Operation Manual Twentieth Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
Note Notes on DeviceNet Products Please note that the IAI products and Omron PLCs listed below cannot be connected via DeviceNet: [IAI’s products subject to this limitation] Controller: All X-SEL models Tabletop actuator: TT series Gateway unit: RCM-GW-DV * Units shipped on or after July 30, 2008 [Omron’s products subject to this limitation] DeviceNet master unit C200HW-DRM21-V1 CVM1-DRM21-V1 * Units manufactured in or before September 2008 Units manufactured in or after October 2008 can be connected to t
Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview 1 DeviceNet Operation Manual Refer to this operation manual if you are using an ACON, PCON or SCON-CA controller(s).
Table of Contents Safety Guide.................................................................................................................................. 1 1. Overview ................................................................................................................................ 9 2. X-SEL-J/K/P/Q/JX/KX/PX/QX ................................................................................................10 2.1 Models ...............................................................
4. Tabletop Robot TT ............................................................................................................... 52 4.1 4.2 4.3 Model ................................................................................................................................. 52 Interface Specifications...................................................................................................... 53 DeviceNet board .............................................................................
7.4 7.5 Setting of I/O Parameters .................................................................................................. 85 (1) Network type setting................................................................................................... 85 (2) Node address............................................................................................................. 85 (3) I/O port assignments .............................................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
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1. Overview 1. Overview DeviceNet, which is an open field network, is a multiple-bit type multi-vendor network that combines controls and data on a machine/line control level. By connecting to DeviceNet, X-SEL, TT, RCS-C, E-CON, ASEL, PSEL, SSEL, SCON-C, ACON, PCON and SCON-CA controllers (hereinafter referred to collectively as “controllers” or individually as a “controller” ) can be used to configure a system based on minimal wiring. ACON, PCON and SCON-CA are not specified in this operation manual.
2. X-SEL-J/K/P/Q/JX/KX/PX/QX X-SEL 2.1 Models 2. X-SEL-J/K/P/Q/JX/KX/PX/QX DeviceNet-ready X-SEL controllers come in six different models as specified below. z Installation position of DeviceNet board Network I/O Board installation position Controller points Standard Expansion Expansion Expansion No.
(1) Compact type (J type) 1 axis 3/4 axes 2. X-SEL-J/K/P/Q/JX/KX/PX/QX DeviceNet board 2 axes DeviceNet board DeviceNet board (Note) I/O boards cannot be installed in controllers of 1/2-axis specifications. Only one (Note 1) can be installed in controllers of 3/4-axis specifications. expansion I/O board Fig. 2-1 (2) General-purpose type (K type) z A DeviceNet board is installed in the standard slot (I/O1 --- the slot at the far left).
(3) P/Q types 2. X-SEL-J/K/P/Q/JX/KX/PX/QX z A DeviceNet board is installed in the installation position of field network board. DeviceNet board Standard I/O DeviceNet board Expansion I/O Standard I/O Fig.
2.2 Interface Specifications The DeviceNet interface specifications are summarized below. Communication specification Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification A certified DeviceNet 2.0 interface module is used (certification pending).
2.3 DeviceNet board 2. X-SEL-J/K/P/Q/JX/KX/PX/QX 2.3.
2.3.2 DIP Switch Settings The DIP switches are used to set the following items: (1) Node address (2) Baud rate (Note) Turn off the X-SEL power before setting the DIP switches. Set the node address (MAC ID) using a hexadecimal value according to the table below.
2.3.3 Monitor LED Indicators 2. X-SEL-J/K/P/Q/JX/KX/PX/QX The two LEDs, MS and NS, provided on the front panel of the board are used to check the board (node) condition and network condition. (The remaining two LEDs are not currently used.) The LEDs illuminate in two colors (red and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
2.4 Setting of I/O Parameters (Assignment of I/O Ports) 2.4.1 Board Installation Position (Slot) and I/O Parameter Numbers (1) J type (3/4-axis specifications) Parameter Parameter (Note) On J-type controllers, Parameter Nos. 6 to 9 are all set to “-1,” while Parameter Nos. 12 and 13 are set to “0,” because expansion I/O slots 2 and 3 are not available. On controllers of 1/2-axis specifications, similarly Nos. 4 and 5 are both set to “-1,” while No. 11 is set to “0.
2.4.2 Factory-set Parameters 2. X-SEL-J/K/P/Q/JX/KX/PX/QX (1) Factory-set parameters for J/K types No.
(2) Factory-set parameters for P/Q types No.
(3) P/Q types 2.
2.5 Parameter Setting Examples 2.5.1 Setting Example for J/K Types (1) Setting example when only a DeviceNet board is installed X-SEL (J type) Not used. (Not available on controllers of 1/2-axis specifications.) Input port Nos. 000 to 031 Output port Nos. 300 to 315 X-SEL (K type) Input port Nos. 000 to 031 Output port Nos. 300 to 315 Not used. (This example assumes the installed condition shown in Fig. 2-1 and Fig. 2-2 under 2.1.) 21 2.
I/O parameters for X-SEL J/K types 2. X-SEL-J/K/P/Q/JX/KX/PX/QX No.
(2) Setting example when a DeviceNet board is used together with an expansion I/O board a. Assign 256 input points and 256 output points to the DeviceNet board from the first standard I/O port, and assign the subsequent I/O port numbers to the expansion I/O board IA-103-X-32 (32 input points, 16 output points). The same settings apply to J-type controllers. 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port Nos. 256 to 287 Output port Nos. 556 to 571 Input port Nos. 000 to 255 Output port Nos.
I/O parameters for X-SEL J/K types 2. X-SEL-J/K/P/Q/JX/KX/PX/QX No.
b. Use the expansion I/O board IA-103-X-32 (32 input points, 16 output points) for standard I/O ports, and assign 256 input points and 256 output points to the DeviceNet board as general-purpose I/O ports. The same settings apply to J-type controllers. 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port Nos. 000 to 031 Output port Nos. 300 to 315 Input port Nos. 032 to 287 Output port Nos.
I/O parameters for X-SEL J/K types 2. X-SEL-J/K/P/Q/JX/KX/PX/QX No.
2.5.2 Setting Example for P/Q Types (1) Setting example when only a DeviceNet board is installed Assign 32 input points and 16 output points to the DeviceNet board from the first standard I/O port, as you would for the standard X-SEL I/O board (50-pin connector), and do not use any other I/O port. 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Not used. Input port Nos. 000 to 015 Output port Nos.
I/O parameters for X-SEL P/Q types 1 I/O port assignment type 0 Input range 0 ~ 20 2 Input port start number for standard I/O based on fixed assignment (I/O1) Output port start number for standard I/O based on fixed assignment (I/O1) Input port start number for expansion I/O1 based on fixed assignment (I/O2) -1 -1 ~ 599 -1 -1 -1 ~ 599 -1 -1 -1 ~ 599 -1 Output port start number for expansion I/O1 based on fixed assignment (I/O2) Input port start number for expansion I/O2 based on fixed assign
(2) Setting example when a DeviceNet board is used together with a standard I/O board a. Assign 256 input points and 256 output points to the DeviceNet board from the first standard I/O port, and assign the subsequent I/O port numbers to the standard I/O board. 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port Nos. 256 to 287 Output port Nos. 556 to 571 Input port Nos. 000 to 255 Output port Nos.
I/O parameters for X-SEL P/Q types 1 I/O port assignment type 0 Input range 0 ~ 20 2 Input port start number for standard I/O based on fixed assignment (I/O1) Output port start number for standard I/O based on fixed assignment (I/O1) Input port start number for expansion I/O1 based on fixed assignment (I/O2) -1 -1 ~ 599 256 -1 -1 ~ 599 256 -1 -1 ~ 599 -1 Output port start number for expansion I/O1 based on fixed assignment (I/O2) Input port start number for expansion I/O2 based on fixed assi
b. Use the standard I/O board IA-103-X-32 (32 input points, 16 output points) for standard I/O ports, and assign 256 input points and 256 output points to the DeviceNet board as general-purpose I/O ports. The same settings apply to J-type controllers. 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port Nos. 000 to 031 Output port Nos. 300 to 315 Input port Nos. 032 to 287 Output port Nos.
I/O parameters for X-SEL P/Q types 1 I/O port assignment type 0 Input range 0 ~ 20 2 Input port start number for standard I/O based on fixed assignment (I/O1) Output port start number for standard I/O based on fixed assignment (I/O1) Input port start number for expansion I/O1 based on fixed assignment (I/O2) -1 -1 ~ 599 000 -1 -1 ~ 599 300 -1 -1 ~ 599 -1 Output port start number for expansion I/O1 based on fixed assignment (I/O2) Input port start number for expansion I/O2 based on fixed assi
2.6 I/O Port Numbers for X-SEL The table below lists the standard I/O port numbers for X-SEL controllers. On X-SEL controllers, port numbers and function assignments can be changed using I/O parameters. (For details, refer to the “Operation Manual for X-SEL Controller.”) 2.
Reference 2. X-SEL-J/K/P/Q/JX/KX/PX/QX Port numbers are assigned to bit addresses in the PLC in units of 16 points, starting from the channel corresponding to the node address set with the DIP switches. (This does not apply if a configurator is used to assign port numbers.) (Input) (Input) Port No. (Output) (Output) Port No. Node address Node address (NN) CH and (MM) CH as indicated above represent PLC channel addresses corresponding to node address nn. As for nn, nn+1, nn+2, etc.
3. XSEL-R/S/RX/SX/RXD/SXD When utilizing DeviceNet fieldbus with the XSEL-R/S/RX/SX/RXD/SXD controller, the I/O data is handled as either bit data or word data. The fieldbus I/O data is mapped to input and output ports in the XSEL controller. Models 3. XSEL-R/S/RX/SX/RXD/SXD 3.1 The model code of each of XSEL-R/S/RX/SX/RXD/SXD applicable for DeviceNet is as shown below.
3.2 Interface Specifications 3. XSEL-R/S/RX/SX/RXD/SXD Item Communication protocol Communication specification Baud rate Communication cable length Specification DeviceNet 2.0 Group 2 only server Network-powered insulation node Master-slave connection Bit strobe Polling Cyclic 500 k / 250 k / 125 kbps Baud rate Maximum network Maximum branch length line length 500 kbps 100m 250 kbps 250 m 6m 125 kbps 500 m Note) When a large-size DeviceNet cable is used.
3.3 DeviceNet Interface (1) Name of Each Part Monitor LEDs Pin Color Red Red White 3. XSEL-R/S/RX/SX/RXD/SXD White No color Blue Black Description Positive side of communication power line High side of signals Shield Low side of signals Negative side of communication power line No color Blue Black DeviceNet communication connector (2) Monitor LED Indicators The board operation status and network condition are obtained with the two LEDs located in the front of the communication board.
3.4 Parameter Settings Set to the I/O parameters in the controller by using a teaching tool. Place the controller's AUTO/MANU switch in the MANU position. The teaching tool version applicable for this controller is as shown below: 3. XSEL-R/S/RX/SX/RXD/SXD • XSEL PC software : V9.00.00.00 to : V1.12 to • SEL-T/TG : V1.52 to • IA-T-X/IA-T-XD I/O board 2 I/O Parameter No.4 I/O Parameter No.5 I/O Parameter No.11 Network I/F module 2 DeviceNet board I/O Parameter No.
[1] Network Setting Check Confirm that the 2nd digit of I/O Parameter No.225 Network I/F Module Control setting is showing “2” (DeviceNet). Parameter name 225 Network I/F Module Control Default Input Range Unit 2* 0*H to 3*H ─ Remarks bits 4-7 (2nd digit): Network I/F Module 2 types 0:Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS [2] I/O Port Assignment Classification Setting I/O Parameter No.1 Set I/O Port Assignment Classification No.
[3] DeviceNet Board Use Setting 3. XSEL-R/S/RX/SX/RXD/SXD Set “1” (Monitoring: use DeviceNet board) to I/O Parameter No.235. No. Parameter name 235 Network I/F Module 2 Error Monitoring Default Input Range (Reference) 1 0 to 5 Unit ─ Remarks 0:No Monitoring (Not to monitor condition of link to PLC (master)) 1:Monitoring [4] Node address setting Set the node address to I/O Parameter No. 237 No.
[7] I/O Port Top Number Setting Set the top port number of the port range used in I/O Parameters No. 233 to 234. Note The port numbers assigned here are the starting input and output port numbers.The max I/O port will be determined by adding parameters 233 and 234 to parameters 231 and 232 respectively. The values entered into these parameters must be evenly divisible by 8 (EX: 300). No. Parameter name Input Range -1 -1 to 299 1000 to 3999 ─ -1 -1 300 to 599 4000 to 6999 ─ Unit Remarks 3.
3.5 Setting example (1) Example for when using only DeviceNet 3. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using DeviceNet to 16 points of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used. Standard Input Port No.0 to 15 Standard Output Port No.300 to 315 (DeviceNet board) Not Applicable (I/O board) • I/O Parameters No.
No. 10 Parameter name Standard I/O Error Monitoring (I/O1) 18 Network I/F Module 1 Error Monitoring 120 Network attribute 1 121 Network attribute 2 225 Network I/F Module Control No. of Network I/F Module 2 Remote Input Ports No.
(2) Example for when using DeviceNet and I/O Board 1 together 3. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using DeviceNet to 256 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to the standard I/O ports. Extended Input Ports No.1000 to 1255 Extended Output Ports No.4000 to 4255 (DeviceNet board) Standard Input Port No.0 to 47 Standard Output Port No.300 to 347 (I/O board) • I/O Parameters No.
No.
(3) Example for when using DeviceNet and I/O Board 1 together 3. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using DeviceNet to 192 points of each input and output from the top of the extended I/O ports and assigning the I/O board (48 points for each input and output) to the standard I/O ports. Standard Input Ports No.0 to 191 Standard Output Ports No.300 to 491 (DeviceNet board) Standard Input Port No.192 to 239 Standard Output Port No.492 to 539 (I/O board) • I/O Parameters No.
No.
3.6 Standard I/O Ports of XSEL Controller For the standard I/O ports of XSEL controller, it is possible to change the specified functions except for the general-purposed I/O with the I/O parameters. [Refer to the instruction manual for the XSEL-R/S/RX/SX/ RXD/SXD controller for more information.] 3. XSEL-R/S/RX/SX/RXD/SXD • Settings of Standard I/O Ports at Delivery Output Port Port No.
Reference When bit addresses are set in the PLC, port numbers are assigned in units of 16 points, starting from the channels corresponding to the node address set by the parameters. (This does not apply when a configurator is used.) (Input) Port number (Output) 3. XSEL-R/S/RX/SX/RXD/SXD (Input) (Output) Port number Node address nn Node address nn + 1 The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
3.7 Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of monitoring LEDs of DeviceNet Board. [Refer to Section 3.2] Check the settings of the XSEL controller and the settings of the master unit referring to the instruction manuals of the master unit. 3. XSEL-R/S/RX/SX/RXD/SXD 2) When an alarm is issued, an alarm code gets output to the panel window of the XSEL controller.
No. Error name 3. XSEL-R/S/RX/SX/RXD/SXD Contents and Treatment A communication board error was detected. Reboot the XSEL controller. If the same error occurs again, please D77 Fieldbus error (Exception) contact us. It is a parameter setting error. Check to see that a number out of the I/O port number (except for -1) is not set to I/O Parameters No.
4. 3. Tabletop Robot TT 4.1 Model 3.1 4. Tabletop Robot TT Model: TT--I--PV Maximum numbers of network I/O points: 240/240 Standard I/O A DeviceNet board is installed in the installation position of field network board.
3.2 4.2 Interface Specifications The DeviceNet interface specifications are summarized below. Item Communication protocol Communication specification Communication power supply Consumption current of communication power supply Number of occupied nodes Connector 60 mA 1 node MSTBA2.5/5-G-5.08AU M (*1) by Phoenix Contact (*1) The cable-end connector is a standard accessory. SMSTB2.5/5-ST-5.08AU by Phoenix Contact 53 4.
3.3 DeviceNet board 4.3 3.3.1 4.3.1 Name of Each Part 4.
3.3.2 4.3.2 DIP Switch Settings The DIP switches are used to set the following items: (1) Node address (2) Baud rate (Note) Turn off the X-SEL power before setting the DIP switches. (1) Setting the node address (MAC ID) Set the node address (MAC ID) using a hexadecimal value according to the table below. 1: ON 0: OFF 4.
3.3.3 4.3.3 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the board are used to check the board (node) condition and network condition. (The remaining two LEDs are not currently used.) The LEDs illuminate in two colors (red and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED. MS (Module Status) LED: NA (Network Status) LED: 4.
3.4 4.4 Setting of I/O Parameters (Assignment of I/O Ports) Set the TT I/O ports to be used in DeviceNet communication. (1) Board Installation Position (Slot) and I/O Parameter Numbers 4. Tabletop Robot TT Standard I/O DeviceNet Parameter No. 14 No. 15 TT robots are shipped with the input ports and output ports used in DeviceNet communication both set to 64 points.
(2) Factory-set parameters for TT type No.
(3) Parameter setting example for tabletop robot TT Assign 240 input points and 240 output points to the DeviceNet as general-purpose I/O ports. On TT robots, the I/O port start numbers are fixed. Input port start No. 48 Output port start No. 348 Port are assigned in units of 16 points. Since the port start numbers are fixed, the maximum numbers of input points and output points are set to 240, respectively. Accordingly, set “240” in I/O Parameter Nos. 14 and 15. 4.
I/O parameters for TT type No.
4.5 3.5 I/O Port Numbers for TT Robots The table below lists the I/O port numbers for TT robots. (For details, refer to the “Controller Operation Manual for Tabletop Robot TT.”) Internal DI Function Start (Soft reset) (Servo on) (Start via auto start) (Soft interlock) (Pause release) (Pause) Digital program number specification switch for ones’ place Digital program number specification switch for tens’ place (Drive-source cutoff input) (Home return, etc.
Reference Port numbers are assigned to bit addresses in the PLC in units of 16 points, starting from the channel corresponding to the node address set with the DIP switches. (This does not apply if a configurator is used to assign port numbers.) (Output) 4. Tabletop Robot TT (Input) (Input) Port No. (Output) Port No. Node address Node address (NN) CH and (MM) CH as indicated above represent PLC channel addresses corresponding to node address nn. As for nn, nn+1, nn+2, etc.
5. 4. RCS-C and E-Con 5.1 Model 4.1 DeviceNet-ready RCS-C and E-Con controllers are shown below. (1) RCS-C Model: RCS-C--DV-- Number of I/O points: 8 dedicated input points, 10 dedicated output points 5.
5.2 Interface Specifications 4.2 Item Communication protocol Support connection 5. RCS-C and E-Con Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification DeviceNet 2.
5.3 4.3 DeviceNet Interface 5.3.1 Name of Each Part 4.3.1 DeviceNet communication connector 5.
5.3.2 DIP Switch Settings 4.3.2 The DIP switches are used to set the following items: (1) Node address (2) Baud rate (Note) Turn off the X-SEL power before setting the DIP switches. (1) Setting the node address (MAC ID) Set the node address (MAC ID) using a hexadecimal value according to the table below. 1: ON 0: OFF NA5 NA4 NA3 NA2 NA1 NA0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 Node address (MAC ID) 0 1 2 3 5.
5.3.3 Monitor LED Indicators 4.3.3 The two LEDs, MS and NS, provided on the front panel of the controller are used to check the interface (node) condition and network condition. The LEDs illuminate in two colors (red and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
5.4 4.4 Input/Output (I/O) The I/O specifications of RCS-C and E-Con controllers are as follows: (1) RCS-C: 8 dedicated input points, 10 dedicated output points (2) E-Con: 10 dedicated input points, 12 dedicated output points The details are explained below. For details on each signal, refer to the “Operation Manual for RCS Series ROBO Cylinder Controller, RCS-C Type” or “Operation Manual for E-Con Controller.”) 5. RCS-C and E-Con (1) RCS-C signal assignments Input No.
(2) E-Con signal assignments Output No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 12-bit output Signal name Completed position 1 Completed position 2 Completed position 4 Completed position 8 Completed position 16 Completed position 32 Not used (Note 2) Not used (Note 2) Position complete Home return complete Zone *Alarm *Emergency stop Moving *Battery alarm (Note 1) Not used (Note 2) 5. RCS-C and E-Con Input No.
Reference Inputs and outputs are assigned to bit addresses in the PLC sequentially from the youngest number, for the channel corresponding to the node address set with the DIP switches. (Output) 5. RCS-C and E-Con (Input) Input No. Output No. Node address (NN) CH and (MM) CH as indicated above represent PLC channel addresses corresponding to node address nn.
6. 5. SCON-C 5.1 Model 6.1 A DeviceNet-ready SCON-C controller is shown below. SCON Model: SCON-C--DV-- Number of I/O points: 16 dedicated input points, 16 dedicated output points 6.
5.2 6.2 Interface Specifications Item Communication protocol Support connection 6. SCON-C Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification DeviceNet 2.
6.3 DeviceNet Interface 5.3 6.3.1 5.3.1 Name of Each Part DeviceNet communication connector 6.
5.3.2 DIP Switch Settings 6.3.2 The DIP switches are used to set the following items: (1) Node address (2) Baud rate (Note) Turn off the X-SEL power before setting the DIP switches. (1) Setting the node address (MAC ID) Set the node address (MAC ID) using a hexadecimal value according to the table below. 1: ON 0: OFF NA5 NA4 NA3 NA2 NA1 NA0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 Node address (MAC ID) 0 1 2 3 6.
5.3.3 Monitor LED Indicators 6.3.3 The two LEDs, MS and NS, provided on the front panel of the controller are used to check the interface (node) condition and network condition. The LEDs illuminate in two colors (red and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
6.4 Assignment of I/O Signals 5.4 The I/O specifications of SCON controllers are as follows: 16 dedicated input points, 16 dedicated output points The details are explained below. Six I/O patterns are available, from which a desired pattern can be selected using Parameter No. 25 (PIO pattern selection). For details on each signal, refer to the “Operation Manual for SCON Controller.” Positioning mode (standard) 0 6. SCON-C Category Port No.
Setting of Parameter No. 25 Solenoid mode 1 4 512-point mode 3 Category Input Port No.
Input port No. (bit address) • • • 78 Node address PLC input buffer memory (bit position) Output port No. (bit address) The above figure assumes that the node address of the controller’s DeviceNet board is set to “0.” I/O ports are assigned in units of 16 points to the memory area corresponding to one DeviceNet node address. I/P ports are assigned sequentially from the youngest number, to the bits in the buffer memory starting from the lower bit. PLC output buffer memory (bit position) 6. SCON-C 6.
6. 7. ASEL, PSEL and SSEL ASEL, PSEL and SSEL controllers of DeviceNet specification can handle up to 256 input points and 256 output points. 6.1 Models 7.1 6.1.1 ASEL, PSEL 7.1.1 The ASEL and PSEL models supporting DeviceNet are respectively indicated as follows: 1 axis ASEL-C-1--DV- PSEL-C-1--DV- 2 axes ASEL-C-2--DV- PSEL-C-2--DV- 7.
6.1.2 SSEL 7.1.2 The SSEL models supporting DeviceNet are indicated as follows: 1 axis SSEL-C-1--DV- 2 axes SSEL-C-2--DV- 7.
6.2 Interface Specifications 7.2 Item Communication protocol Communication specification Specification DeviceNet 2.0. Group 2 only server Network-powered insulation node Master-slave connection Bit strobe Polling Baud rate Communication cable length Typ. 30mA/Max. 55 mA 1 node MSTBA2.5/5-G-5.08AU M (*1) by Phoenix Contact (*1) The cable-end connector is a standard accessory. SMSTB2.5/5-ST-5.08AU by Phoenix Contact 81 7.
6.3 DeviceNet Interface 7.3 (1) Name of Each Part zASEL, PSEL zSSEL Status LEDs (Black) Color sticker 7.
(2) Status LED indications The operating condition of the DeviceNet board, as well as network condition, can be checked using the two LEDs provided on the front panel of the controller.
(3) DeviceNet connectors The following connectors by Phoenix Contact are used for the board-end and cable-end connectors: Board-end connector: MSTBA2.5/5-G-5.08AU Cable-end connector: SMSTB2.5/5-ST-5.08AU Color stickers corresponding to the wire colors are attached on each connector. The cable-end connector is a standard accessory. For the details of signals assigned to respective pins, refer to Chapter 9, “Common Items and Others.” 7.
6.4 Setting of I/O Parameters 7.4 Set the node address, I/O ports and other parameters of the of the ASEL, PSEL and SSEL controller used for DeviceNet communication. (1) Network type setting I/O parameter No. 225, “Network I/F module control” has been set to “2H” (DeviceNet) at the factory. (This parameter need not be set.) (2) Node address Set the node address in I/O parameter No. 226, “Network I/F module – Communication attribute 1.” The setting range is 0 to 63.
List of ASEL, PSEL and SSEL network I/O parameters No. 1 Parameter name I/O port assignment type Network I/F module – Number of available remote input ports Network I/F module – Number of 15 available remote output ports Network I/F module – First input 16 port number based on mount assignment Network I/F module – First output 17 port number based on mount assignment 7.
6.5 Assignment of I/O Port Numbers and DeviceNet Addresses 7.5 ASEL, PSEL and SSEL controllers provide the program mode and positioner mode, but the principles of how ports and addresses are assigned are the same in both modes. To be specific, I/O port numbers are assigned in units of 16 points from the channel addresses in the PLC buffer memory corresponding to the specified node address.
(2) Using in the positioner mode Regardless of the settings of I/O parameter Nos. 1, 16 and 17, physical input ports are assigned from No. 0, while physical output ports are assigned from No. 300. Use input port Nos. 0 to 23 and output port Nos. 300 to 307 according to the I/O port tables for respective controllers provided on the pages that follow. I/O parameter Nos. 14 and 15 are both set to “24.” 7. ASEL, PSEL and SSEL (Note) I/O parameter Nos.
ASEL I/O port table in positioner mode Positioner mode Category Port No. 2-axis independent mode Teaching mode Axis 1 jog- DC-S-C1 compatible mode Position input 10 Input 10 Position input 7 17 Position input 11 Input 11 Position input 8 Axis 2 jog+ - 18 Position input 12 Input 12 Position input 9 Axis 2 jog- - 19 Position input 13 Position No. 1000 input Input 13 Position input 10 Inch (0.01 mm) - 20 - Input 14 Position input 11 Inch (0.
PSEL I/O port table in positioner mode Positioner mode Category Port No. Output 7. ASEL, PSEL and SSEL 2-axis independent mode Teaching mode Axis 1 jog- DC-S-C1 compatible mode Position input 10 Input 10 Position input 7 17 Position input 11 Input 11 Position input 8 Axis 2 jog+ - 18 Position input 12 Input 12 Position input 9 Axis 2 jog- - 19 Position input 13 Position No. 1000 input Input 13 Position input 10 Inch (0.01 mm) - 20 - Input 14 Position input 11 Inch (0.
SSEL I/O port table in positioner mode Positioner mode Category Output Standard mode Type switching mode 2-axis independent mode 16 Position input 10 Input 10 Position input 7 17 Position input 11 Input 11 18 Position input 12 Input 12 19 Position input 13 20 Position input 14 21 Teaching mode DC-S-C1 compatible mode Axis 1 jog- Position No. 1000 input Position input 8 Axis 2 jog+ Position No. 2000 input Position input 9 Axis 2 jog- Position No.
7. 8. Troubleshooting If you encountered a problem concerning DeviceNet, check the operating condition using the table below and remove the cause of the problem. The monitor LEDs, MS and NS, illuminate in two colors (red and green), and you can check the condition of DeviceNet based on the illumination status and color of each LED. If an error occurred, MS or NS should change to steady or blinking red.
8. 9. Common Items and Others 9.1 8.1 Communication Cable For the DeviceNet communication cable, use a dedicated 5-wire DeviceNet cable conforming to the DeviceNet Specification. There are two types of dedicated cables: large size and small size. (Note) Take note that if a small-size cable is used, the maximum network length becomes 100 m or less regardless of the baud rate setting.
9.2 8.2 Connection of Communication Cable Connector Connect the communication cable in accordance with the connector table below. Pin No. 1 2 3 4 5 Cable wire color Black Blue Shield White Red Signal name VCAN_L Drain CAN_H V+ Description Network power supply Signal wire, differential Drain (shield) Signal wire, differential + Network power supply + Color-coded seals corresponding to the cable wire colors shown in the table above are attached on the supplied cable-end connector. 8.
9. EDS File 10. If you need an EDS file for any of these controllers, following download it from IAI’s website. Website: http://www.iai-robot.co.jp Reference Using Omron’s configurator 1. Install the EDS file in the configurator. On an X-SEL controller, the EDS file is installed under the name “AnyBus-S DeviceNet” in the “Communications Adapter” subfolder located in the “HMS Fieldbus Systems AB” folder.
Change History Revision Date November 2011 Description of Revision Eighteenth Edition Contents changed Safety Guide ACON andinPCON. • Deleted • May 2012 Change History July 2012 96 Caution notes added for when working with two or more persons Deleted ACON and PCON. Nineteenth Edition • • Page 1 to 7 Contents changed and added in Safety Guide Page 81 Statement “EDS file is enclosed in standard for X-SEL provided in a floppy disc.” deleted.
Manual No.: ME0124-20A (July 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
