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AIA X-SEL Operation Manual

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PROFIBUS-DP
Operation Manual,
X-SEL
RCS-C
ASEL
PSEL
Twelfth Edition
SSEL
TT
E-Con
SCON-C

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Summary of Contents for AIA X-SEL

  • Page 1 PROFIBUS-DP Operation Manual, Twelfth Edition X-SEL SSEL RCS-C ASEL E-Con PSEL SCON-C...
  • Page 3 Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.
  • Page 4 Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview Control number PROFIBUS-DP Operation Manual Refer to this operation manual if you are using an ACON, ME0258 PCON or SCON-CA controller(s).

  • Page 5: Table Of Contents

    2. Specifications ........................8 Interface Specifications........................8 3. X-SEL-J/K/P/Q/JX/KX/PX/QX .................... 9 ProfiBus-DP Board Types and Installation Positions in the X-SEL ..........9 (1) Compact type (J type) ......................10 (2) General-purpose type (K type)..................... 11 (3) P/Q types..........................12 Setting a ProfiBus-DP Board (Slave Station)................
  • Page 6 Standard I/O Ports of XSEL Controller..................50 Troubleshooting ........................... 52 5. Tabletop Robot TT......................54 Model Numbers..........................54 ProfiBus Board ..........................55 5.2.1 Name of each part ......................55 5.2.2 ProfiBus-DP Communication Connector................. 56 5.2.3 Termination switch (Bus termination settings) ..............56 5.2.4 Address Setting Dials (Node Address Settings) .............
  • Page 7 I/O Port Numbers and ProfiBus-DP Address Assignments ............84 (1) Basic example ........................84 (2) Positioner mode ........................85 8. Common Items and Others ....................89 Communication Cable........................89 Useful Function When Adjusting an X-SEL Controller ..............89 GDS Files............................. 89 Change History ........................90...

  • Page 9: Safety Guide

    Safety Guide Safety Precautions for Our Products...
  • Page 10 Operation Description Description Transportation When the work is carried out with 2 or more persons, 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. Consider well so that it is not bumped against anything or dropped during the transportation.
  • Page 11 Operation Description Description Installation (3) Grounding and Start Make sure to perform the grounding of type D (Former Type 3) for the controller. The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
  • Page 12 Operation Description Description Teaching When the work is carried out with 2 or more persons, 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. Perform the teaching operation from outside the safety protection fence, if possible.
  • Page 13 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
  • Page 14 Alert Indication...

  • Page 15: Overview

    A wire-saving system can be built by connecting IAI’ s X-SEL, TT, RCS-C, E-Co n , SCON-C, ASEL, PSEL, SSEL, ACON, PCON, and SCON-CA controllers (hereinafter collectively and individually referred to as “Each Controller”...

  • Page 16: Specifications

    Specifications Interface Specifications The table below lists the specifications of the ProfiBus-DP interface. Item Specification Remarks Communication profile ProfiBus-DP Communication method Hybrid method Master/slave method with token passing Number of connectable 32 stations per segment Up to 126 stations can be connected if a stations repeater is used.

  • Page 17: X-Sel-J/K/P/Q/Jx/Kx/Px/Qx

    ProfiBus-DP Board Types and Installation Positions in the X-SEL There are six types of X-SEL controllers that support ProfiBus-DP, as listed below. The installation position of the ProfiBus-DP board is different depending on whether the X-SEL controller is of PR0 type or PR1 type.

  • Page 18: Compact Type (J Type)

    (1) Compact type (J type) *2, *3 1-axis specification 2-axis specification 3/4-axis specification ProfiBus-DP board ProfiBus-DP board Expansion slot ProfiBus-DP board (Installed in the standard slot.) Fig. 3.1 *1) An I/O board cannot be installed in 1-axis and 2-axis specifications, because the ProfiBus-DP board occupies the only slot available.

  • Page 19: General-Purpose Type (K Type)

    [8] IA-IO-3205-PN (48 input points + 48 output points, PNP specification) (Note) [5] and [6] are used exclusively for the K, P and Q types, while [7] and [8] are used exclusively for the J type. For specification details, refer to “Operation Manual for X-SEL Controller.” SIO board Mode...

  • Page 20: P/Q Types

    Expansion slots 2 and 3 ProfiBus-DP board (Installed in expansion slot 1.) Standard I/O board Fig. 3.3 (3) P/Q types The ProfiBus-DP board is installed in the installation position of field network board. Standard I/O ProfiBus-DP board ProfiBus-DP board Expansion I/O Standard I/O Fig.

  • Page 21: Setting A Profibus-Dp Board (Slave Station)

    Setting a ProfiBus-DP Board (Slave Station) (1) Name of each part J/K/JX/KX/ type P/Q/PX/QX type Monitor LEDs ProfiBus-DP communication connector Termination switch Address setting dials Address setting dials Termination switch Monitor LEDs ProfiBus-DP communication connector...

  • Page 22: Profibus-Dp Communication Connector Interface Specifications

    (2) ProfiBus-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170. Connector Pin No. Description Contents B-Line RxD TxD (Positive signal line) Shield A-Line /RxD /TxD (Negative signal line) Housing Shield * Pins 1, 2, 4, 6, 7 and 9 are not used (they need not be wired).

  • Page 23: Node Address Settings

    (4) Node address settings <Set by the address setting dials> The address of each ProfiBus-DP slave station is set using the “x10” and “x1” rotary switches shown in the figure under (1). Set a desired address according to the following rule: Node address number = (“Value set by x10”...

  • Page 24: Setting X-Sel I/O Parameters (Assigning I/O Ports)

    Setting X-SEL I/O Parameters (Assigning I/O Ports) Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.”...

  • Page 25: K/Kx Type

    (2) K/KX type Parameter No. 6 Parameter No. 8 Parameter No. 2 No. 7 No. 9 No. 3 No. 12 No. 13 No. 10 Parameter No. 4 No. 5 No. 11 Note) One ProfiBus-DP board occupies two slots. Accordingly, Nos. 4 and 5 are set to “-1,” and No. 11 to “0,” when a ProfiBus-DP board is set in the slots denoted by A above.

  • Page 26: Factory-Set Parameters (Default Settings)

    3.3.2 Factory-set Parameters (Default Settings) (1) Factory-set parameters for the J/K/JX/KX types I/O Parameter Settings Parameter name Input range Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 27 (2) Factory-set parameters for the P/PX/Q/QX types Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module Slot 1 (standard 0 ~ 20 I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 28: Automatically Assigning X-Sel I/Os

    3.3.3 Automatically Assigning X-SEL I/Os Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.”) This manual covers the representative setting method as explained below.
  • Page 29 X-SEL (K type) Input port Nos. 000 to 015 Not used Output port Nos. 300 to 315 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20...
  • Page 30 ProfiBus-DP slave station already occupies 300 to 555 (total 256 points), “556” is automatically assigned as the initial output port number expansion slot I/O1 based on fixed assignment. X-SEL (J type, 3/4-axis specification) Input port Nos. 256 to 287 Input port Nos. 000 to 255 Output port Nos.
  • Page 31 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 32 [9] Since the maximum numbers of input and output points of the ProfiBus-DP slave station are 256 and 256, respectively, enter “256” in I/O parameter Nos. 14 and 15, “Input/output ports used.” The settings are complete. X-SEL (K type) Input port Nos. 000 to 031 Input port Nos. 032 to 287 Output port Nos.
  • Page 33 Parameter name Input range Settings Remarks Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priority: Slot 1 ~) 0 ~ 20 * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 34: Setting Examples For P/Px/Q/Qx Type Controllers

    16 output points, each from the 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.
  • Page 35 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Parameter name Setting Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 36 (2) Setting example when a ProfiBus-DP board is used with a standard I/O board (automatic assignment) Example: These settings are used when 256 input points and 256 output points are assigned, both from the initial standard I/O ports, to the ProfiBus-DP board, and the remaining I/O port numbers are assigned to the standard I/O board.
  • Page 37 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Setting Parameter name Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
  • Page 38 (3) Setting example when a ProfiBus-DP board is used with a standard I/O board (fixed assignment) In automatic assignment, the initial I/O port numbers (No. 0 or greater for input / No. 300 or greater for output) must be set on the standard I/O board. By using fixed assignment, however, you can set the initial I/O port numbers on expansion I/O board 1 to 3 (No.
  • Page 39 I/O Parameters of X-SEL P/PX/Q/QX Type Controllers Default Input Parameter name Setting Remarks (reference) range Input/output port assignment type 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module Slot 1 0 ~ 20 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.

  • Page 40: X-Sel I/O Port Numbers

    3.3.6 X-SEL I/O Port Numbers The standard I/O port numbers of the X-SEL are listed below. The port numbers and function assignments of the X-SEL can be changed using I/O parameters. (For details, refer to “Operation Manual for X-SEL Controller.”) Port No.

  • Page 41: Correspondence Of X-Sel I/O Port Numbers And Plc Addresses

    When the X-SEL’s ProfiBus-DP board I/Os are assigned in the input/output (memory) areas of the PLC, the areas that occupy the PLC memory will change depending on the numbers of I/O points set on the X-SEL side. ProfiBus-DP board I/Os are assigned in units of 16 bits (16 I/O points); i.e., they are assigned in units of words.
  • Page 42 Address assignment in the master station When setting the configuration in 1) using a configurator, the numbers of inputs and outputs of the X-SEL set for slave station 2 must be determined. (Here, it is assumed that the number of occupiable slave stations is set to 16 words in the master station.)
  • Page 43 I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows.
  • Page 44 Description example of bit addresses --- Fuji Electric The inputs and outputs of the X-SEL are respectively assigned I/O addresses (word addresses) as viewed from the PLC. The bit address description rules are specified below. Bus station Prefix Word number...
  • Page 45 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)

  • Page 46: Xsel-R/S/Rx/Sx/Rxd/Sxd

    XSEL-R/S/RX/SX/RXD/SXD Model Numbers The model code of each of XSEL-R/S/RX/SX/RXD/SXD applicable for PROFIBUS-DP is as shown below. PROFIBUS-DP board...

  • Page 47: Profibus-Dp Interface

    PROFIBUS-DP Interface (1) Name of each part Monitor LEDs Pin No. Signal Name Description B-Line Communication Line B (RS485) Request for Sending Signal Ground (insulated) +5V output (insulated) A-Line Communication Line A (RS485) Housing Shield Cable Shield (connected to housing) Note 1 1, 2, 7 and 9 pins are not connected.

  • Page 48: Parameter Settings

    Parameter Settings Set to the I/O parameters in the controller by using a teaching tool. Place the controller's AUTO/MANU switch in the MANU position. The teaching tool version applicable for this controller is as shown below: XSEL PC software : V9.00.00.00 to SEL-T/TG : V1.12 to IA-T-X/IA-T-XD...
  • Page 49 [1] Network Setting Check (PROFIBUS). Parameter name Default Input Range Unit Remarks bits 4-7 (2nd digit): Network I/F Module 2 types Network I/F Module 0: Not Mounted 0*H to 3*H Control 1: CC-Link 2: DeviceNet 3: PROFIBUS Parameter name Default Input Range Unit Remarks...
  • Page 50 [3] PROFIBUS Board Use Setting Set “1” (Monitoring: use PROFIBUS board) to I/O Parameter No. 235. Default Parameter name Input Range Unit Remarks (Reference) 0:No Monitoring (Not to monitor condition Network I/F Module 2 0 to 5 of link to PLC (master)) Error Monitoring 1:Monitoring [4] Node address setting...
  • Page 51 [6] I/O Port Top Number Setting Set the top port number of the port range used in I/O Parameters No. 233 to 234. Note The port numbers assigned here are the starting input and output port numbers. Add the number of ports assigned in parameters 231 and 232 to determine the I/O range.

  • Page 52: Setting Example

    Setting example (1) Example for when using only PROFIBUS It is how to establish the setting when using PROFIBUS to 16 points of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used. Standard Input Port No.0 to 15 Not Applicable (I/O board) Standard Output Port No.300 to 315...
  • Page 53 Default Parameter name Input Range Unit Remarks (Reference) 0:No Monitoring (Not to use I/O board) 1:Monitoring Standard I/O Error Monitoring 2:Monitoring (Not to monitor 24V I/O power 0 to 5 (I/O1) related error) 3:Monitoring (To monitor only 24V I/O power related error) No.

  • Page 54: Example For When Using Profibus And I/O Board 1 Together

    (2) Example for when using PROFIBUS and I/O Board 1 together It is how to establish the setting when using PROFIBUS to 256 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to the standard I/O ports.
  • Page 55 Default Parameter name Input Range Unit Remarks (Reference) 0:No Monitoring (Not to use I/O board) 1:Monitoring Standard I/O Error Monitoring 2:Monitoring (Not to monitor 24V I/O power 0 to 5 (I/O1) related error) 3:Monitoring (To monitor only 24V I/O power related error) No.

  • Page 56: Example For When Using Profibus And I/O Board 1 Together

    (3) Example for when using PROFIBUS and I/O Board 1 together It is how to establish the setting when using PROFIBUS to 192 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to the standard I/O ports.
  • Page 57 Default Parameter name Input Range Unit Remarks (Reference) 0:No Monitoring (Not to use I/O board) 1:Monitoring Standard I/O Error Monitoring 2:Monitoring (Not to monitor 24V I/O power 0 to 5 (I/O1) related error) 3:Monitoring (To monitor only 24V I/O power related error) No.

  • Page 58: Standard I/O Ports Of Xsel Controller

    Standard I/O Ports of XSEL Controller general-purposed I/O with the I/O parameters. [Refer to the instruction manual for the XSEL-R/S/RX/SX/RXD/ SXD controller for more information.] Settings of Standard I/O Ports at Delivery Input Port Output Port Port No. Function Port No. Function Program Start Alarm Output...
  • Page 59 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 parameters. (This does not apply when a configurator is used.) (Input) (Output) (Input)

  • Page 60: Troubleshooting

    Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of monitoring LEDs of PROFIBUS Board. [Refer to Section 4.2] Check the settings of the XSEL controller and the settings of the master unit referring to the instruction manuals of the master unit.
  • Page 61 Error name Contents and Treatment A communication board error was detected. Reboot the XSEL controller. If the same error occurs again, please D77 Fieldbus error (Exception) contact us. It is a parameter setting error. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No.

  • Page 62: Tabletop Robot Tt

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

  • Page 63: Profibus Board

    ProfiBus Board 4.2.1 Name of Each Part 5.2.1 Name of each part Monitor LEDs Address setting dials ProfiBus-DP communication connector Termination switch...

  • Page 64: Profibus-Dp Communication Connector

    4.2.2 ProfiBus-DP Communication Connector 5.2.2 The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Pin No. Signal name Explanation Not connected Not connected B-Line Communication line B (positive side) Not connected Signal ground...

  • Page 65: Address Setting Dials (Node Address Settings)

    4.2.4 Address Setting Dials (Node Address Settings) 5.2.4 The address of each ProfiBus-DP slave station is set using the left (x1) and right (x10) address setting dials. 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 0 to 9. Set a desired address according to the following rule: Node address number = (Address setting dial x10) + (Address setting dial x1) Example)

  • Page 66: I/O Parameter Settings (I/O Port Assignments)

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

  • Page 67: Factory-Set Parameters For The Tt Type

    (2) Factory-set parameters for the TT type Factory-set Parameter name Input range Remarks value Input/output port assignment type Read only 0: Fixed assignment Standard I/O1 fixed assignment: 0 + (multiple of 8) (The parameter is invalid if -1 ~ 599 Initial input port number a negative value is set.) Standard I/O1 fixed assignment:...

  • Page 68: Example Of Parameter Settings For The Tabletop Robot Tt

    (3) Example of parameter settings for the tabletop robot TT The settings below assume that 240 input points and 240 output points are assigned on the ProfiBus board as general-purpose 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.
  • Page 69 I/O Parameters for TT Type Factory-set Parameter name Input range Set value Remarks value Input/output port assignment 0: Fixed assignment Read only type Standard I/O1 fixed 0 + (multiple of 8) (The parameter is assignment: Initial input port Read only invalid if a negative value is set.) number Standard I/O1 fixed...

  • Page 70: I/O Port Numbers For Tt

    I/O Port Numbers for TT The I/O port numbers applicable to the TT are shown below. (For details, refer to the “Operation Manual for Tabletop Robot TT.”) Port No. Function Port No. Function Start ALM (front panel LED) (Software reset) RDY (front panel LED) (Servo ON) EMG (front panel LED)
  • Page 71 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)

  • Page 72: Rcs-C, E-Con And Scon

    RCS-C, E-Con and SCON Model 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...

  • Page 73: E-Con

    (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: Setting A Profibus-Dp Board (Slave Station)

    Setting a ProfiBus-DP Board (Slave Station) (1) Name of each part D) Address setting dials Address setting dials C) Monitor LEDs Monitor LEDs B) Termination switch Termination switch A) ProfiBus-DP communication connector (2) ProfiBus-DP communication connector interface specifications <Specifications of the ProfiBus-DP communication connector (1) A)> This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170.

  • Page 75: Bus Termination Settings

    (3) Bus termination settings <Set using the termination switch (1) B)> 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.

  • Page 76: Monitor Led Indications

    (5) Monitor LED indications <Set by the monitor LEDs (1) C)> Of the LEDs provided on the front face of the board, the two LEDs, ERR and POWER, can be used to check the operating condition of the communication module. The board has three LEDs, whose conditions and their meanings are explained below.

  • Page 77: Input/Output (I/O) Signal Assignments

    (6) Input/output (I/O) signal assignments The RCS-C, E-Con and SCON have the following numbers of inputs and outputs, respectively: [1] RCS-C 8 dedicated input points, 11 dedicated output points (100/200-V specification) or 10 dedicated output points (24-V specification) [2] E-Con 10 dedicated input points, 13 dedicated output [3] SCON 16 dedicated input points, 16 dedicated output...
  • Page 78 [2] E-Con signal assignments Input number Signal name Output number Signal name Command position 1 Completed position 1 Command position 2 Completed position 2 Command position 4 Completed position 4 Command position 8 Completed position 8 Command position 16 Completed position 16 Command position 32 Completed position 32 Not used...
  • Page 79 [3] SCON signal assignments The SCON has 16 dedicated input points and 16 dedicated output points. The details of inputs and outputs are shown below. Signals are assigned in one of six patterns in accordance with the setting of SCON parameter No.
  • Page 80 Setting of parameter No. 25 512-point mode Solenoid valve mode 1 Solenoid valve mode 2 Category Port No. Signal name Symbol Signal name Symbol Signal name Symbol Start position 0 Start position 0 Start position 1 Start position 1 Start position 2 Start position 2 Start position 3 Command position...

  • Page 81: Correspondence Of Rcs-C, E-Con And Scon I/O Port Numbers And Plc Addresses

    (7) Correspondence of RCS-C, E-Con and SCON I/O port numbers and PLC addresses In the assignment of the RCS-C, E-Con or SCON’s ProfiBus-DP board I/Os in the input/output (memory) areas of the PLC, one word of input/output area is occupied by 16 I/O points (dedicated inputs/outputs) of the slave station.
  • Page 82 I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows.
  • Page 83 Reference 1 When bit addresses are set in the PLC, inputs and outputs are sequentially assigned to the channels corresponding to the node address set by the DIP switches. (Input) (Output) Input number Output number Node address * The settings in ( ) apply to the E-Con. The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
  • Page 84 Reference 2 Example of address assignment rules --- Fuji Electric Bus station Prefix Word number Bit address number Prefix Input bit address (address per bit) Input word address (address per word) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the ProfiBus-DP board in the PLC.

  • Page 85: Asel, Psel, Ssel

    ASEL, PSEL, SSEL ASEL, PSEL and SSEL controllers of ProfiBus type can support up to 256 input points and 256 output points. Model Numbers 6.1.1 ASEL, PSEL 7.1.1 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-...

  • Page 86: Ssel

    6.1.2 SSEL 7.1.2 SSEL 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- Status LEDs ProfiBus communication connector Front panel color Dark gray Printed series name...

  • Page 87: Profibus Interface

    ProfiBus Interface (1) Name of each part ASEL, PSEL SSEL Status LEDs ProfiBus communication connector (2) Status LED indications The operating condition of the ProfiBus board, as well as the network condition, can be checked using the two LEDs (STATUS0 and STATUS1) provided on the front side of the board. Indicator Color Description of indication...

  • Page 89: Profibus-Dp Communication Connector

    (3) ProfiBus-DP communication connector The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Pin No. Signal name Explanation Not connected Not connected B-Line Communication line B (positive side) Not connected Signal ground +5-V output...

  • Page 90: I/O Parameter Settings

    I/O Parameter Settings Set the node address, I/O ports and other parameters of the ASEL, PSEL and SSEL used with ProfiBus. (1) Network type setting I/O parameter No. 225, “Network I/F module: Control” has been set to 3H (ProfiBus) at the factory. (No additional setting is required.) (2) Node address Set the node address using I/O parameter No.
  • Page 91 ASEL, PSEL and SSEL Network I/O Parameter List Factory-set Parameter name Input range Remarks value 0: Fixed assignment Input/output port assignment 0 ~ 20 1: Automatic assignment type Network I/F module: Remote 0 ~ 256 Multiple of 8 input ports used Network I/F module: Remote 0 ~ 256 Multiple of 8...

  • Page 92: I/O Port Numbers And Profibus-Dp Address Assignments

    I/O Port Numbers and ProfiBus-DP Address Assignments ASEL, PSEL and SSEL controllers operate in the program mode and positioner mode, but the principles of assignment are the same with both modes. To be specific, I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address.

  • Page 93: Positioner Mode

    (2) Positioner mode Regardless of the settings of I/O parameter Nos. 1, 16 and 17, physical ports are assigned from No. 0 for input ports and from 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.
  • Page 94 ASEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position input 11 Input 11 Position input 8 Axis 2 jog+...
  • Page 95 PSEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position input 11 Input 11 Position input 8 Axis 2 jog+...
  • Page 96 SSEL Positioner Mode I/O Port Table Positioner mode Port Category Product-type 2-axis independent DC-S-C1 Standard mode Teaching mode switching mode mode compatible mode Position No. 1000 Position input 10 Input 10 Position input 7 Axis 1 jog- input Position No. 2000 Position input 11 Input 11 Position input 8...

  • Page 97: Common Items And Others

    For connection cables, use type A cables conforming to the ProfiBus standard. Useful Function When Adjusting an X-SEL Controller (1) If a standard or expansion I/O board is installed in an X-SEL K-type controller, the controller can be started alone without connecting a 24-VDC I/O power supply.

  • Page 98: Change History

    Change History Revision Date Description of Revision First edition October 2006 Second edition P24 to 34: Added SCON in Section 4. November 2006 Third edition Table of Contents: Changed the pages after 4.2 (7). P25: Corrected the number of dedicated input points for SCON from 13 to 16.
  • Page 99 Contents changed in Safety Guide Caution notes added for when working with two or more persons Deleted ACON and PCON. July 2012 Twelfth edition Contents changed in Safety Guide P9 Part Number "J/K/P/Q/JX/KX/PX/QX" added on "3. X-SEL" P38 to 53 4. XSEL-R/S/RX/SX/RXD/SXD on added...
  • Page 102 Manual No.: ME0153-12A (July 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ 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 TEL (630) 467-9900 FAX (630) 467-9912 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066...

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