Nachi FD Instruction Manual Download

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FD CONTROLLER

INSTRUCTION MANUAL

EtherNet/IP Function

・

Before attempting to operate the robot, please read through this operating manual

carefully, and comply with all the safety-related items and instructions in the text

・

The installation, operation and maintenance of this robot should be undertaken only

by those individuals who have attended one of our robot course

・

When using this robot, observe the low related with industrial robot and with

safety issues in each country.

・

This operating manual must be given without fail to the individual who will be actually

operating the robot

・

Please direct any queries about parts of this operating manual which may not be

completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.

4th edition

1403, TFDEN-122-004, 002

Summary of Contents for FD

Page 1: ...viduals who have attended one of our robot course When using this robot observe the low related with industrial robot and with safety issues in each country This operating manual must be given without fail to the individual who will be actually operating the robot Please direct any queries about parts of this operating manual which may not be completely clear or any inquiries concerning the after ...

Page 2: ......

Page 3: ...nal assignment 3 2 Chapter 4 Setting 4 1 Setting procedure 4 1 4 2 EtherNet IP slave settings 4 3 4 2 1 Fieldbus settings 4 3 4 2 2 EtherNet IP slave settings 4 4 4 3 EtherNet IP master settings 4 5 4 3 1 Fieldbus settings 4 5 4 3 2 EtherNet IP Master Settings 4 6 4 3 3 Setting of scan list 4 7 4 4 Change of the Network Environment 4 22 4 4 1 Resetting of the fieldbus and EtherNet IP master and sl...

Page 4: ...Table of Contents 2 ...

Page 5: ...utomatically depending on the network Two types of communication methods I O communication and Explicit communication are available when using EtherNet IP I O communication Communication at high speed cycle Explicit communication Communication for settings monitoring In this controller only I O communications for transferring I O signals over the network are supported The diagram below gives an ex...

Page 6: ...Fieldbus output Y1000 Y3047 Logcal output O0000 O2047 Standard output Standard input Fixed output Fixed input Extended output Extended input Fieldbus input X1000 X3047 Logical input I0000 I2047 Fig 1 2 1 Operational block diagram Two methods of accessing network I O from this controller are available When using PLC access is carried out using field bus I O having 2048 input points X1000 to X3047 a...

Page 7: ...er rate 10 Mbps 100 Mbps The transfer rate is set automatically Processing of input data when a communication error occurs You can select whether to maintain or clear input signal status when a communication error occurs Possible causes of errors are given below Hardware error of the EtherNet IP board Broken cable or hub error Incorrect node address setting CAUTION I O status may not be normal if ...

Page 8: ...MS EtherNet IP module 1 2 5 EtherNet IP network Use category 5 or higher Ethernet cable for the EtherNet IP network In addition make sure that the length of Ethernet cable as measured from switches to this controller does not exceed 100 m In order to maintain normal communication status be sure to use a switch having the functions given below for the switch to be used as the accumulation point for...

Page 9: ...P130 D EtherNet IP board Field bus base board HMS EtherNet IP module Dual scanner specification AX10 OP130 E Product numbers are as follows if you want to purchase the field bus base board and the HMS EtherNet IP module separately Table 2 1 2 Product numbers of each part Part name Product number Field bus base board UM236 10 HMS EtherNet IP scanner module AB5057 B HMS EtherNet IP adapter module AB...

Page 10: ...2 1 Needed Parts 2 2 NOTE ...

Page 11: ...Output Number of points Channel 1 X1000 X1511 Y1000 Y1511 512 pts 64 bytes Channel 2 X1512 X2023 Y1512 Y2023 512 pts 64 bytes Channel 3 X2024 X2535 Y2024 Y2535 512 pts 64 bytes Channel 4 X2536 X3047 Y2536 Y3047 512 pts 64 bytes Total 2 048 pts 3 1 2 When software PLC is disabled When software PLC is disabled signals are assigned to the inputs I161 I2048 and outputs O161 O2048 of general purpose I ...

Page 12: ...annel 3 Table 3 1 4 I O assignment when using only two channels Channel number Input Output Number of points Channel 1 Channel 2 X1000 X2023 Y1000 Y2023 1 024 pts 128 bytes Channel 3 Channel 4 X2024 X3047 Y2024 Y3047 1 024 pts 128 bytes 3 2 EtherNet IP signal assignment The assignment of signals is determined based on the channel numbers of the field bus being used If EtherNet IP is used in this c...

Page 13: ...e Slave list settings Add or delete the slaves Slave parameter settings Set the slave node numbers of the slaves and the number of input output bytes EthernetIP Slave settings Set the IP Address Subnet mask Defaultgateway INPUT BYTES OUTPUT BYTES and the action to take when transmission errors occur Fig 4 1 1 Setting procedure flowchart Hardware connections are carried out at time of factory shipm...

Page 14: ... board Set slave as module2 of base board Connect them to setting PC via a hub Fig 4 1 2 Configuration example Setting of field bus CH1 AnyBusEtherNet IP Mater module 1 CH2 No use CH3 AnyBusEtherNet IP Slave module 2 CH4 No use Master detailed settings CH1 IP address and so on are omitted Input byte number 128 Output byte number 128 Slave detailed settings CH3 IP address and so on are omitted Inpu...

Page 15: ...elect SLAVE 4 Align the cursor with the combo box of Slot ID and press the Enter Select the Slot ID in which the field bus base board is installed and press the Enter INFO The slot ID is required in order to specify the slot position where the EtherNet IP board is installed For the relationship between the slot position and the slot ID refer to 1 2 3 Hardware Configuration 5 Input the module numbe...

Page 16: ...here is no router on the network Be sure to consult with your network administrator when making settings INPUT BYTES Input the input bytes from the field bus base board It is the size of data input to this controller Eight signals can be sent received in one byte OUTPUT BYTES Input the output bytes to the field bus base board It is the size of data output from this controller AUTO CLEAR INPUTS Sel...

Page 17: ... MASTER 4 Align the cursor with the combo box of Slot ID and press the Enter Select the Slot ID in which the field bus base board is installed and press the Enter INFO The slot ID is required in order to specify the slot position where the EtherNet IP board is installed For the relationship between the slot position and the slot ID refer to 1 2 3 Hardware Configuration 5 Input the module number in...

Page 18: ...ding node Sometimes this setting is not required in cases where there is no router on the network Be sure to consult with your network administrator when making settings INPUT BYTES Input the input bytes from the field bus base board It is the size of data input to this controller Eight signals can be sent received in one byte OUTPUT BYTES Input the output bytes to the field bus base board It is t...

Page 19: ... the scan list Configuration tool RsNetworx for EtherNet IP from Rockwell Personal computer When the scan list is set the personal computer is connected with the same network as the EtherNet IP scanner of this controller Fig 4 3 1 EtherNet IP Network Diagram Ethernet PC This Controller EtherNet IPscanner ...

Page 20: ...sonal computer to the EtherNet IP network becomes possible 1 Set Execute Mode to Configuration referring to 4 3 2 EtherNet IP Master Settings The following operations should be done with the personal computer 2 RSLinx Classic Lite is started with a personal computer The following screen will appear 3 Select Communications RSWho in the Menu or click the icon RSWho on the upper left of the screen Th...

Page 21: ...er Types and then press the Add New button The window to input the name corresponding to the Driver Type starts as shown below Input an arbitrary name and press OK button Since a long spelling name may cause a Path error the maximum is 15 one byte characters depending on the environment by the setting of RSNetWorx it is recommended to name it as short as possible Next select a suitable network in ...

Page 22: ...and then select 1 port from the list of ports connected to the Ethernet IP scanner and then press OK This list Is just an example The IP address must be set so that its network is the same with that of the robot controller This screen cannot be used to set the IP address ...

Page 23: ...ple when the master IP address is 172 18 233 59 ping 172 18 233 59 Connected Pinging 172 18 233 59 with 32 bytes of data Reply from 172 18 233 59 bytes 32 time 1ms TTL 128 Reply from 172 18 233 59 bytes 32 time 1ms TTL 128 Reply from 172 18 233 59 bytes 32 time 1ms TTL 128 Reply from 172 18 233 59 bytes 32 time 1ms TTL 128 Ping statistics for 172 18 233 59 Packets Sent 4 Received 4 Lost 0 0 loss A...

Page 24: ...e masters and slaves of the EtherNet IP network appear The displayed icon may be indicated as if EDS files corresponding to the module have not been added by RSNetWorx However the icon will change from to be displayed after setting as shown below Thus the network setting in RSLinx Classic completes ...

Page 25: ...IP by the one to one 1 Set Execute Mode to Configuration referring to 4 3 2 EtherNet IP Master Settings The following operations should be done with the personal computer 2 RsNetWorx for EtherNet IP is started with a personal computer The following screen will appear 3 Go to the menu Tools EDS Wizard and register the EDS files in Anybus M EtherNet IP and Anybus S EtherNet IP After starting up EDS ...

Page 26: ...s stored On the EDS File Installation Test Results screen press Next POINT Store the EDS files beforehand in an arbitrary folder in the PC local drive as the path is to be registered in the registry unexpected troubles may be caused if referring through the network POINT About the EDS file to be used EDS files are stored in the system CF folder PLCEngine of the robot controller For master EDS_ABM_...

Page 27: ...on of setting press Next Click Change icon with Anybus M EtherNet IP selected from Product Types the list of the icon is displayed Select necessary icons and click Next key 6 Keep clicking Next until the message You have successfully completed the EDS Wizard appears On the screen You have successfully completed the EDS Wizard click Complete The EDS files are to be added in the list Hardware when p...

Page 28: ...P master settings 4 16 7 Click Properties of the Network menu Select the network driver 8 When Set Online Path key is clicked the selection screen on the network is displayed Select EtherNet IP Driver set with RsLinx ...

Page 29: ...erNet IP on the EtherNet IP Category Generic Device of the Hardware window to drag and drop it to Graph window As the following window starts up when dragging and dropping the node set the appropriate IP address in IP Address For the IP address set the number according to the IP address configured by the robot controller beforehand As shown below register all the necessary nodes The following exam...

Page 30: ... EtherNet IP master settings 4 18 10 Select the master Anybus M EtherNet IP on the Graph window right click to display the menu and then click Scanlist Configuration 11 The following screens are displayed ...

Page 31: ...ut byte count 2 byte words in the Input Size and then set the IP address in the Input Address Set I O etc and click the OK key at the end 13 Double click the master in the list and set the output byte count Select Produce Data in the Target Name set the output byte count 2 byte words in the Output Size and then set the output address in the Output Address ...

Page 32: ... Name set the input output byte count 2 byte words in the Input Size and Output Size and then set the input output address in the Input Address and Output Address 15 Click Save of the File menu Save the list Set the input size and the output size from the master The input size is input in two bytes When setting 64 bytes with this controller set as 32 ...

Page 33: ...right and the dialog disappears Thus the setting for Scanlist by the RSNetWorx for EtherNet IP is completed The following operation should be done with the teach pendant of this controller 17 Set Execute Mode to Run referring to 4 3 2 EtherNet IP Master Settings POINT When the setting is properly done and Execute Mode of master has been set to Run the EIP MASTER and EIP SLAVE become Device began s...

Page 34: ...ve settings if needed For detailed operation refer to each chapter Resetting on the robot controller side 1 Select Constant Setting 8 Communication 2 Select 3 Fieldbus If any change has been made make a setting Refer to 4 2 1 Fieldbus settings 3 Select the channel to change and press Refer button Change the appropriate items of the master and slave If the IP address has been changed set Execute Mo...

Page 35: ... IP master to Configuration and write in the fieldbus setting to initialize the module It is necessary to detect all the masters and slaves in the network by RSLinx Classic To do this the robot controller to be used in the Ethernet IP network has to be done with resetting of the master Execute Mode Setting and slave first and started up connected to the Ethernet IP network 2 Connect the setting PC...

Page 36: ...rk configuration there may be no node with sign even if changing the IP address Example of change Master Change from 172 18 233 59 172 18 233 57 Slave Change from 172 18 233 60 172 18 233 59 1 The setting on the robot controller side is completed and RSLinx is started up 2 Remove the node indicated by a sign Select YES on the dialog appeared 3 Status when the change is completed 5 Finish the setti...

Page 37: ...P address of the existing node First select a target node on the Graph and right click to press Properties Change the IP address in the General tab Address to the value you desire When the dialog appears select YES The dialog does not always appear Removing the node To remove the slave select the target node to remove on the Graph and right click to press Delete While to remove the master it is ne...

Page 38: ...pending on the details of the change of IP address delete them as long as you consider unnecessary according to their setting details IP address If the node not in connection is unnecessary select the target one and right click to press Delete When the state of the necessary node shows Missing or Mismatch or another kind of error appears the setting details should have been a problem In that case ...

Page 39: ...resetting of the Scanlist Configuration to the master module Thus resetting of the Scanlist by RSNetWorx for EtherNet IP is completed Setting the Execute Mode of the master of the robot controller to Run EtherNet IP communication is going to be active If resetting operation is properly done with the Execute Mode of the master set to Run the fieldbus monitor shows the EIP MASTER and EIP SLAVE speci...

Page 40: ...yed as Error allocating Master Slave connection set In EtherNet IP the slave that occurs a communication error is not displayed unlike other fieldbuses Use the external diagnosis tool such as RSNetWorxMD Diagnostics for the slave s situation confirmation Fig 4 5 2 Fieldbus Channel Monitor When abnormality occurs by the slave When a communication error occurs by the master the monitor is shown in F...

Page 41: ... turns to OFF when EtherNet IP is disconnected Please utilize this output signal by referring to the procedure written below if needed How to assign Fieldbus act Output signal 1 Open Constant Settings 6 Signals 3 Output Signal Assignment 1 Standard Outputs The following screen will appear 2 Align the cursor with the Fieldbus act edit box of the same number as the Ethernet IP channel number Then in...

Page 42: ...robot before EtherNet IP communication is established If any operation such as start is attempted in this period robot controller detects the error of E960 Some or all I O links are currently stopped even before elapsing of the error check delay time How to set the EtherNet IP error check delay time 1 Open Constant Settings 8 Communication 3 Fiedlbus The following screen will appear 2 Press the f ...

Page 43: ...cription Green Lit Online LED1 Unlit Offline Green Lit Run State Currently communicating with scanner Green Flashing Not set Idle State Settings are not complete or no communication with scanner Red Flashing Error Non critical error detected Red Lit Error Critical error detected LED2 Unlit No power supply Green Lit Online Currently connected Online Green Flashing Online Not connected Online No com...

Page 44: ...un State Currently communicating with scanner Green Flashing Not set Idle State Settings are not complete or no communication with scanner Red Flashing Error Non critical error detected Red Lit Error Critical error detected Red green Flashing Self diagnostics Currently performing self diagnostics LED2 Unlit No power supply Green Lit Online Currently connected Online Green Flashing Online Not conne...

Page 45: ...olved No E0959 Message Cannot find communication board Cause The field bus base board specified on the Constant Settings window cannot be found Remedy Confirm the slot ID of the fieldbus hardware setting Even if the field bus base board is correctly connected the field bus base board itself may have failed if this error occurs Replace the field bus base board No E0960 Message Some or all I O links...

Page 46: ...n error and Use the Enable Left or Right cursor keys to switch to the radio buttons a horizontal row of selector buttons and select Error or Information When an I O link error occurs If Error is selected E0960 is generated If Information is selected I3960 is generated 4 Align the cursor with Method of comm error reset and switch the radio buttons and select Error reset or Auto reset When recoverin...

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Page 48: ...hone 420 255 734 000 Fax 420 255 734 001 Obchodni 132 251 01 Cestlice PRAGUE EAST CZECH REPUBLIC NACHI AUSTRALIA PTY LTD http www nachi com au Robotic Division Victoria office Phone 61 0 3 9796 4144 Fax 61 0 3 9796 3899 38 Melverton Drive Hallam Victoria 3803 AUSTRALIA Sydney office Phone 61 0 2 9898 1511 Fax 61 0 2 9898 1678 Unit 1 23 29 South Street Rydalmere N S W 2116 AUSTRALIA Brisbane office...

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