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Nachi FD Instruction Manual

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FD CONTROLLER
INSTRUCTION MANUAL
EtherNet/IP Function
・
Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text
・
The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・
This operating manual must be given without fail to the individual who will be actually
.
operating the robot
・
Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
4th edition
1403, TFDEN-122-004, 002
.
.

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  • Page 1 1403, TFDEN-122-004, 002 FD CONTROLLER INSTRUCTION MANUAL EtherNet/IP Function 4th edition ・ Before attempting to operate the robot, please read through this operating manual carefully, and comply with all the safety-related items and instructions in the text ・ The installation, operation and maintenance of this robot should be undertaken only by those individuals who have attended one of our robot course ・When using this robot, observe the low related with industrial robot and with...

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Chapter 1 Outline 1.1 What is EtherNet/IP? ........................1-1 1.2 EtherNet/IP of this controller....................... 1-2 1.2.1 I/O signals........................... 1-2 1.2.2 Performance table ......................1-3 1.2.3 Hardware configuration ...................... 1-3 1.2.4 Hardware settings....................... 1-4 1.2.5 EtherNet/IP network ......................1-4 Chapter 2 Needed Parts 2.1 Needed Parts ..........................
  • Page 4 Table of Contents...

  • Page 5: Chapter 1 Outline

    1.1 What is EtherNet/IP? Chapter 1 Outline 1.1 What is EtherNet/IP? EtherNet/IP is the industrial network system which is possible to transfer large capacity and wide variety of data with high speed. By connecting the limit switches, photo sensors, operating boxes and industrial equipments such as robot through this network, these equipments are connected with logical access (network I/O).

  • Page 6: Ethernet/Ip Of This Controller

    1.2 EtherNet/IP of this controller 1.2 EtherNet/IP of this controller 1.2.1 I/O signals EtherNet/IP of this controller supports up to four independent networks (channels). Each of these channels functions independently as a scanner or an adapter. The diagram below gives an operational block diagram of the EtherNet/IP. Logical I/O Software PLC Physical I/O...

  • Page 7: Performance Table

    1.2 EtherNet/IP of this controller 1.2.2 Performance table Table 1.2.1 Performance table Item Specification Number of channels Up to four installed channels Scanners and adaptors can be used. Scanners / adapters Adaptors can be configured independently for each channel. Communications Supports I/O communication only Capable of using up to 2048 input signals (256 bytes) and up to 2048 output signals (256 bytes) for all channels combined, communication...

  • Page 8: Hardware Settings

    1.2 EtherNet/IP of this controller 1.2.4 Hardware settings The EtherNet/IP function is performed using HMS EtherNet/IP module (“Anybus-S Ethernet module” or “Anybus-M Ethernet scanner module” (HMS Industrial Networks)) that is mounted on field bus base board. Up to two modules can be mounted on field bus base board. It’s unnecessary to change the dip switches on field bus base board and HMS EtherNet/IP module.

  • Page 9: Chapter 2 Needed Parts

    2.1 Needed Parts Chapter 2 Needed Parts 2.1 Needed Parts Optional hardware is required to use the EtherNet/IP. Table 2.1.1 Optional hardware required for EtherNet/IP Part name Product number Single scanner specification AX10-OP130-A Single adapter specification AX10-OP130-B EtherNet/IP board Scanner + Adapter AX10-OP130-C (Field bus base board + HMS EtherNet/IP module) Dual adapter specification...
  • Page 10 2.1 Needed Parts NOTE...

  • Page 11: Chapter 3 Signal Allocation

    3.1 Field bus I/O signals Chapter 3 Signal allocation 3.1 Field bus I/O signals The I/O signals of the field bus differ depending on whether PLC is enabled or disabled. In addition, the I/O points to which signals are assigned is determined based on the field bus channel number to be used. 3.1.1 When software PLC is enabled When software PLC is enabled, signals are assigned to field bus relay inputs (X1000 ~ X3047) and outputs (Y1000 ~ Y3047).

  • Page 12: Assigning Signals Beyond The Number Of Channels

    3.1 Field bus I/O signals 3.1.3 Assigning signals beyond the number of channels The field bus can use up to four channels. If all four channels are not being used, it is possible to use the signal assignment region of channels not being used. The description below gives an example in which software PLC is enabled.

  • Page 13: Chapter 4 Setting

    4.1 Setting procedure Chapter 4 Setting 4.1 Setting procedure The basic flow of the setting procedure is given below. Start Hardware connections Fieldbus setting Set the slot ID and module number where the fieldbus channel number, master/slave, and EtherNet/IP board to use are mounted .
  • Page 14 4.1 Setting procedure ・In EtherNet/IP, the device called a “slave” on DeviceNet is called an “adapter”. INFO. ("EtherNet/IP slave" in this controller means "EtherNet/IP adapter".) ・In EtherNet/IP, the device called a “master” on DeviceNet is called an “scanner”. ("EtherNet/IP master" in this controller means "EtherNet/IP scanner".) Setting example The following figure shows the setting example of the configuration used in this chapter.

  • Page 15: Ethernet/Ip Slave Settings

    4.2 EtherNet/IP slave settings 4.2 EtherNet/IP slave settings 4.2.1 Fieldbus settings Protocol settings Open <Constant Settings> - [8 Communications] - [3 Fieldbus] screen. >> The following screen will appear. Align the cursor with the combo box of the “Channel” in which EtherNet/IP is to be used, and press the [Enter] key.

  • Page 16: Ethernet/Ip (Slave) Settings

    4.2 EtherNet/IP slave settings 4.2.2 EtherNet/IP (slave) settings Channel settings On the [3 Fieldbus] setting screen, align the cursor with the channel for which EtherNet/IP (slave) is selected, and press the f key <Refer>. >> The following screen will appear. Set each parameter.

  • Page 17: Ethernet/Ip Master Settings

    4.3 EtherNet/IP master settings 4.3 EtherNet/IP master settings 4.3.1 Fieldbus settings Protocol settings Open <Constant Setting> - [8 Communication] - [3 Fieldbus] screen. >> The following screen will appear. Align the cursor with the combo box of the “Channel” in which EtherNet/IP is to be used, and press the [Enter].

  • Page 18: Ethernet/Ip (Master) Settings

    4.3 EtherNet/IP master settings 4.3.2 EtherNet/IP (Master) Settings Channel Settings On the [3 Fieldbus] setting screen, align the cursor with the channel for which EtherNet/IP (master) is selected, and press the f key <Refer>. >> The following screen will appear. Set each parameter.

  • Page 19: Setting Of Scan List

    4.3 EtherNet/IP master settings 4.3.3 Setting of scan list The following tools are necessary to set the scan list. ・Configuration tool: RsNetworx for EtherNet/IP (from Rockwell) ・Personal computer When the scan list is set, the personal computer is connected with the same network as the EtherNet/IP scanner of this controller.
  • Page 20 4.3 EtherNet/IP master settings Setting of EtherNet/IP driver To use "RsNetworx for EtherNet/IP", the driver is set by using “RSLinx Classic Lite” (“RsNetworx for EtherNet/IP” attachment tool)". After setting the driver, the connection from the personal computer to the EtherNet/IP network becomes possible.
  • Page 21 4.3 EtherNet/IP master settings Select ”Configure Drivers ” in the “Communications” menu, or click the icon “Configure Drivers” on the upper left of the screen. The “Configure Drivers” window starts as below. Select ”EtherNet/IP Driver” in “Available Driver Types”, and then press the “Add New...”...
  • Page 22 4.3 EtherNet/IP master settings Select the “Browse Local Subnet” and then select 1 port from the list of ports connected to the Ethernet/IP scanner and then press [OK]. (This list Is just an example) The IP address must be set so that its network is the same with that of the robot controller.
  • Page 23 4.3 EtherNet/IP master settings Make sure that the network selected on this screen is always connected to the POINT EtherNet/IP (master) channel on the robot controller side appropriately beforehand. In particular; (1) Connect the setting PC and the EtherNet/IP board mounted on the robot controller side on its master channel side by the Ethernet cable.
  • Page 24 4.3 EtherNet/IP master settings Finish the setting of RSLinx Classic. As shown below, all the masters and slaves of the EtherNet/IP network appear. The displayed icon may be indicated as ‘??’ if EDS files corresponding to the module have not been added by RSNetWorx. However, the icon will change from ‘??’ to be displayed after setting as shown below.
  • Page 25 4.3 EtherNet/IP master settings Setting of scan list Next, the scanlist is set. Before this setting, turn on the power supply of this controller, and set the fieldbus, referring to “4.3.1 Fieldbus settings”. The description below gives an example in which "Anybus-S EtherNet/IP" communicates with "Anybus-M EtherNet/IP"...
  • Page 26 4.3 EtherNet/IP master settings Select “Register a single file” on the Registration screen, and press “Browse” to set the path where the EDS file is stored. Where there are two or more EDS files and they are stored in the same folder at the same time, select “Register a directory of EDS files”...
  • Page 27 4.3 EtherNet/IP master settings It is available to change the icon on the Change Graphic Image screen. As the change of icon does not affect the robot performance, configure the setting as you choose. On completion of setting, press “Next”. Click "Change icon "...
  • Page 28 4.3 EtherNet/IP master settings Click “Properties ” of the “Network” menu. >> Select the network driver. When "Set Online Path " key is clicked, the selection screen on the network is displayed. >> Select “EtherNet/IP Driver” set with “RsLinx”. 4-16...
  • Page 29 4.3 EtherNet/IP master settings On the “Hardware” window, drag and drop an appropriate node to the “Graph” window to register it. Select “Anybus-S EtherNet/IP” on the “EtherNet/IP->Category->Communication Adapter” of the “Hardware” window to drag and drop it to “Graph” window. Select “Anybus-M EtherNet/IP”...
  • Page 30 4.3 EtherNet/IP master settings Select the master (Anybus-M EtherNet/IP) on the “Graph” window, right-click to display the menu, and then click “Scanlist Configuration”. The following screens are displayed. 4-18...
  • Page 31 4.3 EtherNet/IP master settings Double-click the master in the list, and set the input byte count. Select “Consume Data” in the “Target Name”, set the input byte count (2-byte words) in the “Input Size”, and then set the IP address in the “Input Address”. Set I/O etc., and click the “OK”...
  • Page 32 4.3 EtherNet/IP master settings Double-click the slave in the list, and set the input/output byte count. Select “Exclusive Owner” in the “Connection Name”, set the input/output byte count (2-byte words) in the “Input Size” and “Output Size”, and then set the input/output address in the “Input Address”...
  • Page 33 4.3 EtherNet/IP master settings Right-click in the icon of master, and click "Download to Device". >> The setting for “Scanlist Configuration” is to be downloaded into the master module. Wait until the progress bar moves up to the right, and the dialog disappears. Thus, the setting for Scanlist by the RSNetWorx for EtherNet/IP is completed.

  • Page 34: Change Of The Network Environment

    4.4 Change of the Network Environment 4.4 Change of the Network Environment To reconstruct the network environment by changing the IP address of master or slave, another operation different from the initial setting operation is necessary. Note that this operation can be completed by resetting on the robot controller side if not changing the IP address.

  • Page 35: Resetting Of Scanlist

    4.4 Change of the Network Environment 4.4.2 Resetting of Scanlist If changing the IP address in “4.4.1 Resetting of the fieldbus and EtherNet/IP (master and slave)”, it is necessary to make a resetting of network. Resetting of network by RSLinx Classic Set ”Execute Mode”...
  • Page 36 4.4 Change of the Network Environment Click “Communications->RSWho” in the menu, or the icon “RSWho” the upper left of the screen. When the RSWho window starts up, the node already changed appears as the “EtherNet/IP Driver” has been set by “Configure Drivers”. At this time, remove the display of node indicated by a “×”...
  • Page 37 4.4 Change of the Network Environment Resetting of the Scanlist by RSNetWorx for EtherNet/IP Use the setting PC to start up RSNetWorx for EtherNet/IP. Change the node of which IP address has been modified on the “Graph”, remove unnecessary nodes if needed, and add the appropriate node if necessary by dragging and dropping from the Hardware.
  • Page 38 4.4 Change of the Network Environment Select “master” on the Graph, and right-click to press “Upload from Device”. Upload the IP address to change from the device, and apply it. This operation is available only by the master. Even if it is not required to change the IP address of master but slave only, the same operation is needed.
  • Page 39 4.4 Change of the Network Environment Press the menu “Network->Download to Network”. Download the detail of resetting to the network, and apply it. Right-click the master, and press “Download to Device”. Download the details of resetting of the “Scanlist Configuration” to the master module. Thus, resetting of the Scanlist by RSNetWorx for EtherNet/IP is completed.

  • Page 40: Fieldbus Channel Monitor

    4.5 Fieldbus Channel Monitor 4.5 Fieldbus Channel Monitor “Fieldbus Channel Monitor” can confirm the state of the fieldbus. When the communication is normal, the monitor is shown below. Fig. 4.5.1 Fieldbus Channel Monitor When a communication error occurs by the slave, it is displayed as "Error allocating Master/Slave connection set".

  • Page 41: Output Signal "Fieldbus Acting Correctly

    4.6 Output signal “Fieldbus acting correctly” 4.6 Output signal “Fieldbus acting correctly” Output signal (signal name s “Fieldbus act.”) is prepared to confirm that robot controller is communicating correctly with external device in EtherNet/IP system. This output signal turns to OFF when EtherNet/IP is disconnected.

  • Page 42: Error Check Delay For Ethernet/Ip

    4.7 Error check delay for EtherNet/IP 4.7 Error check delay for EtherNet/IP Due to the specification of EtherNet/IP device, it needs some time to wait for the establishment of EtherNet/IP communication, for example at the timing of power on or initializing sequence. In this case, robot controller may detect the error of “E960: Some or all I/O links are currently stopped”.

  • Page 43: Chapter 5 Error Detection

    5.1 Error Detection on EtherNet/IP module Chapter 5 Error Detection 5.1 Error Detection on EtherNet/IP module The current status of HMS EtherNet/IP module is indicated using up to four LEDs. Dip switches Cable connector LED3 LED4 LED2 LED1 Fig. 5.1.1 HMS EtherNet/IP module Each LED indicates the following status for the slave module.
  • Page 44 5.1 Error Detection on EtherNet/IP module Each LED indicates the following status for the master module. ・LED1: Network reception status ・LED2: Current module status ・LED3: Current communication status ・LED4: Not used Table 5.1.2 LEDs and field bus base board Status for the Master Module Color Status Description...

  • Page 45: Error Detection On This Controller

    5.2 Error Detection on this Controller 5.2 Error Detection on this Controller E0956 Message Communication error. A list of possible causes is given below. ・field bus base board error ・Broken cable Cause ・Baud rate mismatch ・Incorrect node address setting ・Network power failure Remedy The system will recover once the problems listed above are resolved.

  • Page 46: Detailed Field Bus Error Settings

    5.3 Detailed Field Bus Error Settings 5.3 Detailed Field Bus Error Settings The following settings can be made regarding operations when an I/O link error occurs. ・Error type when a communication error occurs ・Communication error reset method for restoring communications The setting method is given below.
  • Page 48 Phone +81-76-423-5137 +81-76-493-5252 NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document may be modified without notice. Any missing page or erratic pagination in this document will be replaced.

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