Yaskawa 260IF User Manual

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Page 1

Machine Controller MP900 Series

260IF DeviceNet System

USER’S MANUAL

YASKAWA

YA S K A WA

MANUAL NO. SIEZ-C887-5.2

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Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed

precautions provided in this manual can result in serious or possibly even fatal injury or

damage to the products or to related equipment and systems.

Safety Information

WARNING

Caution

Prohibited

Mandatory

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used to indicate that fire is prohibited as follows: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

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Safety Information

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates important information that should be memorized.

Also, indicates low-level precautions that, if not heeded, may cause an alarm to sound but will not result in the device being damaged.

INFO

Indicates additional information or information that is useful to have memorized.

Describes technical terms that are difficult to understand, or appear in the text without an explanation being given.

form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-

sion of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover,

because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is

subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless,

Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from

the use of the information contained in this publication.

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CONTENTS

Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Visual Aids - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv About This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ix Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - x Using This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi Registered Trademark - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -xi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xii

1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-1

1.1 Outline of Configuration and Functions - - - - - - - - - - - - - - - - 1-2

1.1.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.1.2 Master Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.1.3 Slave Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.1.4 Functional Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

2 Basic Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-1

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.2.1 260IF Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3

2.3 Switch Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.4 LED Indicator Specifications - - - - - - - - - - - - - - - - - - - - - - - 2-5

3 Network Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-1

3.1 Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Basic Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.2 Branching Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.3 Network Configuration Restrictions - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

4 System Startup and Setup - - - - - - - - - - - - - - - - - - - - - - - - -4-1

4.1 Basic Use of the 260IF Module - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Master Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2

4.1.2 Slave Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

4.1.3 Basic System Design Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4

4.1.4 Device Setting Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5

4.1.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6

4.2 Calculating Communications Cycle Times - - - - - - - - - - - - - 4-7

4.2.1 Communications Cycle Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7

4.2.2 Calculating Communications Cycle Times - - - - - - - - - - - - - - - - - - - - -4-7

4.2.3 Precautions on Setting the Communications Cycle Time - - - - - - - - - -4-9

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4.3 260IF Module Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.3.1 Opening the 260IF Module Configuration Window - - - - - - - - - - - - - - 4-10

4.3.2 Setting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

5 Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

5.1 System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 System Register and Communications Errors - - - - - - - - - - - - - - - - - - 5-2

5.2 Message Send Function (MSG-SND) - - - - - - - - - - - - - - - - - 5-3

5.2.1 Before using 260IF Module Message Communications - - - - - - - - - - - 5-3

5.2.2 Outline of Message Send Function - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2.3 Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.4 Inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9

5.2.5 Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.6 Explicit Request Message - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.7 Explicit Response Messages - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

6 Network Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1

6.1 Reading Network Configuration Information - - - - - - - - - - - - 6-2

6.1.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Using the Network Configuration Information Read Function - - - - - - - 6-2

6.2 I/O Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.2.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.2.2 Using the I/O Status Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.3 Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.3.1 Using the Status Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.4 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.4.1 Masters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.4.2 Slaves - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11

7 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

7.1 Wiring Communications Power Supply - - - - - - - - - - - - - - - - 7-2

7.1.1 Basic Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.2 Wiring Power Supply - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.3 Methods for Deciding the Power Supply Positioning - - - - - - - - - - - - - 7-3

7.2 Grounding the Network - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.2.1 Grounding Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

A External Appearances - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-1

A.1 260IF Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.2 MP940D Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3

B Sample Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-1

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CONTENTS

B.1 Sample Program No. 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2

B.2 Sample Program No. 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-8

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About This Manual

 This manual describes the DeviceNet Interface Option Module (called the 260IF

Module) that is mounted to the Machine Controllers listed below to perform commu-

nications with DeviceNet

• MP920 Machine Controller

• MP940 Machine Controller (built-in 260IF Module)

 The DeviceNet is a multivendor field network. DeviceNet specifications are con-

trolled by the ODVA（Open DeviceNet Vendor Association, Inc.).

The 260IF Module is connected to a multivendor DeviceNet system and works as either a

DeviceNet Master or Slave.

 Refer to the DeviceNet Specifications published by the ODVA for information on the

DeviceNet.

devices.

About This Manual

 Read this manual before creating a DeviceNet system including MP900 Series

Machine Controllers and store it in a safe place for future reference.

 Refer to the following related manuals for information on the Controller.

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Related Manuals

 Refer to the following related manuals as required.

 Thoroughly check the specifications, restrictions, and other conditions of the prod-

uct before use.

Manual Name Manual Number Contents

MP900 Series Machine Controller User’s Manual: Ladder Programming

MP900 Series Machine Controller User’s Manual: Motion Programming

MP900 Series Machine Controller Software User’s Manual: Programming Panel Software (for simple operation/standard operation)

MP920 Machine Controller User’s Manual: Design and Maintenance

MP940 Machine Controller User’s Manual: Design and Maintenance

SI-C887-1.2 Describes the instructions used in MP900

Series ladder logic programming.

SI-C887-1.3 Describes the motion programming language

used for MP900 Series Machine Controllers.

SIEZ-C887-2.3 (for simple operation) (To be prepared), SIEZ-C887-2.4 (for standard operation) (To be prepared)

SIZ-C887-2.1B Describes the design and maintenance for the

SIZ-C887-4.1 Describes the design and maintenance for the

Describes the installation and operating procedures for the CP-717 Programming Panel software used for MP900 Series Machine Controllers.

MP920 Machine Controller.

MP940 Machine Controller.

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Using This Manual

 Intended Audience

This manual is intended for the following users.

• Those responsible for estimating the 260IF Module

• Those responsible for deciding whether to apply the 260IF Module

• Those responsible for designing the 260IF Module so that it can be mounted in the con-

trol and operation panels

• Those responsible for making, inspecting, testing, adjusting, and maintaining the control

and operation panels in which the 260IF Module is mounted

 Description of Technical Terms

In this manual, the following terms are defined as follows:

• PP = Programming Panel

• PC = Programmable Logic Controller

• 260IF = The DeviceNet Option Module for use with MP900 Series Machine Controllers

• “--" in “MOV [axis1]--..." represents numeric data for axis 1.

Using This Manual

 Inverted Signals

In this manual, a slash (/) is placed in front of the name of any signal that is valid when low

(L).

• S-ON

• P-CON

＝ /S-ON

＝ /P-CON

Registered Trademark

• DeviceNet is a registered trademark of ODVA (Open DeviceNet Vender

Association，Inc.).

Page 10

Safety Precautions

This section describes precautions that apply to correct use of devices. Before installing,

operating, maintaining or inspecting devices, always read this manual and all other docu-

ments provided to ensure correct programming. Before using the equipment, familiarize

yourself with equipment details, safety information, and all other precautions.

 Installation

• Firmly tighten the Module mounting screws and terminal block mounting screws to prevent them from loosening during operation.

Loose screws may result in a malfunction of the 260IF Module.

Caution

Unit mounting screws (M4

ユニット取り付けネジ

Phillips screws)

（Ｍ４，プラス）

• Always turn OFF the power supply to the Module before installing it.

• Insert the connectors of the cables that are to be connected to the 260IF Module and secure them well.

Incorrect insertion of the connectors may result in a malfunction of the 260IF Module.

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 Wiring

Caution

• Always connect a power supply that meets the given specifications.

Connecting an inappropriate power supply may cause fires.

• Wiring must be performed by qualified personnel.

Incorrect wiring may cause fires, product failure, or malfunctions.

• Do not accidentally leave foreign matter such as wire chips in the Module when wiring.

This may cause fires, failures, and malfunctions.

Safety Precautions

Mandatory

• Always ground the FG terminal to a ground resistance 100 Ω or less.

Failure to ground the 260IF Module may result in electrical shocks or malfunctioning.

Select, separate, and lay external cables correctly.

• Consider the following items when selecting the I/O signal lines (external cables) to connect the 260IF Module to external devices.

• Mechanical strength

• Noise interference

• Wiring distance

• Signal voltage, etc.

• Separate the I/O signal lines from the power lines both inside and outside the control panel to reduce the influence of noise from the power lines.

If the I/O signal lines and power lines are not separated properly, malfunctioning may result.

Example of Separated External Cables

外部配線の分離例

Power circuit

動力回路の

cables

ケーブル

General control circuit cables

一般制御回路

のケーブル

鉄板製のセパレータ

Steel separator

Digital I/O signal

ディジタル入出力信号

cables

ケーブル

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 Application

WARNING

• Do not touch any Module terminals when the system power is ON.

There is a risk of electrical shock.

Caution

• Do not attempt to modify the 260IF Module programs, force outputs, switch between RUN and STOP, or performed other similar operations while the 260IF Module is operating without knowing the direct and indirect consequences of the operation.

Incorrect programming or operation may damage the equipment or cause an accident.

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 Maintenance

WARNING

• Make sure that the polarity of the Module's built-in battery is correct. The battery must be installed correctly and must not be charged, disassembled, heated, thrown into fire, or short-circuited.

Improper handling may cause the battery to explode or ignite.

Prohibited

Safety Precautions

• Do not attempt to disassemble or modify the 260IF Module in any way.

Doing so can cause fires, product failure, or malfunctions.

• The customer must not replace any built-in fuses.

If the customer replaces a built-in fuse, the 260IF Module may malfunction or break down. The built-in fuse must always be replaced by Yaskawa service staff.

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 General Precautions

Always note the following to ensure safe use.

• The 260IF Module was not designed or manufactured for use in devices or systems directly related to human life. Users who intend to use the product described in this manual for special purposes such as devices or systems relating to transportation, medical, space aviation, atomic power control, or underwater use must contact Yaskawa Electric Corporation beforehand.

• The 260IF Module has been manufactured under strict quality control guidelines. However, if this product is to be installed in any location in which a failure of the 260IF Module involves a life and death situation or in a facility where failure may cause a serious accident, safety devices MUST be installed to minimize the likelihood of any accident.

• Drawings in this manual show typical product examples that may differ somewhat from the product delivered.

• This manual may change without prior notice due to product improvements and specification changes or for easier use. We will update the manual number of the manual and issue revisions when changes are made. The revision number of the revised manual appears on the back of the manual.

• Contact your nearest Yaskawa sales representative or the dealer from whom you purchased the product and quote the manual number on the front page of the manual if you need to replace a manual that was lost or destroyed.

• Contact your nearest Yaskawa sales representative or the dealer from whom you purchased the product to order new nameplates whenever a nameplate becomes worn or damaged.

• Products modified by the customer are not covered by the Yaskawa warranty, nor does Yaskawa assume any liability for injury or damage that may result from such modifications.

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1 Outline

This chapter describes the DeviceNet Communications Interface (called the

260IF Module), an Option Module for MP900 Machine Controllers.

1.1 Outline of Configuration and Functions- - - - - - - - - - - - - - - - - 1-2

1.1.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Master Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.1.3 Slave Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.1.4 Functional Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1-1

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Outline

1.1.1

System Configuration

1.1 Outline of Configuration and Functions

The DeviceNet is a multivendor field network. DeviceNet specifications are controlled by the ODVA（Open DeviceNet Vendor Association, Inc.).

The 260IF Module connects to a multivendor DeviceNet system and works as either a

DeviceNet Master or Slave.

Refer to the DeviceNet specifications published by the ODVA for information on the

DeviceNet.

1.1.1 System Configuration

The 260IF Module is a communications interface used to connect MP900 Machine Control-

lers to a DeviceNet network. Using the 260IF Module enables communications between

MP900 Machine Controllers, other controllers, sensors, actuators, and other devices manu-

factured by other companies.

The 260IF Module can be connected to the DeviceNet as a Master or Slave.

MP920 Machine Controller

PS-03 CPU-01SVA-01 DI-01 DO-01 260IF

Device Net

MP940D

Fig 1.1 System Configuration

Other company PLC

Sensor

Other company PLC

I/O device

Other devices

Master/Slave

There are restrictions on the Machine Controller models that can be used as a Master or

Slave.

Model Master Slave

MP920 OK OK Option slot

MP940 Not possible OK Built-in

1-2

260IF Module Mounting

Method

Page 17

1.1.2 Master Mode

There are two connection methods for Master Modes.

Multi-drop Connections

Internal I/O power supply

1.1

Outline of Configuration and Functions

External I/O power supply

MP920 260IF

Terminating resistance

121 Ω

I/O

Trunk line Drop line

External I/O power supply line Internal I/O power supply line Communications power supply

line

I/O I/O

Terminating resistance 121 Ω Communications Power Sup-

ply Tap (with reverse-current prevention for multiple power supply units)

Communications power supply

T-branch, Multibranch, and Drop-line Branching Connections

MP920 260IF

Trunk line Drop line External I/O power supply line Internal I/O power supply line Communications power supply

Terminating resistance

121 Ω

I/O I/O I/O I/O I/O PS

T-branch Adaptor

Multibranch Adaptor

1-3

Communications Power Supply Tap

Terminating resistance

121 Ω

Communications power supply

External I/O power supply

Internal I/O power supply

Page 18

Outline

1.1.3

Slave Mode

1.1.3 Slave Mode

The following diagram shows the system configuration when the 260IF Module is used in

Slave Mode.

Internal I/O power supply

Master Mode Slave Mode

260IFMP920

Terminating resistance 121 Ω

1.1.4 Functional Outline

I/O Communications

The I/O communications function uses DeviceNet I/O connections to exchange data

between DeviceNet devices connected on the communications path and the MP900 Machine

Controller.

External I/O power supply

I/O

Trunk line Drop line External I/O power supply line Internal I/O power supply line Communications power supply line

I/O

260IFMP920

Terminating resistance 121 Ω Communications Power

Supply Tap (with reverse-current prevention for multiple power supply units)

Communications power supply

The CP-717 Engineering Tool is used to allocate I/O registers in the Controller’s CPU for I/

O communications.

Message Communications

The message communications function sends explicit messages that read the DeviceNet

device names or serial numbers and write parameters for DeviceNet devices.

The MSG-SND function is used for message communications.

1-4

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1.1

Outline of Configuration and Functions

Explicit request mes-

CPU Module

MSG-SND function

260IF (Device Net Master)

sage Requested service code Class ID Instance ID Attribute ID (message data)

Explicit response message Response service code

(message data)

Fig 1.2 Message Communications Functions

Note: Message communications that use MSG-SND functions can be used

when the 260IF Module is set as a DeviceNet Master.

DeviceNet Slave

1-5

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2 Basic Specifications

This chapter describes the external appearance of the 260IF Module and the

settings and display section specifications.

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.2 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3

2.2.1 260IF Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Switch Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.4 LED Indicator Specifications - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2-1

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Basic Specifications

2.1 Specifications

The basic specifications are given for the Interface Module in the following table.

Name 260IF Module

Model Number JEPMC-CM230

Circuit Number 1

Applicable Communications Type I/O communications

I/O Communications

Message Communications

(Master Only)

Switches for Settings Two rotary switches on the front: for node address

Indicators Two LED indicators: MS and NS

Communications Power Supply Voltage

Current Consumption Communications power supply: 45 mA max. (supplied from

Mass 100 g

Dimensions (mm) 40 × 130 × 105 (W × H × D)

Item Specifications

Explicit messages

(Both conform to DeviceNet.)

Max. No. of Slaves 63 nodes

Max. I/O Bytes 2048 bytes, 256 bytes/node

Max. No. of Nodes for Message Communications

Max. Message Length

Function for Execution

63 nodes. Simultaneous communications possible with up to 8 nodes.

256 bytes

MSG-SND

DIP switch on the front: Baud rate

Master/slave selection

24 VDC±10% (supplied from a special cable)

the communications connector) Internal circuit power supply (supplied from the PLC)

2-2

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2.2 External Appearance

2.2.1 260IF Module

The external appearance of the 260IF Module is shown below.

260IF

2.2

External Appearance

MS NS

SW1

OFF ON

SW2

SW3

CN1

DR0 DR1 X1 X2

MS: Module status (red/green light) NS: Network status (red/green light)

DIP Switch DR0: Baud rate pin 0 DR1: Baud rate pin 1 X1: Master/slave setting X2: Self-diagnosis

Node Address switches

SW2: 10’s digit SW1: 1’s digit

DeviceNet connector

Fig 2.1 External Appearance of 260IF Module

2-3

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Basic Specifications

2.2.1

260IF Module

2.3 Switch Specifications

Refer to 4.1 Basic Use of the 260IF Module for setting details.

 SW1

The baud rate for DeviceNet communications and Slave/Master settings are made on this

DIP switch.

Pin Meaning Setting

DR0 DeviceNet

baud rate

DR1 OFF ON 250 kbps

Table 2.1 SW1 Specifications

DR1 DR0

OFF OFF 125 kbps (default)

ON OFF 500 kbps

ON ON (Do not change)

X1 Slave/Master setting OFF Slave (default)

ON Master

X2 Not used Always OFF

 SW2 and SW3

These rotary switches are used to set the DeviceNet MAC ID.

Table 2.2 SW2 and SW3 Specifications

Switch Meaning Setting

*10 (SW2) MAC ID 10’s digit 0 to 6 Set a two-digit local node MAC ID (0 to 63) in

*1 (SW3) MAC ID 1’s digit 0 to 9

decimal using two rotary switches (default: 00).

2-4

Page 24

2.4 LED Indicator Specifications

The LED indicator specifications for the 260IF Module are shown in the following table.

Table 2.3 LED Indicator Specifications

Indicator Color Status Meaning

MS Red/Green Not lit

Lit green Lit red

NS Red/green Not lit

Flashing green Lit green Flashing red Lit red

∗ 1. The 260IF Module is offline for the two seconds from the completion

of the indicator test after startup through the completion of the MAC ID duplication check. The 260IF Module is online after the MAC ID duplication check at startup has been completed.

2.4

LED Indicator Specifications

No power to the 260IF Module. Operating normally. Self-diagnostic error or WDT error.

No power to the 260IF Module/offline. Online but not connected. Online and connected. No-DeviceNet communications error. Communications not possible (duplicate MAC ID),

bus-off error, or WDT error.

∗ 2. When the network power supply is OFF, the 260IF Module automati-

cally resets as specified in the DeviceNet specifications even if a busoff error occurs. At the same time, the NS indicator will light red for a moment and then go OFF again immediately. After power has been restored to the network, the green NS indicator will start flashing (online but not connected).

The following diagram shows the indicator test sequence that is performed immediately

after the power is turned ON. Check the ON and OFF status of these indicators for any mal-

functions. About 1 second is required for this test.

NS MS

Not lit

OFF OFF

Not lit

OFF G

Not lit

OFF R

Green

G G

Not lit

Green

0.25 s

Red

0.25 s

Green

0.25 s

Power OFF

Device startup

Start of indicator test

1 s

Red

R G

0.25 s

Not lit

OFF G

Green

Fig 2.2 Display during Indicator Test

2-5

Green

End of indicator test

Page 25

Basic Specifications

2.2.1

260IF Module

 Connector Specifications

CN1 DeviceNet Connector Specifications

8.3

3.5

(5.08)

Open Plug Conforming to

(5.08)

DeviceNet Specifications (5 pins, Male)

（35.32）

（35.56）

5 V+

4 CAN_H

3 SHIELD

2 CAN_L

1 V-

7.5

20.32

(7.62)

Fig 2.3 CN1 Connectors

Table 2.4 CN1 Signal Names

Pin No. Signal I/O

V －

2 CAN_L I/O

3 SHIELD _

4 CAN_H I/O

V ＋

Connector on network side (Female)

5 V+ Red 4 CAN_H White 3 Drain Bare wire 2 CAN_L Blue 1 V- Black

2-6

Page 26

3 Network Specifications

This chapter describes the network specifications and restrictions for the 260IF

Module.

3.1 Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Basic Network Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 Branching Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.3 Network Configuration Restrictions- - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3-1

Page 27

Network Specifications

3.1.1

Basic Network Configuration

3.1 Network Configuration

This section outlines the network configuration.

3.1.1 Basic Network Configuration

 Connection Methods

The following diagam shows an example network connection.

(with terminating resistance)

T T T

Node Node Node

Trunk line Drop line T-Branch Adapter

Fig 3.1 Network Connection

Node

Node Node

 Configuration Elements

The network is configured from the following elements.

Node Node

Terminating resistance

Nodes

A node is either a slave that connects to external I/O, or the Master, which manages the I/O

of the slaves. There are no restrictions on the locations of the Master or Slaves. Any node in

the figure above can be the Master or a Slave.

Trunk Line and Drop Lines

A cable with a terminator on each end is the trunk line. Any cable branching from the trunk

line is a drop line.

Connection Methods

A node is connected using the T-branch method or multi-drop method. A T-Branch Adapter

is used to connect a node with the T-branch method. A node is directly connected to the

trunk line or a drop line with the multi-drop method. Both T-branch and multi-drop methods

3-2

Page 28

3.1

Network Configuration

can be used together in the same network, as shown in the figure above.

Terminators

Both ends of the trunk line must connect to terminating resistance to decrease signal reflec-

tion and ensure stable network communications.

Communications Power Supply

The communications connectors of each node must be provided with communications

power supply through the communications cable for DeviceNet communications. Commu-

nications power supply, internal circuit power supply, and I/O power supply must all be pro-

vided separately.

INFO

1 Use only DeviceNet cables as communications cables.

2 Always connect terminators to both ends of the trunk line.

3 Do not connect lightning arresters or any devices to the network other than the 260IF Module and

DeviceNet-conforming products.

3.1.2 Branching Methods

 Branching from the Trunk Line

There are three methods that can be used to branch from the trunk line.

Branching to One Drop Line

Trunk line Trunk line

T-Branch Adapter

Drop line

3-3

Node

Page 29

Network Specifications

3.1.2

Branching Methods

Branching to Three Drop Lines

Trunk line Trunk line

T-Branch Adapter

Drop line Drop line

Node Node Node

Drop line

Direct Node Connection

Trunk line Trunk line

Multi-drop method

Node

 Branching from Drop Lines

There are three methods that can be used to branch from drop lines.

Branching to One Drop Line

Drop line Drop line

T-Branch Adapter

Branching to Three Drop Lines

Drop line Drop line

Drop line

Node Node Node

3-4

Node

Drop line

T-Branch Adapter

Drop line

Page 30

Direct Node Connection

3.1

Network Configuration

Drop line Drop line

Multi-drop method

Node

3-5

Page 31

Network Specifications

3.1.3

Network Configuration Restrictions

3.1.3 Network Configuration Restrictions

 Maximum Network Length

The maximum network length is either the line length between the two nodes located far-

thest from each other or the line length between the terminators on the ends of the trunk line,

whichever is longer.

The longer of the two distances is the maximum network length.

T (with terminating resistance)

Node Node Node

: Trunk line : Drop line : T-Branch Adapter

T T

Node

Node Node

Terminating resistance

Both thick and thin cables can be used.

The thick cables are stiff and difficult to bend but they have little signal degradation and can

be used for comparatively long transmission distances.

Thin cables are supple and easy to bend but signal degradation is greater and they are not,

therefore, suited to communications over long distances.

The maximum network length is determined by the type of cable, as shown in the following

table.

Baud Rate

（kbps）

500 100 100

250 250 100

125 500 100

Maximum Network Length（m）

Thick Cable Thin Cable

3-6

Page 32

Using Thick Cable and Thin Cable Together

3.1

Network Configuration

INFO

The line connecting two nodes located farthest from each other can use both thick and thin cables provided that the length of each cable satisfies the conditions in the following table.

Baud Rate

(Kbps)

500

250

125

Note: LThick: Thick cable length　LThin: Thin cable length

Max. Network Length (m)

Thick

+ L

+ 2.5 × L

+ 5 × L

Thin

≤

100

≤

500

≤

250

• Drop Line Length

The drop line length is the line length between the branch point on the trunk line to the

farthest node that is located on the drop line.

The maximum drop line length is 6 m. A drop line can be branched out into other drop

lines.

3-7

Page 33

Network Specifications

3.1.3

Network Configuration Restrictions

 Total Drop Line Length

The total drop line length is the total of all drop line lengths. The total drop line length must

be within the allowable range and even then, each drop line must be 6 m or less.

The allowable range of total drop line length varies with the baud rate as shown in the fol-

lowing table.

• Configuration Example

The following example is for a baud rate of 500 Kbps.

T T T

Baud Rate (Kbps) Total Branch Length (m)

500 39 max.

250 78 max.

125 156 max.

(with terminating resistance)

b c

Node Node Node

Terminating resistance

Node Node

g h

Node

The above example must satisfy the following conditions.

Drop lengths:

≤ ≤ ≤ ≤

a 6 m b 6 m c 6 m d 6 m d ＋ f6 m

d ＋ e ＋ g6 m d＋ e ＋ h6 m

≤ ≤

Total drop length ＝ a ＋ b ＋ c ＋ d ＋ e ＋ f ＋ g ＋ h 39 m

≤

: Trunk line : Drop line : T-Branch Adapter

3-8

Page 34

4 System Startup and Setup

This chapter describes the procedures for making settings when connecting the

260IF Module to the DeviceNet.

The overall startup sequence will be described first, followed by the communi-

cations cycle calculation methods and setup from the CP-717 Engineering Tool

when the 260IF Module is used.

The CP-717 Engineering Tool must be used and settings made before the I/O

communications or message communications functions can be used.

4.1 Basic Use of the 260IF Module - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Master Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.2 Slave Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.3 Basic System Design Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.4 Device Setting Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.1.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.2 Calculating Communications Cycle Times - - - - - - - - - - - - - - 4-7

4.2.1 Communications Cycle Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.2.2 Calculating Communications Cycle Times- - - - - - - - - - - - - - - - - - - - - 4-7

4.2.3 Precautions on Setting the Communications Cycle Time - - - - - - - - - - 4-9

4.3 260IF Module Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.3.1 Opening the 260IF Module Configuration Window - - - - - - - - - - - - - - 4-10

4.3.2 Setting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4-1

Page 35

System Startup and Setup

4.1.1

Master Mode

4.1 Basic Use of the 260IF Module

This chapter explains the basic use of the 260IF Module in the Master Mode and Slave Mode.

When using the 260IF Module, specify which mode is to be used, Master or Slave

4.1.1 Master Mode

If the 260IF Module is set to Master Mode, the Slave devices on the DeviceNet and the CPU

Module will automatically exchange I/O data without being controlled by the program in the

CPU Module.

The following diagram shows how Master Mode works.

CPU Module

Input Data

CPU Module

Output Data

Slave Device (Input Module)

Node 1 Input

Node 5 Input

Node 10 Input

Slave Device (Output Module)

Node 1 Output

Fig 4.1 How the Master Mode Works

Node 5

Node 10

Output

4-2

Page 36

4.1.2 Slave Mode

If the 260IF Module is set to Slave Mode, the 260IF Module will automatically exchange I/

O data with the Master without being controlled by the program in the CPU Module.

The Master can be a 260IF Module mounted on another MP920 or any other DeviceNet-

conforming device.

The following diagrams show how the Slave Mode works, using the data exchange between

nodes as an example.

 System Configuration

Node 0, master

4.1

Basic Use of the 260IF Module

 I/O Data

MP920

260

Power

MP920

supply

Node 1, output data

Node 1, input data

Node 2, output data

260

Power supply

MP920

260

Power supply

Node 1, slave Node 2, slave

Node 0, input data

Node 0, output data

Node 2, input data

Master Slave

4-3

Page 37

System Startup and Setup

*1*

4.1.3

Basic System Design Procedure

4.1.3 Basic System Design Procedure

The 260IF Module communications have restrictions on the maximum cable length and

baud rate. Design the system considering the restrictions. For details on the restrictions,

refer to Chapter 3 Network Specifications.

The following flowchart shows the basic steps in system design for 260IF Module commu-

nications.

Start

Determine the position for each node.

Determine the cable wiring route.

Determine the communications power

Calculate the trunk line, drop line, and

supply method.

the total drop line lengths.

Are these within restric-

Determine the baud rate.

tions?

Ye s

∗

Is this within restrictions?

Ye s

Proceed to

∗

Refer to 3.1 Network Configuration.

4.1.4 Device Setting

Procedure.

4-4

∗

Page 38

4.1.4 Device Setting Procedure

Make the following settings on the 260IF Module before turning ON the power supply to the

system.

• For the Master Mode

Settings for all Slaves

• For the Slave Mode

Settings for the Master and the other Slaves

The following flowchart shows the setting procedure.

260IF Module Settings

260IF Module

・ Node address (rotary switch)

Node address (rotary



・ Baud rate (DIP switch pins 1 and 2)



(DIP switch pins 1and 2)

Baud rate

4.1

Basic Use of the 260IF Module

260IF operating

260IFoperating mode

mode

Slave Mode

Settings of the Master D evic e and Other Slaves

Node address



Baund rate



Baud rate

Settings for each device



Cable wiring

Refer to

4.1.5 I/O Allocations.

∗ 1.

Refer to Chapter 2 Basic Specifications.

∗ 2. Refer to the manual for each device.

Master Mode

Slave Settings

Node address

 

Baund rate

Baud rate

Settings for each device



INFO

It is recommended that the Slaves be started first, and the Master last. When the Slaves are started first, they will be in waiting status, waiting for commands from or connection with the Master. When the Master is started first, an error may occur because of no responses from Slaves.

4-5

Page 39

System Startup and Setup

4.1.5

I/O Allocations

4.1.5 I/O Allocations

After selecting the device and wiring the cables, allocate I/O to start 260IF Module commu-

nications.

The following flowchart shows the basic setting procedure using the CP-717 online func-

tions.

For details on basic CP-717 operation, refer to MP900 Series Machine Controller User's

Manual: Programming Panel Software (Manual No.: SIEZ-C887-2.3, 2.4, to be prepared).

Connect the Programming Device (CP-717 Engineering Tool) and the MP920/MP940D with a communica-

Turn ON the communications power supply.

Turn ON the Slave power supply.

Turn ON the MP920/MP940D power supply.

Start the Programming Device (CP-717).

In online mode, log on to the MP920/ MP940D.

Display the Module Configuration Window.

Set “260IF” for the slot to which the 260IF Module is mounted.

Open the 216IF Definitions Window and allocate the node addresses and I/O registers for the connected devices.

The different power supplies can be turned ON simultaneously.

Refer to

MP900 Series Machine Controller User's Manual: Programming Panel Software

SIEZ-C887-2.3, 2.4, to be prepared).

Refer to

MP900 Series Machine Controller User's Manual: Programming Panel Software

2.4, to be prepared).

Machine Controller

(Manual No.:

4.3 260IF Module Setup and

(Manual No.: SIEZ-C887-2.3,

Close the Module Configuration Window.

Check that the MS and NS indicators on the 260IF Module are lit

Check that the MS and NS indicators on the connected Slaves are lit (green).

4-6

If the MS and NS indicators are lit red or are flashing red, refer to

6.4 Troubleshooting.

Page 40

4.2

4.2 Calculating Communications Cycle Times

4.2.1 Communications Cycle Time

The communications cycle time is the time from when an I/O command is sent to a

DeviceNet Slave on the network until the next I/O command transmission is made.

The communications cycle time must be set when the 260IF Module is used as a DeviceNet

Master. This setting is not required when the 260IF Module is used as a Slave.

Calculating Communications Cycle Times

Master

Slaves

Fig 4.2 Master Communications Cycle Time

4.2.2 Calculating Communications Cycle Times

The communications cycle time can be found from the total of the communications times

required for each Slave device.

Communications cycle time [ms] =Σ (Communications time with Slave)

The calculations for communications time with Slaves may differ from the actual communi-

cations times depending on the length of the network and the number of connections with

other devices.

 Communications Times with Slaves

Communications cycle time

The communications times with Slaves may be grouped in the following eight categories

based on the number of communications bytes of the Slave. The following abbreviations are

used:

No: Number of output data bytes

Ni: Number of input data bytes

TRUND (N/7): Quotient of No or Ni divided by 7. Decimal places are truncated.

MOD (N/7): Remainder when No or Ni is divided by 7.

Tb: 2 for a baud rate of 500 kbps, 4 for 250 kbps, 8 for 125 kbps.

1. Slaves with 8 bytes or less of output data

(94+8 × No) × Tb + 600[µs]

2. Slaves with 8 bytes or less of input data

(94+8 × Ni) × Tb + 600[µs]

4-7

Page 41

System Startup and Setup

4.2.2

Calculating Communications Cycle Times

3. Slaves with 8 bytes or less of both input and output data

[94 + 8(No + Ni)] × Tb + 600[µs]

4. Slaves with 8 bytes or more of output data

[111×TRUNC(No/7)] × Tb

+ [94 + 8 × MOD(No/7)] × Tb

+ 300 × [TRUNC(No/7) + 1][µs]

Note: When MOD(No/7) = 0, the 3rd line of the equation will be " + 300 ×

TRUNC(No/7)."

5. Slaves with 8 bytes or more of input data

[111 × TRUNC(Ni/7)] × Tb

+ [94 + 8 × MOD (Ni/7)]×Tb

+ 300 × [TRUNC(Ni/7) + 1] [µs]

Note: When MOD(Ni/7) = 0, the 3rd line of the equation will be " + 300 ×

TRUNC(Ni/7)."

6. Slaves with 8 bytes or more of both input and output data

[111 × TRUNC(Ni/7)] × Tb

+ [94 + 8 × MOD(Ni/7)] × Tb

+ 300 × [TRUNC(Ni/7) + 1]

+ [111 × TRUNC(No/7)] × Tb

+ [94 + 8 × MOD(No/7)] × Tb

+ 300 × [TRUNC(No/7) + 1] [µs]

Note: 1. When MOD(Ni/7) = 0, the 3rd line of the equation will be " + 300

× TRUNC(Ni/7)."

2. When MOD(No/7) = 0, the 6th line of the equation will be " + 300 × TRUNC(No/7)."

7. Slaves with 8 bytes or less of input data and 8 bytes or more of output data

[47 + 8 × Ni] × Tb

+ 300

+ [111 × TRUNC(No/7)] × Tb

+ [94 + 8 × MOD(No/7)] × Tb

+ 300 × [TRUNC(No/7) + 1]

Note: When MOD(No/7) = 0, the 5th line of the equation will be " + 300 ×

TRUNC(No/7)."

8. Slaves with 8 bytes or more of input data and 8 bytes or less of output data

[111 × TRUNC(Ni/7)] × Tb

+ [94 + 8 × MOD(Ni/7)] × Tb

+ 300 × [TRUNC(Ni/7) + 1]

+ [47 + 8 × No] × Tb

+ 300

Note: When MOD(Ni/7) = 0, the 3rd line of the equation will be " + 300 ×

TRUNC(Ni/7)."

4-8

Page 42

4.2

Calculating Communications Cycle Times

4.2.3 Precautions on Setting the Communications Cycle Time

Set a communications cycle time that allows sufficient time for a response to be returned

from all Slaves. If the communications cycle time is set shorter than the I/O command trans-

mission time, the 260IF Module will ignore the communications cycle time until I/O com-

mands have been transmitted to all Slaves. In such cases, the set value will exceed the

display for maximum value on the CP-717 communications cycle time. Adjust the setting so

that the displayed maximum value does not exceed the set value.

INFO

1 If the maximum value on the communications cycle time exceeds the set value, the data in the Slaves

will not be refreshed within the cycle time. Adjust the setting after calculating the communications cycle time to avoid delays in data refreshing.

2 The default setting for the communications cycle time is 0. If this setting is not changed, data will not

be refreshed within the cycle time, as explained above. Always change the setting to avoid this problem.

The 260IF Module has, in addition to the I/O communications function, a message commu-

nications function.

When using message communications, the communications cycle time must be increased

according to the volume of message communications data.

To calculate the appropriate communications cycle time, replace the number of output bytes

(No) and the number of input bytes (Ni) in the eight equations for calculating the communi-

cations times with Slaves (4.2.2 Calculating Communications Cycle Times) with the mes-

sage communications requirements and response data volume.

If there are multiple DeviceNet Masters in the communications network, find the sum of the

times required by each Master for communications with the Slaves, and use this to set the

communications cycle time.

Master 1 Master 2

Slave Slave Slave Slave

Fig 4.3 Communications Cycle Times Settings for Multiple Masters

• Communications cycle time for Master 1

　 = (Σ×(time with Slave of Master 1 ) + (Σ(time with Slave of Master 2)

• Communications cycle time for Master 2

　 = (Σ×(time with Slave of Master 1 ) + (Σ(time with Slave of Master 2)

4-9

Page 43

System Startup and Setup

4.3.1

Opening the 260IF Module Configuration Window

4.3 260IF Module Setup

The 260IF Module is set up from the CP-717 Engineering Tool.

4.3.1 Opening the 260IF Module Configuration Window

1. Double-click the Module Configuration Definition Box for the Controller mounted to

the 260IF Module to display the Module Configuration Window.

Rack 1

Module

Controller CPU No.

I/O Start register

I/O End register

Module

Controller CPU No.

I/O Start register

I/O End register

MP920

RESERVED

260IF

Fig 4.4 MP920 Module Configuration Window

MP920 RESERVED SERIAL LIO SVA CNTR 260IF

Fig 4.5 MP940 Module Configuration Window

For the MP920, set the 260IF Module for the slot in which the 260IF Module is

mounted. In the above example showing the MP920 Module Configuration Window, the

260IF Module is set in slot 02.

For the MP940, the 260IF Module is always in slot 06, but 260IF Module must still be

set.

The leading and end I/O register numbers must be set for the 260IF Module. Allocate I/

O registers within the ranges shown in the following table.

MP920 MP940D

Leading I/O register

0000 to 13FF 0000 to 07FF

(Offset of leading IW/OW register)

End I/O register

0000 to 13FF 0000 to 07FF

(Offset of end IW/OW register)

2. Double-click the slot where the 260IF Module is set and open the 260IF Definition Win-

dow.

4-10

Page 44

Fig 4.6 260IF Definition Window

4.3.2 Setting Methods

4.3

260IF Module Setup

The 260IF Definition Window has the following three tab pages.

Parameter Settings

Tab Page Contents

Parameter Settings Sets the 260IF Module communications and network parameters.

I/O Status Displays the communications status with Slaves when the 260IF

Status Displays the 260IF Module status when online.

I/O Status Status

Module is set to Master Mode and is online. Refer toChapter 6 Network Maintenance for details.

Refer to Chapter 6 Network Maintenance for details.

 Parameter Settings

The following items are set in the 260IF Definition Window shown above.

Communications Cycle Time Information

Setting Contents

Communications Cycle Time (Set Time)

Communications Cycle Time (Current Time) display only

Communications Cycle Time (Max. Time) display only

Enter the communications cycle time set value when using the 260IF Module as a DeviceNet Master.

Displays the current value of the communications cycle during I/ O communications.

Displays the maximum value for the communications cycle during I/O communications.

Refer to 4.2 Calculating Communications Cycle Times.

4-11

Page 45

System Startup and Setup

4.3.2

Setting Methods

I/O Allocations

The asterisks (**) displayed on the left in the I/O allocations table indicate the 260IF Mod-

ule allocations in the Module Configuration Window.

Setting Contents

Master/Slave Sets the operating mode (DeviceNet Master/Slave) for the 260IF Module. Set

the same value as that set on SW1 (X1) on the 260IF Module.

MAC ID The DeviceNet MAC ID (DeviceNet address) for the 260IF Module. Set the

same value as that set on SW2 and SW3 on the 260IF Module.

MAC ID column This is the MAC ID (DeviceNet address) for I/O allocations. It is automatically

allocated in order starting from 00.

D Sets whether or not the Controller CPU will exchange I/O data with the 260IF

Module. Turn ON (check) this setting if the data is not to be exchanged.

INPUT Sets the leading address of the input area (input register IWxxxx) for the 260IF

Module input data . Specify a hexadecimal address.

BSIZE Sets the size of the output area for the device (input register IWxxxx) in num-

ber of bytes. Specify a number of bytes between 1 and 256 (decimal) for each Slave.

For example, if the setting is 3 bytes from IW1100 and one byte from IW1102, the register area shown in the following diagram will be allocated.

IW1100H

IW1101H

IW1102H

IW1103H

D Sets whether or not the Controller CPU will exchange I/O data with the 260IF

Module. Turn ON (check) this setting if the data is not to be exchanged.

OUTPUT Sets the leading address of the output area (output register OWxxxx) for the

260IF Module output data. Specify a hexadecimal address.

BSIZE Sets the size of the output area for the device (output register OWxxxx) in

number of bytes. Specify a number of bytes between 1 and 256 (decimal) for each Slave. The byte order is little-endian, the same as for input registers.

SCAN The data exchange cycle (SCAN) is when the Controller CPU exchanges I/O

data with the 260IF Module. The Controller CPU data exchange cycle is asynchronous with the I/O communications. When set to "High," the Controller CPU will exchange I/O data during the high-speed scan of the CPU. When set to "Low," the Controller CPU will exchange I/O data during the low-speed scan of the CPU.

TYPE Sets the I/O communication type (TYPE) to either "Polled" or "Strobed."

Polled means settings can be made for any DeviceNet device. Strobed means settings can be made for inputs only and for DeviceNet Slaves 8

bytes or less in size. Refer to DeviceNet specifications for details on Polled and Strobed settings.

4-12

Page 46

4.3

260IF Module Setup

Setting Contents

（Explicit

Message）

Comment The name and type of the relevant device and other information can be entered

EM is turned ON when the 260IF Module is set as a DeviceNet Master and only message communications are performed with Slaves.

The EM allocation setting is not required when the 260IF Module is set as a DeviceNet Slave.

as a character string of up to 32 characters.

Saving Parameters

Once the parameters have been set, select File and then Save from the menu to save the set-

tings.

Additional Explanation of I/O Allocation Settings

1. Master/Slave

Set the same value as that set on SW1 (X1) on the 260IF Module.

2. MAC ID

Set the same value as that set on SW2 and SW3 on the 260IF Module.

3. Communications Cycle Time

Enter the communications cycle time calculated in 4.2 Calculating Communications

Cycle Times.

This setting is not required when the 260IF Module is used as a DeviceNet Slave.

4. I/O Allocations

Allocate the I/O registers for data exchange between the Controller CPU and the 260IF

Module according to the DeviceNet system configuration.

Master I/O Allocations Example

The settings in the following diagram are made when, for example, the 260IF Module is to

be used as the DeviceNet Master with MAC ID = 5 and I/O data is to be exchanged

between the 260IF Module and a 2-byte Output Module with MAC ID = 2 and a 1-byte

Input Module with MAC ID = 3.

4-13

Page 47

System Startup and Setup

（

）

4.3.2

Setting Methods

Node address #02

MP920 260IF

Node address #05 (MACID = 05)

Node address #03

MACID=02 MAC ID=02

2. I/O Assignment set

Master/Slave Master

MAC OUTPUT RSIZEDSCAN TYPEINPUT RSIZE FM

IW1102 Low

MAC ID

OW1100 2

Node address #03 Node address #05

MAC ID = 05

MAC ID = 03

Input contact signal 1 Input contact signal 2 Input contact signal 3 Input contact signal 4 Input contact signal 5

・・

Input contact signal 8

・

・・・

（

Input relay

IB11020

IB11021 IB11021

IB11022 IB11022

IB11023 IB11023

IB11024 IB11024

IB11025

IB11027

IB110028

）

・・・

Low

Comments

Polled

Node address #02

MAC ID = 02

（

Output contact signal 1 Output contact signal 2

Output contact signal 3

）

・・・

Output contact signal 16

・・・

Output coil

OB11000 OB11001 OB11002

・・・

OB1100F

Slave I/O Allocation Example

The settings shown in the following diagram are made when, for example, the 260IF Module

is to be used as a DeviceNet Slave with MAC ID = 3 and input and output sizes of 64 bytes

each and I/O data is to be exchanged with the DeviceNet Master.

4-14

Page 48

4.3

260IF Module Setup

Master

2. I/O Assignment set

Master/Slave

MAC ID

Node address #00

(MAC ID=00)

MAC ID = 0 0

Master

Output data

Node address #00

(MAC ID=00 )

Node address #03

PS MP920 260IF

(MAC ID=03 )

Slave

D OUTPUT RSIZEDCANTYPEINPUT RSIZE FM

IW1100 High Polled064 OW1200 064

MAC ID

Node address #03

(MAC ID=03)

MAC ID = 0 3

Slave

IB11000 IB11001 IB11002

・・・

Slave

Input data

IB1103F

OB12000 OB12001 OB12002

・・・

OB1203F

4-15

Page 49

System Startup and Setup

4.3.2

Setting Methods

I/O Allocations using Network Configuration Information

When using the 260IF Module as a DeviceNet Master, the settings can be changed

based on the I/O sizes read from the Slaves.

The network configuration information read function is used to read the I/O size from a

Slave.

Refer to 6.1 Reading Network Configuration Information for information on the setting

method.

INFO

Clear all Slave I/O allocations before using the network configuration information to allocate I/O.

4-16

Page 50

5 Programming

This chapter describes the system registers that monitor the I/O communica-

tions status and the functions used when performing message communications

using the 260IF Module.

5.1 System Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 System Register and Communications Errors - - - - - - - - - - - - - - - - - - 5-2

5.2 Message Send Function (MSG-SND)- - - - - - - - - - - - - - - - - - 5-3

5.2.1 Before using 260IF Module Message Communications - - - - - - - - - - - 5-3

5.2.2 Outline of Message Send Function- - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2.3 Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.4 Inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9

5.2.5 Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.6 Explicit Request Message - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.7 Explicit Response Messages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

5-1

Page 51

Programming

5.1.1

System Register and Communications Errors

5.1 System Registers

5.1.1 System Register and Communications Errors

If a communications error occurs during I/O communications, the error status will be stored

in the system registers.

(System Register)

SW00208

SW00209

SW00210

SW00211

MAC ID 15 MAC ID 3 MAC ID 2 MAC ID 1 MAC ID 0

MAC ID 31 MAC ID 17 MAC ID16

MAC ID 47 MAC ID 33 MAC ID32

MAC ID63 MAC ID 49 MAC ID48

32 0

(Bit No.)

0: Normal

1: Error

The system register numbers differ according to the rack and slot to which the 260IF Module

is mounted. Refer to the following manuals for details.

Manual name Manual No.

Machine Controller MP920 User’s Manual: Design and Maintenance

Machine Controller MP940 User’s Manual: Design and Maintenance

SIEZ-C887-2.1

SIEZ-C887-4.1

5-2

Page 52

5.2 Message Send Function (MSG-SND)

The MSG-SND function is used to send and receive DeviceNet explicit messages. When the

MSG-SND function is executed once, it will both send the request message and receive the

response message.

5.2.1 Before using 260IF Module Message Communications

Comply with the following conditions before using 260IF Module message communcica-

tions.

1. The 260IF Module must be set as a Master.

2. One of the following settings is required for the DeviceNet Slaves when allocating

260IF Module I/O.

• The input or output size must be set for I/O communications.

• The EM Check Box must be ON.

5.2

Message Send Function (MSG-SND)

3. The MSG-SND function must be set and an application program that will create the

request message is required.

5-3

Page 53

Programming

5.2.2

Outline of Message Send Function

5.2.2 Outline of Message Send Function

Function MSG-SND

Purpose Sends a message to a remote node in the network specified by the communications device type. Sup-

Definition

The following table shows the functions and configuration of the message send function

(MSD-SND).

ports multiple prototypes. Keep the EXECUTE input ON until COMPLETE or ERROR turns ON.

MSG-SND

=======>

EXECUTE

BORT COMPLETE

DEV-TYPE ERROR

PRO-TYP

CIR-NO

CH-NO

BUSY

I/O definitions

Inputs

Outputs

No. Name

EXECUTE B-VAL Message send command

ABORT B-VAL Message send abort command

DEV-TYP I-REG Communications device type 260IF = 11

PRO-TYP I-REG Communications protocol 260IF = 1

CIR-NO I-REG Circuit number

CH-NO I-REG Communications buffer channel number

PA RA M Address input Set data leading word address (MW, DW, #W)

BUSY B-VAL Sending message.

COMPLETE B-VAL Message send completed.

ERROR B-VAL Error occurred.

PAR AM

I/O Designation

＊

Meaning

5-4

Page 54

5.2.3 Parameter List

The parameters displayed under “PARAM” are shown in the following table.

No IN/OUT Content Remarks

5.2

Message Send Function (MSG-SND)

OUT Processing result

OUT Status

IN Remote node MAC ID

SYS Reserved for system use Reserved for system use

IN Function code

IN/OUT Data address

IN/OUT Data size

- Remote node CPU #

- Coil offset

- Input relay offset

- Input register offset

- Holding register offset

SYS For system use

SYS Reserved for system use Reserved for system use

Processing Result (PARAM00)

The processing result is output to the higher-place byte. The lower-place byte is for system

analysis.

• 00xx: Processing (BUSY)

• 10xx: Processing completed (COMPLETE)

• 8xxx: Error (ERROR)

5-5

Page 55

Programming

5.2.3

Parameter List

Error Classifications

Error Content Meaning

81xx

82xx

83xx

84xx

85xx

86xx

88xx

89xx

Function code error An unused function code was received or an

attempt was made to send an unused function code.

Address setting error The data address, coil offset, input relay offset,

input register offset, or holding register offset is out of the setting range.

Data size error The send or receive data size setting is out of the

setting range.

Circuit number setting error The circuit number is out of the setting range.

Channel number setting error

Node address error The node address is out of the setting range.

Communications section error

Device selection error A device that cannot be used has been selected.

The channel number is out of the setting range.

An error response has been returned from the communications section.

5-6

Page 56

Status (PARAM01)

Outputs the status of the communications section.

1. Bit allocations

5.2

Message Send Function (MSG-SND)

FEDCB

REQUEST

9 876543210

COMMAND

RESULT

9 1 1 11

2. COMMAND

Code Abbreviation Meaning

1 U_SEND A general-purpose message has been sent.

2 U_REC A general-purpose message has been received.

3 ABORT Abort

M_SEND MEMOBUS command has been sent and a response

9 M_REC MEMOBUS command has been received and a response sent.

C MR_SEND MEMOBUS response has been sent.

received.

PARAMETER

PAR AMET ER

3. RESULT

Code Abbreviation Meaning

1 SEND_OK Normal send completed.

2 REC_OK Normal receive completed.

3 ABORT_OK Abort completed.

4 FMT_NG Parameter format error

SEQ_NG or

INIT_NG

RESET_NG or O_RING_NG

7 REC_NG Data receive error (error detected in lower-level program)

Command sequence error or no token received.

Not connected to the communications system.

Reset status Out of ring. Did not receive token even after token reception

time expired.

5-7

Page 57

Programming

5.2.3

Parameter List

4. PARAMETER

When RESULT = 4 (FMT_NG), the error codes shown in the following table will be

output. When RESULT ≠ 4, the node address of the remote node will be output.

Table 5.1 Error Codes

Code Error Content

No error

Outside node address range

MEMOBUS response receive monitor time error

No. of retries setting error

Cyclic area setting error

Message signal CPU number error

Message signal register number error

Message signal word number error

5. REQUEST

1 = Request

2 = Receive completed report

Remote Node MAC ID (PARAM02)

0 to 63: Set the remote node MAC ID for message communications.

Function Code (PARAM04)

Set “3” for the 260IF Module.

Note: In earlier versions, "3" meant “read the contents of the holding regis-

ter.” For the 260IF Module, however, “3” does not have this meaning.

Data Address (PARAM05）

Set the address of the M register where the contents of the explicit request message will be

written. The received explicit response messages will also be stored at the register address

set here.

Data Size (PARAM06)

Set the data size (number of bytes) of the explicit request message.

When an explicit response message is received, the data size (number of bytes) of the

response message will be stored.

Remote Node CPU # (PARAM07）

Not used. Set to "0."

5-8

Page 58

Coil Offset (PARAM08)

Not used.

Input Relay Offset (PARAM09)

Not used.

Input Register Offset (PARAM10）

Not used.

Holding Register Offset (PARAM11)

Not used.

For System Use (PARAM12）

5.2

Message Send Function (MSG-SND)

5.2.4 Inputs

The channel number being used will be held.

Always set to 0000 Hex from the user program during the first scan when the power is

turned ON. After that, do not change the setting from the user program because this parame-

ter is used by the system.

EXECUTE (Execute Send Command)

When this command is ON, the message will be sent.

This status must be held until COMPLETE (processing completed) or ERROR (error) turns

ON.

ABORT (Send Abort Command)

Aborts the message send. When this command is input, it has priority over EXECUTE (exe-

cute send command).

DEV-TYPE (Communications Device Type)

Designates the type of communications device. The setting is 11 for the 260IF Module.

PRO-TYPE (Communications Protocol)

Designates the communications protocol. The setting is 1 for the 260IF Module.

Note: In earlier versions, 1 meant MEMOBUS protocol, but 1 does not have

this meaning for the 260IF Module.

5-9

Page 59

Programming

5.2.5

Outputs

CIR-NO (Circuit Number)

Designates the circuit number. Enter the circuit number set in the Module Configuration

Window.

CH-NO (Channel Number)

Designates the channel number for the communications section. The same channel number

cannot be used more than once for the same circuit. The setting can be between 1 and 8.

PARAM (Setting Data Leading Word Address)

Designates the leading word address of the setting data.

Refer to5.2.6 Explicit Request Message for information on settings data.

5.2.5 Outputs

BUSY (Processing)

Indicates the Unit is busy processing. Keep EXECUTE ON as long as BUSY is ON.

COMPLETE (Processing completed)

Turns ON for once scan when processing has been completed normally.

ERROR (Error)

Turns ON for one scan only when an error has occurred.

Refer to PARAM00 and PARAM01 to determine the cause of the error.

5.2.6 Explicit Request Message

 Explicit Request Message Format

An explicit request message is written in the following format to the area designated in Data

Address (PARAM05) in 5.2.3 Parameter List.

(Word address offsets) 00000: Request service code (Higher-place byte is reserved for system use and lower-

place byte is the request service code) 00001: Class ID 00002: Instance ID 00003: Attribute ID 00004: (Message data for write) : :

Request service codes include read (0Eh) and write (10h).

5-10

Page 60

5.2

Message Send Function (MSG-SND)

For a read request service code, set Data Size (PARAM06) in 5.2.3 Parameter List to 8.

For a write request service code, set Data Size (PARAM06) in 5.2.3 Parameter List to 8 +

(write data size). Set the number of bytes for the write data size.

INFO

Refer to DeviceNet specifications for details on service codes. The request service codes, class ID, instance ID, and attribute ID are specific to the DeviceNet device. Contact your DeviceNet device manufacturer for information.

 Example of Explicit Request Message to Read Vendor ID

If “1000” is designated for Data Address (PARAM05) in 5.2.3 Parameter List, the data will

be written in the following format.

(Word address offsets) MW01000: 000E Hex (Get_Attribute_Single service code) MW01001: 0001 Hex (Class ID) MW01002: 0001 Hex (Instance ID) MW01003: 0001 Hex (Attribute ID)

5.2.7 Explicit Response Messages

 Explicit Response Message Format

The Explicit response message is written in the following format to the area designated in

Data Address (PARAM05) in 5.2.3 Parameter List.

(Word address offsets) 00000: Response service code (Higher-place byte is reserved for system use and lowerplace byte is the response service code)

00001：Response message data : :

 Example of Explicit Request Message to Read Vendor ID

If “1000” is designated for Data Address (PARAM05) in 5.2.3 Parameter List, the data will

be written in the following format.

(Word address offsets) MW01000: 018E Hex (Higher-place byte is reserved for system use and lower-place

byte 8E Hex is the response service code)

MW01001：0002C Hex (Vendor ID)

Here, 4 (including two bytes of response service code) will be written to Data Size

(PARAM05) in 5.2.3 Parameter List.

5-11

Page 61

6 Network Maintenance

This chapter describes how to maintain a 260IF Module using the CP-717

Engineering Tool. When the CP-717 is used, information can be read about

other devices connected to the DeviceNet in addition to the status of the 260IF

Module.

6.1 Reading Network Configuration Information - - - - - - - - - - - - - 6-2

6.1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Using the Network Configuration Information Read Function - - - - - - - 6-2

6.2 I/O Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5

6.2.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.2.2 Using the I/O Status Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.3 Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-7

6.3.1 Using the Status Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.4 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8

6.4.1 Masters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.4.2 Slaves - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11

6-1

Page 62

Network Maintenance

6.1.1

Outline

6.1 Reading Network Configuration Information

6.1.1 Outline

The network configuration information can be read when the 260IF Module is set as the

DeviceNet Master. This function detects what types of DeviceNet devices are connected to

the communications circuit. The information found by this function includes the vendor ID,

device type, product type, and I/O sizes.

The I/O sizes read from the DeviceNet device can be used in the I/O allocation settings.

6.1.2 Using the Network Configuration Information Read Function

The network configuration information read function can be used when all Slave allocations

in I/O Allocations in 4.3.2 Setting Methods have been cleared.

The network configuration information read is performed with the following procedure.

1. Display the Module Configuration Window on the CP-717.

2. Double-click the slot to which the 260IF Module is set and open the 260IF Definition

Window.

3. Select the Transmission Parameters Tab in the 260IF Definition Window and then

select Edit and then Network configuration from the menu bar.

Engineering Manager

File (F) Edit (E) View (V)

Network configuration (N) Assignment Delete (D)

・・・

6-2

Page 63

6.1

Reading Network Configuration Information

4. The Network Configuration Window will be displayed.

Network Configuration

MAC ID I-BSIZE O-BSIZE DEVICE VENDOR VENDOR

Node address search range (0 to 63)

Search Start

Search Item Contents

MAC ID The MAC ID on the DeviceNet (DeviceNet address).

I-BSIZE The input data size (in bytes) from the relevant device.

O-BSIZE The output data size (in bytes) to the relevant device.

DEVICE The device type in decimal. The value will be 12 for the 260IF Mod-

ule (communications adapter).

Refer to DeviceNet specifications for details on device types.

VENDER The vendor ID. The value will be 44 for the 260IF Module.

PRODUCT The product code.

Search Stop Set Close

Table 6.1 Search Items

VENDER

Start End

～

Table 6.2 Setting and Operation Items

Setting or Operation

Item

Node Address Search Range (0 to 63)

Search Start Starts the search for devices connected to the network.

Search Stop Stops the search.

Set Makes I/O allocations based on the search results.

Close Closes the Network Configuration Window.

The node address (MAC ID) range to be searched for.

Contents

5. Set the leading and end addresses for the DeviceNet devices for which information is to

be read and click the Search Start Button. To stop the search, click the Search Stop

Button.

6. Click the Set Button to use the I/O sizes found during the search for the I/O Allocation

Settings.

7. Click the Close Button to exit the Network Configuration Window.

6-3

Page 64

Network Maintenance

6.1.2

Using the Network Configuration Information Read Function

 Precautions on Reading Network Configuration Information

• Use the network configuration information read function when no I/O communications

are being performed.

This function can be used during I/O communications but communications may be

affected.

• Use this function for Slaves for which no I/O allocations have been made.

• Up to 4 seconds may be required for each Slave when network configuration informa-

tion is read. It is recommended that the address range setting is limited to the required

addresses only.

6-4

Page 65

6.2 I/O Status

6.2.1 Outline

When the 260IF Module is set as a DeviceNet Master, the I/O status function reports in

online the status of communications with the DeviceNet Slaves set in the I/O allocations for

the I/O communications function.

6.2.2 Using the I/O Status Function

The I/O status is displayed using the following procedure.

1. Display the Module Configuration Window on the CP-717.

2. Double-click the slot to which the 260IF Module is set and open the 260IF Definition

Window.

3. Select the I/O Status Tab in the 260IF Definition Window.

6.2

I/O Status

6-5

Page 66

Network Maintenance

6.2.2

Using the I/O Status Function

Display Item Contents

MAC ID The DeviceNet MAC ID (DeviceNet address).

INPUT The leading address of the input area allocated to the device (input register IWxxxx).

BSIZE The size in bytes of the input area allocated to the device (input register IWxxxx).

OUTPUT The leading address of the output area allocated to the device (output register

OWxxxx).

BSIZE The size in bytes of the output area allocated to the device (output register OWxxxx).

STS The I/O status code. The I/O status display contents are shown below.

Code Meaning

0000H Communications not performed.

8000H I/O communications normal.

4048H I/O communications error. Communications stopped.

404DH I/O communications error. Actual Slave I/O sizes different from setting.

404EH I/O communications error. No response from Slave.

4056H I/O communications error. Slave in idle status.

Comment The comment set for each device type under I/O Allocations is displayed.

6-6

Page 67

6.3 Status

The status function reports, in online, the 260IF Module DeviceNet address, baud rate setting,

and communications status.

6.3.1 Using the Status Function

The status is displayed using the following procedure.

1. Display the Module Configuration Window on the CP-717.

2. Double-click the slot to which the 260IF Module is set and open the 260IF Module Con-

figuration Window.

3. Select the Status Tab in the 260IF Definition Window to display the Status Window.

6.3

Status

Display Item Contents

MAC ID The MAC ID (DeviceNet address) set for the 260IF Module.

Baud Rate The baud rate set for the 260IF Module.

Status The 260IF Module status code. The contents of the display are shown

in the following diagram.

BitFEDCBA9876543210

02H: Checking for duplicate MAC IDs

Not used

Fatal error (Bus-off, duplic ate MAC ID, network

Fatal error (Bus-off, duplicate MAC ID, communica-

power disconnected)

tions power disconnected)

Commun ications not ready or I/O allocations not set

I/O comm un ic ations err o

I/O communications normal

04H: Online 08H:Bus-off detected 10H:Duplicate MAC ID 40H: Network power error

40H:Communications power error

Status c od e

6-7

Page 68

Network Maintenance

6.4.1

Masters

6.4 Troubleshooting

6.4.1 Masters

When the 260IF Module detects an error during DeviceNet communications, it reports the error

via the LED indicators, I/O status function, and status function. The following table gives prob-

able causes and possible solutions.

The following table gives the status of indicators and status functions for normal operation

when the 260IF Module is set as a Master.

LED Status I/O Status

MS lit green NS lit green

8004 8000

The following table gives possible solutions for errors that occur when the 260IF Module is

set as a Master.

Problem

No DeviceNet communications

Locations to Check

Indicators Status I/O Status

MS not lit NS not lit

MS lit red NS not lit

MS lit red NS lit red

MS lit green

NS lit res

- - No power to

- - Hardware mal-

1010 0000 Duplicate

1008 - Bus-off 1. Check the wiring and connections for

Table 6.3 Troubleshooting the Master

Probable

Cause

the 260IF Module.

function

MAC ID

Check the rack or system bus cable connection to the 260IF Module.

Replace the 260IF Module.

1. Change the MAC ID address for the 260IF Module and cycle the power.

2. Change the MAC ID addresses for other DeviceNet devices and cycle the power to the 260IF Module.

DeviceNet cables and connectors.

2. Check the power supply voltage and connection for communications power supply.

3. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24 V).

4. Check the baud rate for each DeviceNet device in the network.

5. Check the terminator (121 Ω) and connection status.

6. Check the length of the network.

7. Replace the 260IF Module. Then either cycle the power for the 260IF Module or disconnect and re-insert the DeviceNet connectors.

Possible Solution

6-8

Page 69

Table 6.4 Troubleshooting the Master (Cont’d)

6.4

Troubleshooting

Problem

No DeviceNet communications (cont’d)

Communications are occurring but the maximum communications cycle time exceeds the setting.

Locations to Check

Indicator Status I/O Status

MS lit green NS not lit

MS lit green NS flashing

green

MS lit green

NS flashing red

MS lit green NS lit green

1040 - Communica-

0002 0000 1. Check the wiring and connections for

2004 0000 Connection not

4004 404D I/O sizes of

4004 404E No response

4004 4056 DeviceNet

8004 8000 Too much traf-

Probable

Cause

tions power supply error

established with DeviceNet device

each DeviceNet device are different from setting.

from DeviceNet device.

device is idle.

fic on DeviceNet. The communications cycle time setting is too low for the I/O command send time.

Possible Solution

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the power supply voltage and connection for communications power supply.

3. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24V).

DeviceNet cables and connectors.

2. Check the baud rate for each DeviceNet device in the network.

3. Check the terminator (121 Ω) and connection status.

4. Check the operation status of DeviceNet devices on the network.

5. Replace the 260IF Module.

Set the I/O allocations.

1. Change the I/O sizes for the I/O allocations.

2. Change the I/O sizes for the DeviceNet device.

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the baud rate for each DeviceNet device in the network.

3. Check the power supply status of DeviceNet devices on the network.

Remove the cause of the idle status of the DeviceNet device.

Set a longer communications cycle time.

6-9

Page 70

Network Maintenance

6.4.1

Masters

Table 6.5 Troubleshooting the Master (Cont’d)

Problem

Communications are occurring but the receive data refresh is delayed.

MSG-SND function terminated due to error. (during DeviceNet communications)

MSG-SND function remains BUSY and does not end.

Locations to Check

Indicator Status I/O Status

MS lit green NS lit green

MS lit green NS flashing

green

MS lit green

NS lit red

MS lit green NS lit green

8004 8000 Too much traf-

8004 8000 Parameter set-

2004 - EM allocations

4004 40XX I/O communi-

8004 8000 MSG-SND

Probable

Cause

fic on DeviceNet. The communications cycle time setting is too low for the I/O response receive time. The processing load for data exchange with the PLC is too large.

ting error

not made.

cations error

function parameter setting error

Too much traffic on DeviceNet (Cannot send Explicit request message.)

Possible Solution

1. Set a longer communications cycle time.

2. Reduce the baud rate.

3. Increase the setting of the CPU scan time for the I/O allocation SCAN setting.

Check that the MSG-SND function parameter settings are correct.

• Data address

• Data size

Set the EM allocation under I/O Allocations.

Remove the cause of the I/O communications error.

Check that the MSG-SND function parameter settings are correct.

• Remote station number

1. Set longer communications cycle time.

2. For multi-Master configuration, increase the communications cycle time for other Master.

6-10

Page 71

6.4.2 Slaves

6.4

Troubleshooting

The followinng tabel gives the status of indicators and status functions for normal operation

when the 260IF Module is set as a Slave.

LED Status I/O Status

MS lit green NS lit green

8004 8003 (Polled)

8005 (Strobed)

The following table gives probable causes and possible solutions for when the 260IF Mod-

ule is set as a Slave.

Table 6.6 Troubleshooting Slaves

Problem

No DeviceNet communications

Locations to Check

Indicator Status I/O Status

MS not lit NS not lit

MS lit red NS not lit

MS lit red

NS lit red

MS lit green NS lit red

- - No power sup-

- - Hardware mal-

1010 0000 Duplicate

1008 - Bus-off 1. Check the wiring and connections for

Probable

Cause

ply to 260IF Module

function

MAC ID

Possible Solution

Check the rack or system bus cable connection to the 260IF Module.

Replace the 260IF Module.

1. Change the MAC ID address for the 260IF Module and cycle the power.

2. Change the MAC ID addresses for other DeviceNet devices and cycle the power to the 260IF Module.

DeviceNet cables and connectors.

2. Check the power supply voltage and connection for communications power supply.

3. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24 V).

4. Check the baud rate for each DeviceNet device in the network.

5. Check the terminator (121 Ω) and connection status.

6. Check the length of the network.

7. Replace the 260IF Module. Then either cycle the power for the 260IF Module or disconnect and re-insert the DeviceNet connectors.

6-11

Page 72

Network Maintenance

6.4.2

Slaves

Table 6.7 Troubleshooting Slaves (Cont’d)

Problem

No DeviceNet communications (cont’d)

Locations to Check

Indicator Status I/O Status

MS lit green NS not lit

MS lit red NS not lit

MS lit green

NS flashing green

MS lit green

NS flashing green

1040 - • Communica-

0002 0000 DeviceNet net-

2004 0000 Connection not

4004 4000 No response

Probable

Cause

tions power supply error

• DeviceNet network error

work error

established with DeviceNet device

DeviceNet I/O size different from setting

from DeviceNet Master

Possible Solution

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the power supply voltage and connection for communications power supply.

3. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24 V).

4. Check the terminator (121 Ω) and connection status.

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the baud rate for each device.

3. Check the terminator (121 Ω) and connection status.

4. Check the operation status of the DeviceNet Master.

5. Replace the 260IF Module.

1. Check the DeviceNet Master scan list settings.

2. Check the wiring and connections for DeviceNet cables and connectors.

3. Check the baud rate for each device.

4. Check the operation status of the DeviceNet Master.

1. Change the I/O sizes for the I/O allocations.

2. Change the I/O sizes for the DeviceNet Master.

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the baud rate for each device.

3. Check the terminator (121 Ω) and connection status.

4. Check the operation status of the DeviceNet Master.

5. Check the power supply voltage and connection for communications power supply.

6. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24 V).

6-12

Page 73

Table 6.8 Troubleshooting Slaves (Cont’d)

6.4

Troubleshooting

Problem

No DeviceNet communications (cont’d)

Communications are occurring but the receive data is not being refreshed.

Communications are occurring but the receive data refresh is delayed.

Locations to Check

Indicator Status I/O Status

MS lit green NS flashing

red

MS lit green NS flashing

red

MS lit green NS lit green

4004 4000 No response

0000 0004 The switch

8004 8003 DeviceNet

8004 8003 Too much traf-

Probable

Cause

from DeviceNet Master

MAC ID setting is different from the MAC ID setting under the I/O allocations.

Master is in idle status.

fic on DeviceNet. The communications cycle time setting is too low for the I/O response receive time. The processing load for data exchange with the PLC is too large.

Possible Solution

1. Check the wiring and connections for DeviceNet cables and connectors.

2. Check the baud rate for each device.

3. Check the terminator (121 Ω) and connection status.

4. Check the operation status of the DeviceNet Master.

5. Check the power supply voltage and connection for communications power supply.

6. Check the communications power supply voltage for each DeviceNet connector on the 260IF Module (11 to 24V).

1. Change the MAC ID setting under the I/O allocations.

2. Change the switch MAC ID setting and cycle the power.

1. Change the MAC ID setting under the I/O allocations.

2. Change the switch MAC ID setting and cycle the power.

Remove the cause of the idle status of the DeviceNet Master.

1. Increase communications cycle time for the DeviceNet Master.

2. Reduce the baud rate.

3. Increase the CPU scan time for the I/O allocation SCAN setting.

6-13

Page 74

7 Wiring

This chapter explains the how to wire the communications power supply, cal-

culation methods for power supply positioning, and network grounding meth-

ods.

7.1 Wiring Communications Power Supply- - - - - - - - - - - - - - - - -7-2

7.1.1 Basic Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.2 Wiring Power Supply- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.3 Methods for Deciding the Power Supply Positioning- - - - - - - - - - - - - - 7-3

7.2 Grounding the Network- - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.2.1 Grounding Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7-1

Page 75

Wiring

7.1.1

Basic Precautions

7.1 Wiring Communications Power Supply

This section describes wiring methods for communications power supply and calculation meth-

ods for power supply positioning.

7.1.1 Basic Precautions

• The communications power supply to the network must be 24 VDC.

• The communications power supply must have a sufficient margin in the capacity.

• Connect the communications power supply to the trunk line.

• If many nodes are provided with power from a single power supply, locate the power

supply as close as possible to the middle of the trunk line.

• The allowable current flow in a thick cable is 8 A and that in a thin cable is 3 A.

• The power supply capacity for a drop line varies with the drop line length. The longer

a drop line is, the lower the maximum current capacity of the drop line will be regard-

less of the thickness of the drop line. Obtain the allowable current (I) of the drop line

(i.e., the allowable current consumption of the drop line and devices connected to it)

from the following equation.

I = 4.57/L I: Allowable current (A)

• If only the communications power supply is turned OFF while the network is operat-

ing, errors may occur in the nodes that are communicating at that time.

7.1.2 Wiring Power Supply

The following diagrams show two layouts for power supply wiring.

 Nodes on Both Sides of the Power Supply

Node Node Node Node

Note: The "Nodes on Both Sides of the Power Supply" method is recom-

mended if a single power supply is connected to many nodes.

L: Drop line length (m)

Power Supply Tap or T-branch Adapter

Communications power supply

7-2

Page 76

 Nodes on One Side of the Power Supply

Power Supply Tap or T-branch Adapter

7.1

Wiring Communications Power Supply

Communications power supply

Node Node Node Node

7.1.3 Methods for Deciding the Power Supply Positioning

 Values to be Calculated

The power supply capacity required by each node and the voltage drop depending on the

length of the cable will determine whether or not the correct current can be supplied to each

node.

Calculate the following values.

• The current capacity required for each node.

• The distance from the power supply.

 Power Supply Calculation Method

There are two methods for calculating the power supply for the trunk line.

Simple Calculation from the Graph

The simple calculation from the graph is based on the worst configuration, with maximum

voltage drop, as shown in the following diagram. The network will operate normally, there-

fore, if the conditions are met for a calculation from the graph.

Node

Communications power supply

Node

Calculation from the Formula

The voltage drop is calculated from the transmission cable resistance and current consump-

tion.

The conditions may be met through the results of calculation from the fomula even if the

power supply specifications are not met through simple calculation from the graph. The net-

work will operate normally if conditions are met for either the calculation from the formula

7-3

Page 77

Wiring

7.1.3

Methods for Deciding the Power Supply Positioning

or the simple calculation from the graph.

Make sure that each drop line meets the conditional expression for the length and current

capacity of the drop line, as outlined in item 6 of 7.1.1 Basic Precautions.

INFO

1 Have separate communications and internal circuit power supplies whenever possible.

2 If the same power supply must be used for both communications and internal circuit power supplies,

the method of simple calculation from the graph cannot be used. Always use the calculation from the formula method.

 Simple Calculation from the Graph

Simple Calculation

The voltage in the communications power supply section of each node must be 11 VDC or

higher. The communications will become unstable if the voltage is lower than 11 VDC.

Voltage drop will occur when current flows through the transmission cable. This voltage

drop will increase the longer the transmission cable and the larger the current.

The following table shows the maximum current for each cable to allow sufficient voltage to

be supplied to the communications power supply section even if voltage drop occurs.

• For thick cables

Distance (m)

Max. current (A)

0 25 50 100 150 200 250 300 350 400 450 500

8.00 8.00 5.42 2.93 2.01 1.53 1.23 1.03 0.89 0.78 0.69 0.63

Max. current (A)

• For thin cables

Distance (m)

Max. current (A)

1 0

0 10 20 30 40 50 60 70 80 90 100

3.00 3.00 3.00 2.06 1.57 1.26 1.06 0.91 0.80 0.71 0.64

7-4

100

150

250 300 350 400 450

200

Distance (m)

500

Page 78

7.1

Wiring Communications Power Supply

Max. current (A)

10 20 30 40 50 60 70 80 90 100

Distance (m)

(

Confirmation Method

The following confirmation must be performed for each node connected in one direction

from the power supply. If nodes are connected to both sides of the power supply, always

check each direction separately. Also, be sure to refer to the appropriate graph. The relevant

graph differs depending on whether thick or thin cables are used for the trunk line.

1. Calculate the total current consumption (A) for all nodes connected in one direction

from the power supply.

2. Refer to the graph and determine the maximum current flowing to the cable (B), based

on the type of cable and the distance from the power supply to the end of the trunk line.

3. If the total current consumption (A) calculated in step 1 is less than the maximum cur-

rent (B) found in step 2, i.e., if A ≤ B, then the power supply specifications are met for

all nodes in that direction.

4. If nodes are located on both sides of the power supply, repeat the confirmation process

using steps 1 to 3 for the nodes in the other direction.

Countermeasures

Consider the following countermeasures if the total current consumption (A) calculated in

step 1 is greater than the maximum current (B) found from the graph in step 2, i.e., if A > B.

• Change the configuration so that the power supply is positioned in the middle of the net-

work and nodes are located on both sides of the power supply.

• If the nodes are already on both sides of the power supply, move the power supply

towards the nodes with the greater power supply requirements.

• If thin cables are being used, replace with thick cables.

If A > B even after all of these countermeasures have been tried, verify using the formula,

using the actual node positions.

Example 1: Power Supply Positioned at One End of the Network

The following diagram shows the layout when the power supply is positioned at one end of

the network and a thick cable with a total length of 200 m is used.

7-5

Page 79

Wiring

7.1.3

Methods for Deciding the Power Supply Positioning

Trun k line

Terminating resistance

Node Node Node Node Node

0.2 A 0.1 A 0.05 A 0.2 A 0.15 A

Communications power supply

200 m

Terminating resistance

: Trunk line

: Power supply cable

• Total length of power supply = 200 m

• Total current consumption = 0.2 A + 0.1 A + 0.05 A + 0.2 A + 0.15 A = 0.7 A

• Max. current according to the graph = 1.53 A

The total current consumption < maximum current. Therefore, communications power can

be supplied to all nodes.

Example 2: Power Supply Positioned in the Middle of the Network

Terminating resistance

Trunk line Trunk line

Node Node Node Node Node Node

0.2 A 0.3 A 0.1 A 0.25 A 0.15 A 0.1 A

Communications power supply

120 m 120 m

Terminating resistance

:Trunk line : Power supply

cable

The following diagram shows the layout when the power supply is positioned in the middle

of the network and a thick cable with a total length of 200 m is used.

• Total power supply length on the left side = Total power supply length on the right

side=120 m

• Total current consumption on the left side = 0.2 A + 0.3 A + 0.1 A = 0.6 A

• Total current consumption on the right side = 0.25 A + 0.15 A + 0.1 A = 0.5 A

• Max. current on the left side according to the graph = Approx. 2.5 A

• Max. current on the right side according to the graph = Approx. 2.5 A

The total current consumption on the left side < maximum current on the left side and the

total current consumption on the right side < maximum current on the right side. Therefore,

communications power can be supplied to all nodes.

 Calculation from the Formula

If the conditions cannot be met with simple calculation from the graph method, use the more

detailed method of calculation from the formula.

Formula

1. For separate communications and internal circuit power supplies

7-6

Page 80

7.1

Wiring Communications Power Supply

Find the distance between the power supply and each node and the current consumption

for each node in the communications section. If the following conditional expression is

met, the power supply specifications for each node are met.

Conditional expression: Σ (Ln × Rc + Nt × 0.005) × In ≤ 4.65 V

• Ln: Distance between power supply and node (not including the length of the drop

line)

• Rc: Max. cable resistance (0.015 Ω /m for thick cables, 0.069 Ω/m for thin cables)

• Nt: Number of Adapters between each node and the power supply

• In: Required current consumption for each node’s communications section

• 0.005 Ω = Adapter contact resistance

Make sure that the maximum current capacity for the cable is not exceeded (8 A for

thick cables, 3 A for thin cables).

2. Shared Communications and Internal Circuit Power Supplies

Wherever possible, avoid using the same power supply for both communications and

internal circuit power because the allowable voltage ranges for communications and the

internal circuit power supplies differ, as shown below.

• Allowable voltage range for communications power supply:

11 to 25 VDC

• Allowable voltage range for internal circuit power supply:

24 VDC +10%/ –15%

Find the distance between each node and the power supply and the total current con-

sumption for the communications and intenal circuit power supply sections of each

node.

If the following conditional expression is met, the power supply specifications for each

node are met.

Conditional expression: Σ [(Ln × Rc + Nt × 0.005) × In] ≤ 0.65 V

• Ln: Distance between power supply and node (not including the length of the drop

line)

• Rc: Max. cable resistance (0.015 Ω /m for thick cables, 0.069 Ω/m for thin cables)

• Nt: Number of Adapters between each node and the power supply

• In: Required current consumption for each node’s communications and internal cir-

cuit sections

• 0.005 Ω = Adapter contact resistance

Make sure that the maximum current capacity for the cable is not exceeded (8 A for

thick cables, 3 A for thin cables).

Countermeasures

If the conditional expression is not met, consider using one of the following countermea-

sures.

7-7

Page 81

Wiring

7.1.3

Methods for Deciding the Power Supply Positioning

• Move the nodes with greater current consumption closer to the power supply.

• Change the configuration so that the power supply is positioned in the middle of the net-

work and nodes are located on both sides of the power supply.

• If the nodes are already on both sides of the power supply, move the power supply

towards the nodes with the greater power supply capacity requirements.

• If thin cables are being used, replace with thick cables.

7-8

Page 82

7.2 Grounding the Network

This section explains how to ground the network.

7.2.1 Grounding Methods

 260IF Communications

To avoid creating a ground loop, ground the network at one point only for 260IF Module

communications. Position the ground as close to the center of the network as possible.

As shown in the following diagram, connect the cable shield wire to the ground terminal

(FG) on the power supply. Ground to a resistance of 100 Ω or less.

7.2

Grounding the Network

T-branch or Power Supply Tap

V+ V-FG

Communications power supply

Ground to a resistance of 100

Ω or less

V+

CAN H

Shield

CAN L

V-

Communication cable

Power Supply Tap

Communications power supply

Ground to a resistance of 100

V+

CAN H

Communication

Shield

cable

CAN L

V-

V+ V-FG

Ω or less.

Cable Grounded at Power Supply (one place only) Cable Not Grounded at Power Supply

 Using Multiple Power Supplies

When using multiple power supplies for communications, connect the shield wire to the

power supply ground near the center of the network only. Do not connect the shield wire at

any other power supplies.

Use Power Supply Taps when connecting multiple communications power supplies to a net-

work.

INFO

Power supplies are not counted as nodes.

1 Always ground to a resistance of 100 Ω or less.

2 Ground the power supply separately from the servodrives and inverters.

3 Do not connect the shield wire to multiple points on the network. Connect it to one point only.

7-9

Page 83

A External Appearances

This appendix shows the external appearance of the 260IF Module and the

MP940D Module.

A.1 260IF Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.2 MP940D Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3

A-1

Page 84

External Appearances

A.1

260IF Module

A.1 260IF Module

Description: 260IF Module

Model number: JEPMC-CM230

4.5

(0.18)

39.7

(1.56)

260IF

SW1

SW2

SW3

OFF ON

Mounting screw (M4)

4.5

(0.47)

(0.18)

NSMS

DR0 DR1 X1 X2

CN1

(5.12)

X10

130

105 (4.13)

105 5

形式銘板

Nameplate

(0.20)

(0.31)

Dimensions in mm (inch)

A-2

Page 85

A.2 MP940D Module

Description: MP940D

Model number: JEPMC-MC410

654321

→

(1.73)

MP940

BAT

RDY RUN ALM BAT PRT1 PRT2

RUN INIT TEST FLASH PP COPY

PORT1

PORT2

POWE R

+24V GND

（

18.2

）

(0.72)

（4）

128 (5.04)

128

(0.16)

MS/ NS

DNET

I/O

LED

142

142 (5.59)

Dimensions in mm (inch)

A-3

Page 86

B Sample Programs

This appendix provides sample programs for 260IF Module.

B.1 Sample Program No. 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2

B.2 Sample Program No. 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-8

B-1

Page 87

Sample Programs

B.1

Sample Program No. 1

B.1 Sample Program No. 1

 260IF Module I/O Communications Example

This section describes the settings for actual I/O communications between 260IF Modules.

Configuration

The following diagram shows the system configuration for DeviceNet communications.

PS MP920 260IF

Terminating resistance

24-VDC communications power supply

Tap

CIR1

260IF

CIR2

Mounting Base

DeviceNet cable

24-VDC power supply cable

One 260IF Module is set as the 260IF Module CIR1 Master, one is set as a 260IF Module

CIR2 Slave and I/O communications are performed. Message communications are also per-

formed between the two 260IF Modules.

B-2

Page 88

 Startup Procedure

The procedure for setting DeviceNet communications is shown below.

1. Make the DIP switch and rotary switch settings shown in the following table.

260IF CIR1 260IF CIR2

X10

Baud rate: 500 kbps Mode setting: Master

MAC ID: 1

Baud rate: 500 kbps Mode setting: Slave

MAC ID: 2

X10

2. The Module configuration definition settings are shown in the following table.

Rack 1

No.

Module Controller CPU No.

Cir No.

Automatic No.

I/O Start register

Leading I/O register

I/O End register

Last I/O register

・・・・・・・・・

MP920

－－－

・・・

・・

・・・

RESERVED

－

・・・

260IF

DO-01

01 01 01 01

・・・

0000 03FF

・・・

0400

07FF

・・・

0800 0803

・・・

0804 0807

・・・

• 260IF CIR1

Make the setings shown in the following diagram to use the 260IF Module as the

DeviceNet Master with MAC ID = 1 and to exchange I/O data with a 2-byte 260IF

Module with MAC ID = 2.

B-3

DI-01

Page 89

Sample Programs

B.1

Sample Program No. 1

1. Communications cycle

1. Communications cycle time set

time information Communications cycle time

2. I/O allocations

2. I/O Assignment set

Master/Slave

MAC ID

∗∗

・・・

5050 ms ms

D INPUT

IW000

PS MP920

ms (0 to 300)

MAC ID：1

D SCAN

OUTPUT

OW200

260IF

Master

Current Time Max. Time

Current value Max. value

BSIZE

High Polled

260IF Slave

TYPE EMBSIZE

Commen t

・・・

• 260IF CIR2

Make the settings shown in the following diagram to use the 260IF Module as a

DeviceNet Slave unit with MAC ID ＝ 2 and 2-byte I/O size and to exchange data

with a DeviceNet Master, also with a 2-byte data size.

PS MP920

260IF

Master

260IF Slave

B-4

Page 90

1. Communications cycle

1. Communications cycle time set

time information

Communications cycle time

2. I/O Assignment set

2. I/O allocations

500 ms ms

ms (0 to 300)

Current Time Max. Time

Current value Max. value

Master/Slave Slave

MAC ID

・・・

D INPUT

IW400

MAC ID：2

D SCAN

OUTPUT

OW600

BSIZE

High Polled

TYPE EMBSIZE

Commen t

3. Save the Module configuration definitions.

4. Reset the MP920 or cycle the power.

5. Create and execute a ladder program for MSG-SND.

1 I/O communications will be performed if steps 1 to 4 are executed.

2 I/O communications and message communications will be performed if steps 1 to 5 are executed.

B-5

Page 91

Sample Programs

B.1

Sample Program No. 1

 Ladder Program

The ladder program for DeviceNet message communications is shown below.

1 0000"SET PARAM"

IB08008 DB000020

10001

10003 IFON

20004

20006 00150

20008

20010

20012 00001

20014 00001

20016

20018

10020 IEND

1 00021"SET ABORT"

10022

1 00024

10025

10026

10028

1 0030 H0008 = = = = = = = = = = = = = = =>

00002

00008

00014

00001

$ONCOIL

SB000004

IB08009

ntlp

"MSG-SND Execution”

DB000000

.../019

DB000000

.../023

EXECUTE FIN

ABORT FIN

DEV-TYP FIN

MSG-SND

BUSY FOUT

COMPLETE FOUT

ERROR FOUT

⇒

MW00102 H30/028$

⇒

MW00105 H30/030$

⇒

MW00106 H30/032$

⇒

MW00150 H30/034

⇒

MW00151 H30/036$

⇒

MW00152 H30/038$

⇒

MW00153 H30/040$

DB000000

DB000001

DB000010

DB000000

[S]

DB000012

.../019$ .../026

.../026 .../038$

.../028

.../041

1 0031 00001 = = = = = = = = = = = = = = =>

1 0032 00001 = = = = = = = = = = = = = = =>

1 0033 00001 = = = = = = = = = = = = = = =>

10034

DB000012

10041

.../040

1 0042 [INC DW0010]

10043 DEND

B-6

PRP-TYP FIN

CIR-MO FIN

CH-MO FIN

PARAM

MA00100

Page 92

DeviceNet Message Function Precautions

Write the response data for normal ends to the same area as the input parameters.

When COMPLETE has turned ON, EXECUTE must be turned OFF otherwise an error will

occur.

B-7

Page 93

Sample Programs

B.2

Sample Program No. 2

B.2 Sample Program No. 2

A sample program for 260IF Module explicit messages is shown below.

(Initialize parameters during first scan.)

(Initialize parameters during fi rst scan)

1 0000

1 0001 IFON

2 0002 FOR I = 0000 to 00031

3 0006

2 0008 FEND

2 0009 00011

2 0011

2 0013 01000

2 0015 00008

2 0017 H000E

2 0019 H0001

2 0021 H0001

2 0023 H0001

$FSCAN-L

SB000003

┣

0000

(Set remote node)

┣

(Set function code)

00003

┣

(Set data address)

┣

(Set data size (No. of bytes))

┣

(Set request service code)

┣

(Set class ID)

┣

(Set instance ID)

┣

(Set attribute ID)

┣

by 00001

⇒

DW00000i

DW00002

DW00004

DW00005

DW00006

MW01000

MW01001

MW01002

MW01003

1 0025 IEND

(Start every 0.5 s) (5-s startup delay)

05s-s

1 0026

SB000034

(Hold command)

DB0002011 0027

1 0033 DW00022 DB000211 DB000212010.00DB000210

(Executing) (16-s ON delay) (Completed) (Error) (Abort command)

(Hold abort command)

DB0002081 0036

1 0040

1 0041

1 0043

1 0045 00011

1 0046 00001

1 0047 00001

1 0048 00001

(Command)

DB000201

(Abort command)

DB000208

(Communications device type)

(Communications protocol)

＝＝＝＝＝＝＝＝⇒

(Circuit No.)

(Network No.)

＝＝＝＝＝＝＝＝⇒

(Communications buffer channel No.)

＝＝＝＝＝＝＝＝⇒

1 0049

5s-ON

SB00003A

(Completed) (Error) (Abort command) (Command)

DB000211 DB000212

DB000208

MSG-SND

EXECUTE FIN

ABORT FIN

DEV-TYP FIN

BUSY FOUT

COMPLETE FOUT

ERROR FOUT

PRO-TYP FIN

CIR-NO FIN

CH-NO FIN

(Parameter address)

PARAM

DA00000

DB000201

DB000208

(Executing)

DB000210

(Completed)

DB000211

(Error)

DB000212

B-8

Page 94

1 0056

DB000211

1 0057 IFON

┣

2 0058

MW01000

2 0060 IFON

3 0061 INC

(Receive data size (No. of bytes) converted to No. of words)

┣

3 0062 DW00006

┣

3 0065 DW00017

(Hold receive data)

3 0068 COPYW

(Set data size (No. of bytes))

(Set request service code)

┣

3 0071 00008

(Set request service code)

(Set class ID)

┣

3 0073 H000E

(Set class ID)

(Set instance ID)

┣

3 0075 H0001

(Set instance ID)

(Set attribute ID)

┣

3 0077 H0001

(Set attribute ID)

┣

3 0079 H0001

(Normal response)

＝

H018E

(Pass counter)

DW00024

＋

00001

00002

MW01000

⇒

MW01010 W＝DW00018

⇒

DW00017

DW00018

DW00006

MW01000

MW01001

MW01002

MW01003

3 0081 ELSE

(Error response counter)

DW00006

┣

DW00017

┣

INC

＋

00001

00002

MW01000

3 0082 DW00025

3 0083

3 0086

3 0089 COPYW

3 0092 00008

3 0094 H000E

3 0096 H0001

3 0098 H0001

3 0100 H0001

2 0102 IEND

1 0103 IEND

1 0104

DB000212

1 0105 IFON

(Error counter)

2 0106 DW00026

2 0107

2 0109 DW00001

INC

(Store processing result)

(Hold processing result)

DW00000

┣

(Store status)

(Hold status)

┣

⇒

MW01010 W＝DW00018

⇒

DW00017

DW00018

DW00006

MW01000

MW01001

MW01002

MW01003

DW00027

DW00028

1 0111 IEND

0 0112 DEND

B-9

Page 95

Machine Controller MP900 Series

260IF DeviceNet System

USER'S MANUAL

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-4-2962-5696 Fax 81-4-2962-6138

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-847-887-7000 Fax 1-847-887-7370

YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.

Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000 Phone 55-11-5071-2552 Fax 55-11-5581-8795

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany Phone 49-6196-569-300 Fax 49-6196-569-312

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China Phone 86-10-8518-4086 Fax 86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

YA S K A W A

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

MANUAL NO. SIEZ-C887-5.2

Printed in Japan July 2005 00-11

05-7⑦

3 -0

Yaskawa 260IF User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Information

Visual Aids

CONTENTS

About This Manual

Related Manuals

Using This Manual

Registered Trademark

Safety Precautions

1 Outline

1.1 Outline of Configuration and Functions

1.1.1 System Configuration

1.1.2 Master Mode

1.1.3 Slave Mode

1.1.4 Functional Outline

2 Basic Specifications

2.1 Specifications

2.2 External Appearance

2.2.1 260IF Module

2.3 Switch Specifications

2.4 LED Indicator Specifications

3 Network Specifications

3.1 Network Configuration

3.1.1 Basic Network Configuration

3.1.2 Branching Methods

3.1.3 Network Configuration Restrictions

4 System Startup and Setup

4.1 Basic Use of the 260IF Module

4.1.1 Master Mode

4.1.2 Slave Mode

4.1.3 Basic System Design Procedure

4.1.4 Device Setting Procedure

4.1.5 I/O Allocations

4.2 Calculating Communications Cycle Times

4.2.1 Communications Cycle Time

4.2.2 Calculating Communications Cycle Times

4.2.3 Precautions on Setting the Communications Cycle Time

4.3 260IF Module Setup

4.3.1 Opening the 260IF Module Configuration Window

4.3.2 Setting Methods

5 Programming

5.1 System Registers

5.1.1 System Register and Communications Errors

5.2 Message Send Function (MSG-SND)

5.2.1 Before using 260IF Module Message Communications

5.2.2 Outline of Message Send Function

5.2.3 Parameter List

5.2.4 Inputs

5.2.5 Outputs

5.2.6 Explicit Request Message

5.2.7 Explicit Response Messages

6 Network Maintenance

6.1 Reading Network Configuration Information

6.1.1 Outline

6.1.2 Using the Network Configuration Information Read Function

6.2 I/O Status

6.2.1 Outline

6.2.2 Using the I/O Status Function

6.3 Status

6.3.1 Using the Status Function

6.4 Troubleshooting

6.4.1 Masters

6.4.2 Slaves

7 Wiring

7.1 Wiring Communications Power Supply

7.1.1 Basic Precautions

7.1.2 Wiring Power Supply

7.1.3 Methods for Deciding the Power Supply Positioning

7.2 Grounding the Network

7.2.1 Grounding Methods

A External Appearances

A.1 260IF Module

A.2 MP940D Module

B Sample Programs

B.1 Sample Program No. 1

B.2 Sample Program No. 2