-7 368-375
23
47 0-7 376-383
48 0-7 384-391
24
49 0-7 392-399
50 0-7 400-407
25
51 0-7 408-415
52 0-7 416-423
26
53 0-7 424-431
54 0-7 432-439
27
55 0-7 440-447
BIT
Signal
Aktivität /
Datentyp
Bereich
—
—
—
—
—
—
DE
Faktor
56 0-7 448-455
28
57 0-7 456-463
58 0-7 464-471
29
59 0-7 472-479
Wertebereich
Working mode
—
Seam number UINT16 0 bis 65535 1
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Beschreibung
0 0 0 0 0 Parameteranwahl intern
0 0 0 0 1 Kennlinien Betrieb Sonder 2-Takt
0 0 0 1 0 Job-Betrieb
0 1 0 0 0 Kennlinien Betrieb 2-Takt
0 1 0 0 1 MIG/MAG Standard-Manuell 2-Takt
1 0 0 0 1 Kühlmittel-Pumpe stoppen
Wertebereich Betriebsart
Wertebereich
Processline
selection
Bit 1 Bit 0 Beschreibung
0 0 Prozesslinie 1 (default)
0 1 Prozesslinie 2
1 0 Prozesslinie 3
1 1 Reserviert
Wertebereich Prozesslinien-Auswahl
15
Wertebereich
Operating mode
TWIN System
Bit 1 Bit 0 Funktion Stromquelle 1 Funktion Stromquelle 2
0 0 Single mode OFF
0 1 TWIN Lead TWIN Trail
1 0 TWIN Trail TWIN Lead
1 1 OFF Single mode
Wertebereich Betriebsart TWIN System
Wertebereich
Documentation
mode
Wertebereich
Process controlled correction
Bit 0 Beschreibung
0 Nahtnummer von Stromquelle (intern)
1 Nahtnummer von Roboter (Word 29)
Wertebereich Dokumentationsmodus
Prozess
Signal
Aktivität /
PMC Arc length stabilizer SINT16
Wertebereich prozessabhängige Korrektur
Wertebereich
Datentyp
Einstellbereich
-327,8 bis +327,7
0,0 bis +5,0 Volt 10
Einheit
Faktor
16
Verfügbarkeit
der Ausgangssignale
Ausgangssignale
(von der Stromquelle zum Roboter)
Adresse
relativ absolut
WORD
BYTE
BIT
0 0 Heartbeat Powersource
1 1 Power source ready High
2 2 Warning High
Die nachfolgend angeführten Ausgangssignale sind ab Firmware V1.8.0 des RI
FB PRO/i TWIN Controller verfügbar.
BIT
Signal
Aktivität /
High /
Low
Datentyp
Bereich
1 Hz
DE
Faktor
3 3 Process active High
0
4 4 Current flow High
5 5 Arc stable- / touch signal High
6 6 Main current signal High
7 7 Touch signal High
0
0 8 Collisionbox active Low
1 9
2 10 Wire stick workpiece High
1
3 11 —
4 12 Short circuit contact tip High
5 13 Parameter selection internally High
6 14 —
7 15 Torch body gripped High
Robot Motion Release, Power
source 1
High
0 = Kollision oder
Kabelbruch
17
Adresse
relativ absolut
WORD
BYTE
BIT
0 16 Command value out of range High
1 17 Correction out of range High
2 18 —
3 19 Limitsignal, Power Source 1 High
2
4 20 —
5 21 —
6 22 Main supply status Low
7 23 —
1
0 24 Sensor status 1, Power Source 1 High
BIT
Signal
Aktivität /
Datentyp
Bereich
Faktor
1 25 Sensor status 2, Power Source 1 High
2 26 Sensor status 3, Power Source 1 High
3 27
3
4 28 —
5 29 —
6 30 —
7 31 —
0 32 —
1 33 —
2 34 —
3 35
4
4 36
5 37 —
6 38 Notification High
2
7 39 System not ready High
Sensor status 4, Power Source
1
Safety status Bit 0, Power
Source 1
Safety status Bit 1, Power
Source 1
High
High
High
Siehe Tabelle Zuord-
nung Sensorstatus 1-4
auf Seite 22
18
0 40 —
1 41 —
2 42 —
3 43 —
5
4 44 —
5 45 —
6 46 —
7 47 —
Adresse
relativ absolut
WORD
BYTE
BIT
0 48 —
1 49 —
2 50 —
3 51 —
6
4 52 —
5 53 —
6 54 Gas nozzle touched High
3
7 55 —
0 56 ExtOutput1 <= OPT_Input1 High
1 57 ExtOutput2 <= OPT_Input2 High
2 58 ExtOutput3 <= OPT_Input3 High
3 59 ExtOutput4 <= OPT_Input4 High
7
4 60 ExtOutput5 <= OPT_Input5 High
BIT
Signal
Aktivität /
Datentyp
Bereich
DE
Faktor
5 61 ExtOutput6 <= OPT_Input6 High
6 62 ExtOutput7 <= OPT_Input7 High
7 63 ExtOutput8 <= OPT_Input8 High
0 64 —
1 65
2 66 Limitsignal, Power source 2 High
3 67 —
8
4 68 —
5 69 —
6 70 —
4
7 71 —
0 72 —
1 73 —
2 74 —
3 75 —
9
4 76 —
Robot Motion Release, Power
source 2
High
5 77 —
6 78 —
7 79 —
19
Adresse
relativ absolut
WORD
BYTE
BIT
0 80 Sensor status 1, Power Source 2 High
BIT
Signal
Aktivität /
Datentyp
Bereich
Faktor
1 81 Sensor status 2, Power Source 2 High
2 82 Sensor status 3, Power Source 2 High
10
5
11
3 83
4 84 —
5 85 —
6 86 —
7 87 —
0 88 —
1 89 —
2 90 —
3 91
4 92
5 93 —
6 94 —
7 95 —
Sensor status 4, Power Source
2
Safety status Bit 0, Power
Source 2
Safety status Bit 1, Power
Source 2
High
High
High
Siehe Tabelle Zuord-
nung Sensorstatus 1-4
auf Seite 22
12 0-7 96-103
6
13 0-7 104-111
14 0-7 112-119
7
15 0-7 120-127
16 0-7 128-135
8
17 0-7 136-143
18 0-7 144-151
9
19 0-7 152-159
20 0-7 160-167
10
21 0-7 168-175
22 0-7 176-183
11
23 0-7 184-191
24 0-7 192-199
12
25 0-7 200-207
26 0-7 208-215
13
27 0-7 216-223
Welding voltage, Power source 1 UINT16
Welding voltage, Power source 2 UINT16
Welding current, Power source
1
Welding current, Power source
2
Wire feed speed, Power source
1
Wire feed speed, Power source
2
Actual real value for seam
tracking
Error number, Power source 1 UINT16 0 bis 65535 1
UINT16
UINT16
SINT16
SINT16
UINT16 0 bis 6,5535
0,0 bis 655,35
[V]
0,0 bis 655,35
[V]
0,0 bis 6553,5
[A]
0,0 bis 6553,5
[A]
-327,68 bis
327,67
[m/min]
-327,68 bis
327,67
[m/min]
100
100
10
10
100
100
1000
0
20
Adresse
relativ absolut
WORD
BYTE
BIT
28 0-7 224-231
14
29 0-7 232-239
30 0-7 240-247
15
31 0-7 248-255
32 0-7 256-263
16
33 0-7 264-271
34 0-7 272-279
17
35 0-7 280-287
36 0-7 288-295
18
37 0-7 296-303
38 0-7 304-311
19
39 0-7 312-319
BIT
Signal
Error number, Power source 2 UINT16 0 bis 65535 1
Motor current M1, Power source
1
Motor current M1, Power source
2
Motor current M2, Power source
1
Motor current M2, Power source
2
Motor current M3, Power source
1
Aktivität /
Datentyp
UINT16
UINT16
UINT16
UINT16
UINT16
Bereich
-327,68 bis
327,67 [A]
-327,68 bis
327,67 [A]
-327,68 bis
327,67 [A]
-327,68 bis
327,67 [A]
-327,68 bis
327,67 [A]
100
100
100
100
100
DE
Faktor
40 0-7 320-327
20
41 0-7 328-335
42 0-7 336-343
21
43 0-7 344-351
44 0-7 352-359
22
45 0-7 360-367
46 0-7 368-375
23
47 0-7 376-383
48 0-7 284-291
24
49 0-7 292-399
50 0-7 400-407
25
51 0-7 408-415
52 0-7 416-423
26
53 0-7 424-431
54 0-7 432-439
27
55 0-7 440-447
56 0-7 448-455
28
57 0-7 456-463
Motor current M3, Power source
2
Warning, Power source 1 UINT16 0 bis 65535 1
Warning, Power source 2 UINT16 0 bis 65535 1
Wire position, Power source 1 UINT16
Wire position, Power source 2 UINT16
—
—
—
—
UINT16
-327,68 bis
327,67 [A]
-327,68 bis
327,67 [mm]
-327,68 bis
327,67 [mm]
100
100
100
58 0-7 464-471
29
59 0-7 472-479
—
21
Zuordnung Sensorstatus 1-4
Signal Beschreibung
Sensor status 1 OPT/i WF R Drahtende (4,100,869)
Sensor status 2 OPT/i WF R Drahtfass (4,100,879)
Sensor status 3 OPT/i WF R Ringsensor (4,100,878)
Sensor status 4 Drahtpufferset CMT TPS/i (4,001,763)
22
Table of contents
General 24
Safety 24
Connections and Indicators 24
Data Transfer Properties 25
Configuration Parameters 26
Assigning the EtherCAT Address 26
Set the Process Data Width of the Bus Module 27
Setting the Process Data Width of the Bus Module 27
Input and output signals 28
Data types 28
Availability of input signals 28
Input signals (from robot to power source) 28
Value Range for Working Mode 37
Value range Process line selection 37
Value range for Operating mode TWIN System 37
Value range for Documentation mode 37
Value range for Process controlled correction 37
Availability of the output signals 38
Output signals (from power source to robot) 38
Assignment of Sensor Statuses 1–4 43
EN-US
23
General
1234567
8
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried
▶
out by technically trained and qualified personnel.
Read and understand this document in full.
▶
Read and understand all safety rules and user documentation for this equip-
▶
ment and all system components.
WARNING!
Danger from electrical current.
This can result in serious personal injury and damage to property.
Before starting work, switch off all the devices and components involved and
▶
disconnect them from the grid.
Secure all devices and components involved so they cannot be switched back
▶
on.
WARNING!
Danger from unplanned signal transmission.
This can result in serious personal injury and damage to property.
Do not transfer safety signals via the interface.
▶
Connections and
Indicators
1 TX+
2 TX-
3 RX+
6 RX-
4,5,7,8Not normally used; to ensu-
re signal completeness, these pins must be interconnected and, after passing
through a filter circuit, must
terminate at the ground
conductor (PE).
Pin assignment RJ45 ProfiNet connection
24
(1) RUN LED - operation
This LED indicates the status of the
CoE communication. (CoE = CANopen over EtherCAT)
Off:
CoE device in ‘init‘ status (or no supply voltage)
Lights up green:
CoE device in ‘operational‘ status
Flashes green:
CoE device in ‘pre-operational‘ status
Flashes green (briefly):
CoE device in ‘safe-operational‘ status
Lights up red:
If the RUN LED and ERR LED light
up red, this indicates a serious event
which places the interface in an exception state. In this case, inform
the service team.
EN-US
Data Transfer
Properties
(2) ERR LED - error
Off:
No error (or no supply voltage)
Flashes red:
Incorrect configuration
The status change received from the
master is not possible due to invalid
register or object settings
Flashes red (twice):
Application watchdog timeout
Syn manager watchdog timeout
Lights up red:
Application controller failure
Anybus module in EXCEPTION
Transfer technology:
EtherCAT
Medium:
When selecting the cable, plug, and terminating resistors, the IEC 61784‑5‑12
for the planning and installation of EtherCAT systems must be observed.
The EMC tests were carried out by the manufacturer with an original Beckhoff
cable (ZK1090-9191-xxxx).
Transmission speed:
100 Mbit/s
Bus connection:
RJ45 Ethernet
25
Application layer:
CANopen
Configuration
Parameters
Assigning the
EtherCAT Address
In some robot control systems, it may be necessary to state the configuration parameters described here so that the bus module can communicate with the robot.
Parameter Value Description
Vendor ID 0000 02C1
Product Code 0001 0324
(66340
dec
)
hex
hex
(705
) Fronius International GmbH
dec
TWIN Standard Image
Device name Fronius-RI-FB-Pro-EtherCAT
The EtherCAT address is assigned by the master.
26
Set the Process Data Width of the Bus Module
Setting the Process Data Width
of the Bus Module
Note down the IP address of the power source used:
On the power source control panel, select "Defaults"
1
On the power source control panel, select "System"
2
On the power source control panel, select "Information"
3
Note down the displayed IP address (example: 10.5.72.13)
4
Access the website of the power source (SmartManager) in the internet browser:
Connect the computer to the network of the power source
5
Enter the IP address of the power source in the search bar of the Internet
6
browser and confirm
Enter the standard user name (admin) and password (admin)
7
The website of the power source is displayed
-
Set the process data width of the bus module:
On the power source website, select the "RI FB PRO/i TWIN Controller" tab
8
Under "Process data", select the desired process data configuration
9
Select "Save"
10
The field bus connection is restarted and the configuration is adopted
-
EN-US
27
Input and output signals
Data types The following data types are used:
UINT16 (Unsigned Integer)
-
Whole number in the range from 0 to 65535
SINT16 (Signed Integer)
-
Whole number in the range from -32768 to 32767
Conversion examples:
for a positive value (SINT16)
-
e.g. desired wire speed x factor
12.3 m/min x 100 = 1230
for a negative value (SINT16)
-
e.g. arc correction x factor
-6.4 x 10 = -64
= FFC0
dec
= 04CE
dec
hex
hex
Availability of input signals
Input signals
(from robot to
power source)
The input signals listed below are available as of firmware V1.8.0 of the RI FB
PRO/i TWIN.
28
Address
Relative
Absolu-
te
WORD
0
BYTE
0
1
BIT
0 0 Welding Start
1 1 Robot ready High
2 2 Working mode Bit 0 High
3 3 Working mode Bit 1 High
4 4 Working mode Bit 2 High
5 5 Working mode Bit 3 High
6 6 Working mode Bit 4 High
7 7 —
0 8 Gas on
1 9 Wire forward
2 10 Wire backward
3 11 Error quit
4 12 Touch sensing High
BIT
Signal
Activity/
data type
Increa-
sing
Increa-
sing
Increa-
sing
Increa-
sing
Increa-
sing
Range
See following table Va-
lue Range for Working
Mode on page 37
Factor
EN-US
5 13 Torch blow out
Processline selection Bit 0 (only
6 14
7 15
available for single-wire applications)
Processline selection Bit 1 (only
available for single-wire applications)
Increa-
sing
High
High
See following table Va-
lue range Process line
selection on page 37
29
Address
Relative
Absolu-
te
WORD
1
BYTE
2
3
BIT
0 16 Welding Simulation High
1 17 —
2 18 —
3 19 —
4 20 —
5 21 —
6 22 Wire brake on High
7 23 Torchbody Xchange High
0 24 —
1 25 Teach mode High
2 26 —
3 27 —
4 28 —
5 29 Wire sense start
6 30 Wire sense break
BIT
Signal
Activity/
data type
Increa-
sing
Increa-
sing
Range
Factor
7 31 —
30
Address
Relative
Absolu-
te
WORD
2
BYTE
4
5
BIT
0 32
1 33
2 34 —
3 35 —
4 36 —
5 37 Documentation mode High
6 38 —
7 39 —
0 40 —
1 41 —
2 42 —
3 43 —
4 44 —
BIT
Signal
Operating mode TWIN System
Bit 0
Operating mode TWIN System
Bit 1
Activity/
High
High
data type
Range
See following table Va-
lue range for Operating
mode TWIN System on
page 37
See following table Va-
lue range for Documen-
tation mode on page
37
Factor
EN-US
5 45 —
6 46 —
7 47
Disable process controlled correction, Power source 1
High
31
Address
Relative
Absolu-
te
WORD
3
BYTE
6
7
BIT
0 48 —
1 49 —
2 50 —
3 51 —
4 52 —
5 53 —
6 54 —
7 55 —
0 56 ExtInput1 => OPT_Output 1 High
1 57 ExtInput2 => OPT_Output 2 High
2 58 ExtInput3 => OPT_Output 3 High
3 59 ExtInput4 => OPT_Output 4 High
4 60 ExtInput5 => OPT_Output 5 High
5 61 ExtInput6 => OPT_Output 6 High
6 62 ExtInput7 => OPT_Output 7 High
BIT
Signal
Activity/
data type
Range
Factor
7 63 ExtInput8 => OPT_Output 8 High
0 64 —
1 65 —
2 66 —
3 67 —
8
4
9
4 68 —
5 69 —
6 70 —
7 71
0 72
1 73 —
2 74 —
3 75 —
4 76 —
5 77 —
Disable Process controlled correction, Power source 2
Contact tip short circuit detection on
High
High
32
6 78 —
7 79 —
Address
Relative
Absolu-
te
WORD
BYTE
10 0–7 80–87 —
5
11 0–7 88–95 —
12 0–7 96–103
6
13 0–7
14 0–7 112–119
7
15 0–7 120–127
16,
8
17
BIT
0–7 128–143
BIT
104–
111
Signal
Welding characteristic- / Job
number, Power source 1
Welding characteristic- / Job
number, Power source 2
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG standard manual,
MIG/MAG PMC,
MIG/MAG LSC,
CMT, ConstantWire:
Wire feed speed command value, Power source 1
For job mode:
Power correction, Power source
1
Activity/
data type
UINT16 0 to 1000 1
UINT16 0 to 1000 1
SINT16
SINT16
Range
-327.68 to 327.67
[m/min]
-20.00 to 20.00
[%]
Factor
EN-US
100
100
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG standard manual,
MIG/MAG PMC,
MIG/MAG LSC,
18,
9
19
0–7
144–
159
CMT, ConstantWire:
Wire feed speed command value, Power source 2
For job mode:
Power correction, Power source
2
SINT16
SINT16
-327.68 to 327.67
[m/min]
-20.00 to 20.00
[%]
100
100
33
Address
Relative
Absolu-
te
10
WORD
20,
21
BYTE
0–7
BIT
BIT
160–
175
Signal
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Arclength correction, Power
source 1
For the welding process
MIG/MAG standard manual:
Welding voltage, Power source
1
For job mode:
Arclength correction, Power
source 1
For the welding process ConstantWire:
Hotwire current, Power source
1
Activity/
data type
SINT16
UINT16
SINT16
UINT16
Range
-10.0 to 10.0
[steps]
0.0 to 6553.5
[V]
-10.0 to 10.0
[steps]
0.0 to 6553.5
[A]
Factor
10
10
10
10
11
22,
0–7 176–191
23
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Arclength correction, Power
source 2
For the welding process
MIG/MAG standard manual:
Welding voltage, Power source
2
For job mode:
Arclength correction, Power
source 2
For the welding process ConstantWire:
Hotwire current, Power source
2
SINT16
UINT16
SINT16
UINT16
-10.0 to 10.0
[steps]
0.0 to 6553.5
[V]
-10.0 to 10.0
[steps]
0.0 to 6553.5
[A]
10
10
10
10
34
Address
Relative
Absolu-
te
12
13
WORD
BYTE
24,
0–7 192–207
25
26,
0–7 208–223
27
BIT
BIT
Signal
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Pulse-/dynamic correction,
Power source 1
For the welding process
MIG/MAG standard manual:
Dynamic, Power source 1
For the welding processes
MIG/MAG pulse synergic,
MIG/MAG standard synergic,
MIG/MAG PMC,
MIG/MAG LSC,
CMT:
Pulse-/dynamic correction,
Power source 2
Activity/
data type
SINT16
UINT16
SINT16
Range
-10.0 to 10.0
[steps]
0.0 to 10.0
[steps]
-10.0 to 10.0
[steps]
Factor
EN-US
10
10
10
28 0–7 224–231
14
29 0–7 232–239
30 0–7
15
31 0–7
32 0–7 256–263
16
33 0–7 264–271
34 0–7 272–279
17
35 0–7
36 0–7
18
37 0–7
240–
247
248–
255
280–
287
288–
295
296–
303
For the welding process
MIG/MAG standard manual:
Dynamic, Power source 2
Wire retract correction, Power
source 1
Wire retract correction, Power
source 2
Welding speed UINT16
Process controlled correction,
Power source 1
Process controlled correction,
Power source 2
UINT16
UINT16 0.0 to 10.0 10
UINT16 0.0 to 10.0 10
SINT16
SINT16
0.0 to 10.0
[steps]
0.0 to 1000
[m/min]
See table Value range
for Process controlled
correction on page 37
10
10
38 0–7
19
39 0–7 312–319
304–
311
Wire forward / backward length UINT16
OFF / 1 to 65535
[mm]
1
35
Address
Relative
Absolu-
te
WORD
BYTE
40 0–7 320–327
20
41 0–7 328–335
42 0–7
21
43 0–7
44 0–7
22
45 0–7
46 0–7
23
47 0–7
48 0–7
24
49 0–7
BIT
BIT
336–
343
344–
351
352–
359
360–
367
368–
375
376–
383
384–
391
392–
399
Signal
Wire sense edge detection UINT16
—
—
—
—
Activity/
data type
Range
OFF / 0.5 to 20.0
[mm]
Factor
10
25
26
27
28
29
50 0–7
51 0–7
52 0–7
53 0–7
54 0–7
55 0–7
56 0–7
57 0–7
58 0–7
59 0–7
400–
407
—
408–
415
416–
423
—
424–
431
432–
439
—
440–
447
448–
455
—
456–
463
464–
471
Seam number UINT16 0 to 65535 1
472–
479
36
Value Range for
Working Mode
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 Internal parameter selection
0 0 0 0 1 Special 2-step mode characteristics
0 0 0 1 0 Job mode
0 1 0 0 0 2-step mode characteristics
0 1 0 0 1 2-step MIG/MAG standard manual
1 0 0 0 1 Stop coolant pump
Value range for operating mode
EN-US
Value range Process line selection
Value range for
Operating mode
TWIN System
Bit 1 Bit 0 Description
0 0 Process line 1 (default)
0 1 Process line 2
1 0 Process line 3
1 1 Reserved
Value range for process line selection
Bit 1 Bit 0 Function power source 1 Function power source 2
0 0 Single mode OFF
0 1 TWIN Lead TWIN Trail
1 0 TWIN Trail TWIN Lead
1 1 OFF Single mode
Value range for TWIN System Mode
Value range for
Documentation
mode
Value range for
Process controlled correction
Bit 0 Description
0 Seam number of power source (internal)
1 Seam number of robot (Word 29)
Value range for documentation mode
Process
Signal
Activity /
data type
PMC Arc length stabilizer SINT16
Value range for process-dependent correction
Value range
configuration
range
Unit
-327.8 to +327.7
0.0 to +5.0 Volts 10
Factor
37
Availability of
the output signals
Output signals
(from power
source to robot)
Address
Relative Absolute
The output signals listed below are available as of firmware V1.8.0 of the RI FB
PRO/i TWIN.
WORD
0
BYTE
BIT
0 0 Heartbeat Powersource High/low 1 Hz
1 1 Power source ready High
2 2 Warning High
3 3 Process active High
0
4 4 Current flow High
5 5 Arc stable- / touch signal High
6 6 Main current signal High
7 7 Touch signal High
0 8 Collisionbox active Low
1 9
2 10 Wire stick workpiece High
1
3 11 —
4 12 Short circuit contact tip High
5 13 Parameter selection internally High
BIT
Signal
Robot Motion Release, Power
source 1
Activity/
data type
High
Range
0 = collision or
cable break
Factor
38
6 14 —
7 15 Torch body gripped High
Address
Relative Absolute
WORD
1
BYTE
BIT
0 16 Command value out of range High
1 17 Correction out of range High
2 18 —
3 19 Limitsignal, Power Source 1 High
2
4 20 —
5 21 —
6 22 Main supply status Low
7 23 —
0 24 Sensor status 1, Power Source 1 High
1 25 Sensor status 2, Power Source 1 High
2 26 Sensor status 3, Power Source 1 High
3 27
3
4 28 —
5 29 —
6 30 —
BIT
Signal
Sensor status 4, Power Source
1
Activity/
High
data type
Range
See table Assignment of
Sensor Statuses 1–4 on
page 43
Factor
EN-US
7 31 —
0 32 —
1 33 —
2 34 —
3 35
4
4 36
5 37 —
6 38 Notification High
2
7 39 System not ready High
0 40 —
1 41 —
2 42 —
3 43 —
5
4 44 —
5 45 —
Safety status Bit 0, Power
Source 1
Safety status Bit 1, Power
Source 1
High
High
6 46 —
7 47 —
39
Address
Relative Absolute
WORD
3
BYTE
BIT
0 48 —
1 49 —
2 50 —
3 51 —
6
4 52 —
5 53 —
6 54 Gas nozzle touched High
7 55 —
0 56 ExtOutput1 <= OPT_Input1 High
1 57 ExtOutput2 <= OPT_Input2 High
2 58 ExtOutput3 <= OPT_Input3 High
3 59 ExtOutput4 <= OPT_Input4 High
7
4 60 ExtOutput5 <= OPT_Input5 High
5 61 ExtOutput6 <= OPT_Input6 High
6 62 ExtOutput7 <= OPT_Input7 High
BIT
Signal
Activity/
data type
Range
Factor
7 63 ExtOutput8 <= OPT_Input8 High
0 64 —
1 65
2 66 Limitsignal, Power source 2 High
3 67 —
8
4 68 —
5 69 —
6 70 —
4
7 71 —
0 72 —
1 73 —
2 74 —
3 75 —
9
4 76 —
5 77 —
6 78 —
Robot Motion Release, Power
source 2
High
40
7 79 —
Address
Relative Absolute
WORD
5
10
11
BYTE
BIT
0 80 Sensor status 1, Power Source 2 High
1 81 Sensor status 2, Power Source 2 High
2 82 Sensor status 3, Power Source 2 High
3 83
4 84 —
5 85 —
6 86 —
7 87 —
0 88 —
1 89 —
2 90 —
3 91
4 92
BIT
Signal
Sensor status 4, Power Source
2
Safety status Bit 0, Power
Source 2
Safety status Bit 1, Power
Source 2
Activity/
High
High
High
data type
Range
See table Assignment of
Sensor Statuses 1–4 on
page 43
Factor
EN-US
5 93 —
6 94 —
7 95 —
12 0–7 96–103
6
13 0–7 104–111
14 0–7 112–119
7
15 0–7 120–127
16 0–7 128–135
8
17 0–7 136–143
18 0–7 144–151
9
19 0–7 152–159
20 0–7 160–167
10
21 0–7 168–175
22 0–7 176–183
11
23 0–7 184–191
24 0–7 192–199
12
25 0–7 200–207
Welding voltage, Power source 1 UINT16 0.0 to 655.35 [V] 100
Welding voltage, Power source 2 UINT16 0.0 to 655.35 [V] 100
Welding current, Power source
1
Welding current, Power source
2
Wire feed speed, Power source
1
Wire feed speed, Power source
2
Actual real value for seam
tracking
UINT16 0.0 to 6553.5 [A] 10
UINT16 0.0 to 6553.5 [A] 10
SINT16
SINT16
UINT16 0 to 6.5535
-327.68 to 327.67
[m/min]
-327.68 to 327.67
[m/min]
100
100
1000
0
26 0–7 208–215
13
27 0–7 216–223
Error number, Power source 1 UINT16 0 to 65535 1
41
Address
Relative Absolute
WORD
BYTE
BIT
28 0–7 224–231
14
29 0–7 232–239
30 0–7 240–247
15
31 0–7 248–255
32 0–7 256–263
16
33 0–7 264–271
34 0–7 272–279
17
35 0–7 280–287
36 0–7 288–295
18
37 0–7 296–303
38 0–7 304–311
19
39 0–7 312–319
40 0–7 320–327
20
41 0–7 328–335
42 0–7 336–343
21
43 0–7 344–351
BIT
Signal
Error number, Power source 2 UINT16 0 to 65535 1
Motor current M1, Power source
1
Motor current M1, Power source
2
Motor current M2, Power source
1
Motor current M2, Power source
2
Motor current M3, Power source
1
Motor current M3, Power source
2
Warning,, Power Source 1 UINT16 0 to 65535 1
Activity/
data type
UINT16
UINT16
UINT16
UINT16
UINT16
UINT16
Range
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
100
100
100
100
100
100
Factor
44 0–7 352–359
22
45 0–7 360–367
46 0–7 368–375
23
47 0–7 376–383
48 0–7 284–291
24
49 0–7 292–399
50 0–7 400–407
25
51 0–7 408–415
52 0–7 416–423
26
53 0–7 424–431
54 0–7 432–439
27
55 0–7 440–447
56 0–7 448–455
28
57 0–7 456–463
58 0–7 464–471
29
59 0–7 472–479
Warning,, Power source 2 UINT16 0 to 65535 1
Wire position, Power source 1 UINT16
Wire position, Power source 2 UINT16
—
—
—
—
—
-327.68 to 327.67
[mm]
-327.68 to 327.67
[mm]
100
100
42
Assignment of
Sensor Statuses
1–4
Signal Description
Sensor status 1 OPT/i WF R wire end (4,100,869)
Sensor status 2 OPT/i WF R wire drum (4,100,879)
Sensor status 3 OPT/i WF R ring sensor (4,100,878)
Sensor status 4 Wire buffer set CMT TPS/i (4,001,763)
EN-US
43
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