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Hyundai Heavy Industries Hi4 Manual

Robot driver
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Hi4 Robot Driver
1
System Configuration....................................................................................................... 3
2
Selection of External Device ............................................................................................ 6
3
Example of Communication Setting ................................................................................. 7
4
Setup Items .................................................................................................................... 15
5
Cable Diagram ............................................................................................................... 20
6
Supported Device........................................................................................................... 25
7
Device Code and Address Code.................................................................................... 27
8
Error Messages.............................................................................................................. 28
1
Hyundai Heavy Industries

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Summary of Contents for Hyundai Heavy Industries Hi4

  • Page 1: Table Of Contents

    Hyundai Heavy Industries Hi4 Robot Driver System Configuration....................... 3 Selection of External Device .................... 6 Example of Communication Setting ................. 7 Setup Items ........................15 Cable Diagram ....................... 20 Supported Device......................25 Device Code and Address Code..................27 Error Messages......................28...
  • Page 2 Hi4 Robot Driver Introduction This manual describes how to connect the Display and the External Device (target PLC). In this manual, the connection procedure will be described by following the below sections: System Configuration "1 System Configuration" (page 3) This section shows the types of External Devices which can be connected and SIO type.

  • Page 3: System Configuration

    Hi4 Robot Driver System Configuration The system configuration in the case when the External Device of Hyundai Heavy Industries and the Display are connected is shown. Series Link I/F SIO Type Setting Example Cable Diagram "Setting Example 1" "Cable Diagram 1"...
  • Page 4 Hi4 Robot Driver COM Port of IPC When connecting IPC with External Device, the COM port which can be used changes with series and SIO type. Please refer to the manual of IPC for details. Usable port Usable port Series...
  • Page 5 Hi4 Robot Driver Dip switch setting: RS-422/485 (4 wire) Dip switch Setting Description Reserve (always OFF) SIO type: RS-422/485 Output mode of SD (TXD) data: Always output Terminal resistance (220Ω) insertion to SD (TXD): None Terminal resistance (220Ω) insertion to RD (RXD): None...

  • Page 6: Selection Of External Device

    Maker Industries". Select a model (series) of the External Device to be connected and connection method. Select "Hi4 Robot". Check the External Device which can be connected in "Hi4 Robot" in system Series configuration. "1 System Configuration" (page 3) Check this option when you synchronize the system data area of the Display and the device (memory) of the External Device.

  • Page 7: Example Of Communication Setting

    Hi4 Robot Driver Example of Communication Setting The following shows examples of communication settings of the Display and the External Device, which is recommended by Pro-face. Setting Example 1 Settings of GP-Pro EX Communication Settings To display the setting screen, select [Device/PLC Settings] from [System setting window] in workspace.
  • Page 8 Hi4 Robot Driver Settings of External Device Communication setting of External Device using DIP switches and Teach Pendant of External Device. Please refer to the manual of the External Device for more details. DIP Switch Setting Set the DIP switch for built-in PLC.
  • Page 9 Hi4 Robot Driver Setting Example 2 Settings of GP-Pro EX Communication Settings To display the setting screen, select [Device/PLC Settings] from [System setting window] in workspace. Device Setting To display the setting screen, click ([Setting]) of External Device you want to set from [Device-Specific Settings] of [Device/PLC Settings].
  • Page 10 Hi4 Robot Driver Settings of External Device Communication setting of External Device using DIP switches and Teach Pendant of External Device. Please refer to the manual of the External Device for more details. DIP Switch Setting Set DIP switch for built-in PLC and DIP switch for OPSIO port •...
  • Page 11 Hi4 Robot Driver Select [2: Controller parameter]-[18: MODBUS environment setting] to display [MODBUS setting]. Set the setup items as follows. Setup Items Setting Value Transmission mode Slave Address Press [SET]. GP-Pro EX Device/PLC Connection Manual...
  • Page 12 Hi4 Robot Driver Setting Example 3 Settings of GP-Pro EX Communication Settings To display the setting screen, select [Device/PLC Settings] from [System setting window] in workspace. Device Setting To display the setting screen, click ([Setting]) of External Device you want to set from [Device-Specific Settings] of [Device/PLC Settings].
  • Page 13 Hi4 Robot Driver Settings of External Device Communication setting of External Device using DIP switches and Teach Pendant of External Device. Please refer to the manual of the External Device for more details. DIP Switch Setting Set DIP switch for built-in PLC and DIP switch for OPSIO port.
  • Page 14 Hi4 Robot Driver Select [2: Controller parameter]-[18: MODBUS environment setting] to display [MODBUS setting]. Set the setup items as follows. Setup Items Setting Value Transmission mode Slave Address Press [SET]. GP-Pro EX Device/PLC Connection Manual...

  • Page 15: Setup Items

    Hi4 Robot Driver Setup Items Set communication settings of the Display with GP-Pro EX or in off-line mode of the Display. The setting of each parameter must be identical to that of External Device. "3 Example of Communication Setting" (page 7)
  • Page 16 Hi4 Robot Driver Device Setting To display the setting screen, click ([Setting]) of External Device you want to set from [Device-Specific Settings] of [Device/PLC Settings]. Setup Items Setup Description Slave Address Use an integer from 1 to 247 to enter the address of the External Device.
  • Page 17 Hi4 Robot Driver Setup Items in Off-Line Mode • Please refer to Maintenance/Troubleshooting for more information on how to enter off-line mode or about operation. Maintenance/Troubleshooting "2.2 Offline Mode" Communication Settings To display the setting screen, touch [Device/PLC Settings] from [Peripheral Settings] in off-line mode. Touch the External Device you want to set from the displayed list.
  • Page 18 Hi4 Robot Driver Setup Items Setup Description In case of no response from the External Device, use an integer from 0 to 255 to enter how Retry many times the Display retransmits the command. Use an integer from 0 to 255 to enter standby time (ms) for the Display from receiving Wait To Send (ms) packets to transmitting next commands.
  • Page 19 Hi4 Robot Driver Option To display the setting screen, touch [Device/PLC Settings] from [Peripheral Equipment Settings]. Touch the External Device you want to set from the displayed list, and touch [Option]. Setup Items Setup Description Switches RI/VCC of the 9th pin.

  • Page 20: Cable Diagram

    Hi4 Robot Driver Cable Diagram The cable diagram shown below may be different from the cable diagram recommended by Hyundai Heavy Industries. Please be assured there is no operational problem in applying the cable diagram shown in this manual. •...
  • Page 21 Hi4 Robot Driver Cable Diagram Display Cable Notes (Connection Port) GP (COM1) LT (COM1) Your own cable Cable length: 15m or less PC/AT Only the COM port which can communicate by RS-232C can be used. " COM Port of IPC" (page 4)
  • Page 22 Hi4 Robot Driver Cable Diagram Display Cable Notes (Connection Port) COM port conversion adapter by Pro-face CA3-ADPCOM-01 (COM1) Terminal block conversion adapter by Pro-face AGP-3302B (COM2) CA3-ADPTRM-01 LT (COM1) Your own cable Your own cable Online adapter by Pro-face Cable length: 500m or less...
  • Page 23 Hi4 Robot Driver B) When using your own cable External Device Display solder 14 pin (plug) D-sub 9 pin (socket) Shield Termination Termination Signal name Signal name resistance resistance 120Ω 1/2W 120Ω 1/2W Display Termination Termination resistance resistance 120Ω 1/2W 120Ω...
  • Page 24 Hi4 Robot Driver D) When using the online adapter (CA4-ADPONL-01) by Pro-face and your own cable Display D-sub 9 pin (plug) External Device Shield Signal name solder 14 pin (plug) Termination Display TERMTX Signal name resistance 120Ω 1/2W CA4-ADPONL-01 Termination...

  • Page 25: Supported Device

    *4 , *7 HRBASIC V! Variable V!001 - V!400 Writing is enabled when ROM version of External Device is Hi4 ROM version 2007.01.26 or higher. Write disable AI/AO device uses real number of 12 bit of Hi4 Robot. Data range is between -12.000 and +12.000, but figure between -12000 and 12000 is used on Display.
  • Page 26 Hi4 Robot Driver Can be used when ROM version of External Device in use is Hi4 ROM version 2007.02.06 or higher. Writing cannot be executed when ROM version of External Device in use is Hi4 ROM version 2007.02.06 or lower.

  • Page 27: Device Code And Address Code

    Hi4 Robot Driver Device Code and Address Code Use device code and address code when you select "Device Type & Address" for the address type in data displays. Device Code Device Device Name Address Code (HEX) External Input X / XW...

  • Page 28: Error Messages

    Hi4 Robot Driver Error Messages Error messages are displayed on the screen of Display as follows: "No. : Device Name: Error Message (Error Occurrence Area)". Each description is shown below. Item Description Error No. Name of External Device where error occurs. Device name is a title of External Device set Device Name with GP-Pro EX.