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7

DEOHWRS5RERW77

63

Reference

When bit addresses are set in the PLC, port numbers are assigned in units of 16 points, 
starting from the channels corresponding to the node address set by the DIP switches. 
(This does not apply when a configurator is used.) 

(Input) (Output)

(Input)

Port number 

Node address 

nn

Node address 

nn + 1 

The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn. 
Since node addresses (nn, nn+1, nn+2, and so on) are occupied in accordance with the numbers of 
input/output points used, pay attention to prevent duplicate node addresses. 

(Output) 

Port number 

Summary of Contents for ASEL

Page 1: ...PROFIBUS DP Operation Manual Twelfth Edition X SEL SSEL RCS C TT ASEL E Con PSEL SCON C ...

Page 2: ......

Page 3: ...ding the Operation Manual keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary Important This Operation Manual is original The product cannot be operated in any way unless expressly specified in this Operation Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Operat...

Page 4: ...ctions are described in the separate operation manual Title of operation manual Overview Control number 1 PROFIBUS DP Operation Manual Refer to this operation manual if you are using an ACON PCON or SCON CA controller s ME0258 ...

Page 5: ...igning I O Ports 16 3 3 1 Board Installation Positions Slots and I O Parameters 16 1 J JX type compact type 16 2 K KX type 17 3 P PX Q QX type 17 3 3 2 Factory set Parameters Default Settings 18 3 3 3 Automatically Assigning X SEL I Os 20 3 3 4 Setting Examples for J JX K KX Type Controllers 20 3 3 5 Setting Examples for P PX Q QX Type Controllers 26 3 3 6 X SEL I O Port Numbers 32 3 3 7 Correspon...

Page 6: ...onnector interface specifications 66 3 Bus termination settings 67 4 Node address settings 67 5 Monitor LED indications 68 6 Input output I O signal assignments 69 7 Correspondence of RCS C E Con and SCON I O port numbers and PLC addresses 73 7 ASEL PSEL SSEL 77 7 1 Model Numbers 77 6 1 1 ASEL PSEL 77 6 1 2 SSEL 78 7 2 ProfiBus Interface 79 1 Name of each part 79 2 Status LED indications 79 3 Prof...

Page 7: ...rs 89 8 1 Communication Cable 89 8 2 Useful Function When Adjusting an X SEL Controller 89 8 3 GDS Files 89 Change History 90 7 4 I O Port Numbers and ProfiBus DP Address Assignments 84 1 Basic example 84 2 Positioner mode 85 ...

Page 8: ......

Page 9: ...K 0HFKDQLVPV DQG PDFKLQHU GHVLJQHG IRU WKH SXUSRVH RI PRYLQJ RU WUDQVSRUWLQJ SHRSOH RU YHKLFOH UDLOZD IDFLOLW RU DLU QDYLJDWLRQ IDFLOLW PSRUWDQW VDIHW SDUWV RI PDFKLQHU 6DIHW GHYLFH HWF Ɣ R QRW XVH LW LQ DQ RI WKH IROORZLQJ HQYLURQPHQWV RFDWLRQ ZKHUH WKHUH LV DQ LQIODPPDEOH JDV LQIODPPDEOH REMHFW RU H SORVLYH 3ODFH ZLWK SRWHQWLDO H SRVXUH WR UDGLDWLRQ RFDWLRQ ZLWK WKH DPELHQW WHPSHUDWXUH RU UHODWL...

Page 10: ...n or put anything on the product Failure to do so may cause an accidental fall injury or damage to the product due to a drop of anything malfunction of the product performance degradation or shortening of its life Ɣ When using the product in any of the places specified below provide a sufficient shield 1 Location where electric noise is generated 2 Location where high electrical or magnetic field ...

Page 11: ...mmediately in an emergency during the unit operation Ɣ Take the safety measure not to start up the unit only with the power turning ON Failure to do so may start up the machine suddenly and cause an injury or damage to the product Ɣ Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure Failure to do so may result in an ele...

Page 12: ...ons make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers Ɣ After the teaching or programming operation perform the check operation one step by one step and then shift to the automatic operation Ɣ When the check operation is to be performed inside the safety protection fence perform the check operation using the ...

Page 13: ...nce in addition to the workers arrange a watchman so that the machine can be stopped any time in an emergency Also keep watch on the operation so that any third person can not operate the switches carelessly Ɣ 3ODFH D VLJQ 8QGHU 2SHUDWLRQ DW WKH SRVLWLRQ HDV WR VHH Ɣ For the grease for the guide or ball screw use appropriate grease according to the Operation Manual for each model Ɣ Do not perform ...

Page 14: ...I WKH SURGXFW LV QRW KDQGOHG FRUUHFWO ZLOO UHVXOW LQ GHDWK RU VHULRXV LQMXU DQJHU DUQLQJ 7KLV LQGLFDWHV D SRWHQWLDOO KD DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO FRXOG UHVXOW LQ GHDWK RU VHULRXV LQMXU DUQLQJ DXWLRQ 7KLV LQGLFDWHV D SRWHQWLDOO KD DUGRXV VLWXDWLRQ ZKLFK LI WKH SURGXFW LV QRW KDQGOHG FRUUHFWO PD UHVXOW LQ PLQRU LQMXU RU SURSHUW GDPDJH DXWLRQ 1RWLFH 7KLV LQGLFDWHV ...

Page 15: ...cified in this operation manual Refer to the separate ME0258 PROFIBUS DP For details on ProfiBus DP refer to the operation manual for the programmable controller hereinafter referred to as PLC in which the master unit is installed This operation manual should be used in conjunction with the operation manual for each controller You should also assume that any usage not specifically permitted in thi...

Page 16: ... for IP20 configurations Baud rate kbps 9 6 19 2 93 75 187 5 500 1500 3000 6000 12000 1 Maximum distance over the entire network Baud rate Cable type 100 m 12 000 6 000 3 000 kbps 200 m 1 500 kbps 400 m 500 kbps 1000 m 187 5 kbps Transmission distance 1200 m 9 6 19 2 93 75 kbps Type A cable Topology Bus tree star Cable Single shielded twisted pair cable Type A cable 1 The baud rate of a ProfiBus D...

Page 17: ...ProfiBus DP board is installed in the same position as shown in Fig 3 4 With a 5 axis or 6 axis specification the ProfiBus DP board is installed in the same position as with a 4 axis specification Controller type J K K P Q PX QX Network I O points maximum inputs outputs Board installation position Standard slot I O1 Expansion slot 1 I O2 Expansion slot 2 or 3 I O3 or 4 Not available for 1 axis and...

Page 18: ... slot available 2 With 3 axis and 4 axis specifications only the PR0 ProfiBus DP board can be installed in the standard slot 3 With 3 axis and 4 axis specifications one expansion I O board can be installed in the expansion slot Expansion I O board Model number 1 IA 103 X 32 32 input points 16 output points 2 IA 103 X 16 16 input points 32 output points ProfiBus DP board ProfiBus DP board Expansion...

Page 19: ...103 X 16 16 input points 32 output points NPN specification 4 IA 103 X 16 P 16 input points 32 output points PNP specification 5 IA IO 3204 NP 48 input points 48 output points NPN specification 6 IA IO 3204 PN 48 input points 48 output points PNP specification 7 IA IO 3205 NP 48 input points 48 output points NPN specification 8 IA IO 3205 PN 48 input points 48 output points PNP specification Note ...

Page 20: ... ProfiBus DP board is installed in the installation position of field network board Fig 3 4 Expansion slots 2 and 3 ProfiBus DP board Installed in expansion slot 1 Standard I O board Standard I O Standard I O ProfiBus DP board ProfiBus DP board Expansion I O ...

Page 21: ...s DP Board Slave Station 1 Name of each part J K JX KX type P Q PX QX type ProfiBus DP communication connector Termination switch Address setting dials Monitor LEDs ProfiBus DP communication connector Termination switch Address setting dials Monitor LEDs ...

Page 22: ...work the devices at both ends require termination to prevent reflected waves from entering the bus line again This ProfiBus DP module provides a termination switch that makes this termination easy The user need not install a separate terminal resistor Never install an additional terminal resistor as it may have negative impact on bus communication or cause a communication error etc Bus termination...

Page 23: ...stations Note 2 The node address cannot be changed while the slave is communicating with the master 5 Monitor LED indications LED Color Status Definition Description cause L1 Not used Not defined L2 Online Green Steady light Communicating normally x The module is operating normally The module is connected to the fieldbus and is therefore in online state L3 Offline Red Steady light Offline x The mo...

Page 24: ...d the setting is normally 2 Take note that the above setting can be changed in a range of 0 to 3 at the user s responsibility If set to 0 The controller does not monitor any error occurring in the board installed in each slot If set to 1 The controller monitors all errors occurring in the board installed in each slot If set to 2 The controller monitors all errors occurring in the board installed i...

Page 25: ...et in the slots denoted by B Nos 8 and 9 are set to 1 while No 13 is set to 0 3 P PX Q QX type Parameter No 2 No 3 No 10 Parameter No 4 No 5 No 11 Parameter No 6 No 7 No 12 Parameter No 8 No 9 No 13 ProfiBus DP ProfiBus DP Standard I O Standard I O Parameter No 16 No 17 No 18 Parameter No 2 No 3 No 10 Parameter No 16 No 17 No 18 Parameter No 2 No 3 No 10 Parameter No 4 No 5 No 11 Parameter No 8 No...

Page 26: ... 8 The parameter is invalid if a negative value is set 6 Expansion I O2 fixed assignment Initial input port number I O3 1 599 1 1 000 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 599 1 1 300 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input ...

Page 27: ... negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 9 Expansion I O3 fixed assignment Initial output port number I O4 1 599 1 300 multiple of 8 ...

Page 28: ...automatically 2 0 Standard DIs are assigned from input port 0 3 300 Standard DOs are assigned from output port 300 14 n The number of ProfiBus DP input points is specified as a multiple of 16 16 d n d 256 15 m The number of ProfiBus DP output points is specified as a multiple of 16 16 d m d 256 3 3 4 Setting Examples for J JX K KX Type Controllers 1 Setting example when only a ProfiBus DP board is...

Page 29: ...ed assignment Initial input port number I O3 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 599 1 0 multiple of 8 The parameter is invalid if a negative value i...

Page 30: ...ard I O error monitor to 2 Default setting 3 Set I O parameter No 11 Standard I O error monitor to a value in a range of 1 to 3 4 Set I O parameter Nos 14 and 15 Input output ports used A desired value can be set in a range of 8 to 256 but the value must be a multiple of 8 As a standard input port numbers are assigned sequentially from No 0 Since the ProfiBus DP slave station already occupies 0 to...

Page 31: ...f a negative value is set 6 Expansion I O2 fixed assignment Initial input port number I O3 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 599 1 0 multiple of 8 ...

Page 32: ...on installed in the standard I O slot is assigned for the subsequent numbers 1 Enter 1 in I O parameter No 1 to specify fixed assignment 2 Set I O parameter No 4 Expansion I O 1 fixed assignment Initial input port number to 0 3 Set I O parameter No 5 Expansion I O 1 fixed assignment Initial output port number to 300 4 Since the expansion I O board IA 103 X 32 has 32 input point sand 16 output poin...

Page 33: ...f a negative value is set 6 Expansion I O2 fixed assignment Initial input port number I O3 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 599 1 0 multiple of 8 ...

Page 34: ...e beginning by leaving other I O ports unused just like when a standard X SEL I O board 50 pin connector is used 1 Enter 1 in I O parameter No 1 to specify automatic assignment Default setting 2 Set I O parameter No 10 Standard I O error monitor to 2 Default setting 3 Set I O parameter Nos 14 and 15 Input output ports used and the settings are complete A desired value can be set in a range of 0 to...

Page 35: ...a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 9 Expansion I O3 fixed assignment Initial output port number I O4 1 1 599 1 300 multipl...

Page 36: ...atic assignment 2 Set I O parameter No 10 Standard I O error monitor to 2 3 Set I O parameter No 11 Standard I O error monitor to 1 2 or 3 4 Set I O parameter Nos 14 and 15 Input output ports used and the settings are complete A desired value can be set in a range of 0 to 256 but the value must be a multiple of 8 Port numbers are automatically assigned to the expansion I O board according to the n...

Page 37: ...a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 9 Expansion I O3 fixed assignment Initial output port number I O4 1 1 599 1 300 multipl...

Page 38: ...e ProfiBus DP slave station installed in the standard I O slot 1 Enter 1 in I O parameter No 1 to specify fixed assignment 2 Set I O parameter No 4 Expansion I O1 fixed assignment Initial input port number to 0 3 Set I O parameter No 5 Expansion I O1 fixed assignment Initial output port number to 300 4 Since the expansion I O board IA 103 X 32 has 32 input points and 16 output points the last I O ...

Page 39: ...a negative value is set 7 Expansion I O2 fixed assignment Initial output port number I O3 1 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 8 Expansion I O3 fixed assignment Initial input port number I O4 1 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 9 Expansion I O3 fixed assignment Initial output port number I O4 1 1 599 1 300 multipl...

Page 40: ...005 General purpose input 305 General purpose output 006 General purpose input 306 General purpose output 007 Program specification PRG No 1 307 General purpose output 008 Program specification PRG No 2 308 General purpose output 009 Program specification PRG No 4 309 General purpose output 010 Program specification PRG No 8 310 General purpose output 011 Program specification PRG No 10 311 Genera...

Page 41: ...Bus DP board I Os are assigned in units of 16 bits 16 I O points i e they are assigned in units of words The below illustrates the relationship of X SEL I O port numbers and PLC I O addresses according to the X SEL s I O parameter settings 1 Example of system configuration An example of system configuration is shown below CPU Bus station number Station 1 Station 2 Power supply ProfiBus DP master s...

Page 42: ...1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set Slot next to standard I O 5 Expansion I O1 fixed assignment Initial output port number I O2 1 599 1 300 multiple of 8 The parameter is invalid if a negative value is set 6 Expansion I O2 fixed assignment Initial input port number I O3 1 599 1 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I...

Page 43: ...mber and lowest memory bits Accordingly the PLC addresses are assigned as follows Note NN and MM are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied according to the numbers of I O points used pay attention to duplicate node address settings Input port number bit address PLC output buffer memory bit position Channel address PLC input ...

Page 44: ...the units installed in the PLC is the ProfiBus DP master unit Refer to the figure in 1 Word number A sequential number specifying a word when the I Os assigned to the master station are arranged in words Bit address A sequential number specifying a bit when the I Os assigned within each word above are arranged in bits Prefix Word number Bit address Bus station number Input bit address address per ...

Page 45: ...e DIP switches This does not apply when a configurator is used Input Output Input Output Port number Port number Node address nn Node address nn 1 The numbers under NN MM CH are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied in accordance with the numbers of input output points used pay attention to prevent duplicate node addresses ...

Page 46: ...WD LV KDQGOHG DV HLWKHU ELW GDWD RU ZRUG GDWD 7KH HOGEXV 2 GDWD LV PDSSHG WR LQSXW DQG RXWSXW SRUWV LQ WKH 6 FRQWUROOHU 4 1 Model Numbers The model code of each of XSEL R S RX SX RXD SXD applicable for PROFIBUS DP is as shown below x 6 5 Ƒ 35 Ƒ x 6 6 Ƒ 35 Ƒ x 6 5 Ƒ 35 Ƒ x 6 6 Ƒ 35 Ƒ x 6 5 Ƒ 35 Ƒ x 6 6 Ƒ 35 Ƒ PROFIBUS DP board ...

Page 47: ... The board operation status and network condition are obtained with the two LEDs located in the front of the communication board ż OOXPLQDWLQJ î 2 ڏ Flashing 1Hz LED Color Indication Status Indication Description Detailed Explanation Operation Mode Green ż Online Communication in normal condition ڏ Online Cleared Orange ڏ 1Hz Parameterizing data error ڏ 2Hz RQ JXUDWLRQ HUURU ņ î 2QOLQH 1R SRZHU VX...

Page 48: ...shown below x XSEL PC software V9 00 00 00 to x SEL T TG V1 12 to x IA T X IA T XD V1 52 to Network I F module 2 PROFIBUS board Setting Parameter I O Parameter No 225 I O Parameter No 231 I O Parameter No 232 I O Parameter No 233 I O Parameter No 234 I O Parameter No 237 I O board 2 Setting Parameter I O Parameter No 4 I O Parameter No 5 I O Parameter No 11 I O board 1 Setting Parameter I O Parame...

Page 49: ... No 300 to 599 1 Network I F Module 1 2 I O slot 1 I O1 Mounting board 3 I O slot 2 I O2 Mounting board I O slot 1 I O1 Assigned for the continuously mounted range from mounting board x Reference Priority of extension I O ports at automatic assignment Port Number No 1000 to 3999 No 4000 to 6999 1 Network I F Module 2 2 Expansion I O unit 3 IA Net Note If the automatic assignment is selected the in...

Page 50: ...ter name Default Reference Input Range Unit Remarks 237 Network I F Module 2 Node Address 0 0 to 125 ņ PROFIBUS node address range 0 to 125 Note If a number out of the settable range is selected D75 Fieldbus Parameter Error will occur 5 Number of I O Port Setting Set the number of ports to be used for I O Parameters No 231 to 232 Note Set a number that is a multiple of 8 No Parameter name Default ...

Page 51: ...ime Setting to Wait for PROFIBUS Communication Establishment To I O Parameter No 120 set the maximum allowable time to establish PROFIBUS communication at the start Change this setting when XSEL starts faster than the master unit which results in a generation of D5D or A6B No Parameter name Default Reference Input Range Unit Remarks 120 Network attribute 1 640001H 0 to FFFFFFFFH 100ms Bits 16 to 2...

Page 52: ...Allocation 1 Automatic Allocation xReference 1 Priority of I O Port Assignment when automatically assigned Port Number No 0 to 299 No 300 to 599 1 Network I F Module 1 2 I O slot 1 I O1 Mounting board 3 I O slot 2 I O2 Mounting board I O slot 1 I O1 Assigned for the continuously mounted range from mounting board xReference 2 Priority of extension I O ports at automatic assignment Port Number No 10...

Page 53: ...ult 64H 10sec 121 Network attribute 2 0H 0 to FFFFFFFFH Optional Bits 8 to 15 Input port data selected at Network I F Module 2 link error 0 Input port data clear 1 Input port data retained 225 Network I F Module Control 3 00H to 37H 30 Bits 0 to 3 Network I F Module 1 type 0 Not Mounted 6 EtherCAT 7 EtherNet IP Bits 4 to 7 Network I F Module 2 type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 23...

Page 54: ...s 1 I O Port Allocation Type 1 0 to 1 0 0 Fixed Allocation 1 Automatic Allocation xReference 1 Priority of I O Port Assignment when automatically assigned Port Number No 0 to 299 No 300 to 599 1 Network I F Module 1 2 I O slot 1 I O1 Mounting board 3 I O slot 2 I O2 Mounting board I O slot 1 I O1 Assigned for the continuously mounted range from mounting board xReference 2 Priority of extension I O...

Page 55: ... 64H 10sec 121 Network attribute 2 0H 0 to FFFFFFFFH Optional Bits 8 to 15 Input port data selected at Network I F Module 2 link error 0 Input port data clear 1 Input port data retained 225 Network I F Module Control 3 00H to 37H 30 Bits 0 to 3 Network I F Module 1 type 0 Not Mounted 6 EtherCAT 7 EtherNet IP Bits 4 to 7 Network I F Module 2 type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 231 N...

Page 56: ... I O Port Allocation Type 1 0 to 1 0 0 Fixed Allocation 1 Automatic Allocation xReference 1 Priority of I O Port Assignment when automatically assigned Port Number No 0 to 299 No 300 to 599 1 Network I F Module 1 2 I O slot 1 I O1 Mounting board 3 I O slot 2 I O2 Mounting board I O slot 1 I O1 Assigned for the continuously mounted range from mounting board xReference 2 Priority of extension I O po...

Page 57: ...lt 64H 10sec 121 Network attribute 2 0H 0 to FFFFFFFFH Optional Bits 8 to 15 Input port data selected at Network I F Module 2 link error 0 Input port data clear 1 Input port data retained 225 Network I F Module Control 3 00H to 37H 30 Bits 0 to 3 Network I F Module 1 type 0 Not Mounted 6 EtherCAT 7 EtherNet IP Bits 4 to 7 Network I F Module 2 type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 231...

Page 58: ... Output 004 Universal Input 304 Universal Output 005 Universal Input 305 Universal Output 006 Universal Input 306 Universal Output 007 3URJUDP 6SHFL FDWLRQ LSB Startup program to be indicated with binary MSB 307 Universal Output 008 3URJUDP 6SHFL FDWLRQ 308 Universal Output 009 3URJUDP 6SHFL FDWLRQ 309 Universal Output 010 3URJUDP 6SHFL FDWLRQ 310 Universal Output 011 3URJUDP 6SHFL FDWLRQ 311 Univ...

Page 59: ...e parameters This does not apply when a configurator is used Input Output Input Output Port number Port number Node address nn Node address nn 1 The numbers under NN MM CH are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied in accordance with the numbers of input output points used pay attention to prevent duplicate node addresses ...

Page 60: ...ss there is an error If the same error occurs again please contact us D59 Fieldbus error DPRAM writing and reading The writing and reading error was detected in the internal memory XSEL Controller reboot the controller If the same error occurs again please contact us D5A Fieldbus error TOGGLE Timeout A communication board error was detected XSEL Controller reboot the controller If the same error o...

Page 61: ...to see that a number out of the I O port number except for 1 is not set to I O Parameters No 2 to 9 a number out of indication is not input to I O port start number or a number out of indication is not input to I O Parameters No 14 to 17 Refer to XSEL Controller Instruction Manual Check the number of the ports that I O boards are mounted E21 2 VVLJQPHQW 1XPEHU 2YHUÀRZ UURU 2 DVVLJQPHQW KDV H FHHGH...

Page 62: ...Tabletop Robot TT 4 1 Model Numbers Model number TT I PR Maximum numbers of network I O points 240 240 A ProfiBus board is installed in the installation position for field network board ProfiBus Board Standard I O board 5 5 1 ...

Page 63: ... 7DEOHWRS 5RERW 77 55 4 2 ProfiBus Board 4 2 1 Name of Each Part Monitor LEDs Address setting dials Termination switch ProfiBus DP communication connector 5 2 5 2 1 Name of each part ...

Page 64: ...switch Bus termination settings Among the units connected to a ProfiBus DP network the devices at both ends require termination to prevent reflected waves from entering the bus line again This ProfiBus DP module provides a termination switch that makes this termination easy The user need not install a separate terminal resistor Never install an additional terminal resistor as it may have negative ...

Page 65: ... are available for slave stations Note 2 The node address of each slave station set above cannot be changed while the slave is communicating with the master 4 2 5 Monitor LED indications LED Color Status Definition Description cause Not used Not defined S1 Offline Red Steady light Offline x The module is not connected to the fieldbus and is therefore in offline state S2 Online Green Steady light C...

Page 66: ...Port Assignments The TT I O ports used by ProfiBus are set 1 Board installation position slot and parameter numbers 64 input ports and 64 output ports are set at the factory for use with ProfiBus ProfiBus Board Parameter No 14 No 15 Standard I O board 5 3 ...

Page 67: ...I F module 348 1 599 300 multiple of 8 The parameter is invalid if a negative value is set 8 Reserved by system 1 1 599 9 Reserved by system 1 1 599 10 Standard I O1 error monitor 0 0 5 0 Not monitored 1 Monitored 2 Monitored 24 V I O power errors are not monitored 3 Monitored Only 24 V I O power errors are monitored Some exceptions apply 11 Standard I O2 error monitor 0 0 5 0 Not monitored 1 Moni...

Page 68: ...rpose I O ports With the TT the initial I O port numbers are fixed Initial input port number 48 Initial output port number 348 Ports to be used are assigned in units of 16 points Since the initial port numbers are already determined the maximum number of ports is 240 for both input ports and output ports Set 240 in I O parameter Nos 14 and 15 ProfiBus Board Parameter No 14 No 15 Standard I O board...

Page 69: ...nput port number Network I F module 48 1 599 48 0 multiple of 8 The parameter is invalid if a negative value is set 7 Expansion I O1 fixed assignment Initial output port number Network I F module 348 1 599 348 300 multiple of 8 The parameter is invalid if a negative value is set 8 Reserved by system 1 1 599 1 9 Reserved by system 1 1 599 1 10 Standard I O1 error monitor 0 0 5 0 0 Not monitored 1 M...

Page 70: ...13 For ON OFF of internal DI No 006 014 Drive source reset input 314 For ON OFF of internal DI No 014 Internal DI 015 Home return etc Internal DO 315 For ON OFF of internal DI No 015 External DI 016 031 General purpose input rear panel I O connector External DO 316 331 General purpose output rear panel I O connector 032 332 7 segment user display digits specification 033 333 7 segment user display...

Page 71: ...P switches This does not apply when a configurator is used Input Output Input Port number Node address nn Node address nn 1 The numbers under NN MM CH are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied in accordance with the numbers of input output points used pay attention to prevent duplicate node addresses Output Port number ...

Page 72: ... Numbers External views front views of the RCS E Con and SCON controllers that support ProfiBus DP are shown below 1 RCS C Model number RCS C PR I O points Eight dedicated input points 10 dedicated output points RCS C 24 V type RCS C 100 200 V type 6 1 6 ...

Page 73: ... 6 RQ DQG 6 21 65 2 E Con Model number ECON PR I O points 10 dedicated input points 12 dedicated output points 3 SCON Model number SCON C PR I O points 16 dedicated input points 16 dedicated output points ...

Page 74: ...r recommended by the ProfiBus DP standard EN 50170 Connector Pin No Description Contents 3 B Line RxD TxD Positive signal line 5 GND Shield 8 A Line RxD x TxD Negative signal line Housing GND Shield Pins 1 2 4 6 7 and 9 are not used they need not be wired D Address setting dials C Monitor LEDs B Termination switch A ProfiBus DP communication connector 6 2 B Termination switch C Monitor LEDs D Addr...

Page 75: ...on error etc may result Termination switch OFF Termination disabled 4 Node address settings Set by the address setting dials 1 D The address of a slave station is set using the upper rotary switch ADRS H and lower rotary switch ADRS L of the station module These rotary switches set the node address of the applicable controller Each of these two switches can be set to a desired value in a range of ...

Page 76: ... module is operating normally The module is connected to the fieldbus and is therefore in online state ERR Red On Offline or communication error x The module is not connected to the fieldbus and is therefore in offline state or a communication error has occurred DIA Green No function Off Power Off x The ProfiBus DP slave station is not receiving power On Power ON x The ProfiBus DP slave station is...

Page 77: ... Type Operation Manual for E Con Controller and Operation Manual for SCON Controller 1 RCS C signal assignments Input number Signal name Output number Signal name 0 Command position 1 0 Completed position 1 1 Command position 2 1 Completed position 2 2 Command position 4 2 Completed position 4 3 Command position 8 3 Completed position 8 4 Start 4 Positioning complete 5 Reset 5 Home return complete...

Page 78: ...and position 8 3 Completed position 8 4 Command position 16 4 Completed position 16 5 Command position 32 5 Completed position 32 6 Not used 6 Not used 7 Not used 7 Not used 8 Start 8 Positioning complete 9 Reset 9 Home return complete 10 Servo on 10 Zone 11 Pause 11 Alarm 12 Not used 12 Emergency stop 13 Not used 13 Moving 14 Not used 14 Battery alarm 15 Not used 15 Not used Note The signals deno...

Page 79: ...rt position data read command CSTR PWRT Positioning start CSTR 14 Reset RES Reset RES Reset RES Input 15 Servo ON command SON Servo ON command SON Servo ON command SON 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 Completed position number PM32 Completed position number PM32 PM32 6 Moving signal MOVE Moving signal MOVE PM64 7 Zone 1 ZONE1 Teaching mode signal MODES Com...

Page 80: ...PE0 Rear end move command 0 LS0 1 PM2 Completed position 1 PE1 Rear end move command 1 LS1 2 PM4 Completed position 2 PE2 Rear end move command 2 LS2 3 PM8 Completed position 3 PE3 4 PM16 Completed position 4 PE4 5 PM32 Completed position 5 PE5 6 PM64 Completed position 6 PE6 Cannot be used 7 PM128 Zone 1 ZONE1 Zone 1 ZONE1 8 Completed position number PM256 Position zone PZONE Position zone PZONE ...

Page 81: ...t points are connected as slave stations to the master station 1 Example of system configuration An example of system configuration is shown below 2 Address assignment in the master station When setting the configuration in 1 using a configurator the numbers of inputs and outputs set for slave station 2 must be set Here it is assumed that the number of occupiable slave stations is set to eight wor...

Page 82: ... the PLC addresses are assigned as follows Note NN and MM are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied according to the numbers of I O points used pay attention to duplicate node address settings Input port number bit address PLC output buffer memory bit position Channel address PLC input buffer memory bit position Output port ...

Page 83: ...utputs are sequentially assigned to the channels corresponding to the node address set by the DIP switches Input Output Node address nn The numbers under NN MM CH are PLC channel addresses corresponding to node address nn Input number Output number The settings in apply to the E Con ...

Page 84: ...I Os assigned to the master station are arranged in words Bit address A sequential number specifying a bit when the I Os assigned within each word above are arranged in bits Prefix Word number Bit address Bus station number Input bit address address per bit Input word address address per word Output bit address address per bit Output word address address per word CPU Station 1 Station 2 Power supp...

Page 85: ... Model Numbers 6 1 1 ASEL PSEL ASEL and PSEL controllers of ProfiBus type are indicated by the following model numbers 1 axis type ASEL C 1 PR PSEL C 1 PR 2 axis type ASEL C 2 PR PSEL C 2 PR WHUQDO YLHZ Status LEDs ProfiBus communication connector Printed series name x ASEL x PSEL Front panel color x ASEL Dark blue x PSEL Dark green 7 7 1 7 1 1 ...

Page 86: ...EL controllers of ProfiBus type are indicated by the following model numbers 1 axis type SSEL C 1 PR 2 axis type SSEL C 1 PR WHUQDO YLHZ Status LEDs ProfiBus communication connector Front panel color Dark gray Printed series name 7 1 2 ...

Page 87: ...ttings have been cleared by the master following an error Blinking at 1 Hz A network I O parameter error is present Orange Blinking at 2 Hz A configuration error is present STATUS1 Unlit The controller power is not supplied Lit Initialization has completed and the board is operating properly Green Blinking After the completion of initialization a network diagnostic message was received from a conf...

Page 88: ...7 ASEL PSEL SSEL 80 ...

Page 89: ...nnected Housing Shield Cable shield Caution 1 The baud rate is automatically set according to the corresponding setting on the master side and thus need not be set 2 Set the node address using I O parameter No 226 3 No terminal resistor setting switch is provided If the connector is to be connected to the network terminal node connect the terminal resistor to the network connector as shown below o...

Page 90: ...Remote output ports used No 16 Network I F module fixed assignment Initial input port number No 17 Network I F module fixed assignment Initial output port number For details refer to the ASEL PSEL SSEL Network I O Parameter Table on the following page Note With ASEL PSEL and SSEL controllers the following I O parameters are invalid when a ProfiBus module is used Even if these parameters are set th...

Page 91: ...onger a system error will occur Refer to I O parameter No 120 Some exceptions apply 120 Network attribute 1 1H 0H FFFFFFFFH Bits 0 to 3 Reserved by system Bits 4 to 11 Network link error check timer period set in units of 10 msec Valid only when I O parameter No 18 1 Example If the set value is 05H bits 4 to 11 the timer period becomes 50 ms 10 ms x 5 If the set value is 0H a system error occurs i...

Page 92: ...g from the smallest port number and lowest memory bits 1 Basic example The correlation diagram shown below assumes the following settings of I O parameters No 16 0 Initial input port number No 17 300 Initial output port number No 14 No 15 16 Numbers of input and output ports No 226 nn Node address Note NN and MM are PLC channel addresses corresponding to node address nn Since node addresses nn nn ...

Page 93: ... No 300 for output ports As shown in the I O port table on the next page and subsequent pages input ports of Nos 0 to 23 and output ports of Nos 300 to 307 are used In this case both I O parameter Nos 14 and 15 are set to 24 Note Set the same number of points for I O parameter Nos 14 and 15 according to the number of input or output ports whichever is greater ...

Page 94: ... Position input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80 12 Position input 6 Input 6 Position input 3 Pos...

Page 95: ... 7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80 12 Po...

Page 96: ...eturn Position input 4 Position input 4 7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancellation Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 P...

Page 97: ... For the ProfiBus DP configurator use the configurator recommended for the master unit If GDS files are needed to use the recommended configurator download the applicable files from IAI s website specified below Website www intelligentactuator com For a ProfiBus DP configurator to become effective the GDS files supplied with the product must be installed and this device must be set on the master s...

Page 98: ... points for SCON from 13 to 16 y P36 to 40 Changed the number of pages Fourth edition y Table of Contents Added TT in Section 4 and SSEL in Section 6 y P1 Added TT and SSEL in the illustration y P25 to 33 Added descriptions regarding TT in Section 4 and changed the number of pages constituting Section 5 accordingly y P47 to 55 Added descriptions regarding SSEL in Section 6 Fifth edition y P1 Provi...

Page 99: ... Read Before Use on the first page after the cover Added Safety Guide on the first page after the table of contents Added Change History on the last page Updated the back cover Changed the addresses of the head office and sales offices indicated the 24 hour service of Eight etc Eleventh edition Deleted ACON and PCON x Contents changed in Safety Guide Caution notes added for when working with two o...

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Page 102: ...D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TE...

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