YASKAWA Motoman Series Instructions Manual
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YASKAWA Motoman Series Instructions Manual

Profibus communication function
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YRC1000micro OPTIONS
PROFIBUS COMMUNICATION FUNCTION
INSTRUCTIONS
FOR INpact AND AB3602 MADE BY HMS, Inc.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
188183-1CD
0
MANUAL NO.
HW1484564
1
1/60

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Summary of Contents for YASKAWA Motoman Series

  • Page 1 YRC1000micro OPTIONS PROFIBUS COMMUNICATION FUNCTION INSTRUCTIONS FOR INpact AND AB3602 MADE BY HMS, Inc. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 188183-1CD...
  • 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 HW1484564 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 HW1484564 NOTICE • 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 – Where much dust exists –...
  • Page 5 HW1484564 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop button on the programming pendant or on the external control device, etc.
  • Page 6 HW1484564 DANGER • In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button. Connect the external emergency stop button to the 2-12 pin and 3- 13 pin of the Safety connector (Safety).
  • Page 7 HW1484564 CAUTION • Check to be sure that there is no foreign matter (metal piece, etc.) on the board. Failure to observe this caution may result in personal injury or equipment damage because of malfunction. • Check to be sure that there is no problem (damage, bend, etc.) with the components of the board.
  • Page 8 HW1484564 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant (optional), and the YRC1000micro programming pendant dummy connector (optional).
  • Page 9 HW1484564 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or symbols Pendant /Symbol Keys printed on them are denoted with [ ]. e.g. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...
  • Page 10 HW1484564 Description of the Operation Procedure In the explanation of the operation procedure, the expression “Select • • •” means that the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...

  • Page 11: Table Of Contents

    HW1484564 Contents 1 Outline ............................1-1 1.1 System Configuration ......................1-1 2 Hardware Specifications ......................... 2-1 2.1 Board External View ......................2-1 2.1.1 INpact Profibus Slave Board ................2-1 2.1.2 AB3602 Board ...................... 2-2 2.2 Board Specifications ......................2-3 2.3 Communication Specifications................... 2-3 2.4 Connector Specification.....................

  • Page 12: Outline

    HW1484564 Outline System Configuration Outline This manual describes the PROFIBUS board INpact and AB3602 (manufactured by HMS Inc.) to be used in the YRC1000micro. The application of these boards allows the general-purpose I/O data exchange between a PROFIBUS device and the YRC1000micro. INpact is used as a slave (INPACT PPROFIBUS Slave).
  • Page 13 HW1484564 Outline System Configuration The following diagram shows an example of the configuration of a system with the AB3602 board. YRC1000micro Profibus Master AB3602 Profibus Cable Profibus Slave HW1484564 13/60...

  • Page 14: Hardware Specifications

    HW1484564 Hardware Specifications Board External View Hardware Specifications Board External View 2.1.1 INpact Profibus Slave Board HW1484564 14/60...

  • Page 15: Ab3602 Board

    HW1484564 Hardware Specifications Board External View 2.1.2 AB3602 Board HW1484564 15/60...

  • Page 16: Board Specifications

    HW1484564 Hardware Specifications Board Specifications Board Specifications Items Specifications Interface to the external PROFIBUS device Board mounting position Option PCI Express slot on the YRC1000micro Error indicator LED display Number of transmission I/O Maximum number of I/O points points INpact PROFIBUS slave Input: 1008 points Output: 1008 points AB3602...

  • Page 17: Connector Specification

    HW1484564 Hardware Specifications Connector Specification Connector Specification  Profibus Connector D-sub 9 pin (socket) Explanation Frame Cable shield B-Line GND BUS +5V BUS A-Line 1 NC :Not Connected 2 RTS: RTS is a signal which dictates data communication direction. The ordinal application does not use RTS signal because it uses only A-Line, B-Line or the shield cable.

  • Page 18: Mounting The Board

    HW1484564 Mounting the Board Mounting the Board WARNING • Before wiring or installation, make sure to turn the primary power supply off, and put up a warning sign. (e.g. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or personal injury.
  • Page 19 HW1484564 Mounting the Board 1. Remove the fixing screw (22 screws) of the top board, and remove the top board. Fig. 3-1: Removing the Top Board of the YRC1000micro SD card slot of the ACP 30 board HW1484564 19/60...
  • Page 20 HW1484564 Mounting the Board 2. Mount the INpact / AB3602 board, and securely tighten the INpact / AB3602 board with screws. Fig. 3-2: Mounting the INpact / AB3602 board Slot 1 (optional) Slot 2 (optional) Fix it with a screw. 3.

  • Page 21: O Signal Allocation

    HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module I/O Signal Allocation Setting of Option Board and I/O Module In order to use the INpact / AB3602 board in the YRC1000micro, perform the setting of the option board and I/O module in the following manner. Set the option board and I/O module in the management mode.

  • Page 22: Setting Of The Inpact Board To Slave

    HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 4.1.1 Setting of the INpact Board to Slave 1. Turn ON the power supply while pressing {MAIN MENU}. – The Maintenance mode starts. 2. Set the security mode to the “Management Mode”. 3.
  • Page 23 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 4. Select {SETUP}. – The SETUP display appears. 5. Select “OPTION BOARD”. – The OPTION BOARD display appears. HW1484564 23/60...
  • Page 24 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 6. Select “INpact”. – The INpact setup display appears. – Set the following items: • “INPACT”: whether to use the INpact board or not • “IO SIZE”: the I/O size (dword) •...
  • Page 25 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 7. Press [ENTER]. – The confirmation dialog box appears. 8. Select {YES}. – The IO MODULE display appears. The message, “Select 'Safety Board FLASH Reset'.” appears, however, do not perform 'Safety Board FLASH Reset' this time, but perform the settings continuously.
  • Page 26 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 9. Press [ENTER]. – The rest of the IO MODULE display appears, and “INpact” is displayed. – The I/O points is displayed under “DI/DO” according to the I/O size in bytes that is set on the “OPTION BOARD”...
  • Page 27 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 11. Select {YES}. – Select {YES} if the display corresponds to the current mounted status of the I/O modules. The I/O module setting is updated, and the IO MODULE window changes to the EXTERNAL IO SETUP window.
  • Page 28 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 14. Select the allocation mode to set up. – Select “AUTO” to allocate I/O signal allocation automatically. Select “MANUAL” to allocate I/O signal allocation manually. – The selected allocation mode is set up. 15.
  • Page 29 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 16. Select the external I/O signal number (at the change source) to be changed. (In the setting example, select “#20030”.) – The select menu appears. 17. Select “MODIFY”, and input the external input signal number (at the change destination) to be changed.
  • Page 30 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 19. Press [ENTER]. – The allocation window of the external output signal appears. 20. Select/modify the number of the external output signal same as the external input signal. – Repeat select/modify until it becomes the desired allocation to set up. 21.
  • Page 31 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 23. Set the security mode to the “SAFETY MODE”. 24. Select {FILE}- {INITIALIZE}. – The INITIALIZE window appears. 25. Select “Safety Board FLASH Reset”. – The confirmation dialog box appears. 26.

  • Page 32: Setting Of The Ab3602 Board To Master

    HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 4.1.2 Setting of the AB3602 Board to Master 1. Turn ON the power supply while pressing {MAIN MENU}. – The Maintenance mode starts. 2. Set the security mode to the “Management Mode”. 3.
  • Page 33 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 4. Select {SETUP}. – The SETUP display appears. 5. Select “OPTION BOARD”. – The OPTION BOARD display appears. HW1484564 33/60 4-13...
  • Page 34 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 6. Select “AB3602”. – The AB3602 setup display appears. – Set the following items without fail: • “AB3602”: whether to use the AB3602 board or not • “IO SIZE”: the I/O size (byte) •...
  • Page 35 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 7. Press [ENTER]. – The confirmation dialog box appears. 8. Select {YES} – The IO MODULE display appears. The message, “Select 'Safety Board FLASH Reset'.” appears, however, do not perform 'Safety Board FLASH Reset' this time, but perform the settings continuously.
  • Page 36 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 9. Press [ENTER]. – The rest of the IO MODULE display appears, and “AB3602” is displayed. – The I/O points is displayed under “DI/DO” according to the I/O size in bytes that is set on the “OPTION BOARD”...
  • Page 37 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 10. Press [ENTER]. – The confirmation dialog box appears. 11. Select {YES}. – Select {YES} if the display corresponds to the current mounted status of the I/O modules. The I/O module setting is updated, and the IO MODULE window changes to the EXTERNAL IO SETUP window.
  • Page 38 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 13. 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 NOTE “AUTO”, the set allocation data is discarded.
  • Page 39 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 15. Select “DETAIL” of “EXTERNAL IO ALLOCATION”. – When select “AUTO”, the following procedures No.16 to 18 are not necessary. Operate the procedure from No.19. – When select “MANUAL”, operate the following procedures No.16 to 18 accordant with the setting manually.
  • Page 40 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 17. Select “MODIFY”, and input the external input signal number (at the change destination) to be changed. (In the setting example, enter “#20290”.) – The external input signal number is changed. 18.
  • Page 41 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 21. Press [ENTER]. – Confirmation dialog appears. 22. Select {YES}. – The settings are confirmed, and returns to the SETUP window. HW1484564 41/60 4-21...
  • Page 42 HW1484564 I/O Signal Allocation Setting of Option Board and I/O Module 23. Set the security mode to the “SAFETY MODE”. 24. Select {FILE}- {INITIALIZE}. – The INITIALIZE window appears. 25. Select “Safety Board FLASH Reset”. – The confirmation dialog box appears. 26.

  • Page 43: Transmission Data

    HW1484564 I/O Signal Allocation Transmission Data Transmission Data The data to be transferred from the INpact/AB3602 board to the inside of the YRC1000micro is not only the I/O data from the external device connected to the Profibus, but also the status of the INpact/AB3602 board. Therefore, inside the YRC1000micro, 8 points (1 byte) each for input and output are reserved for the INpact/AB3602 board status, beside the area for the digital data.

  • Page 44: Yrc1000Micro Inpact Allocation Example

    HW1484564 I/O Signal Allocation Transmission Data 4.2.1 YRC1000micro INpact Allocation Example Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of ASF30 (standard I/O), refer to “YRC1000micro INSTRUCTIONS (RE-CTO-A222)”...
  • Page 45 HW1484564 I/O Signal Allocation Transmission Data INpact I/O Output 30080 to 30087 10080 to 10087 (OT0057 to OT0064) Output data (6) (Profibus) 30090 to 30097 10090 to 10097 (OT0065 to OT0072) Output data (7) 30100 to 30107 10100 to 10107 (OT0073 to OT0080) Output data (8) 30110 to 30117 10110 to 10117 (OT0081 to OT0088)

  • Page 46: Yrc1000Micro Ab3602 Allocation Example

    HW1484564 I/O Signal Allocation Transmission Data 4.2.2 YRC1000micro AB3602 Allocation Example Note1) The following example is for the standard setting. When change the allocation of the external output signal or the concurrent ladder program, the allocation changes in accordance with the changes. Note2) As for the input data/output data of ASF30 (standard I/O), refer to “YRC1000micro INSTRUCTIONS (RE-CTO-A222)”...
  • Page 47 HW1484564 I/O Signal Allocation Transmission Data AB3602 I/O Output 30080 to 30087 10080 to 10087 (OT0057 to OT0064) Output data (6) (Profibus) 30090 to 30097 10090 to 10097 (OT0065 to OT0072) Output data (7) 30100 to 30107 10100 to 10107 (OT0073 to OT0080) Output data (8) 30110 to 30117 10110 to 10117 (OT0081 to OT0088)

  • Page 48: The Alarm When Communication Error Occurs Using The Board Status

    HW1484564 I/O Signal Allocation Transmission Data 4.2.3 The Alarm when Communication Error Occurs Using the Board Status When the INpact/AB3602 board detects an error of the Profibus communication, by using the CIO ladder program allows to occur the alarm. The examples of the method are described below. There are three alarms of the occurrence alarms.
  • Page 49 HW1484564 I/O Signal Allocation Transmission Data 5. Enter the I/O alarm name. 6. Press [ENTER]. – The entered alarm is registered. 7. Register the other alarms. – Repeat the same procedures to register the alarm to use. HW1484564 49/60 4-29...
  • Page 50 HW1484564 I/O Signal Allocation Transmission Data  IO Allocation and the Ladder Program External input signal Signal Description 20025 The unsent slave (slave unit) exists on the Profibus network. 20026 Profibus communication error 20027 INpact board operation error System input signal Signal Description 40012...
  • Page 51 HW1484564 I/O Signal Allocation Transmission Data The figure of the ladder #20027 #40220 #20027 #20026 #20025 #20026 #20027 #40221 #20025 #70017 #40222 #70017 #40223 #70017 #40224 #70017 #40225 #20027 #40012 #20026 #20025 HW1484564 51/60 4-31...

  • Page 52: Setting Of Ab3602 Board Communication Condition

    HW1484564 I/O Signal Allocation Setting of AB3602 Board Communication Condition Setting of AB3602 Board Communication Condition When using AB3602 board, the network is necessary to be configured with AnyBus NetTool for PROFIBUS (HMS made) (hereinafter referred to as NetTool). Followings are the outline of the network configuration when A3601 (IN: 16 Byte, OUT: 6 Byte) is regarded as a slave.
  • Page 53 HW1484564 I/O Signal Allocation Setting of AB3602 Board Communication Condition 6. In the GSD window, select {Profibus Master} and drag {Anybus-M DPV1} to the configuration window, then drop it. – Anybus-M icon appears in the configuration window. 7. Double click Anybus-M icon. –...
  • Page 54 HW1484564 I/O Signal Allocation Setting of AB3602 Board Communication Condition 8. In the GSD window, select {PROFIBUS DP} {General} {HMS Industrial Networks} and drag {Anybus -S DPV1} to the configuration window, then drop it. – The Anybus-S icon appears in the The Anybus-M network. 9.
  • Page 55 HW1484564 I/O Signal Allocation Setting of AB3602 Board Communication Condition 10. In the GSD window, select {PROFIBUS DP} {General} {HMS Industrial Networks} {Anybus -S DPV1} and drag {IN/OUT: 8 word} to the slot 1 in the configuration window, then drop it. 11.
  • Page 56 HW1484564 I/O Signal Allocation Setting of AB3602 Board Communication Condition 14. Click {OK}. – COM-PORT selecting window appears. 15. Select {OK}. – Downloading of the configuration result starts. – When downloading is completed, the following dialog box appears, then click {OK}. HW1484564 56/60 4-36...

  • Page 57: Error Indication

    HW1484564 Error Indication Error Indication INpact/AB3602 board is provided with LEDs for circuit board status indication. These LEDs indicate the following conditions. INpact AB3602 HW1484564 57/60...

  • Page 58: Inpact

    HW1484564 Error Indication INpact INpact LED State Meaning Green Data exchange Green Clear mode flashing Red single Parameterization error flash Red double PROFIBUS Configuration error flash No power Green Interface in OPERATIONAL state Green flash Extended diagnostic bit is set Interface in EXCEPTION state Interface in SETUP or NW_INIT state U1/U2...

  • Page 59: Ab3602

    HW1484564 Error Indication AB3602 AB3602 Meaning State Meaning Application Green Controlled by application Connecting Status Standalone IO Access Green IO accesses going on flashing IO access failure (recoverable) flashing No activity Master Status Green Operation mode Green Clear mode flashing Idle mode OFF line status Token Hold...
  • Page 60 FOR INpact AND AB3602 MADE BY HMS, Inc. YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan Phone: +81-93-645-7703 Fax: +81-93-645-7802 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone: +1-937-847-6200 Fax: +1-937-847-6277 http://www.motoman.com YASKAWA EUROPE GmbH (ROBOTICS DIVISION)

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