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Robostar N1 Series Manual

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Robostar Robot Controller Manual
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  • Page 1 Robostar Robot Controller Manual √ Option Module - Profibus www.robostar.co.kr Robostar Co., Ltd...
  • Page 2 Robostar Robot Controller Manual √ Option Module - Profibus 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. Profibus  Explains how to connect a connector to N1 series using Prifibus communication modules as well as how to use it. Robostar Co., Ltd...

  • Page 6: Table Of Contents

    MEMORY MAPPING ........................6-1 N1 C ........................6-1 ONTROLLER APPING 6.1.1 N1 Series System Input #1 ........................6-2 6.1.2 N1 Series System Input #2 & FIELDBUS INPUT#1 ................6-3 6.1.3 N1 Series FIELDBUS INPUT #2 ......................6-3 Robostar Co., Ltd...
  • Page 7 Table of Contents 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 N1 S (CC_L ..................6-5 ERIES IELD IMING IAGRAM 6.3.1 Operation in AUTO RUN MODE ......................6-5 6.3.2...

  • Page 8: Chapter 1. Overview

    The Profibus Option Card is a board handling Profibus-DP communication with the N1 series controller made by Robostar Co., Ltd. The N1 series controller allows the use of Profibus Option Card to enable communication with systems such as PC or PLC using Profibus protocols. The Profibus Option Card complies with Profibus-DP standards and is capable of communication with any device which uses Profibus-DP protocols and physical layer for Profibus-DP.

  • Page 9: Chapter 2. Function

    △ End Seq △ △ Act Parameter Brct △ △ Act Parameter △ △ Req : request, Res : response ○: Essential function, △ : Optional function, - : No function Table 2.1 Alarms for Profibus-DP Function Robostar Co., Ltd...

  • Page 10: Profibus-Dp Communication Specifications

    Table 2.3 shows the Profibus-DP address map. Address Description Service-, diagnosis-and programming tool 1..2 Master(class1) 3..125 Slave(total or 124) Used for setting the slave address via software Used when Master transmits data to all units (Broadcast Address) Table 2.3 Profibus Address map Robostar Co., Ltd...

  • Page 11: Chapter 3. Specifications

    Represents current data being exchanged by being connected to Profibus Network Represents Profibus Option Card under normal operation Represents status of Profibus communication alarm Represents status for power supply to Profibus Option Card Table 3.2 Description of LED Status on Profibus Option Card Robostar Co., Ltd...

  • Page 12: Station Number Setting

    Rotary Switch uses a decimal number and communication speed for each number is shown in Table 3.3. Baud rate setup value Communication Value Speed 9.6 Kbit/s 19.2 Kbit/s 93.75 Kbit/s 187.5 Kbit/s 500 Kbit/s Reserved 1.5 Mbit/s 3 Mbit/s 6 Mbit/s AUTO Table 3.3 Baud rate setup value Robostar Co., Ltd...

  • Page 13: How To Set Input/Output Data Size

    4) Turn power to N1 controller ON. 5) Check if LED (Input/output setup LED) is blinking (performing ON->OFF 2~3times). Output setup LED Input setup LED Fig. 3.6 Input/Output Setup LED 6) Repeat the above process to set Data Size for input/output. Robostar Co., Ltd...

  • Page 14: Profibus Network Specifications

    Screen resistance Nom.9Ω/km Attenuation at 0.25/0.625/ Nom.6/9/12/18/40dB/km 1.25/3.125/16MHz Inductance Nom. 0.65mH/km Mutual capacitance Max. 30nF/km Capacitance unbalance to earth Max. 1500pF/km Impendance 3MHz 150±15Ω Test voltage 1500V (core/core and vore/screen) Operation voltage Max. 300V Table 3.6 Line Parameter Robostar Co., Ltd...

  • Page 15: Chapter 4. Installation And Operation Setting

    Chapter 4. Installation and Operation Setting How to Install Hardware Take the following procedure to be able to use ProfiBus Option Board on N1 series controller. 1) Turn power to controller OFF. 2) Attach the profibus board to PCI slot on N1 series controller.

  • Page 16: How To Connect Profibus Network Cable

    Voltage supplied to terminating resistance (P5V) RxD/TxD-N Receive Data/Transmission Data+ Table 4.1 Signals from Profibus Connector per Pin For examples of how to connect the cable, refer to “Fig. 4.2 How to Wire Cable”. Fig. 4.2 How to Wire Cable Robostar Co., Ltd...

  • Page 17: Controller Setting

    <PUBLIC PARAMETER> 1: HW CONF 2: PALLET 3: PLC 4: ETC group # Step2. Move to OPT CARD screen Select 2:COMM <PUBLIC-HW CONF(0)> 1: TMR 2: COMM 3: I/O 4: D-MAN 5: SVON 6: A I/O item # Robostar Co., Ltd...
  • Page 18 OPT COM CARD 1: NONE 2: CC-LINK 3: PROFIBUS 4: D-NET ENTER Selected : PROFIBUS■ When there is no Profibus 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. Data(User I/O) input/output are restricted through I/O Board in setting FIELDBUS USER I/O  For further details about User I/O, refer to “Handling Manual 3.3.6”.  Robostar Co., Ltd...

  • Page 20: Profibus Endian

    Upper Byte and Word value saved in lower number Word Data Double Data 0X12345678 0X1234 ADDR 0x34 0x12 0x34 0x12 0000 0003H 0x12 0x34 0x12 0x34 0x34 0x12 0x34 0x12 0000 0x12 0x34 0x12 0x34 0000H Little Little Robostar Co., Ltd...

  • Page 21: Chapter 5. Examples Of Profibus Setting

    Step2. Get HW Config to be executed so Profibus DP Salve can be added. Fig. 5.2 SIMENS PLC Step3. Select Options/Install New GSD menu and pick out the file provided as seen below. Fig. 5.3 SIMENS PLC Robostar Co., Ltd...
  • Page 22 Examples of Profibus Setting Step4. Fig. 5.4 shows ROBOSTAR N1 Device is registered into PROFIBUS DP. Fig. 5.4 SIMENS PLC Step5. Right-mouse click at the connection point of DP master system to select Insert Object, and choose ROBOSTAR N1. Fig. 5.5 SIMENS PLC Step6.
  • Page 23 Fig. 5.7 SIMENS PLC Step8. Press OK button and you can view properties of DP slave. Fig. 5.8 SIMENS PLC Step9. Fig. 5.9 is a screen with ROBOSTAR N1 registered as DP Slave. Fig. 5.9 SIMENS PLC Robostar Co., Ltd...
  • Page 24 Examples of Profibus Setting Step10. Select the ROBOSTAR N1 object and register Input/Output Address as shown in Fig. 5.12, Fig. 5.13. From Drop menus on right side of mouse, select Insert Object. Fig. 5.10 SIMENS PLC Step11. Fig. 5.11 SIMENS PLC Fig.

  • Page 25: Chapter 6. Memory Mapping

    Global Float Input RX41 RY42~RY43 Info Data 3 Output RX42~RX43 Global Float Index RY44~RY45 Info Data 4 Output Note) When using Option I/O, change Parameter I/0 EXT B/D value to 2. (Operation Manual” 1.3.1.3 Extension I/O Board Setting”.) Robostar Co., Ltd...

  • Page 26: N1 Series System Input #1

    N1 Series System Input #1 6.1.1 N1 series has System Bits commonly used between Robot Channel 1 and 2, and these bits operate differently between channels depending on CH_SEL Bit setting. If CH_SEL Bit set value is Low, it corresponds to Robot Channel 1, High to Robot Channel 2.

  • Page 27: N1 Series System Input #2 & Fieldbus Input#1

    Memory Mapping N1 Series System Input #2 & FIELDBUS INPUT#1 6.1.2 System Input #2 FieldBus Input #1 STOP #1 DATA TYPE: XY Coordinates Reserved DATA TYPE: Angle Coordinates SERVO ON #1 Data Type: Pulse (Read Only) ORG #2 Mode Select (/Current OR GPNT)

  • Page 28: N1 Series Fieldbus Output #2

    Reserved Reserved Reserved Precautions for Use in N1 Series System Mode < Precaution for Use in Auto Mode > ① As GINT, GFLOAT and GPNT commonly use Read / Write Enable Flag, the index values of unused variables are allocated at a time when no change is desired.

  • Page 29: N1 Series Fieldbus(Cc_Link) Timing Diagram

    Memory Mapping N1 Series FieldBus(CC_Link) Timing Diagram Operation in AUTO RUN MODE 6.3.1 PLC(PC) -> N1 Series CH SEL AUTO RUN MODE ORG #1 PROG 0:4 PROG: 2 PROG SEL START #1 N1 Series -> PLC(PC) CH DIS READY #1...
  • Page 30 Set AUTO RUN MODE Bit into pulse format. (High status should be kept over 20ms.)  When ORG OK#1 Signal is not set to High in N1 Series, set ORG #1 Bit to High.  When ORG OK #1 is changed to High, combine PROG 0~4 Bits to set the desired JOB ...

  • Page 31: Job Program Change During Job Operation

    Memory Mapping JOB Program Change during JOB Operation 6.3.2 PLC(PC) -> N1 Series CH SEL STOP #1 Note Note PROG 0:4 PROG:3 PROG: 2 PROG SEL START #1 N1 Series -> PLC(PC) CH DIS ORG #1 Note RUNNING#1 SERVO ON #1 Brake State DIS Robostar Co., Ltd...
  • Page 32 Enter SERVO ON #1 Signal into Pulse. (High status should be maintained 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 33: Job Program Change After Completing Job Program

    Memory Mapping JOB Program Change after Completing JOB Program 6.3.3 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 RUNNING#1 SERVO ON#1 Brake State DIS...
  • Page 34 (LSB) Bit and PROG4 Bit is the highest (MSB) Bit.) With completion of setting JOB Program num, set PROG SEL Bit to High.  Enter SERVO ON #1 Signal into Pulse. (High status should be maintained over 20ms.)  Set START #1 to High.  6-10 Robostar Co., Ltd...

  • Page 35: Job Program Start After Disabling Alarm

    Memory Mapping JOB Program START after Disabling Alarm 6.3.4 PLC(PC) -> N1 Series Note Note 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 36 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 37: 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 38 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 39: Servo Off

    Memory Mapping SERVO OFF 6.3.6 PLC(PC) -> N1 Series Note Note STOP #1 N1 Series -> PLC(PC) SERVO ON #1 RUNNING#1 READY #1 Brake State DIS 6-15 Robostar Co., Ltd...
  • Page 40 (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 41: Rebooting

    Memory Mapping Rebooting 6.3.7 PLC(PC) -> N1 Series Over 100ms REBOOT PROG 0:4 PROG:3 PROG: 3 PROG SEL START #1 N1 Series -> PLC(PC) RUNNING#1 READY #1 ALL ALARM SERVO ON #1 Note 6-17 Robostar Co., Ltd...
  • Page 42  set. 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 43: 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 44 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 45: Step Mode

    Memory Mapping STEP MODE 6.3.9 PLC(PC) -> N1 Series CH SEL STEP MODE PROG 0~4 PROG 0:4 PROG_SEL Note Note 3 Note START Note 2 VEL+/MOV+ OF the robot run Note Note VEL-/MOV- N1 Series -> PLC(PC) CH DIS READY #1...
  • Page 46 (LSB) Bit and PROG4 Bit is the highest (MSB) Bit.) Once JOB Program num is complete, change PROG SEL Bit to High.  Enter SERVO ON#1 Bit into pulse. Check SERVO ON#1 in System output # on N1 Series to  see if it is in SERVO ON.

  • Page 47: Operation In Jog Mode

    Memory Mapping Operation in JOG MODE 6.3.10 PLC(PC) -> N1 Series CH SEL JOG MODE 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 48 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 49: Forward Operation In Jog Mode

    Memory Mapping Forward Operation in JOG MODE 6.3.11 PLC(PC) -> N1 Series JOG MODE GPNT Index GPNT INDEX 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...
  • Page 50 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. ‘Pull up’ function may not be used in Forward movement.  6-26 Robostar Co., Ltd...

  • Page 51: Read Rpm, Trq

    Memory Mapping Read RPM, TRQ 6.3.12 PLC(PC) -> N1 Series CH DIS Info Data Mode SEL Info Data Mode SEL N1 Series -> PLC(PC) CH DIS Info Data 1:4 RPM Info Data Mode TRQ Info Data Mode Description: Sends out TRQ or RPM value according to Info Data Mode 0:1 setting.

  • Page 52: Read Current Position

    Memory Mapping Read Current Position 6.3.13 PLC(PC) -> N1 Series CH SEL Mode : /Current , GPNT Data Type : Data Type : Angle Data Type : Pulse Read Enable Flag N1 Series -> PLC(PC) CH DIS Read Ready &...

  • Page 53: Read Global Point

    Memory Mapping Read GLOBAL Point 6.3.14 PLC(PC) -> N1 Series CH SEL Mode : /Current , GPNT GPNT Index GPNT Index GPNT Index Data Type : Data Type : Angle Read Enable Flag N1 Series -> PLC(PC) CH DIS Read Ready &...
  • Page 54 Depending on a Data Type choice, the values saved in Global Point can be read by XY  coordinate value or Angle value. When Read Enable Flag Bit in Field Bus Input #1 is set to High, GLOBAL Point of N1 Series is  set.

  • Page 55: Write Global Point

    Memory Mapping Write GLOBAL Point 6.3.15 PLC(PC) -> N1 Series 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)
  • Page 56 With completion of setting GPNT Index and Data Type, set Write Enable Flag Bit in Field Bus  Input #1 to High. When the saving process is complete in N1 Series, Write Complete Flag is changed into High.  When Write Enable Flag Bit is set to Low, Write Complete Flag is also changed to Low.

  • Page 57: Read Global Integer

    After setting the Index, set Read Enable Flag Bit in Field bus Input#1 to High.  Check the Global Integer value sent from N1 Series.  When continually reading Global Integer value, as much delay time as T2(30ms) is needed.

  • Page 58: Write Global Integer

     Set Write Enable Flag to High.  When the saving process is completed in N1 Series, Write complete Flag changes from Low  to High. When setting Write Enable Flag to Low, Write Complete Flag Bit is changed to Low.

  • Page 59: Read Global Float

     After setting Index, set Read Enable Flag Bit in Field bus Input#1 to High.  Check the Global Float value sent from N1 Series.  When continually reading Global Integer values, as much delay time as T2(30ms) is needed.

  • Page 60: Write Global Float

     Set Write Enable Flag to High.  When the saving process is complete in N1 Series, Write complete Flag changes from Low to  High. When setting Write Enable Flag to Low, Write Complete Flag Bit changes into Low.
  • Page 61 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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