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IAI RCM-GW-PR Operation Manual

Profibus gateway unit
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PROFIBUS Gateway
PROFIBUS
Gateway Unit
RCM-GW-PR
Operation Manual, First Edition

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  • Page 1: Profibus Gateway Unit

    PROFIBUS Gateway PROFIBUS Gateway Unit RCM-GW-PR Operation Manual, First Edition...

  • Page 2: Table Of Contents

    PROFIBUS Gateway Table of Contents 1. Overview ........................Profibus Gateway Unit ........................ 1 What Is Profibus? ........................2 Application Example of Gateway Unit..................3 Features of Gateway Unit ......................4 Description of Model Name......................6 2. Specifications and Name of Each Part............... General Specifications ........................
  • Page 3 PROFIBUS Gateway Supported S7 Function Blocks/Functions ................. 87 5.4.1 GW_CTL_11......................... 88 5.4.2 RC_NVC_11......................... 89 5.4.3 RC_ESYNC_00 ......................90 5.4.4 RC_BCMOVP_00......................91 5.4.5 RC_READ_00 ......................92 5.4.6 RC_WRITE_00......................93 5.4.7 RC_PROM_00......................94 5.4.8 RC_PMSL_00....................... 94 Appendix 1. Sample Programs for S7-300..............Appendix 2.

  • Page 5: Overview

    PROFIBUS Gateway Overview Profibus Gateway Unit The Profibus Gateway Unit (hereinafter referred to as “Profibus Gateway” or “Gateway Unit”) is used to connect a Profibus communication protocol network on which a host programmable controller (hereinafter “PLC”) operates, to a SIO communication sub-network (Modbus communication protocol) linking ROBO Cylinder controllers.

  • Page 6: What Is Profibus

    PROFIBUS Gateway What Is Profibus? (1) FA communication system In FA communication, each communication specification varies depending on the communicating equipment, type of information, and purpose of communication, among others. In general, however, the FA communication system is divided into the information level, controller level and field level, as shown below.

  • Page 7: Application Example Of Gateway Unit

    PROFIBUS Gateway (5) Profibus Profibus is an open field network most commonly used in the world today. It was first established under DIN 19245 (German standard) in Germany in 1989, and standardized under EN 50170 (European standard) in July 1996. In January 2000, Profibus became an international standard under IEC 61158.

  • Page 8: Features Of Gateway Unit

    PROFIBUS Gateway Features of Gateway Unit With the Gateway Unit, a desired operation mode can be selected from five patterns of the numerical specification mode, one pattern of the position-number specification mode, and three patterns of the simple direct/position-number specification mode. (1) Numerical specification mode In positioning operation in the numerical specification mode, the actuator is operated by directly specifying the position data, speed, acceleration/deceleration, and in-position band, in numerical...
  • Page 9 PROFIBUS Gateway Operation Modes and Key Functions Simple direct/ Numerical Position-number Key function position-number specification mode specification mode specification mode Operation by position data specification Direct specification of speed and acceleration/deceleration Push-motion operation Reading of current position Operation by position number specification Reading of completed position number...

  • Page 10: Description Of Model Name

    PROFIBUS Gateway Description of Model Name Base model Profibus specification Gateway Unit...

  • Page 11: Specifications And Name Of Each Part

    250 m 78 m 125 kbps 500 m 156 m Note) When a large cable is used. Transmission path configuration IAI’s original multi-drop differential communication Communication method Half-duplex Synchronization method Asynchronous Transmission path type EIA RS485, 2-wire type Baud rate 230.4 kbps...

  • Page 12: External Dimensions

    PROFIBUS Gateway External Dimensions...

  • Page 13: Name And Function Of Each Part

    PROFIBUS Gateway Name and Function of Each Part [1] Gateway Status LEDs RUN: Normal G.ER: Error C.ER: Profibus controller error T.ER: Modbus error [6] Profibus communication connector [2] Controller communication Status LEDs [7] Termination switch TxD: Sending data RxD: Receiving data [8] Address setting switches X10 and X1 (decimal, 2 digits) [3] Mode setting switch...
  • Page 14 PROFIBUS Gateway [1] Gateway status LEDs Indicated status Description Steady green The Gateway CPU is operating. Unlit CPU operation is stopped. If this LED does not come on after turning on the power, the Gateway is experiencing a CPU error. G.ER Steady red The Gateway is experiencing a CPU error or major shutdown failure.
  • Page 15 PROFIBUS Gateway [3] Mode setting switch This switch is used to set the operation mode of the Profibus Gateway. Operate the switch after turning off the Profibus Gateway power. : ON X: OFF I/O bytes Description Output Input Numerical specification mode, maximum 4 axes Numerical specification mode, maximum 6 axes Numerical specification mode, maximum 8 axes Numerical specification mode, maximum 10 axes...
  • Page 16 PROFIBUS Gateway [7] Termination switch A terminal resistor must be provided at the end of the Profibus trunk line to prevent bus reflection. Set the termination switch to the ON position when the Profibus Gateway is the terminal module. However, the switch should be set to the OFF position if an external termination connector is used. Set the switch to the OFF position if the Gateway is not the terminal module.
  • Page 17 PROFIBUS Gateway [9] Profibus status LEDs The three LEDs of (LINE-) ON, LINE-OFF and ERR on the front face of the board indicate the node status and network status. (The remaining LED is not used.) These LEDs illuminate in one of two colors (red or green), and each LED indicates a different monitored status, as shown in the table below.
  • Page 18 PROFIBUS Gateway [10] Port switch This switch is used to enable the teaching pendant/PC connector (TP) (PORT ON = Start communication). Set this switch to the OFF position when connecting/removing the communication cable connector for teaching pendant or PC software. To use the teaching pendant or PC software, plug in the connector first, and then set the switch to the ON position.

  • Page 19: Installation And Noise Elimination Measures

    PROFIBUS Gateway Installation and Noise Elimination Measures Exercise due caution regarding the installation environment. Installation Environment. a. The Gateway Unit is not dustproof or waterproof (oilproof). Accordingly, avoid using the Gateway Unit in a dusty place or place where the unit may come in contact with oil mist or splashed cutting fluid.
  • Page 20 PROFIBUS Gateway b. Notes on wiring method Separate the communication lines of the Gateway Unit and Profibus module from lines carrying large current such as power circuits. (Do not bundle them together or place them in the same cable duct.) c.

  • Page 21: Installation

    PROFIBUS Gateway Installation Examine appropriate settings for the control box size, installation position of the Gateway Unit and cooling method of the control box, so that the temperature around the Gateway Unit will remain at or below 40° C. Install the Gateway Unit vertically on a wall, as shown below, and provide a minimum clearance of 50 mm above and below the unit, with a minimum clearance of 100 mm provided on all sides for wiring access.

  • Page 22: Wiring

    PROFIBUS Gateway Wiring Overall Configuration The following is an example of Profibus system configuration using the Gateway Unit.
  • Page 23 PROFIBUS Gateway The SIO link may be implemented as a multi-drop link using terminal blocks, as shown below. Gateway Unit Terminal block Terminal resistor...

  • Page 24: I/O Signals Of Gateway Unit

    PROFIBUS Gateway I/O Signals of Gateway Unit (1) Connection diagram Gateway Unit Profibus communication cable Teaching pendant/ Teaching pendant PC connector Emergency stop External emergency stop Controller’s EMG or emergency stop relay Gateway power supply 24 VDC ±10%, 300 mA max. External port switching input (provided by the customer) (Load: 24 VDC, 7 mA)
  • Page 25 PROFIBUS Gateway (2) Port control and emergency stop signal output The teaching pendant/PC connector port can be operated by external signals, other than by ON/OFF switching of the port switch on the Gateway Unit. While the port is ON, the Gateway Unit outputs contact signals of the emergency stop pushbutton switch on the teaching pendant.
  • Page 26 Symbol Description Specification Connector and applicable wire Positive side of the 24-VDC The connection plug is a 24 VDC ±10% 24 V 0.8 to 1.3 mm Gateway power supply standard accessory. Negative side of the 24-VDC MC1.5/4-ST-3 81 Power consumption: 300 mA max. AWG 18 to 16 (Phoenix Contact) Gateway power supply...

  • Page 27: Design Of Sio Communication Network (Sio Communication)

    PROFIBUS Gateway Design of SIO Communication Network (SIO Communication) 4.3.1 Wiring (1) Basics Item Description 16 axes max. (The specific number varies depending on the operation Number of connected units mode. Refer to 1.4, “Features of Gateway Unit.”) Communication cable length Total cable length: 100 m max.
  • Page 28 PROFIBUS Gateway a. Detail connection diagram Details of SIO link connection are illustrated below. Controller link cables are available as options, but the customer must provide the communication trunk. SIO communication trunk Gateway Unit Double shielded twisted-pair cable Recommended cable: HK-SB/20276 X L 4-way junction (5-1473574-4 by AMP) 2P X AWG22 by Taiyo...
  • Page 29 PROFIBUS Gateway c. Controller link cable (CB-RCB-CTL002) * Available as an option for each controller. Controller end e-CON connector 3-1473562-4 (Housing color: Orange) Mini DIN connector Signal Signal Yellow Orange Blue The following parts are supplied with the controller link cable. [1] 4-way junction Model: 5-1473574-4 by AMP...
  • Page 30 PROFIBUS Gateway (3) Linking ERC2-SE controllers Axis 1 Gateway Unit Relay terminal block (*) (Built-in terminal resistor) Axis 2 Axis n Terminal resistor (*) Recommended cable: HK-SB/20276 X L 2P X AWG22 by Taiyo Electric Wire & Cable * The customer must provide the terminal resistor and relay terminal blocks.
  • Page 31 PROFIBUS Gateway Detail connection diagram Double shielded Gateway Unit twisted-pair cable Recommended cable: HK-SB/20276 X L Axis 1 2P X AWG22 by Taiyo Electric Wire & Cable Orange SGA (red) (red 1) Orange SGB (black) (black 1) GND pink (black 1) Connect to the negative side of the 24-V power supply for ERC2-SE.
  • Page 32 PROFIBUS Gateway (5) Wiring the emergency stop (EMG) circuit When designing an emergency stop circuit that incorporates the emergency stop switch on the teaching pendant connected to the Gateway Unit, emergency stop signals output from the “S1” and “S2” terminals of the Gateway Unit can be used.
  • Page 33 PROFIBUS Gateway [1] Example of cutting off drive signals Teaching Gateway Unit pendant TP connector pushbutton reset pushbutton switch PCON-SE controller SIO connector communication Connection Gateway connector detection connection signal (H) power supply detection Port circuit switch EMG signal detection (H) 24-VDC input Power-supply power supply...
  • Page 34 PROFIBUS Gateway [2] Example of cutting off motor drive power Teaching Gateway Unit pendant TP connector pushbutton reset pushbutton switch PCON-SE controller SIO connector communication Connection Gateway connector detection connection signal (H) power supply detection Port circuit switch EMG signal detection (H) 24-VDC input Power-supply...
  • Page 35 PROFIBUS Gateway 4.3.2 Axis Number Setting The following explanation applies to PCON-SE, ACON-SE and ERC2-SE controllers. Set an axis number as a SIO-linked slave station number. The axis number of axis 1 is “0,” while that of axis 16 is “F.” Set an appropriate axis number using a hexadecimal value between 0 and F.

  • Page 36: Slave Function

    PROFIBUS Gateway Slave Function All data exchanged between the master station and the controller are tentatively stored in the internal memory of the Gateway Unit, and then transmitted cyclically. Accordingly, the PLC program recognizes these data as remote Profibus I/Os. Up to 16 ROBO Cylinder controllers can be connected to the Gateway Unit, with the connected controllers assigned an axis number of 0 to 15, respectively.

  • Page 37: Address Configuration In Each Operation Mode

    PROFIBUS Gateway Address Configuration in Each Operation Mode As explained in 1.4, “Features of Gateway Unit,” the connected controller(s) can be operated in three main modes. The slave address configuration is different in each of these modes. 5.1.1 Gateway Control Signals As for the address configuration in each mode, the initial fixed area provides signals used to control the Gateway Unit.
  • Page 38 PROFIBUS Gateway I/O Signal List Signal Signal type Byte Description name SIO link communication will start when this signal is turned ON, and stop when it is turned OFF. Do not turn the MON signal ON when CFG15 to 0 (linked axis connection) are all OFF.
  • Page 39 PROFIBUS Gateway Signal Signal type Byte Description name This signal remains ON while the Gateway Gateway Unit Unit is operating normally. normal output The signal is synchronized with the illumination of the LED (RUN) on the front face of the unit. Gateway Unit This signal turns ON when a major shutdown failure has been detected.

  • Page 40: Simple Direct/Position-Number Specification Mode

    PROFIBUS Gateway 5.1.2 Simple Direct/Position-number Specification Mode This operation mode combines the mode in which the actuator is operated by specifying position numbers, and the simple direct specification mode in which the target position data is specified numerically while other movement data is specified by position numbers. The key functions that can be controlled in this mode are summarized in the table below.
  • Page 41 PROFIBUS Gateway 1. Overall Address Configuration Input/output Gateway control signals consist of four bytes each. Only in this mode, PPS0 to PPS2 and NPS0 to NPS4 of control signal 0 are used to set the pattern and number of position-number specification axes.
  • Page 42 PROFIBUS Gateway Output from PLC ⇒ Gateway Unit Output from each axis ⇒ Gateway Unit ⇒ Input to each axis ⇒ Input to PLC Byte Upper byte Lower byte Upper byte Lower byte address Gateway control signal 0 Gateway status signal 0 Gateway control signal 1 Gateway status signal 1 Request command...
  • Page 43 PROFIBUS Gateway Shown below is an example where four position-number specification axes and four simple direct specification axes are used in the small mode. Output from PLC ⇒ Gateway Unit Output from each axis ⇒ Gateway Unit ⇒ Input to each axis ⇒...
  • Page 44 PROFIBUS Gateway 2. Assignment for Each Axis The size and content of the I/O signal area assigned for each axis vary between the position-number specification mode and the simple direct specification mode. Also in the position-number specification mode, the meaning of each bit is different depending on the pattern set by the Gateway control signal PPS.
  • Page 45 PROFIBUS Gateway I/O Signal Details Signal Signal type Pattern No. Description Details name 0 to 4 Servo on command 5.2.2 (9) 0 to 4 Reset command 5.2.2 (4) CSTR 0, 2, 3 Start command 5.2.2 (7) PWRT Position data load command TEAC 0 to 4 Pause command 5.2.2 (8)
  • Page 46 PROFIBUS Gateway (2) Simple direct specification axis Each axis consists of eight output bytes and six input bytes as shown below. The target position data and current position data are signed, 32-bit hexadecimal integers set in units of 0.01 mm. PLC output = Axis control signal Byte address Sign...
  • Page 47 PROFIBUS Gateway I/O Signal Details Signal Signal type Description Details name 32-bit Set a signed 32-bit integer (unit: 0.01 mm) based 5.2.2 (5) data on hexadecimal notation. The maximum value is Target “000F423FH” (“999999” in decimal notation). position Example) To specify +25.4 mm, set “0009ECH” data (“2540”...
  • Page 48 PROFIBUS Gateway 3. Command Area The PLC outputs a request command (Byte + 4 and Byte + 5) and related data (Byte + 6 to Byte + 17), and receives a response command (Byte + 4 and Byte + 5) and related data (Byte + 6 to Byte + 17). Request commands and response commands consist of two bytes, respectively, while request data and response data consist of 12 bytes, respectively.
  • Page 49 PROFIBUS Gateway (1) Command list The available commands and commands are listed below. Function category Code Description Handshake 0000H Clear a request command. Position table data write 1000H Write a target position. 1001H Write an in-position band. 1002H Write a speed. 1003H Write a positive boundary for each zone.
  • Page 50 PROFIBUS Gateway (2) Each command and data format [1] Position table data write commands The following commands can be used to write data to the position table. Data is written by overwriting the existing data in the position table. Command name PLC output (request) PLC input (response) Target position write...
  • Page 51 PROFIBUS Gateway Command name PLC output (request) PLC input (response) Deceleration write 1006H Same as the value in the request command if normal. Position number Deceleration data *5 Axis number 0 to FH Push motion current- 1007H Same as the value in the limiting value write request command if normal.
  • Page 52 PROFIBUS Gateway [2] Position table data read commands Command name PLC output (request) PLC input (normal response) Target position read 1040H Same as specified to the left Position number Target position data *3 Axis number 0 to FH *2 Same as specified to the left In-position band read 1041H Same as specified to the left...
  • Page 53 PROFIBUS Gateway Command name PLC output (request) PLC input (normal response) Deceleration read 1046H Same as specified to the left Position number Deceleration data *5 Same as specified to the left Axis number 0 to FH Current-limiting value read 1047H Same as specified to the left Position number 0000 to 00FFH...
  • Page 54 PROFIBUS Gateway [3] Present alarm code read command Command name PLC output (request) PLC input (normal response) Alarm code currently 0342H Same as specified to the left present read Alarm code currently present Same as specified to the left Axis number 0 to FH *1) Relative byte address recognized with respect to the Gateway head address [4] Current value monitor Command name...
  • Page 55 PROFIBUS Gateway [5] Group broadcast POS movement start This command causes all axes of the specified group number to start moving simultaneously to the position specified by the POS number. When this command is issued, the Gateway and each controller communicate in the broadcast mode, meaning that the controller does not return any response.
  • Page 56 PROFIBUS Gateway (3) Error response If a command error generates, the most significant bit (b7) of the response command will turn ON. Also, one of the error codes below, whichever is applicable, will be set in response data 2 (relative byte address 8 with respect to the Gateway head address).

  • Page 57: Numerical Specification Mode

    PROFIBUS Gateway 5.1.3 Numerical Specification Mode In positioning operation in the numerical specification mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, and in-position band, in numerical values. In push-motion operation in the numerical specification mode, the actuator is operated by specifying the position data, current-limiting value for push motion, speed, acceleration/deceleration, and in-position band (push band), in numerical values.
  • Page 58 PROFIBUS Gateway (1) Overall address configuration Each Gateway control/status address consists of four bytes each for both input and output. In the numerical specification mode, each axis control signal consists of the PLC output area (Gateway input area) containing 12 bytes and the PLC input area (Gateway output area) containing six bytes. The number of controlled axes is set using the mode setting switch (refer to 2.3).
  • Page 59 PROFIBUS Gateway (2) Assignment for each axis Control and status signals are set using ON/OFF signal bits, while current-limiting value for push- mode operation and acceleration/deceleration are set using one-byte (eight-bit) hexadecimal data. Speed, target position data, in-position band and current position data are three-byte (24-bit) hexadecimal data.
  • Page 60 PROFIBUS Gateway PLC input = Axis status signal Byte address Status signal Sign Current position data (signed 24-bit integer) * “Byte+” indicates the Gateway head address, while n indicates an axis number (0 to 15). Caution 1. Signed 24-bit hexadecimal data output or input from/to the PLC is treated as a negative value when the most significant bit is “1.”...
  • Page 61 PROFIBUS Gateway I/O Signal Details Signal Signal type Description Details name Set a signed 24-bit integer (unit: 0.01 mm) based 5.2.2 on hexadecimal notation. The maximum value is (5) (6) “0F423FH” (“999999” in decimal notation). Target Example) To specify +25.4 mm, set “0009ECH” 24-bit position (“2540”...
  • Page 62 PROFIBUS Gateway Signal Signal type Description Details name Set a 24-bit integer (unit: 0.01 mm) based on 5.2.2 hexadecimal notation. The maximum value is “0F423FH” (“999999” in decimal notation). Example) To specify +25.4 mm, set “0009ECH” (“2540” in decimal notation). In-position 24-bit (Notes)

  • Page 63: Position-Number Specification Mode

    PROFIBUS Gateway 5.1.4 Position-number Specification Mode In this mode, the actuator is operated by specifying position numbers in the position table. Up to 16 axes can be controlled. To operate each axis in this mode, its position table must be set using the PC software or teaching pendant.
  • Page 64 PROFIBUS Gateway (1) Overall address configuration In the position-number specification mode, each Gateway control signal consists of four bytes for both input and output. With control signals for each axis, the PLC input area and output area consist of two bytes, respectively, with the total address length fixed to 48 bytes each for input and output. The values in parentheses indicate axis numbers.
  • Page 65 PROFIBUS Gateway (2) Assignment for each axis With I/O signals for each axis, the PLC input area and output area consist of two bytes, respectively. Control and status signals consist of ON/OFF signal bits. Command position and completed position numbers are treated as one-byte (eight-bit) binary data. Specify command position numbers within the position number range set for each controller axis.
  • Page 66 PROFIBUS Gateway I/O Signal Details Signal Signal type Description Details name Cannot be used. Cannot be used. Cannot be used. Control Servo on command 5.2.2 (9) signal Pause command 5.2.2 (8) HOME Home return command 5.2.2 (10) CSTR Start command 5.2.2 (7) Reset command 5.2.2 (4)

  • Page 67: Communication Signal Details

    PROFIBUS Gateway Communication Signal Details 5.2.1 Overview of Communication Signal Timings When a given control signal is turned ON to operate the ROBO Cylinder using the sequence program in the PLC, the maximum response time before a response (status) signal will be received is expressed by the formula below: Maximum response time (msec) = Profibus transmission delay (Yt + Xt) + 2 x Mt + Response processing time Mt = 10 (msec) x (n+1): SIO link (Modbus) cycle time...

  • Page 68: Communication Signals And Operation Timings

    PROFIBUS Gateway 5.2.2 Communication Signals and Operation Timings (1) Controller ready (PWR) This signal turns ON when the controller has become ready following the power on. Function This signal turns ON once the controller has been successfully initialized and become ready following the power on, regardless of whether or not an alarm is present or the servo is on or off.
  • Page 69 PROFIBUS Gateway (5) Positioning operation in the numerical specification mode (Position data, current position data, CSTR, PEND, MOVE, acceleration/deceleration data, speed data) A function is provided to operate the ROBO Cylinder by writing the target position data, acceleration/deceleration data and speed data to the link registers in the PLC, without using the position table in the controller.
  • Page 70 PROFIBUS Gateway Position data setting Current position...
  • Page 71 PROFIBUS Gateway b. Acceleration/deceleration and speed data specification This function is effective when the numerical specification mode is selected. [1] Set the acceleration/deceleration and speed data in the respective specification registers simultaneously as or before setting the target position data in a. If acceleration/deceleration is not set, the setting of parameter No.
  • Page 72 PROFIBUS Gateway Speed and acceleration/deceleration setting Speed n3 Speed n2 Actuator speed...
  • Page 73 PROFIBUS Gateway (6) Push-motion operation in the numerical specification mode (Position data, acceleration/deceleration data, speed data, current-limiting value, in-position band, current position data, DIR, PUSH, CSTR, PEND, MOVE) A function is provided to operate the actuator in the push-motion mode by writing the position data, acceleration/deceleration data, speed data, current-limiting value and in-position band directly to the link registers in the PLC, without using the position table in the controller.
  • Page 74 PROFIBUS Gateway Position data setting Speed and acceleration/deceleration setting In-position band setting Current-limiting value setting [13] [11] Current position [12] [10]...
  • Page 75 PROFIBUS Gateway (7) Position-number specification operation (Command position number, completed position number, CSTR, PEND, MOVE) effective This function is when the position-number specification operation mode is selected. Function The actuator is operated by specifying position data in the controller’s position table beforehand, and specifying a desired position number using the link register in the PLC.
  • Page 76 PROFIBUS Gateway Command position number Completed position number...
  • Page 77 PROFIBUS Gateway (8) Pause (STP, MOVE) This function is used to pause the axis while moving. Function The STP (pause) signal can be used to stop and restart axis movement. The axis stops moving while the STP signal is ON. The relationship of the STP signal and MOVE (moving) signal is shown below.
  • Page 78 PROFIBUS Gateway Caution 1. If, in the position-number specification mode a positioning command to a given position is issued without performing any home return following the power on, the actuator will perform home return and then perform the positioning operation. Thereafter, home return will not be performed prior to each positioning operation.
  • Page 79 PROFIBUS Gateway (11) Zone (ZONE1, ZONE2) In the position-number specification mode, two zone signals can be output inside arbitrary zones set by parameters. The ZONE1 (zone 1) signal turns ON inside the zone set by parameter No. 1 (Zone boundary 1+) and No.

  • Page 80: Command Transmission

    PROFIBUS Gateway 5.2.3 Command Transmission A timing chart of command transmission is given below. Every time control/status data is exchanged for any of the connected axes in normal operations, the Gateway Unit analyzes each request command and responds to the command. The PLC and Gateway perform the following steps: [1] After confirming zeros in a response command, the PLC application sets the next request command and data required.

  • Page 81: System Design

    PROFIBUS Gateway System Design The following settings are required for the Profibus master PLC to communicate with the controller via the Gateway. [1] Controller settings for enabling SIO (Modbus) communication between the Gateway Unit and the controller [2] PLC and Gateway Unit settings for enabling Profibus communication between the PLC and the Gateway Unit 5.3.1 Settings for Controller Communication...

  • Page 82: Settings For Profibus-Dp Communication

    PROFIBUS Gateway 5.3.2 Settings for Profibus-DP Communication For the Gateway Unit to be able to communicate with the master station, the settings specified below must be performed. The following items must be consistent between the master station and the Gateway Unit. : ON X: OFF Item...
  • Page 83 PROFIBUS Gateway 160 160 Sim dire ct/p ositi cific atio larg 128 128 Sim dire ct/p ositi cific atio 64 64 Sim dire ct/p ositi cific atio...
  • Page 84 PROFIBUS Gateway *1) Multiple modules, each consisting of m/n input/output bytes, may be set without space between the I/O addresses. If function blocks are used, the head address numbers must be continuous and the same between input and output sides. *2) When connecting 10 or more axes, the PLC must be the S7-400 or S7-318-2 (Siemens).

  • Page 85: Creation Of Network Configuration

    (1) Installing a GDS file To define the Gateway in the STEP 7’s HW Config screen, the Gateway’s GDS file must be imported beforehand. The GDS file to be imported is HMS_1003.GDS. This file can be downloaded from IAI’s website.
  • Page 86 PROFIBUS Gateway (2) Inserting a Profibus-DP mater system Select a Profibus-DP master and insert it as the master system, as shown below. <Master system insertion> When the Profibus-DP master has been inserted successfully, it will be displayed as the master system, as shown below.
  • Page 87 PROFIBUS Gateway (3) Inserting a Gateway rack in the network Drag and drop “ANYBUS-S PDP” in the catalog window over to the master system and insert it as a module, as shown below. The address will be set automatically. To change the address that has been set automatically, do so in the Properties dialog box.
  • Page 88 PROFIBUS Gateway Double-clicking the inserted universal module will open the Properties dialog box shown below. Set “Out-input” under I/O Type, and then enter the output length and input length according to the table in 5.3.2. The example below assumes connection of four axes. The address will be set automatically, but it can be changed if necessary.
  • Page 89 PROFIBUS Gateway (5) Setting for I/O data consistency With normal settings, consistency of Profibus IQ data is guaranteed in units of words and bytes. It is important that each command code and related parameters in the command area are read or written together.

  • Page 90: Example Of Actual Assignments

    PROFIBUS Gateway 5.3.4 Example of Actual Assignments After completing the I/O assignments in the preceding sections with all pins of the mode setting switch SW1 set to the OFF positions (numerical, 4 axes), the actual addresses should look like those shown below. PLC output PLC input Gateway control word 0...

  • Page 91: Supported S7 Function Blocks/Functions

    PROFIBUS Gateway Supported S7 Function Blocks/Functions The function blocks/functions provided by IAI allow for easy programming without the need to worry about detailed I/O assignments. The basic functions provided include this addressing function and a range check function for certain input parameters.

  • Page 92: Gw_Ctl_11

    PROFIBUS Gateway 5.4.1 GW_CTL_11 Modbus communication start Gateway status Axis link status Axis configuration definition word Number of POS mode axes POS-mode PIO pattern number Gateway head address Explanation; This is a function to access Gateway control/status words. Before calling other function block/function, communication between the Gateway and the controller must be started using this function.

  • Page 93: Rc_Nvc_11

    PROFIBUS Gateway 5.4.2 RC_NVC_11 Move request Controller ready Servo status Servo on Home return status Home return Alarm status Push-motion operation Push direction Emergency stop status Pause Movement complete pulse Moving Alarm reset Target position Address error Speed Current position Acceleration/deceleration In-position band Push rate...

  • Page 94: Rc_Esync_00

    PROFIBUS Gateway 5.4.3 RC_ESYNC_00 Move request Controller ready Servo status Servo on Home return Home return status Target position Alarm status Movement parameter number Emergency stop status Pause Movement complete pulse Movement start pulse Alarm reset Gateway head address Current position Axis number Address error Explanation;...

  • Page 95: Rc_Bcmovp_00

    PROFIBUS Gateway 5.4.4 RC_BCMOVP_00 Move request Issuance complete pulse POS number Executing Group number Result code Gateway head address Explanation; The Gateway broadcasts the start command for the specified POS to the specified group at the leading edge of REQ. The execution complete pulse of this function block indicates that issuance of this command has completed, not that movement of each axis has completed.

  • Page 96: Rc_Read_00

    PROFIBUS Gateway 5.4.5 RC_READ_00 Read request Complete pulse Position number Executing Data type ID Result code Gateway head address Read data Axis number Explanation; The data specified by POS and DATA_ID is read from the specified axis at the leading edge of REQ.

  • Page 97: Rc_Write_00

    PROFIBUS Gateway 5.4.6 RC_WRITE_00 Write request Complete pulse Executing Position number Data type ID Result code Write data Gateway head address Axis number Explanation; The data specified by POS and DATA_ID is written to the specified axis at the leading edge of REQ.

  • Page 98: Rc_Prom_00

    PROFIBUS Gateway 5.4.7 RC_PROM_00 ROM conversion request Complete pulse Gateway head address Executing Axis number Result code Explanation; A ROM conversion command is issued for the POS data of the specified axis at the leading edge of REQ. Parameters; Parameter Data type Explanation name...

  • Page 99: Appendix 1. Sample Programs For S7-300

    PROFIBUS Gateway Appendix 1. Sample Programs for S7-300 Example of Using RC_NVC_11 and GW_CTL_11 #AnyON is always ON. GW/controller communication starts (MON). Axis 0 is configured (W#16#1). The Gateway I/O head addresses are “0.” Servo on delay timer Homing delay timer The next target position is controlled based on the movement completion pulse (NC0.DONE) output by a FB.
  • Page 100 PROFIBUS Gateway Step1 movement data set (push motion) Target position: 30.00 mm Speed: 100.00 mm/s Acceleration/deceleration: 0.2 Push band: 20.00 mm Push rate: 49% (7F / FF) Step2 movement data set (normal movement) Target position: 20.00 mm Speed: 100.00 mm/s Acceleration/deceleration: 0.2 Positioning band: 00.10 mm Push rate: 0%...
  • Page 101 PROFIBUS Gateway A motion FB for axis 0 is always called. The instance name is “NC0.” Data is sent/received based on NC0.[tentative parameter]. The I/O head addresses are “0.” The axis number is “0.”...

  • Page 102: Appendix 2. Supply Format And Use Procedure Of Fb/Fct

    PROFIBUS Gateway Appendix 2. Supply Format and Use Procedure of FB/FCt FBs are provided as source files ([Function block name_Version].AWL). The steps to use a provided source file in a user project are explained below. [1] Select the “Sources” folder, click Insert, and then click External Source..[2] When the following file selection window opens, select an appropriate source file, and then click Save.
  • Page 103 PROFIBUS Gateway [4] Start Symbol Editor, and save the FB RC_NVC under a desired FB number. [5] Compile the source file. [6] When the compiling is complete, the registered function block will be generated in the “Blocks” folder. Now, FB1, namely RC_NVC, can be called from OB1.
  • Page 104 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright © 2006. Oct. IAI Corporation. All rights reserved.

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