Robostar N1 Series Option DeviceNet Manual
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Robostar N1 Series Option DeviceNet Manual

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Robostar Robot Controller Manual
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  • Page 1 Robostar Robot Controller Manual √ Option Module - DeviceNet www.robostar.co.kr Robostar Co., Ltd...
  • Page 2 Robostar Robot Controller Manual √ Option Module - DeviceNet www.robostar.co.kr Robostar Co., Ltd...
  • Page 3 Copyright ⓒ ROBOSTAR 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...
  • Page 4 We offer free services during this warranty period only for mechanical breakdowns caused by faults by Robostar or breakdowns which arise from problem in design and manufacturing faults during normal use.
  • Page 5 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. DeviceNet  Explains how to connect a connector to N1 series using DeviceNet communication modules as well as how to use it. Robostar Co., Ltd...

  • Page 6: Table Of Contents

    N1 Series System Input #2 & FIELDBUS INPUT#1 ................6-3 6.1.3 N1 Series FIELDBUS INPUT #2 ......................6-3 6.1.4 N1 Series System Output #1 ........................6-3 6.1.5 N1 Series FIELDBUS Output #2 ......................6-4 N1 S ..................6-4 RECAUTIONS FOR SE IN ERIES YSTEM Robostar Co., Ltd...
  • Page 7 Read Current Position ........................... 6-28 6.3.14 Read GLOBAL Point ..........................6-29 6.3.15 Write GLOBAL Point ..........................6-31 6.3.16 Read GLOBAL Integer ........................... 6-33 6.3.17 Write GLOBAL Integer .......................... 6-34 6.3.18 Read GLOBAL Float ..........................6-35 6.3.19 Write GLOBAL Float ..........................6-36 Robostar Co., Ltd...

  • Page 8: Chapter 1. Overview

    A DeviceNet Option Board is a board in charge of DeviceNet field network system communication of Robostar N1 controller. N1 controller allows the use of a DeviceNet Option Board to enable communicating with systems such as PC or PLC using DeviceNet protocols. DeviceNet, one of...

  • Page 9: Chapter 2. Function

    0(Generic) Vendor ID 1055 Communication Power 11~25V DC Electrical Communication Current Below 30mA Control Power 5V DC(Provided from Robostar controller) Operating Temperature 0 ~ 40℃ Environment Storage Temperature -15 ~ 60℃ Operating Humidity 20~80% PH Characteristics and Functions of DeviceNet...

  • Page 10: Chapter 3. Specifications

    DeviceNet Option Board is connected to the external fieldbus through a 5-pin connector and connected to Robostar N1 controller through a built-in Dual_Port memory. DeviceNet Option Board consists of DeviceNet 5-pin connector, module status display LED, network status display LED, prefix setup switch, I/O SIZE setup switch, and RS-232 connector(DB9).

  • Page 11: Status Display Led

    When DeviceNet Option Board is powered, LED check is done with the following procedure. 1. Turn all LEDs Off 2. Turn all Green LEDs On(25ms) 3. Turn all Red LEDs On(25ms) 4. Turn all LEDs Off 5. Under normal operation Robostar Co., Ltd...

  • Page 12: Station Number Setting

    17 stations. When resetting a prefix, be sure to change the power from OFF->On. Display of Communication Power and Communication Line Fig. 3.3 Connector Pin Layout Communication Power Connect to Terminal 1 (-V, Black) and 5 (+V, Red). Communication Line Connect to Terminal 2(CANL, Blue) and 4 (CANH, White). Robostar Co., Ltd...
  • Page 13 Terminating resistance (120Ω, ±1%) is connected between Connector CANL(2PIN) and CANH(4PIN). For how to connect, refer to “Fig. 3.5 How to Connect Terminating Resistance”. Fig. 3.5 How to Connect Terminating Resistance (120Ω) Terminating resistance (120 Ω) should be installed in termination of communication. line. Robostar Co., Ltd...

  • Page 14: I/O Size Setting

    IN Data Size OUT Data Size 48 Kbyte 48 Kbyte 46 Kbyte 40 Kbyte 8 Kbyte 8 Kbyte Values other than the above Error values Fig. 3.6 Example of Data Size Setting Table 3.5 Input/Output Size Setting Value Robostar Co., Ltd...

  • Page 15: Cable Spec

    - When using 24 Volts DC on a thick cable or flat cable, the maximum for use is 8A but NEC Class 2 requirements permit only 4A. (Applies only to North America) - A maximum of 3A is possible when using 24 Volts DC on a thin cable. Robostar Co., Ltd...

  • Page 16: How To Install Hardware

    Connector, refer to “Fig. 4.2”, “Fig. 3.3”. Fig. 4.2 How to Connect Network Cable For FieldBus network cable, use a certified DeviceNet cable.  When using a non-dedicated cable, it may lead to malfunction due to noise.  Robostar Co., Ltd...

  • Page 17: Controller Setting

    SELECT # Open PUBLIC PARAMETER group screen <PARAMETER> Press F3 button to move to PUB TYPE *CH1 XYZW XY_TEST INFO EXIT Select 1:HW CONF <PUBLIC PARAMETER> 1: HW CONF 2: PALLET 3: PLC 4: ETC group # Robostar Co., Ltd...
  • Page 18 OPT COM CARD 1: NONE 2: CC-LINK 3: PROFIBUS 4: D-NET ENTER Updata OK?(ENT/ESC) ■ When there is no DeviceNet B/D, a message “Not Card!” comes up at bottom of T/P screen and fails to be saved. Robostar Co., Ltd...

  • Page 19: User I/O Setting

    Data(USER I/O area) input/output are restricted due to communications in setting SYS  USER I/O. When setting FIELDBUS USER I/O, Data(User I/O) input/output via I/O Board are restricted. For further details about User I/O, refer to “Handling Manual 3.3.6”.  Robostar Co., Ltd...

  • Page 20: Plc Data Transfer Speed

    100m 100m Longest Drop Length Cumulative Drop 153m Length Number of Nodes Fig. 4.3 Example of Drop Line DeviceNet communication speed can be set on a PLC.  For other details about DeviceNet, refer to ODVA (WWW.ODVA.OR.KR). Robostar Co., Ltd...

  • Page 21: Chapter 5. Examples Of Devicenet Setting

    EDS file Install is complete. Once the EDS file has been normally installed, you can check a directory Robostar has been created at lower end of the Vendor directory at the Hardware window on the left in Fig. 5.2, with N1 generated in its sub directory.
  • Page 22 [Fig. 5.2 Screen I/O Allocation 48x48 after Auto Scan] Double-click the 1796-SDN Scanner module and the Fig. 5.4 screen comes up. Click the Module tab and select CompactLogix used as the example when asked to pick a 1769-SDN Platform. [Fig. 5.4 Scanner Setup Screen] Robostar Co., Ltd...
  • Page 23 Click the Input tab and you can check the tag numbers in which Input data of N1 is allocated as shown below. Click the Output tab and you can check the allocated tag numbers as done in Input data. To modify the tag number manually, click the icon. Robostar Co., Ltd...
  • Page 24 CompactBus Local on the bottom left of the screen, a Select module window comes up. Click the Communications tab and 1769-SDN Scanner pops up. When clicking and selecting it, you can see 1769-SDN has been created below CompactBus Local tab and Fig. 5.8 screen comes up. Robostar Co., Ltd...
  • Page 25 I/O size set to Scanlist in RSNetworx. Click the Confirm button and RSNetworx tab to configure the path of the RSNetworx file set and saved in Ch.5 “6)”. Fig. 5.7 In-progress RsLogix 5000 Screen Fig. 5.8 1769-SDN Setup Screen Robostar Co., Ltd...
  • Page 26 13) In the OMROM PLC, I/O data is connected for a real-time exchange upon registering DeviceNet modules on the Scanlist using Configuration tool. But, the AB PLC allows you to exchange I/O data only by enabling CommandRegister.Run bit in Fig. 5.10 though registered on Scanlist. Fig. 5.10 I/O Run Program Robostar Co., Ltd...

  • Page 27: Chapter 6. Memory Mapping

    1.3.1.3 Extension I/O Board Setting”.) Note) JOG Velocity Rate Input of RWw10 applies when in JOG Mode, with a setting range from 1 to 100%. The value set is converted by percent per axis based on the Jv values of JOINT Robostar Co., Ltd...

  • Page 28: N1 Series System Input #1

    Channel 2 change CH_SEL Bit set value in Channel 1 timing diagram to High. Reading and writing Global Integer and Global Float Data CH_SEL Bit can be used regardless of setting. For description of functions of each Bit, refer to Operation Manual “3.3.4 System  Input/Output Functions”. Robostar Co., Ltd...

  • Page 29: N1 Series System Input #2 & Fieldbus Input#1

    N1 Series System Output #1 6.1.4 System Output #1 CH SEL ORG OK #2 ALL ALARM RUNNING #2 READY #1 INPOS/INRNG #2 ORG OK #1 SERVO ON #2 RUNNING #1 Reserved INPOS/INRNG #1 Reserved SERVO ON #1 Reserved READY #2 Reserved Robostar Co., Ltd...

  • Page 30: N1 Series Fieldbus Output #2

    T1: 20ms, T2: 30ms, T3: 40ms. The pulse width entered when applying Field Bus should be kept over a minimum of 20ms.  The time interval between signals entered when applying Field Bus should be over at least  20ms. Robostar Co., Ltd...

  • Page 31: N1 Series Fieldbus(Cc_Link) Timing Diagram

    AUTO RUN MODE ORG #1 PROG 0:4 PROG: 2 PROG SEL START #1 N1 Series -> PLC(PC) CH DIS READY #1 AUTO RUN MODE ORG OK #1 SERVO ON #1 PROGRAM NUM PROG: 2 RUNNING #1 Brake State DIS Robostar Co., Ltd...
  • Page 32 Check AUTO SERVO ON for setting in Parameter of N1 Series. (Refer to Operation  Manual “1.3.1.5 Auto Servo On”.) When Auto Servo ON is not set, output SERVO ON #1 Bit as High prior to  sending out START #1 Signal. Robostar Co., Ltd...

  • Page 33: Job Program Change During Job Operation

    Note 1 STOP #1 Note 2 PROG 0:4 PROG:3 PROG: 2 PROG SEL START #1 N1 Series -> PLC(PC) CH DIS ORG #1 Note 3 RUNNING#1 PROGRAM NUM PROG:3 PROG: 2 SERVO ON #1 Brake State DIS Robostar Co., Ltd...
  • Page 34 Check PROGRAM NUM sent from N1 Controller and enter SERVO ON #1 Signal in Pulse.  (High status should be kept over 20ms.) Set START #1 to High.  Changing JOB Program can only be made with Servo OFF. Prior to changing JOB  Program, check the Servo OFF status. Robostar Co., Ltd...

  • Page 35: Job Program Change After Completing Job Program

    PLC(PC) -> N1 Series CH SEL PROG 0:4 PROG:3 PROG: 2 STOP#1 PROG SEL START #1 N1 Series -> PLC(PC) CH DIS ORG #1 Note 1 RUNNING#1 SERVO ON#1 PROGRAM NUM PROG:3 PROG: 2 Brake State DIS Robostar Co., Ltd...
  • Page 36 With completion of setting JOB Program num, set PROG SEL Bit to High.  Check PROGRAM NUM sent from N1 Controller and enter SERVO ON #1 Signal into pulse.  (High status should be kept over 20ms.) Set START #1 to High.  6-10 Robostar Co., Ltd...

  • Page 37: Job Program Start After Disabling Alarm

    Memory Mapping JOB Program START after Disabling Alarm 6.3.4 PLC(PC) -> N1 Series Note 1 Note 2 STOP #1 START N1 Series -> PLC(PC) ALL ALARM RUNNING#1 READY #1 SERVO ON #1 Brake State DIS 6-11 Robostar Co., Ltd...
  • Page 38 Note 2) Set JOB Program STEP Line for the first time. When not in Auto Servo ON Description : Enter STOP #1 Signal into pulse twice. (High status should be kept over 20ms.)  Set START #1 to High.  6-12 Robostar Co., Ltd...

  • Page 39: Job Program Restart After Disabling Alarm

    Memory Mapping JOB Program Restart after Disabling Alarm 6.3.5 PLC(PC) -> N1 Series STOP #1 START N1 Series -> PLC(PC) ALL ALARM RUNNING#1 READY #1 SERVO ON #1 Brake State DIS 6-13 Robostar Co., Ltd...
  • Page 40 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.)  After checking SERVO ON, set START #1 to High.  6-14 Robostar Co., Ltd...

  • Page 41: Servo Off

    Memory Mapping SERVO OFF 6.3.6 PLC(PC) -> N1 Series Note 1 Note 2 STOP #1 N1 Series -> PLC(PC) SERVO ON #1 RUNNING#1 READY #1 Brake State DIS 6-15 Robostar Co., Ltd...
  • Page 42 (High status should be kept over 20ms.) When not in Auto Servo ON, Servo OFF does not apply though the 2 STOP #1  Signal is sent out. To keep Servo OFF, send SERVO ON #1 Signal via Pulse.  6-16 Robostar Co., Ltd...

  • Page 43: Rebooting

    100ms. When kept below 100ms, Rebooting may not be performed. When Rebooting is complete yet alarm conditions are not disabled, ALARM Bit maintains  High status. In this case, disable all alarm conditions and retry Rebooting. 6-17 Robostar Co., Ltd...
  • Page 44 Check PROGRAM NUM sent from N1 Controller and set START #1 Bit to High.  Note 1) When Rebooting, Signals may malfunction so use caution.  A timing diagram upon completion of Rebooting is identical to “6.3.2 AUTO RUN.  MODE Operation”. 6-18 Robostar Co., Ltd...

  • Page 45: Mode(Auto, Step, Jog) Change

    Memory Mapping MODE(AUTO, STEP, JOG) Change 6.3.8 PLC(PC) -> N1 Series CH SEL AUTO RUN MODE STEP RUN MODE JOG MODE N1 Series -> PLC(PC) CH SEL AUTO RUN MODE STEP RUN MODE DIS JOG MODE DIS 6-19 Robostar Co., Ltd...
  • Page 46 Enter MODE Signal in Pulse format when High status should be kept over 20ms. MODE can be converted only with SERVO OFF.  Check CH SEL Bit before changing MODE.  When CH SEL Bit is wrongly set, another Channel MODE changes.  6-20 Robostar Co., Ltd...

  • Page 47: Step Mode

    Use START Bit in System Input #1 to run JOB.  Use VEL+/ VEL- Bit in System Input #1 to select the desired JOB step.  Select the desired STEP to operate, enter START#1 Bit into pulse.  6-21 Robostar Co., Ltd...
  • Page 48 Use VEL+/ VEL- Bit in System Input #1 to select the desired JOB step.  Select the desired STEP to operate and enter START#1 Bit into Pulse.  Use START Bit and run it with one STEP increase at a time.  6-22 Robostar Co., Ltd...

  • Page 49: Operation In Jog Mode

    JOG VEL RATE JOG VEL : 10 JOG VEL : 20 JOG VEL SERVO ON #1 JOG A(X) + JOG Z + N1 Series -> PLC(PC) CH DIS JOG MODE DIS SERVO ON #1 Brake State_DIS 6-23 Robostar Co., Ltd...
  • Page 50 When operating JOG, Auto Servo ON does not apply regardless of setting Auto  Servo ON. When operating JOG, be sure to send out SERVO ON #1 Signal to turn into Servo  When not selecting a coordinate, it operates by Angle coordinate.  6-24 Robostar Co., Ltd...

  • Page 51: Forward Operation In Jog Mode

    JOG VEL RATE GPNT Index GPNT INDEX PULL UP VALUE PULLUP VALUE XY 좌표 Angle 좌표 SERVO ON#1 JOG FWD N1 Series -> PLC(PC) JOG MODE DIS SERVO ON #1 FORWARD STATE DIS INPOS/INRNG #1 Brake state DIS 6-25 Robostar Co., Ltd...
  • Page 52 When operating JOG, be sure to send out SERVO ON #1 Signal to turn into Servo ON.  When selecting Angle coordinate from Scara Robot Type, JMOV operates and when  selecting XY coordinates operation is performed by LMOV. 6-26 Robostar Co., Ltd...

  • Page 53: Read Rpm, Trq

    Sends out TRQ or RPM value according to Info Data Mode 0:1 setting.  Information about current output values can be confirmed via TRQ Info Data Mode Bit and  RPM Info Data Mode Bit. Info Data Mode SEL #0 Info Data Mode SEL #1 HIGH 6-27 Robostar Co., Ltd...

  • Page 54: Read Current Position

    If Data Type is not changed to Low in Read Enable Flag High, Read Ready & Complete  Flag instantly turns back into High. The minimum standby time is required in Current Position Read following change to  Data Type. 6-28 Robostar Co., Ltd...

  • Page 55: Read Global Point

    GPNT Index GPNT Index GPNT Index Data Type : Data Type : Angle Read Enable Flag N1 Series -> PLC(PC) CH DIS Read Ready & Complete Flag GLOBAL POINT Position Value : GLOBAL POINT(XY Data) (Angle Data) 6-29 Robostar Co., Ltd...
  • Page 56 If Data Type is not changed to Low in Read Enable Flag Signal High, Read Ready  & Complete Flag instantly turns back into High. The minimum standby time is required in continual Global Point Read.  6-30 Robostar Co., Ltd...

  • Page 57: Write Global Point

    CH SEL GPNT Index GPNT Index GPNT Index Data Type : Data Type : Angle Position Value : Position Value(XY Data) Position Value(Angle Date) Write Enable Flag N1 Series -> PLC(PC) CH DIS Write Complete Flag 6-31 Robostar Co., Ltd...
  • Page 58 GINT, GFLOAT and GPOINT commonly use Read Enable Flag so the Index value of  an unused variable is allocated at a time when no change is desired. The minimum standby time is required in continual GPOINT Write.  6-32 Robostar Co., Ltd...

  • Page 59: Read Global Integer

     GLOBAL Integer, GLOBAL Float, and GLOBAL Point commonly use Read Enable  Flag so caution should be taken in setting the Index value of an unused variable at a time when no change is desired. 6-33 Robostar Co., Ltd...

  • Page 60: Write Global Integer

    In case of saving Global Integer values continually, a delay time of T2(30ms) is required.  GLOBAL Integer, GLOBAL Float, GLOBAL Point commonly use Read Enable Flag so  caution should be taken in setting the Index value of an unused variable at a time when no change is desired. 6-34 Robostar Co., Ltd...

  • Page 61: Read Global Float

    When continually reading Global Integer values, as much delay time as T2(30ms) is needed.  GLOBAL Integer, GLOBAL Float, GLOBAL Point commonly use Read Enable Flag so  caution should be taken in setting the Index value of an unused variable at a time when no change is desired. 6-35 Robostar Co., Ltd...

  • Page 62: Write Global Float

    In case of saving Global Integer values continually, a delay time of T2(30ms) is required.  GLOBAL Integer, GLOBAL Float, GLOBAL Point commonly use Write Enable Flag so  caution should be taken in setting the Index value of an unused variable at a time when no change is desired. 6-36 Robostar Co., Ltd...
  • Page 63 Date of Rev. Content Modifier Revision Version 2012.10.30 First Edition Print N1 ROBOT CONTROLLER CONTROLLER MANUAL FIRST EDITION OCTOBER 2012 ROBOSTAR CO, LTD ROBOT R&D CENTER Robostar Co., Ltd...

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