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Motoman XRC Instruction Manual

Fieldbus interface; interbus-s; profibus; devicenet
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/QVQOCP :4% %QPVTQNNGT
(KGNFDWU +PVGTHCEG
+PUVTWEVKQP /CPWCN
+PVGTDWU5 2TQHKDWU &GXKEGPGV
Part Number:
148148-1CD
Revision:
0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200

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  • Page 1 /QVQOCP :4% %QPVTQNNGT (KGNFDWU +PVGTHCEG +PUVTWEVKQP /CPWCN +PVGTDWU5 2TQHKDWU &GXKEGPGV Part Number: 148148-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • Page 2 The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc. ©2003 by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS Section Page INTRODUCTION About this Document ....................1-1 Reference to Other Documentation................1-1 Customer Service Information..................1-1 SAFETY Introduction ........................2-1 Standard Conventions....................2-2 General Safeguarding Tips.................... 2-4 Mechanical Safety Devices.................... 2-4 Installation Safety......................2-5 Programming Safety ..................... 2-5 Operation Safety......................
  • Page 4 NOTES Fieldbus (XFB01) Instruction Manual MOTO MAN...

  • Page 5: Introduction

    • Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1) Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (UP6, UP130, UP165, etc.) •...
  • Page 6 INTRODUCTION NOTES Fieldbus (XFB01) Instruction Manual MOTO MAN...

  • Page 7: Safety

    We recommend that all personnel who intend to operate, program, repair , or use the robot system be trained in an appro ved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...

  • Page 8: Standard Conventions

    SAFETY Standard Conventions This manual includes information essential to the safety of personnel and equipment. As you read through this manual, be alert to the four signal words: • DANGER • WARNING • CAUTION • NOTE Pay particular attention to the information pro vided under these headings which are defined bel w (in descending order of severity).

  • Page 9: General Safeguarding Tips

    SAFETY General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and an yone w orking near the robot must become f amiliar with the operation of this equipment. All personnel in volved with the operation of the equipment must understand potential dangers of operation.

  • Page 10: Installation Safety

    Any modifications of the controller PLC can cause s vere personal injury or death, as well as damage to the robot! Do not make any modifications to th PLC. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! •...

  • Page 11: Operation Safety

    SAFETY • Inspect the robot and w ork en velope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. • Be sure that all safeguards are in place. •...

  • Page 12: Maintenance Safety

    SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and an yone w orking near the robot must become f amiliar with the operation of this equipment. All personnel in volved with the operation of the equipment must understand potential dangers of operation.

  • Page 13: Optional Function Fieldbus Interface Board Xfb01

    MOTOMAN MOTOMAN XRC OPTIONAL FUNCTION Fieldbus Interface Board Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN ROBOTICS EUROPE A subsidiary of YASKAWA Electric Corporation MANUAL NO. MRS50250...
  • Page 14 MOTOMAN ROBOTICS EUROPE Reference list Operator’s manual Basic programming Maintenance manual MOTOMAN XRC ..Revision 990920 First release of this manual (Preliminary) 010309 Correcting of DeviceNet / DT-module setting. 010314 Correcting of DeviceNet / DT-module baudrate setting...

  • Page 15: General

    MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: I Created: 99-09-20 Revised: 01-03-09 Doc. name: MRS50250TOC.fm 1. General ..............1 About this manual Fieldbus interface kit comprises Safety Manufacturer Introduction Terms Fieldbus systems AnyBus® Introduction to the Fieldbus Interface Board Hardware comparability 2.

  • Page 16: Devicenet

    MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: II Created: 99-09-20 Revised: 01-03-09 Doc. name: MRS50250TOC.fm Baudrate Terminating last module DT-module Features Indicator Setting up the module Baudrate Terminating last module 7. DeviceNet ............25 General Specifications Features supported by AnyBus module...
  • Page 17 The Fieldbus board is valid for both MOTOMAN XRC (Hereafter called XRC). Text written in BOLD letters means command or button. Text written in ITALIC means text shown on display.
  • Page 18 EMC-directives (89/336/EEC) and (93/68/EEC) and also the LVD-directives (73/23/EEC). Motoman Robotics Europe AB’s responsibility does not cover errors or safety risks that may occur in equipment connected to the Moto- man Robotics Europe AB machine, nor errors or safety risks that may occur in the machine caused by equipment connected to the Moto- man Robotics Europe AB’s machine.
  • Page 19 This document is limited to the functionality of the FBIB and the connections to the MOTOMAN Robot Controller (hereafter referred to as XRC) and the fieldbus system via standard AnyBus modules. It is assumed that the reader has an understanding of the functionality of the XRC.
  • Page 20 AnyBus DataTransfer. 0-480 input bytes and 0-480 output bytes 1.9 Introduction to the Fieldbus Interface Board The FBIB is designed to make it possible to connect the XRC to the most com- monly used fieldbus systems on the market. The FBIB controls the exchange of data between the XRC and the AnyBus modules witch constitutes the fieldbus interface.
  • Page 21 Doc. name: MRS50250-ch1.fm 1.10 Hardware comparability The FBIB is electrically compatible with all current modules of XRC chassis that incorporate a MIF01 master module, with a JL-012 bus interface to a JARCR- XEB01. From the users point of view the FBIB will be used as a standard I/O board available for the XRC system.
  • Page 22 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 6 Hardware comparability Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch1.fm...
  • Page 23 “Maintenance manual - Installation and wiring, MRS51000”. Warning! To prevent electrical shock to personnel and to prevent equipment damage, ensure power to XRC controller is turned OFF before begin- ning the installation Caution! Follow the proper anti-static procedures to ensure that static electric- ity does not damage the FBIB.
  • Page 24 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 8 Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch2.fm...
  • Page 25 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 9 Interface board overview Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch3.fm 3. Configurations and indications 3.1 Interface board overview The FBIB is equipped with three switches. a) I/O size configuration b) Operation and set-up configuration...
  • Page 26 3.2 Configurations I/O size configuration SW2 The FBIB I/O size i.e. data amount transferred between the fieldbus and the XRC system, is configured with a hexadecimal rotary switch “SW2” with position indica- tors from 0 - F. The I/O size rotary switch is accessible from the FBIB front.
  • Page 27 The power LED does not indicate the status of the isolated power supply to the bus interface of the AnyBus modules. The isolated bus power is generated from the XRC +24V via a DC/DC converter on the FBIB. Status indication LED The board is equipped with one bi-colour (red and green) SMD LED for FBIB sta- tus indication.
  • Page 28 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 12 AnyBus module interface Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch3.fm 3.4 AnyBus module interface AnyBus 64 I/O and 32 I/O modules The FBIB supports both the AnyBus 32 I/O module and the 64 I/O module. The same AnyBus connector is used for both I/O modules.
  • Page 29 The data received from the FBIB and the fieldbus appears in the XRC memory map according the tables below. The base address in the XRC where the data will appear depends on the installation. In the examples below the FBIB inputs are represented from address 2060.
  • Page 30 Doc. name: MRS50250-ch4.fm 4.2 Fieldbus output data map The data transferred from the XRC to the FBIB and the fieldbus appears in the XRC memory map according the table below. The base address in the XRC where the data will appear depends on the installation. In the examples below the FBIB inputs are represented from address 3060.
  • Page 31 FBIB and the fieldbus environment. The byte is continu- ously updated by the software. The information available in this byte can be used by the XRC to monitor the FBIB and the fieldbus system. The status byte contains the following information: Bit no.
  • Page 32 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 16 Module and network status Created: 99-04-30 Revised: 00-04-18 Doc. name: MRS50250-ch4.fm...
  • Page 33 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 17 General Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch5.fm 5. InterBus-S 5.1 General Specifications The media for the fieldbus is a shielded copper cable composed of three twisted pairs. Two of these pairs are used for the bus connection and in the last pair there is only one cable used.
  • Page 34 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 18 I/O-modules Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch5.fm 5.2 I/O-modules Indicator The figure below shows how the LED indicators are placed depending on how they are mounted on the AnyBus module. Colour...
  • Page 35 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 19 DT-module Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch5.fm 5.3 DT-module Features The AnyBus module for Interbus is a remote bus slave. This slave node can be read and written to from an Interbus master. The AnyBus module for Interbus will not indicate communication to other nodes, it will only respond to incomming com- mands.
  • Page 36 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 20 DT-module Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch5.fm...
  • Page 37 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 21 General Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch6.fm 6. Profibus-DP 6.1 General Specifications The media for the fieldbus is a shielded copper cable composed of a twisted pair. The baudrate for the bus is between 9.6 kbaud to maximum 12Mbaud. The total...
  • Page 38 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 22 I/O-modules Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch6.fm 6.2 I/O-modules Indicator The figure below shows how the LED indicators are placed on the AnyBus module. Colour Function Green off: Power off on: Power is on...
  • Page 39 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 23 DT-module Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch6.fm 6.3 DT-module Features The AnyBus module for Profibus-DP is a slave node that can be read and written to from a Profibus-DP master. The AnyBus module for Profibus-DP will not initiate communication to other nodes, it will only respond to incomming commands.
  • Page 40 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 24 DT-module Created: 99-04-30 Revised: 99-09-20 Doc. name: MRS50250-ch6.fm...
  • Page 41 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 25 General Created: 99-04-30 Revised: 01-03-14 Doc. name: MRS50250-ch7.fm 7. DeviceNet 7.1 General Specifications The media for the fieldbus is a shielded copper cable composed of one twisted pair and two cables for the external power supply. The baudrate can be changed between 125k, 250k and 500kbit/s, this is done with a DIP switch.
  • Page 42 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 26 I/O-modules Created: 99-04-30 Revised: 01-03-14 Doc. name: MRS50250-ch7.fm Setting up the module Before configuring the DeviceNet module the node address has to be set. For the AnyBus module the address is to be set by means of the binary switches, see fig- ure.
  • Page 43 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 27 DT-modules Created: 99-04-30 Revised: 01-03-14 Doc. name: MRS50250-ch7.fm 7.3 DT-modules Features The AnyBus module for DeviceNet is a slave node that can be read and written to from a DeviceNet master. The AnyBus module for DeviceNet will not initiate com- munication to other nodes.
  • Page 44 MOTOMAN ROBOTICS EUROPE Fieldbus Interface Board Page: 28 DT-modules Created: 99-04-30 Revised: 01-03-14 Doc. name: MRS50250-ch7.fm Address setting The AnyBus module only supports node address and Baudrate setting via the DIP switch on the module. The address setting on the DP switch “S1” is binary coded with LSB to the left.
  • Page 45 Notes...
  • Page 46 Spain MOTOMAN Robotics España S.A. Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain Tel: +34-93-6303478, Fax: +34-93-6543459 Sweden MOTOMAN Mecatron Robotic Systems AB Box 4004, SE-390 04 Kalmar, Sweden Tel: +46-480-444600, Fax: +46-444699 Distributors: Czech Republic MGM Spol s.r.o.

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