YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
JARCR-XFB01B BOARD
INSTRUCTIONS
FOR DeviceNet
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL
DX200 MAINTENANCE MANUAL
The DX200 operator's manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number:
165626-1CD
Revision:
0
MANUAL NO.
HW1481973
1/70
0

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Summary of Contents for YASKAWA DX200

  • Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL DX200 MAINTENANCE MANUAL The DX200 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. Part Number: 165626-1CD Revision: MANUAL NO. HW1481973...
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 JARCR-XFB01B Board for DeviceNet Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX200. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or ”PROHIBITED.” Indicates a potentially hazardous...
  • Page 4 165626-1CD JARCR-XFB01B Board for DeviceNet PROHIBITED • Do not use or keep the board in the following environmental conditions. – Where exposed to direct sunshine – Where vibration or impact occurs – Where high humidity exists – Where a strong magnetic field exists –...
  • Page 5 Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the DX200 and the programming pendant. HW1481973...
  • Page 6 165626-1CD JARCR-XFB01B Board for DeviceNet WARNING • Do not touch the inside of the panel for 5 minutes after the power is turned OFF. The remaining charged voltage in the capacitor may cause an electric shock or an injury. • Be sure to close the door and install the protection cover while the power is turned ON.
  • Page 7 DX200 after use. The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures. Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator: •...
  • Page 8 JARCR-XFB01B Board for DeviceNet Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows.

  • Page 9: Table Of Contents

    4.1 Opening Front Door of the DX200 .............4-2 4.2 Confirming Switch Settings on the XFB01B Board ........4-2 4.3 Mounting the XFB01B Board on the DX200 ..........4-2 4.4 Connecting Each Cable ................4-3 4.5 Closing the Front Door of the DX200 ............4-4 5 Allocating I/O Signals ..................5-1...
  • Page 10 165626-1CD JARCR-XFB01B Board Table of Contents for DeviceNet 5.3 DeviceNet Slave Allocation (Only in Master Mode) ........ 5-21 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) ..5-25 5.4.1 Saving to External Memory ............5-25 5.4.2 Loading from External Memory ........... 5-27 6 Network Specifications ..................

  • Page 11: Outline

    Outline This manual gives the instructions for using the JARCR-XFB01B board (hereinafter called the XFB01B board) for the DeviceNet on the DX200. The application of this board allows the transmission of DX200’s general- purpose I/O data with other devices connected to DeviceNet.

  • Page 12: Xfb01B Board In Master Mode

    The following diagram shows an example of the system configuration when the XFB01B board is used in master mode. Fig. 1-2: System Configuration Example with XFB01B Board as Master Communications DX200 Power Supply DeviceNet Master JARCR-XFB01B Board DeviceNet Slave I/O Unit...

  • Page 13: Hardware Specifications

    TM5 XFB01 or XFB01B Mode Switching Terminal Board Specifications Items Specifications Interface to the DeviceNet external device Board mounting Optional board mounting space in the DX200 position Error indicator LED display Number of Maximum number of I/O points transmission I/O Input: 112 points...

  • Page 14: Communication Specifications

    165626-1CD JARCR-XFB01B Board Hardware Specifications 2.3 Communication Specifications for DeviceNet Communication Specifications Items Specifications Connecting form Multi-drop, T-branch (1:N communications) Transmission Select among 500/250/125 kbps speed Transmission Dedicated 5 cables (2 cables for signals, 2 cables for media power supply, 1 drain wire) Use a DeviceNet cable such as DCA1-5C10 (manufactured by OMRON).

  • Page 15: Setting Functions

    SW2 and SW3: Sets the local node address of DeviceNet. The setting range of local node address is from 0 to 63. SW4: Sets the station number for the XFB01B board on the DX200. The setting range of station number is from 1 (ST#01) to D (ST#13).

  • Page 16: Setting Switches

    165626-1CD JARCR-XFB01B Board Setting Functions 3.2 Setting Switches for DeviceNet Setting Switches Switches Setting Method Baudrate Sets the baud rate and mode of DeviceNet. Mode and baud rate setting shows the default setting. SW1-1: Operation mode (S/T) ON: Test OFF: Normal Always set to OFF (normal operation mode).
  • Page 17 Unavailable The value in [ ] indicates the number of I/O points reserved for the XFB01B board inside the DX200. (This includes the area for board status). When setting SW4 station, do not use “0”, “E”, or “F”. Be NOTE sure to set only one board to the each station.

  • Page 18: Function Setting Terminals

    165626-1CD JARCR-XFB01B Board Setting Functions 3.3 Function Setting Terminals for DeviceNet Function Setting Terminals This section explains terminals used to set functions of the XFB01B board and their roles. Following the instructions, be sure to set the terminals correctly. TM1: This terminal is reserved for the manufacturer. TM 1 sets the resistance status (121 ).

  • Page 19: Setting Terminals

    165626-1CD JARCR-XFB01B Board Setting Functions for DeviceNet 3.4 Setting Terminals Setting Terminals Terminals Setting Method 1 2 3 Short-circuit between 1 and 2: With resistance Reserved for the * Setting unavailable manufacturer 1 2 3 Short-circuit between 2 and 3: Without resistance (Default setting) * Setting indispensable Always set to “Without resistance.”...

  • Page 20: Mounting Xfb01B Board

    165626-1CD JARCR-XFB01B Board Mounting XFB01B Board for DeviceNet Mounting XFB01B Board WARNING • Before wiring, be sure to turn OFF the power supply and put up a warning sign, such as “DO NOT TURN ON THE POWER.” Failure to observe this warning may result in an electric shock or an injury.

  • Page 21: Opening Front Door Of The Dx200

    Opening Front Door of the DX200 Mount the XFB01B board in the following manner. 1. Turn the two door locks on the front face of the DX200 clockwise for 90° with a coin or a flat tip screwdriver. Door Lock...

  • Page 22: Connecting Each Cable

    165626-1CD JARCR-XFB01B Board Mounting XFB01B Board 4.4 Connecting Each Cable for DeviceNet Connecting Each Cable 1. Connect the 24 VDC power cable to the CN1. 2. Connect the I/O communications cable to the CN2. Plug the terminal connector connected to the CN114 of the JANCD-YIF01-2E board to the non-occupied CN2 on the XFB01B board.

  • Page 23: Closing The Front Door Of The Dx200

    This results in insufficient 24 VDC power supply to the board. Closing the Front Door of the DX200 1. Close the door gently. 2. Turn the two door locks on the front face of the DX200 counterclockwise for 90 ° with a coin or a flat tip screwdriver. Flat Tip...

  • Page 24: Allocating I/O Signals

    In order to use the XFB01B board on the DX200, the system configuration should be set in the following manner. Make sure that the power supply to the DX200 is OFF. Then, mount the XFB01B board, for which all of its switches have been set, inside the DX200.
  • Page 25 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.1 I/O Module Setting 4. Select {SETUP}. – The SETUP window appears. 5. Select {IO MODULE}. – The current status of the mounted I/O modules is shown as in the following. – Press [ENTER] to display the module mounted status for the rest of the stations.
  • Page 26 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.1 I/O Module Setting for DeviceNet 6. Confirm the status of the mounted I/O module. – Only mounted I/O module is displayed. Confirm that each station (ST#) is the same as the I/O module’s actual mounting status. –...
  • Page 27 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.1 I/O Module Setting <Example> When the SW5 is set to “E”, it is understood that 120 ((14+1) 8) I/O points are reserved for the I/O board. Accordingly, “DI : 120 DO : 120” is displayed. The relationship between the set value of SW5 and the I/O module display is shown below: Display (I/O point)
  • Page 28 • I/O module failure When the above causes do not apply, and the display still does not correspond to the actual mounted status, failure of an I/O module is suspected. Contact your YASKAWA representative. • The number of XFB01B(MASTER) which can be mounted is two boards at the maximum.
  • Page 29 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.1 I/O Module Setting 9. Select “YES”. – The confirmation dialog box appears when the XFB01B board is set to “MASTER”. Select “YES”. 10. The EXTERNAL IO SETUP window appears. HW1481973 29/70...
  • Page 30 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.1 I/O Module Setting for DeviceNet 11. Select {AUTO} or {MANUAL} in the ALLOCATION MODE. – The selection menu appears after selecting {AUTO} or {MANUAL}. If the allocation mode is changed from {MANUAL} to {AUTO}, the set allocation data is discarded.
  • Page 31 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.1 I/O Module Setting 13. Select {DETAIL} of {EXTERNAL IO ALLOCATION}. – When select {AUTO}, the following procedures No.14 to 16 are not necessary. Operate the procedure from No.17. – When select {MANUAL], operate the following procedures No.14 to 16 accordant with the setting manually.
  • Page 32 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.1 I/O Module Setting for DeviceNet 15. Select {MODIFY], and input the external input signal number (at the change destination) to be changed. (In the setting example, enter “#20190”.) – The external input signal number is changed. 16.
  • Page 33 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.1 I/O Module Setting 19. Press {ENTER]. – Confirmation dialog appears. 20. Select {YES]. – The settings are confirmed, and returns to the SETUP window. 5-10 HW1481973 33/70...

  • Page 34: Transmission Data

    Transmission Data The data to be transferred from the XFB01B board to the inside of the DX200 is not only the I/O data from the external devices connected to the DeviceNet, but also the status of the XFB01B board. Therefore, inside the DX200, 8 points (1 byte) each for input and output are reserved for the status of the XFB01B board beside the area for the digital data.

  • Page 35: Dx200 I/O Allocation Example (For Handling)

    Note2) As for the input data/output data of JANCD-YIO21-E (standard I/O board), refer to DX200 INSTRUCTIONS MANUAL for more details. Note3) JANCD-YIO21-E (standard I/O board) is displayed as YSF21(base board of YIO21) in the IO module setup display.
  • Page 36 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.2 Transmission Data for DeviceNet 30180 to 30187 10150 to 10157 (OT0113 to OT0120) Output data (12) 30190 to 30197 10160 to 10167 (OT0121 to OT0128) Output data (13) 30200 to 30207 10170 to 10177 (OT0129 to OT0136) Output data (14) 1 Board status and system reservation cannot be allocated as IO signal.

  • Page 37: Dx200 I/O Allocation Example (For Except Handling)

    Note2) As for the input data/output data of JANCD-YIO21-E (standard I/O board), refer to DX200 INSTRUCTIONS MANUAL for more details. Note3) JANCD-YIO21-E (standard I/O board) is displayed as YSF21(base board of YIO21) in the IO module setup display.
  • Page 38 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.2 Transmission Data for DeviceNet 30180 to 30187 10160 to 10167 (OT0121 to OT0128) Output data (12) 30190 to 30197 10170 to 10177 (OT0129 to OT0136) Output data (13) 30200 to 30207 10180 to 10187 (OT0137 to OT0144) Output data (14) 1 Board status and system reservation cannot be allocated as IO signal.

  • Page 39: The Alarm When Communications Error Occurs Using The Board Status

    • IO Communication error • IO Communication error (SLAVE) As for the user alarm registration, refer to Chapter 13.7 I/O Messages and I/O Alarms on ”Dx200 OPTIONS INSTRUCTIONS FOR CONCURRENT I/ O” (RE-CKI-A465) for more details. [Alarm No.] Signal No.
  • Page 40 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.2 Transmission Data for DeviceNet  Register the User Alarm 1. Change the security mode to the “Management Mode”. 2. Select the {I/O ALARM} from the {IN/OUT} in the main menu. 3. The I/O alarm (system) window appears. 4.
  • Page 41 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.2 Transmission Data 6. Enter the I/O alarm name. 7. Press [ENTER]. – The entered alarm is registered. 8. Register the other alarms. – Repeat the same procedures to register the alarm to use. 5-18 HW1481973 41/70...
  • Page 42 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.2 Transmission Data for DeviceNet  IO Allocation and the Ladder Program Create the ladder program to alert the alarm by using the following signals when the optional board detects an error. External input Signal Description 20065...
  • Page 43 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.2 Transmission Data The ladder program (the figure of the ladder) Creating the following ladder allows to alert the alarm according to the status error signals of the optional board. #20067 #40220 #20067 #20066 #20065 #20067...

  • Page 44: Devicenet Slave Allocation (Only In Master Mode)

    165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.3 DeviceNet Slave Allocation (Only in Master Mode) for DeviceNet DeviceNet Slave Allocation (Only in Master Mode) o use the XFB01B board in the master mode, the slave stations in DeviceNet must be allocated besides the setting of I/O modules explained in Section 5.1 “I/O Module Setting”...
  • Page 45 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.3 DeviceNet Slave Allocation (Only in Master Mode) 4. Select {SETUP}. – The SETUP window appears. 5. Select {IO MODULE}. – The current status of the mounted I/O modules is shown as in the following.
  • Page 46 165626-1CD JARCR-XFB01B Board Allocating I/O Signals 5.3 DeviceNet Slave Allocation (Only in Master Mode) for DeviceNet 7. Select {DETAIL}. – The SCAN LIST window appears. 8. Select the desired item. 9. Enter the desired value. – Set each parameter according to the actual status of the mounted slave device.
  • Page 47 5.3 DeviceNet Slave Allocation (Only in Master Mode) 10. Press [ENTER]. – The confirmation dialog box appears. 11. Select “YES”. – The parameters for DeviceNet are stored in the DX200. Turn ON the power to the DX200, and then start up the DX200. 5-24 HW1481973...

  • Page 48: Management Of Devicenet Slave Allocation (Only In Master Mode)

    “Chapter 7 External Memory Devices” of “DX200 Operator’s Manual.” 5.4.1 Saving to External Memory 1. Turn ON the power to the DX200. 2. Select {EX. MEMORY} under the main menu. 3. Select {SAVE}. – The following window appears.
  • Page 49 165626-1CD JARCR-XFB01B Board Allocating I/O Signals for DeviceNet 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) 5. Select “DEVICENET ALLOC DATA”. – The selected system data are marked with “”. 6. Press [ENTER]. – The confirmation dialog box appears. 7.

  • Page 50: Loading From External Memory

    5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) for DeviceNet 5.4.2 Loading from External Memory 1. Turn ON the power to the DX200. 2. Set the Security Mode to the “Management Mode”. 3. Select {EX. MEMORY} under the main menu.
  • Page 51 Set the switches on the XFB01B board to the same settings those in the data to be saved. 9. After the file has been successfully loaded, turn ON the power to the DX200. 5-28 HW1481973 51/70...

  • Page 52: Network Specifications

    165626-1CD JARCR-XFB01B Board Network Specifications 6.1 Network Configuration for DeviceNet Network Specifications Network Configuration 6.1.1 Network Connections 6.1.1.1 Connection Form The following diagram shows the network connections. Fig. 6-3: Network Connections T with terminator Terminator Node Node Node Node Node Node Trunk Line Drop Line...
  • Page 53 165626-1CD JARCR-XFB01B Board Network Specifications for DeviceNet 6.1 Network Configuration 6.1.1.2 Configuration Elements The network is configured from the following elements.  Node A node is either a slave that connects to an external I/O unit, or the master that manages the I/O of the slaves. There are no restrictions on the location of the master or slaves.

  • Page 54: Network Configuration

    165626-1CD JARCR-XFB01B Board Network Specifications 6.1 Network Configuration for DeviceNet 6.1.1.3 Branching from the Trunk Line There are three methods that can be used to branch from the trunk line. Fig. 6-4: Branching from the Trunk Line Single Branching Branching to Three Drop Lines Direct Node Connection Trunk Trunk...

  • Page 55: Precautions For Wiring Devicenet Cables

    165626-1CD JARCR-XFB01B Board Network Specifications for DeviceNet 6.1 Network Configuration 6.1.2 Precautions for Wiring DeviceNet Cables 6.1.2.1 Maximum Network Length The maximum network length is either the line length between two nodes located farthest from each other or the line length between the terminators on the ends of the trunk line, whichever is longer.
  • Page 56 165626-1CD JARCR-XFB01B Board Network Specifications 6.1 Network Configuration for DeviceNet The line connecting two nodes located farthest from each other can use both thick and thin cables together. Compared SUPPLE- MENT to the case of only a thick cable, the maximum network length is short.
  • Page 57 165626-1CD JARCR-XFB01B Board Network Specifications for DeviceNet 6.1 Network Configuration Fig. 6-6: Configuration example (for 500 kbps transmission speed) T (with terminator) Terminator Node Node Node Node Node Node : Trunk Line : Drop Line : T-Branch Adapter Node Node The above example must satisfy the following conditions.

  • Page 58: Connections For Devicenet Communications

    165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications 7.1 Location of Communication Power Supply for DeviceNet Connections for DeviceNet Communications Location of Communication Power Supply 7.1.1 Basic Precautions 1. The communications power supply to the network must be 24 VDC. 2. The communications power supply must have a sufficient margin in the capacity.

  • Page 59: Location Of Power Supply

    165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications for DeviceNet 7.1 Location of Communication Power Supply 7.1.2 Location of Power Supply The following two types of configuration are possible for the location of the power supply.  Nodes on Both Sides of the Power Supply Power Supply Tap or T-Branch Adapter Communication...

  • Page 60: How To Decide The Location Of The Power Supply

    165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications 7.1 Location of Communication Power Supply for DeviceNet 7.1.3 How to Decide the Location of the Power Supply 1. To provide a sufficient flow of current to each node, the power supply capacity required for each node and the voltage drop caused by the cable length must be taken into consideration.
  • Page 61 165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications for DeviceNet 7.1 Location of Communication Power Supply 3. Simplified Calculation with the Estimated Values from the Graph The voltage of the communications power supply to each node must be 11 VDC or more. If not, the communications will be unstable.
  • Page 62 165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications 7.1 Location of Communication Power Supply for DeviceNet (1) How to confirm sufficient power supply capacity Check the following for each node. When nodes are located on both sides of the power supply, check for the nodes on each side.
  • Page 63 165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications for DeviceNet 7.1 Location of Communication Power Supply Example 1: Where the power supply is at the end of the trunk line The following diagram shows an example where the thick cable with the total length of 210 m is used and the power supply is connected at the end of the trunk line.
  • Page 64 165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications 7.1 Location of Communication Power Supply for DeviceNet 4. Calculation with Actual Values If the result of the simplified calculation based on the graph still does not satisfy the conditions, check by detailed calculations using the following equation.
  • Page 65 165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications for DeviceNet 7.1 Location of Communication Power Supply When the communications power supply is also used as the internal circuit power supply Because the allowable voltage range of the communications power supply is different from that of the internal circuit power supply as shown below, avoid using the power supply for both communications and the internal circuit.

  • Page 66: Grounding

    165626-1CD JARCR-XFB01B Board Connections for DeviceNet Communications 7.2 Grounding for DeviceNet Grounding 7.2.1 Grounding Method 1. The DeviceNet cable system must be grounded at only one location in the network in order to avoid a ground loop. Ground the DeviceNet cable system closest to the center of the network.

  • Page 67: Error Indication

    • Check the settings of the switches on the front of the XFB01B board. MS lit in Error in module ROM/RAM check error or watchdog time- out error occurs. • Turn the DX200 main power supply from OFF to ON. • Replace the XFB01B board. HW1481973 67/70...

  • Page 68: Ns Lamp

    HW1481973 Error Indication LED Indicators 8.1.2 NS Lamp The NS LED indicates the status of DeviceNet. Status Indications and Corrective Actions NS unlit In offline status XFB01B board power supply failure, communication power supply failure, or DeviceNet line failure occurs. •...
  • Page 69 NS blinks Time-out error A time-out error occurs between the in red DX200 and the connected device. • Check the wiring and connection of the DeviceNet cable and connector. • Check the voltage and connection of the communication power supply.

  • Page 70: Hw1481973

    DX200 OPTIONS JARCR-XFB01B BOARD INSTRUCTIONS FOR DeviceNet Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1481973 70/70...

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