YASKAWA motoman NX100 Instruction Manual Download Page 82

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Fieldbus PCI-Card

General

17 EtherCAT slave AB3617

17.1 General

EtherCAT slave is supported by the system sw and the HMSAB.DRV version 1.6.5.9.

17.1.1 Interface details

• CANopen over EtherCAT

• DS301 v4.02 compliant

• Galvanically isolated network electronics

• Generic Device Description File provided

17.2 Card

Caution

The card contains ESD sensitive components. Observe ESD precautions when handling the
card.

Status LEDs

EtherCA T in-port

EtherCA T out-port

Fig. 70 EtherCAT slave card

Page 76

Reg.No. ME00107EN-02

Summary of Contents for motoman NX100

Page 1: ...ion read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH50 II INSTRUCTIONS NX100 DX100 or DX200 INSTRUCTIONS NX100 DX100 or DX200 OPERATOR S MANUAL for ea...

Page 3: ...g this manual CAUTION Some drawings in this manual are shown with the protective covers or shields removed for clarity Be sure all covers and shields are replaced before operating this product The dra...

Page 4: ...l CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe pra...

Page 5: ...e manipulator Be sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure no one closes the...

Page 6: ...problems are found repair them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing o...

Page 7: ...2014 Yaskawa Nordic AB Reg No ME00107EN 02 Original instructions Instruction manual Fieldbus PCI Card...

Page 8: ...No ME00107EN 02 Reference list YASKAWA Nordic AB engineers Revision Third release of this manual The fieldbus PCI card was earlier described in Instruction Manual MRS6014GB 3 Fieldbus PCI card Fieldbu...

Page 9: ...allation 11 2 1 General 11 2 1 1 Specification 11 2 1 2 Technical specification 11 2 1 3 Compliances and conformances 11 2 2 Hardware installation 11 2 2 1 NX100 Installation 12 2 2 2 DX100 DX200 Inst...

Page 10: ...6 3 4 Configuration online 32 7 DeviceNet Adapter Slave AB3603 33 7 1 DeviceNet Interface Details 33 7 2 Card 33 7 2 1 Status LEDs 33 7 2 2 Connectors 34 7 3 DeviceNet network setup 34 8 DeviceNet Sca...

Page 11: ...er Master AB3607 52 11 1 EtherNet IP Scanner master interface details 52 11 2 Card 52 11 2 1 Status LEDs 53 11 3 Network setup 54 11 3 1 Introduction to Scanlist 54 11 3 2 Scanlist via web pages 54 12...

Page 12: ...5 2 1 Status LEDs 70 15 3 Setup 71 16 CanOpen Slave AB3616 72 16 1 CanOpen Interface Details 72 16 2 Card 72 16 2 1 Status LEDs 73 16 3 Setup 74 16 3 1 Network configuration 74 17 EtherCAT slave AB361...

Page 13: ...2 1 NX100 Software For the fieldbus PCI card installation the PCI card driver and version NS3 14 01A or later of the NX100 system software are required 1 2 2 DX100 DX200 software No specific requirem...

Page 14: ...also comprises Network adapter 1 4 Safety This equipment is constructed produced and tested according to the laws of the Member States relating to the EMC directive 2004 108 EC as well as the LVD dir...

Page 15: ...tors Wear an ESD wrist strap and attach it to the system chassis ground or to any metal part of the system before handling components or working in the interior compartment of the workstation Use an a...

Page 16: ...tems are used in all sectors of automation Factory automation manufacturing automation assembly automation building automation process automation etc Different systems are used because of different te...

Page 17: ...munity EN 61000 6 2 2001 CE marked UL conformance Tested and verified for Fieldbus and network conformance RoHS compliance 2 2 Hardware installation Warning To prevent electrical shock to personnel an...

Page 18: ...il the card is completely seated 4 Secure the card connector to the chassis using a screw Note To ensure trouble free operation the front plate of the card must be screwed together with the system cov...

Page 19: ...3 Remove installation frame 2 Remove the cover and the retaining bracket for the PCI card Loosen the indicated screws see Fig 4 Cover Fig 4 Cover 3 Insert the PCI card in an available slot See Fig 5 P...

Page 20: ...ard Hardware installation Fig 5 PCI card in slot 4 Install the installation frame in the CPU rack and fasten it using the 4 screws See Fig 6 Installed frame Fig 6 Installed frame A Screw Page 14 Reg N...

Page 21: ...T Z TEACH PLAY REMOTE START HOLD SLOW 8 8 2 FAST TES T START HIGH SPEED BWD FWD INTER LOCK WELD ON OF F ASSIST SERVO ON CANCEL SERVO ON READY MAIN MENU AREA PAGE GO BACK DIRECT OP EN TOOL SE L COO RD...

Page 22: ...EM and press the SELECT button 3 Choose SECURITY on the appearing pull down menu Fig 9 Security 4 In the MODE box in security window Press SELECT choose MANAGEMENT MODE and press SELECT A password win...

Page 23: ...bus PCI Card Settings Fig 10 Password 6 To do a setup Step to SYSTEM and choose SETUP on the pull down menu Fig 11 Setup 7 In SETUP screen Mark the OPTION BOARD and press SELECT Reg No ME00107EN 02 Pa...

Page 24: ...e the desired value and press ENTER The maximum values of IO SIZE depend on the limitation of the different cards see specific PCI card 11 Depending of the design of the fieldbus system different BAUD...

Page 25: ...us bits 168 bits Fig 15 PCI card AB3602 Profibus M 16 The last position will automatically be marked press ENTER again 17 The question MODIFY appears Select YES 3 2 Manual I O allocation FD 134 The in...

Page 26: ...ection3 4 Fieldbus status byte 20070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 b0 b7 20080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 b8 b15 Memory map when the I O size is set to a total...

Page 27: ...24 b31 30110 b39 b38 b37 b36 b35 b34 b33 b32 Fieldbus output byte 5 b32 b39 30120 b48 b47 b46 b45 b44 b43 b41 b40 Fieldbus output byte 6 b40 b48 The first byte of output data is reserved for future us...

Page 28: ...and pinging PC is connected with just one cable Most modern PCs does automatic cross over of the Ethernet cable Solution Connect a switch hub between the robot controller and the PC If the communicat...

Page 29: ...mplifies the subnet mask selection but makes many people unaware of it s existence IP addresses starting at 1 127 is class A addresses and have subnet mask 255 0 0 0 128 191 is class B with 255 255 0...

Page 30: ...the cabling etc using the ping command see 4 1 Ping Fig 17 Settings Anybus IPconfig If the module is still not shown 1 Press the Settings button 2 Mark the check box Broadcast from a Specific Network...

Page 31: ...0 0 0 If the module has IP address 0 0 0 0 check that DHCP is not set by mistake If setting DHCP without having a DHCP server the IP address shows up as 0 0 0 0 If using DHCP the server gives IP addre...

Page 32: ...Automatic baudrate detection 9 6 kbit s 12 Mbit s RS 485 optically isolated Profibus interface with on board DC DC converter 5 2 Card Caution The card contains ESD sensitive components Observe ESD pre...

Page 33: ...ng Clear mode 6 Fieldbus Off line Off Bus is off line Red Bus is off line or no power on the module 5 2 2 Connectors 9 pin D sub The 9 pin D sub is the standard connector and is recommended for data t...

Page 34: ...with an GSD file which has to be downloaded to the network 5 3 1 GSD file The GSD file contains all the necessary information about the device The configuration tool uses the GSD file during configur...

Page 35: ...ically isolated Profibus interface with on board DC DC converter Configuration via Anybus NetTool Windows based configuration software 6 2 Card Caution The card contains ESD sensitive components Obser...

Page 36: ...base invalid Off No database downloaded 6 Communication status Green Data exchange with all configured slaves Green flashing Data exchange with at least one configured slave Red Bus control error Poss...

Page 37: ...ation tool includes all necessary software and a hardware interface to configure manage and troubleshoot your PROFIBUS network When installed go to the Help menu where all necessary information guidel...

Page 38: ...6 3 4 Configuration online The network configuration have to be scanned and downloaded to the PCI card Before going online a connection must be established to the configuration connector on the PROFI...

Page 39: ...DeviceNet interface Up to 255 bytes input and 255 bytes output data 7 2 Card Caution The card contains ESD sensitive components Observe ESD precautions when handling the card Fig 22 PCI DeviceNet adap...

Page 40: ...both serial and parallel versions Fieldbus interface 1 2 3 4 5 Fig 23 Male Connector DeviceNet No Signal Decription Note 1 V Negative supply voltage The module requires 24VDC bus power 2 CAN_L CAN_L b...

Page 41: ...necessary information about the device The configuration tool uses the EDS file during configuration of the DeviceNet network Note The latest version of the EDS file can either be downloaded from htt...

Page 42: ...data Controls up to 63 DeviceNet slaves Adapters Supports FLASH field upgrades Configuration via Anybus Nettool or RSNetworx 8 2 Card Caution The card contains ESD sensitive components Observe ESD pre...

Page 43: ...initialized Green Module status OK Red flashing Minor fault Red Major fault 8 2 2 Connectors Fieldbus interface 1 2 3 4 5 Fig 25 Male Connector DeviceNet No Signal Decription Note 1 V Negative supply...

Page 44: ...terminating resistors as described the DeviceNet cable system will NOT operate properly 8 3 3 Nodes All nodes have to be by hardware setup according to the configuration defined in the software The ki...

Page 45: ...nfiguration or configuration via RS 232 using standard Windows hyper terminal program on PC 9 2 Card Caution The card contains ESD sensitive components Observe ESD precautions when handling the card F...

Page 46: ...online according to configuration Green Online but no connections established Red Offline 6 Module status Off No power or not initialized Green flashing Protected mode Green Configuration mode Red Po...

Page 47: ...de in ASI 37 40 4 bits of data input Node 1 4 bits of data output 41 44 4 bits of data input Node 2 4 bits of data output 45 48 4 bits of data input Node 3 4 bits of data output 49 52 4 bits of data i...

Page 48: ...erface 9 4 1 Menu Tree Overwiev Fig 29 Menu tree Enable Terminal Interface Menu The module displays the following screen when connecting to the configuaration interface Fig 30 Enable terminal interfac...

Page 49: ...cally disconnected Main menu The following menu entries are available from the main menu Detailed information of each menu entry is presented in the following pages Fig 31 Main menu The status section...

Page 50: ...Fieldbus PCI Card Configuration interface Fig 32 Scan list No slave present X Slave present Page 44 Reg No ME00107EN 02...

Page 51: ...erface View all nodes This command displays I O configuration ID codes and all parameters for slave Fig 33 All nodes View all detected nodes This command will display all detected nodes Fig 34 Detecte...

Page 52: ...gle node Fig 35 Single node To view or alter the settings for a specific node type the desired node address and press Enter Toggle node This mode is used to alter the current operating mode of the mod...

Page 53: ...8 Auto address Press ESC to cancel Save configuration Fig 39 Save configuration Press Enter to store the current configuration or press ESC to cancel Note This command is not allowed in protected mode...

Page 54: ...elect the desired parameter by typing the corresponding number and press Enter A menu similar to the one below is displayed allowing the selected parameter to be altered Type the new value and press E...

Page 55: ...therNet IPAdapter slave interface Baud rate 10 100 MBit s EtherNet IP level 2 I O server Transformer isolated Ethernet interface Modbus TCP server slave functionality Up to 255 bytes input and 255 byt...

Page 56: ...flashing Connection timeout One or more of the connections in which this module is the target has timed out This state is only left if all timed out connections are re established or if the module is...

Page 57: ...bering must be entered manually Minimum is to set output producing instance number and input consuming instance number of the assembly object the rest can often be set to 0 The instance numbering for...

Page 58: ...P Scanner master interface Dual Port DPRAM parallel interface EtherNet IP level 4 I O client ODVA certified Transformer isolated Ethernet interface Up to 255 bytes input and 255 bytes output data 11 2...

Page 59: ...module class 1 or class 3 target or originated Red Duplicate IP Configured IP address already in use Red flashing Connection timeout One or several EtherNet IP target connections have timed out The mo...

Page 60: ...HMS support webpage See section 4 General installation in IP based networks 11 3 1 Introduction to Scanlist This functionality is supported if the robot controller has a HMSAB DRV version 1 5 15 9 DX1...

Page 61: ...ssing update the HMSAB DRV in the robot controller or the firmware on the PCI card To enter Configuration of Scanlist select text Scanlist Config A B Fig 47 Anybus Master EtherNet IP 2 A Delete B Add...

Page 62: ...ple below shows connection 5 bytes from an AnyBus Ethernet IP adapter Please note the instance numbering Fig 49 Scanlist configuration Note The sum of all Originator Target is not allowed to be greate...

Page 63: ...Fieldbus PCI Card Network setup Note The default value for the Configuration instance is 0 Reg No ME00107EN 02 Page 57...

Page 64: ...nality Max 255 bytes of input and 255 bytes output data 100 Mbit full duplex transmission RJ45 connector Powerful 32 Bit processor for short cycle times GSD file for easy configuration 12 2 Card Cauti...

Page 65: ...engineering tool to identify the Anybus module Red 1 flash Configuration Error Too many modules submodules I O size derived from IO controller configuration is too large Configuration mismatch 8no mo...

Page 66: ...ssigned by the master by DHCP or set explicitly Both the IP address and the device name can be set by e g Siemens engineering tool There is a guide for the Siemens tool on the HMS webpage If using mor...

Page 67: ...cables FL Net class 1 node Customizable identity profile information Up to 255 bytes input and 255 bytes output data Dual Port DPRAM parallel interface Transformer isolated Ethernet interface 13 2 Ca...

Page 68: ...cipating on FL Net Off Not participating on FL Net 6 ERR Red Unit needs to be replaced e e invalid MAC ID or Anybus watchdog enabled and not updated properly Red flashing Parameter error Off Normal st...

Page 69: ...D C2 FRDP FIPIO Reduced Device Profile Up to 2 words in out 4 bytes 32 bits FSD C8 FSDP FIPIO Standard Device Profile Up to 8 words in out 16 bytes 128 bits FED C32 FEDP FIPIO Extended Device Profile...

Page 70: ...ity 5 Err Off Not powered or device operating normally Red flashing Bus not connected or promptness timeout Red Major unrecoverable fault 6 I O Off Device operating normally Red External device error...

Page 71: ...port pages for FIPIO The UNITY environment came into use around 2004 The configuration starts from project Browser with adding a FIPIO node Fig 56 Node configuration Chose one of the profiles FRD C2 F...

Page 72: ...addressed via bits and FED FSD via words FED C32 IW 2 nod nb 0 0 0 0 IW 2 nod nb 0 0 0 31 QW 2 nod nb 0 0 0 0 QW 2 nod nb 0 0 0 31 FSD C8 IW 2 nod nb 0 0 0 0 IW 2 nod nb 0 0 0 8 IW 2 nod nb 0 0 0 0 IW...

Page 73: ...FIPIO address Fig 59 FIPIO address continued In online mode it looks Fig 60 Online mode when OK when OK Fig 60 Online mode when OK In online mode it looks like Fig 61 Online mode when NOT OK when not...

Page 74: ...Online mode when NOT OK The data in and out can be read in online and debug on a node that is OK Fig 62 Online data presentation The data can be read as Decimal Hexadecimal or binary Fig 63 Data form...

Page 75: ...in 160 bits out No settings needed in maintenance mode Baudrate Setting only possible by changing jumper on physical AnyBus card See below The module supports 2Mbit s and 500kbit s operation Physical...

Page 76: ...d flashing I O access failure recoverable Off No activity 3 CC RC Green Cable connection is good and the Interbus master is not in reset mode 4 RD Yellow Remote bus disabled 5 BA Green Bus active 6 TR...

Page 77: ...he setting is made by switching a jumper on the card when the card is unpowered Referring to image below Moving the jumper to the A side sets baudrate 2 Mbit s Moving the jumper to the B side sets bau...

Page 78: ...mpatible with DS301 v3 Application interface fully backwards compatible with ABS COP 1 2 Galvanically isolated bus electronics Supports all standard baudrates Network store restore functionality Heart...

Page 79: ...hing I O access failure recoverable Off No activity 3 Status Off Normal operation Red Unrecoverable fault detected 4 Power Off Module not powered Green Module powered 5 Run Off Module not powered Gree...

Page 80: ...in configuration tool can be downloaded from HMS www anybus com Select SUPPORTand then AnyBus S Then choose CANopen Slave Interface There you will find EDS files as well as other examples of how to c...

Page 81: ...ompared to working with fieldbuses like Profibus or Devicenet CanOpen requires more knowledge about the lower level protocol details as they often need to be modified during network configuration CanO...

Page 82: ...rface details CANopen over EtherCAT DS301 v4 02 compliant Galvanically isolated network electronics Generic Device Description File provided 17 2 Card Caution The card contains ESD sensitive component...

Page 83: ...EtherCATcommunication is working Red flashing General configuration error Red single flash Slave device application has changed the EtherCATstate autonomously Parameter Change in the AL status registe...

Page 84: ...the EtherCAT master and the address depends on where the slave is on the EtherCAT network EtherCAT network can have any topology but unlike many other Ethernet based fieldbuses standard network switch...

Page 85: ...Fieldbus PCI Card Card Fig 72 Settings Reg No ME00107EN 02 Page 79...

Page 86: ...Son The Netherlands Phone 31 40 2895500 PT YASKAWA Iberica S L Z Ind Aveiro Sul lote 21 N S F tima PT 3810 Aveiro Portugal Phone 351 234 943 900 RU YASKAWA Nordic AB 2B Otra dnaya Building 2 RU 127237...

Page 87: ...A 1 170542 1CD ME00107EN Fieldbus PCI Card Revision History Revision History Date CEN ECN Revision No Reason For Revision Initials 7 23 2014 53700 0 Original Release JFC...

Page 88: ...2 ME00107EN MANUAL NO Specifications are subject to change without notice for ongoing product modifications and improvements FIELDBUS PCI CARD INSTRUCTIONS FOR NX100 DX100 OR DX200...

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