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Option Module
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Profibus
Robostar Co., Ltd
Robostar Robot Controller Manual
www.robostar.co.kr
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Страница 1: ...Ro ob bo os st ta ar r R Ro ob bo ot t N N1 1 S Se er ri ie es s O Op pt ti io on n P Pr ro of fi ib bu us s Option Module Profibus Robostar Co Ltd Robostar Robot Controller Manual www robostar co kr...
Страница 2: ...RO OB BO OS ST TA AR R R RO OB BO OT T N N1 1 S Se er ri ie es s O Op pt ti io on n P Pr ro of fi ib bu us s Option Module Profibus www robostar co kr Robostar Co Ltd Robostar Robot Controller Manual...
Страница 3: ...Co Ltd 2012 The copyright of this user manual is owned by Robostar Co Ltd No part of this manual may be used in any form or by any means without Robostar Co Ltd Specifications are subject to change wi...
Страница 4: ...of other products than the ones assigned by our company such as components and grease 4 Mechanical troubles caused by fires disasters earthquakes storm and flooding and other natural disasters 5 Malf...
Страница 5: ...an nu ua al l The User Manual of this product is composed of the following If this is the first time to use this product fully understand each and every detail in the manual before use Profibus Explai...
Страница 6: ...3 2 DESCRIPTION OF LED FUNCTIONS 3 1 3 3 STATION NUMBER SETTING 3 2 3 4 BAUD RATE SETTING 3 2 3 5 HOW TO SET INPUT OUTPUT DATA SIZE 3 3 3 6 PROFIBUS NETWORK SPECIFICATIONS 3 4 CHAPTER 4 INSTALLATION A...
Страница 7: ...JOB Program 6 9 6 3 4 JOB Program START after Disabling Alarm 6 11 6 3 5 JOB Program Restart after Disabling Alarm 6 13 6 3 6 SERVO OFF 6 15 6 3 7 Rebooting 6 17 6 3 8 MODE AUTO STEP JOG Change 6 19...
Страница 8: ...us Option Card complies with Profibus DP standards and is capable of communication with any device which uses Profibus DP protocols and physical layer for Profibus DP 1 2 System Configuration Fig 1 1...
Страница 9: ...equest of device status as well as for maintaining and diagnosing use 2 1 3 DP Slave Slave is a peripheral device I O device drive HMI valve measurement transducer which sends output data to the perip...
Страница 10: ...essed 32 per segment without repeater Up to 124 with repeater present Data Transfer Max 46byte input and 46byte output per slave Slave Address 3 125 generally no 1 2 used by master Connection Cable Sh...
Страница 11: ...rating Humidity Humidity 20 85 non condensing Table 3 1 Profibus Option Card Specifications 3 2 Description of LED Functions The status of Profibus Option Card can be simply known from the outside thr...
Страница 12: ...can be done from Station 0 to 97 where the slave station where Profibus Option Card belongs is generally capable of setting from Station 1 to 64 Fig 3 3 Station Number Setting shows an example set by...
Страница 13: ...Value 3 Use the Rotary Switch in Fig 3 1 to set input output Data Sizes Setup Values for Input Output Data Size Value Data Size 0 8 byte 1 16 byte 2 32 byte 3 46 byte Values other than the above valu...
Страница 14: ...esistant UL 1581 article 1200 Oil resistant ICEA S 82 552 Flame propagation UL 13 vertical tray test IEC 60332 3 Smoke density Low IEC 60134 Halogenfree Yes IEC 60754 1 0 Degree of acidity of gases IE...
Страница 15: ...Setting 4 1 How to Install Hardware Take the following procedure to be able to use ProfiBus Option Board on N1 series controller 1 Turn power to controller OFF 2 Attach the profibus board to PCI slot...
Страница 16: ...bles and connectors in accordance with communication standards Pin No Signal Description 3 RxD TxD P Receive Data Transmission Data 5 CNTR P Ground in data transmission 5V ground 6 VP Voltage supplied...
Страница 17: ...rofibus option card 1 Setting Procedure Step1 Move to PARA screen Step2 Move to OPT CARD screen MAIN MENU 1 JOB 2 RUN 3 HOST 4 PARA 5 ORIGIN 6 I O 7 SYSTEM 8 GPNT 9 INT FLT A ALARM SELECT PARAMETER NO...
Страница 18: ...2 FIELD BUS Select 1 CARD Press ESC and then ENTER to save Select 3 PROFIBUS COM FDBUS 1 CARD 2 USER I O 3 PROFIBUS ENDIAN 4 MAP EXTENTION Input FDBUS CARD OPT COM CARD 1 NONE 2 CC LINK 3 PROFIBUS 4 D...
Страница 19: ...SER I O Input output using USER I O of Field Bus card COM FDBUS 1 CARD 2 USER I O 3 PROFIBUS ENDIAN 4 MAP EXTENTION input Select 2 USER I O FDBUS USER I O USER IN OUT SEL USER IO SYS U I O Select SYS...
Страница 20: ...Byte in order from low number Big Endian Upper Byte and Word value saved in lower number HW CONF COM COMMUNICATION SET 1 RS232C 2 FIELD BUS 3 LINE SEPARATOR group Open COMM screen Select 2 FIELD BUS...
Страница 21: ...5 1 SIMENS PLC Step2 Fig 5 2 SIMENS PLC Step3 Fig 5 3 SIMENS PLC Run SIMATIC Manager and click Hardware Station configuration as shown in the figure below Get HW Config to be executed so Profibus DP S...
Страница 22: ...SIMENS PLC Step6 Fig 5 6 SIMENS PLC Fig 5 4 shows ROBOSTAR N1 Device is registered into PROFIBUS DP Right mouse click at the connection point of DP master system to select Insert Object and choose ROB...
Страница 23: ...ENS PLC Step8 Fig 5 8 SIMENS PLC Step9 Fig 5 9 SIMENS PLC Select the Address as shown in Fig 5 7 Slave prefix should be identical to Controller prefix Press OK button and you can view properties of DP...
Страница 24: ...Step10 Fig 5 10 SIMENS PLC Step11 Fig 5 11 SIMENS PLC Fig 5 12 SIMENS PLC Fig 5 13 SIMENS PLC Select the ROBOSTAR N1 object and register Input Output Address as shown in Fig 5 12 Fig 5 13 From Drop m...
Страница 25: ...Option Output 2 RX12 RX13 Option Input 3 RY12 RY13 Option Output 3 RX14 RX15 FieldBus Input 2 RY14 RY15 FieldBus Output 2 RX16 RX19 1 axis Position Value Input RY16 RY19 Current 1 axis Position Value...
Страница 26: ...MODE 0 AXIS 0 F START 1 Commonly used bits are PROG_0 PROG_4 PROG_SEL MODE0 AXIS0 MODE1 AXIS1 MODE SEL JOG VEL VEL MOV VEL MOV Check the CH SEL Bit set value when using the commonly used bits When th...
Страница 27: ...sition GINT 6 Reserved E Reserved 7 SERVO ON 2 F Reserved 6 1 3 N1 Series FIELDBUS INPUT 2 FieldBus Input 2 0 JOG A X 8 AUTO RUN MODE 1 JOG A X 9 STEP RUN MODE 2 JOG B Y A JOG MODE 3 JOG B Y B JOG For...
Страница 28: ...Flag the index values of unused variables are allocated at a time when no change is desired Of Data types XYZW and ABZW are only Coordinate Write functions available for use 2 Precautions for use in J...
Страница 29: ...Diagram 6 3 1 Operation in AUTO RUN MODE PLC PC N1 Series N1 Series PLC PC Brake State DIS H L RUNNING 1 H L READY 1 AUTO RUN MODE DIS ORG OK 1 H L H L H L L SERVO ON 1 H L ORG 1 H L PROG SEL H CH SE...
Страница 30: ...lse format High status should be kept over 20ms When ORG OK 1 Signal is not set to High in N1 Series set ORG 1 Bit to High When ORG OK 1 is changed to High combine PROG 0 4 Bits to set the desired JOB...
Страница 31: ...rogram Change during JOB Operation PLC PC N1 Series N1 Series PLC PC H L PROG 3 H L H L H L H L L STOP 1 PROG 0 4 PROG SEL START 1 ORG 1 RUNNING 1 PROG 2 SERVO ON 1 H L H L Brake State DIS H L CH SEL...
Страница 32: ...taken for change to Low Maximum delay time lasts as At time as set in Joint Linear Motion Parameter Description Enter STOP 1 Signal into pulse High status should be kept over 20ms Instead of entering...
Страница 33: ...JOB Program Change after Completing JOB Program PLC PC N1 Series N1 Series PLC PC L SERVO ON 1 H L CH SEL H L CH DIS H L STOP 1 H H L PROG 0 4 PROG SEL START 1 ORG 1 RUNNING 1 H L PROG 3 PROG 2 Brake...
Страница 34: ...START 1 to High Note 1 When JOB ends in JOB Program by EOP RUNNING 1 Bit is changed into Low Description Instead of STOP 1 Signal enter SERVO ON 1 Signal into pulse High status should be kept over 20...
Страница 35: ...11 Robostar Co Ltd 6 3 4 JOB Program START after Disabling Alarm PLC PC N1 Series N1 Series PLC PC L Brake State DIS H SERVO ON 1 STOP 1 START ALL ALARM RUNNING 1 READY 1 L L H L H L H H L H L H T1 T...
Страница 36: ...atus should be kept over 20ms Set START 1 to High Note 1 Signal for disabling an alarm Note 2 Set JOB Program STEP Line for the first time Description Enter STOP 1 Signal into pulse twice High status...
Страница 37: ...apping 6 13 Robostar Co Ltd 6 3 5 JOB Program Restart after Disabling Alarm PLC PC N1 Series N1 Series PLC PC L Brake State DIS H SERVO ON 1 STOP 1 START ALL ALARM RUNNING 1 READY 1 H L H L H L H L H...
Страница 38: ...should be kept over 20ms Set START 1 to High Description Enter STOP 1 Signal into pulse High status should be kept over 20ms Enter SERVO ON 1 Signal into pulse High status should be kept over 20ms Af...
Страница 39: ...Memory Mapping 6 15 Robostar Co Ltd 6 3 6 SERVO OFF PLC PC N1 Series N1 Series PLC PC STOP 1 SERVO ON 1 H H H L L L Brake State DIS H L H READY 1 RUNNING 1 L T1 T1 Note 1 Note 2...
Страница 40: ...ning SERVO OFF Description Enter STOP 1 Signal into pulse High status should be kept over 20ms Instead of the 2nd STOP 1 Signal enter SERVO ON 1 Signal into pulse High status should be kept over 20ms...
Страница 41: ...ostar Co Ltd 6 3 7 Rebooting PLC PC N1 Series N1 Series PLC PC H L H L H L H L H L H L H L H L REBOOT PROG 0 4 PROG SEL START 1 RUNNING 1 PROG 3 PROG 3 READY 1 ALL ALARM SERVO ON 1 T1 R E B O O T I N...
Страница 42: ...is complete yet alarm conditions are not disabled ALARM Bit maintains High status In this case disable all alarm conditions and retry Rebooting When Rebooting is complete READY 1 Signal turns into Hi...
Страница 43: ...19 Robostar Co Ltd 6 3 8 MODE AUTO STEP JOG Change PLC PC N1 Series N1 Series PLC PC L H H H L H L JOG MODE DIS CH SEL STEP RUN MODE DIS AUTO RUN MODE DIS H L H L L CH SEL JOG MODE STEP RUN MODE AUTO...
Страница 44: ...Channel 1 High Channel 2 Select the desired operation MODE AUTO RUN STEP RUN JOG Enter MODE Signal in Pulse format when High status should be kept over 20ms MODE can be converted only with SERVO OFF C...
Страница 45: ...tem Input 2 into pulse High status should be kept over 20ms Once STEP MODE has been set STEP MODE DIS is set to High Combine PROG 0 4 Bits to set the desired JOB Program num PROG0 Bit is the lowest LS...
Страница 46: ...STEP MODE Bit in System Input 2 into pulse High status should be kept over 20ms Once STEP MODE has been set STEP MODE DIS is changed to High Combine PROG 0 4 Bits to set the desired JOB Program num PR...
Страница 47: ...Robostar Co Ltd 6 3 10 Operation in JOG MODE PLC PC N1 Series N1 Series PLC PC H Brake State_DIS L JOG MODE DIS L H L JOG MODE JOG VEL JOG A X JOG Z SERVO ON 1 CH DIS H L H L CH SEL H L H H L H L SERV...
Страница 48: ...T 2 When setting JOG VEL Bit to Low operation is performed at speed of the set value for JOG VEL RATE Robot operates at 30 speed It operates at 30 of Jv set value of JOINT MOTION parameters per axis F...
Страница 49: ...rward Operation in JOG MODE PLC PC N1 Series N1 Series PLC PC SERVO ON 1 L H JOG FWD SERVO ON 1 FORWARD STATE DIS INPOS INRNG 1 Brake state DIS L GPNT Index XY Angle H L JOG MODE DIS H L H L H JOG MOD...
Страница 50: ...ration Robot operates at 30 speed It operates at 30 of Jv set value of JOINT MOTION parameters per axis For how to set refer to Handling Manual 1 2 2 2 Set Variables related to Joint Motion In JOG MOD...
Страница 51: ...H DIS Info Data Mode SEL 0 Info Data Mode SEL 1 CH DIS Info Data 1 4 RPM Info Data Mode T3 T3 Description Sends out TRQ or RPM value according to Info Data Mode 0 1 setting Information about current o...
Страница 52: ...a Type XYZW ABZW for reading the Current Position To read the current position set Mode Select bit to Low Low Reads robot s current coordinate High Reads Global Point Enable determining if readable us...
Страница 53: ...1 Series N1 Series PLC PC H CH DIS H Data Type XY H L GPNT Index GPNT Index Data Type Angle L Read Enable Flag H L Read Ready Complete Flag Position Value CH SEL H L GPNT Index H L Mode Current GPNT H...
Страница 54: ...g state should be High Depending on a Data Type choice the values saved in Global Point can be read by XY coordinate value or Angle value When Read Enable Flag Bit in Field Bus Input 1 is set to High...
Страница 55: ...oint PLC PC N1 Series N1 Series PLC PC Position Value Angle Date Position Value XY Data Write Enable Flag H L Position Value H L GPNT Index Data Type XY H L GPNT Index H L GPNT Index Write Complete Fl...
Страница 56: ...process is complete in N1 Series Write Complete Flag is changed into High When Write Enable Flag Bit is set to Low Write Complete Flag is also changed to Low When saving the continual Global Point a...
Страница 57: ...Index of a Global Integer to read After setting the Index set Read Enable Flag Bit in Field bus Input 1 to High Check the Global Integer value sent from N1 Series When continually reading Global Integ...
Страница 58: ...bal Integer to write Set Write Enable Flag to High When the saving process is completed in N1 Series Write complete Flag changes from Low to High When setting Write Enable Flag to Low Write Complete F...
Страница 59: ...he Index of Global Float to read After setting Index set Read Enable Flag Bit in Field bus Input 1 to High Check the Global Float value sent from N1 Series When continually reading Global Integer valu...
Страница 60: ...l Float to write Set Write Enable Flag to High When the saving process is complete in N1 Series Write complete Flag changes from Low to High When setting Write Enable Flag to Low Write Complete Flag B...
Страница 61: ...Robostar Co Ltd Rev Date of Revision Content Modifier S W Version V 1 2012 10 30 First Edition Print N1 ROBOT CONTROLLER CONTROLLER MANUAL FIRST EDITION OCTOBER 2012 ROBOSTAR CO LTD ROBOT R D CENTER...
