PROFIBUS-DP Operation Manual, Twelfth Edition X-SEL RCS-C ASEL PSEL SSEL TT E-Con SCON-C
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.
Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview 1 PROFIBUS-DP 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 ............................................................................................................................7 2. Specifications .................................................................................................................... .. 8 2.1 Interface Specifications...............................................
4.5 4.6 Standard I/O Ports of XSEL Controller......................................................................................... 50 Troubleshooting ........................................................................................................................... 52 5. Tabletop Robot TT............................................................................................................54 5.1 5.2 5.3 5.4 Model Numbers..................................................................
.4 I/O Port Numbers and ProfiBus-DP Address Assignments ......................................................... 84 (1) Basic example ...................................................................................................................... 84 (2) Positioner mode ................................................................................................................... 85 8. Common Items and Others ......................................................................................
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No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ 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. Ɣ Consider well so that it is not bumped against anything or dropped during the transportation. Ɣ Transport it using an appropriate transportation measure. Ɣ Do not step or sit on the package.
No. 4 Operation Description Installation and Start Description (3) Grounding Ɣ Make sure to perform the grounding of type D (Former Type 3) for the controller. The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
No. 5 4 Operation Description Teaching 6 Trial Operation 7 Automatic Operation Description Ɣ 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. Ɣ Perform the teaching operation from outside the safety protection fence, if possible.
No. 8 9 10 Operation Description Maintenance and Inspection Modification and Dismantle Disposal Description Ɣ 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. Ɣ Perform the work out of the safety protection fence, if possible.
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1. Overview ACON, PCON and SCON-CA are not specified in this operation manual. Refer to the separate ME0258 PROFIBUS-DP. * For details on ProfiBus-DP, refer to the operation manual for the programmable controller (hereinafter referred to as “PLC” ) in which the master unit is installed. This operation manual should be used in conjunction with the operation manual for each controller. You should also assume that any usage not specifically permitted in this operation manual is prohibited.
2. Specifications 6SHFL¿FDWLRQV 2.1 Interface Specifications The table below lists the specifications of the ProfiBus-DP interface. Item Communication profile Communication method Number of connectable stations Communication data length Physical profile Specification ProfiBus-DP Hybrid method 32 stations per segment Transmission distance Topology Cable *1 Master/slave method with token passing Up to 126 stations can be connected if a repeater is used.
3. 3.1 X-SEL-J/K/P/Q/JX/KX/PX/QX X-SEL Controller ProfiBus-DP Board Types and Installation Positions in the X-SEL There are six types of X-SEL controllers that support ProfiBus-DP, as listed below. The installation position of the ProfiBus-DP board is different depending on whether the X-SEL controller is of PR0 type or PR1 type. J Not available for 1-axis and 2-axis specifications. X-SEL model I/O slot arrangement Fig. 3.1 K Fig. 3.2 K *1 P Installation position of field network board Fig. 3.
(1) Compact type (J type) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1-axis specification*1 ProfiBus-DP board 2-axis specification*1 ProfiBus-DP board 3/4-axis specification*2, *3 Expansion slot ProfiBus-DP board (Installed in the standard slot.) Fig. 3.1 *1) An I/O board cannot be installed in 1-axis and 2-axis specifications, because the ProfiBus-DP board occupies the only slot available. *2) With 3-axis and 4-axis specifications, only the “PR0” ProfiBus-DP board can be installed in the standard slot.
(2) General-purpose type (K type) z Either a ProfiBus-DP board or standard I/O board must be always installed in the standard slot (I/O1 --- slot at the far left). z The “PR1” ProfiBus-DP board occupies two expansion slots. If this type of ProfiBus-DP board is selected, only one expansion slot can be used. z Either an expansion I/O board*1 or SIO board*2 can be installed in an expansion slot. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Expansion slots 1 to 3 ProfiBus-DP board (Installed in the standard slot.) Fig. 3.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX Expansion slots 2 and 3 ProfiBus-DP board (Installed in expansion slot 1.) Standard I/O board Fig. 3.3 (3) P/Q types z The ProfiBus-DP board is installed in the installation position of field network board. ProfiBus-DP board Standard I/O ProfiBus-DP board Standard I/O Fig. 3.
3.2 Setting a ProfiBus-DP Board (Slave Station) (1) Name of each part J/K/JX/KX/ type P/Q/PX/QX type 3.
(2) ProfiBus-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170. Connector 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Pin No. 3 5 8 Housing * Description B-Line GND A-Line GND Contents RxD x TxD (Positive signal line) Shield /RxD x /TxD (Negative signal line) Shield Pins 1, 2, 4, 6, 7 and 9 are not used (they need not be wired).
(4) Node address settings The address of each ProfiBus-DP slave station is set using the “x10” and “x1” rotary switches shown in the figure under (1). Set a desired address according to the following rule: Node address number = (“Value set by x10” rotary switch x 10) + (“Value set by x1” rotary switch x1) Example) 9 12 Note 1) When setting ProfiBus-DP station numbers, remember that the ProfiBus-DP master station is always assigned station number 0.
3.3 Setting X-SEL I/O Parameters (Assigning I/O Ports) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.” All of the parameter numbers shown below indicate the I/O parameter numbers of the X-SEL controller.) 3.3.
(2) K/KX type Parameter No. 2 No. 3 No. 10 Parameter Note) No. 6 No. 7 No. 12 Parameter No. 8 No. 9 No. 13 No. 4 No. 5 No. 11 One ProfiBus-DP board occupies two slots. Accordingly, Nos. 4 and 5 are set to “-1,” and No. 11 to “0,” when a ProfiBus-DP board is set in the slots denoted by A above. If a ProfiBus-DP board is set in the slots denoted by B, Nos. 8 and 9 are set to “-1,” while No. 13 is set to “0.” (3) P/PX/Q/QX type ProfiBus-DP Parameter No.16 No.17 No.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX 3.3.2 Factory-set Parameters (Default Settings) (1) Factory-set parameters for the J/K/JX/KX types x I/O Parameter No.
(2) Factory-set parameters for the P/PX/Q/QX types No. Parameter name Input range Remarks 0 ~ 20 0 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module o Slot 1 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX 3.3.3 Automatically Assigning X-SEL I/Os Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to “Operation Manual for X-SEL Controller.”) This manual covers the representative setting method as explained below. Basically, the input/output port assignment type is set to “automatic assignment” using I/O parameter No.
X-SEL (K type) No.
(2) Setting example when a ProfiBus-DP board is used with an expansion I/O board (automatic assignment) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The port numbers of the expansion board are assigned automatically in accordance with the numbers of I/O ports of the ProfiBus-DP slave station set by I/O parameter Nos. 14 and 15.
No.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX (3) Setting example when a ProfiBus-DP board is used with an expansion I/O board (fixed assignment) Under fixed assignment (where I/O parameter No. 1 is set to “0”), you can set desired initial I/O port numbers. Under automatic assignment the initial I/O port numbers (input number 0 ~ / output number 300 ~) can only be set after the standard I/Os have been assigned.
No.
3.3.5 Setting Examples for P/PX/Q/QX Type Controllers (1) Setting example when only a ProfiBus-DP board is used (automatic assignment) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Example: The following settings apply when the I/O ports of the ProfiBus-DP board are used by 32 input points and 16 output points, each from the beginning, by leaving other I/O ports unused, just like when a standard X-SEL I/O board (50-pin connector) is used. [1] [2] [3] Enter “1” in I/O parameter No. 1 to specify automatic assignment.
I/O Parameters of X-SEL P/PX/Q/QX Type Controllers No.
(2) Setting example when a ProfiBus-DP board is used with a standard I/O board (automatic assignment) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Example: These settings are used when 256 input points and 256 output points are assigned, both from the initial standard I/O ports, to the ProfiBus-DP board, and the remaining I/O port numbers are assigned to the standard I/O board. [1] [2] [3] [4] Enter “1” in I/O parameter No. 1 to specify automatic assignment. Set I/O parameter No. 10, “Standard I/O error monitor” to “2.
I/O Parameters of X-SEL P/PX/Q/QX Type Controllers No. Parameter name Default (reference) Input range Remarks 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module o Slot 1 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
(3) Setting example when a ProfiBus-DP board is used with a standard I/O board (fixed assignment) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX In automatic assignment, the initial I/O port numbers (No. 0 or greater for input / No. 300 or greater for output) must be set on the standard I/O board. By using fixed assignment, however, you can set the initial I/O port numbers on expansion I/O board 1 to 3 (No. 0 or greater for input / No. 300 or greater for output), other than the standard I/O board.
I/O Parameters of X-SEL P/PX/Q/QX Type Controllers No. Parameter name Default (reference) Input range Remarks 0: Fixed assignment 1: Automatic assignment (Priorities: Network I/F module o Slot 1 (standard I/O) ~) * Ports are assigned automatically only for the contiguous slots in use, starting from slot 1 = For safety reasons.
3.3.6 X-SEL I/O Port Numbers 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The standard I/O port numbers of the X-SEL are listed below. The port numbers and function assignments of the X-SEL can be changed using I/O parameters. (For details, refer to “Operation Manual for X-SEL Controller.”) Port No.
3.3.7 Correspondence of X-SEL I/O Port Numbers and PLC Addresses When the X-SEL’s ProfiBus-DP board I/Os are assigned in the input/output (memory) areas of the PLC, the areas that occupy the PLC memory will change depending on the numbers of I/O points set on the X-SEL side. ProfiBus-DP board I/Os are assigned in units of 16 bits (16 I/O points); i.e., they are assigned in units of words. Example of system configuration An example of system configuration is shown below.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX 2) Address assignment in the master station When setting the configuration in 1) using a configurator, the numbers of inputs and outputs of the X-SEL set for slave station 2 must be determined. (Here, it is assumed that the number of occupiable slave stations is set to 16 words in the master station.) 3) When the X-SEL conforming to the configuration example shown in 1) has total eight words of input and output points (128 points), respectively.
4) I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows. Input port number (bit address) PLC output buffer memory bit position PLC input buffer memory bit position Output port number (bit address) 3.
5) Description example of bit addresses --- Fuji Electric The inputs and outputs of the X-SEL are respectively assigned I/O addresses (word addresses) as viewed from the PLC. The bit address description rules are specified below. Bus station number 3.
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 DIP switches. (This does not apply when a configurator is used.) (Input) Port number 3. X-SEL-J/K/P/Q/JX/KX/PX/QX (Input) (Output) (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.
4. XSEL-R/S/RX/SX/RXD/SXD :KHQ XWLOL]LQJ 352),%86 '3 ¿HOGEXV ZLWK WKH ;6(/ 5 6 5; 6; 5;' 6;' FRQWUROOHU WKH , 2 GDWD LV KDQGOHG DV HLWKHU ELW GDWD RU ZRUG GDWD 7KH ¿HOGEXV , 2 GDWD LV PDSSHG WR LQSXW DQG RXWSXW SRUWV LQ WKH ;6(/ FRQWUROOHU 4. XSEL-R/S/RX/SX/RXD/SXD 4.1 Model Numbers The model code of each of XSEL-R/S/RX/SX/RXD/SXD applicable for PROFIBUS-DP is as shown below.
4.2 PROFIBUS-DP Interface (1) Name of each part Monitor LEDs 5 6 Note 1 Note 2 Signal Name B-Line RTS GND +5V A-Line Shield Description Communication Line B (RS485) Request for Sending Signal Ground (insulated) +5V output (insulated) Communication Line A (RS485) Cable Shield (connected to housing) 1, 2, 7 and 9 pins are not connected. Connector on cable side is not included. 4. XSEL-R/S/RX/SX/RXD/SXD 1 Pin No.
4.3 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: 4. XSEL-R/S/RX/SX/RXD/SXD x XSEL PC software : V9.00.00.00 to : V1.12 to x SEL-T/TG : V1.52 to x 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 PROFIBUS board I/O Parameter No.
[1] Network Setting Check &RQ¿UP WKDW WKH QG GLJLW RI , 2 3DUDPHWHU 1R 1HWZRUN , ) 0RGXOH &RQWURO VHWWLQJ LV VKRZLQJ ³ ´ (PROFIBUS). No. Parameter name 225 Network I/F Module Control Default Input Range Unit 3* 0*H to 3*H ņ > @ , 2 3RUW $VVLJQPHQW &ODVVL¿FDWLRQ 6HWWLQJ , 2 3DUDPHWHU 1R 6HW , 2 3RUW $VVLJQPHQW &ODVVL¿FDWLRQ No.
[3] PROFIBUS Board Use Setting 4. XSEL-R/S/RX/SX/RXD/SXD Set “1” (Monitoring: use PROFIBUS board) to I/O Parameter No. 235. No. Parameter name Default (Reference) Input Range Unit Remarks 235 Network I/F Module 2 Error Monitoring 1 0 to 5 ņ 0:No Monitoring (Not to monitor condition of link to PLC (master)) 1:Monitoring Remarks [4] Node address setting Set the node address to I/O Parameter No. 237 No.
[6] 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. Add the number of ports assigned in parameters 231 and 232 to determine the I/O range. The values entered into these parameters must be evenly divisible by 8 (EX: 300). No.
4.4 Setting example (1) Example for when using only PROFIBUS 4. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using PROFIBUS 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 (PROFIBUS board) Not Applicable (I/O board) x I/O Parameters No.
No.
(2) Example for when using PROFIBUS and I/O Board 1 together 4. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using PROFIBUS 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 (PROFIBUS board) Standard Input Port No.0 to 47 Standard Output Port No.300 to 347 (I/O board) x I/O Parameters No.
No.
(3) Example for when using PROFIBUS and I/O Board 1 together 4. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using PROFIBUS 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 (PROFIBUS board) Standard Input Port No.192 to 239 Standard Output Port No.492 to 539 (I/O board) x I/O Parameters No.
No.
4.5 Standard I/O Ports of XSEL Controller )RU WKH VWDQGDUG , 2 SRUWV RI ;6(/ FRQWUROOHU LW LV SRVVLEOH WR FKDQJH WKH VSHFL¿HG IXQFWLRQV H[FHSW IRU WKH 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.] 4. XSEL-R/S/RX/SX/RXD/SXD x Settings of Standard I/O Ports at Delivery Input 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) (Output) 4. XSEL-R/S/RX/SX/RXD/SXD (Input) Port number (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.
4.6 Troubleshooting 1) In case it is not possible to connect the network, check the current condition on the display of monitoring LEDs of PROFIBUS Board. [Refer to Section 4.2] Check the settings of the XSEL controller and the settings of the master unit referring to the instruction manuals of the master unit. 4. 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 D77 Fieldbus error (Exception) E1F I/O Assignment Parameter Error I/O Duplication Assignment Error E21 , 2 $VVLJQPHQW 1XPEHU 2YHUÀRZ (UURU E8F Fieldbus logic error 53 4. XSEL-R/S/RX/SX/RXD/SXD E20 Contents and Treatment A communication board error was detected. Reboot the XSEL controller. If the same error occurs again, please 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.
5. 4. Tabletop Robot TT 5.1 4.1 Model Numbers 7DEOHWRS 5RERW 77 Model number: TT--I--PR Maximum numbers of network I/O points: 240/240 ProfiBus Board Standard I/O board A ProfiBus board is installed in the installation position for field network board.
4.2 5.2 ProfiBus Board 5.2.1 Name 4.2.
4.2.2 5.2.2 ProfiBus-DP Communication Connector 7DEOHWRS 5RERW 77 The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Pin No.
5.2.4 4.2.4 Address Setting Dials (Node Address Settings) The address of each ProfiBus-DP slave station is set using the left (x1) and right (x10) address setting dials. These rotary switches set the node address of the applicable controller. Each of these two switches can be set to a desired value in a range of 0 to 9.
5.3 4.3 I/O Parameter Settings (I/O Port Assignments) The TT I/O ports used by ProfiBus are set. 7DEOHWRS 5RERW 77 (1) Board installation position (slot) and parameter numbers Standard I/O board ProfiBus Board Parameter No. 14 No. 15 64 input ports and 64 output ports are set at the factory for use with ProfiBus.
(2) Factory-set parameters for the TT type Parameter name 1 Input/output port assignment type Standard I/O1 fixed assignment: Initial input port number Standard I/O1 fixed assignment: Initial output port number Standard I/O2 fixed assignment: Initial input port number Standard I/O2 fixed assignment: Initial output port number Expansion I/O1 fixed assignment: Initial input port number (Network I/F module) Expansion I/O1 fixed assignment: Initial output port number (Network I/F module) Reserved by system Re
(3) Example of parameter settings for the tabletop robot TT 7DEOHWRS 5RERW 77 The settings below assume that 240 input points and 240 output points are assigned on the ProfiBus board as general-purpose I/O ports. With the TT, the initial I/O port numbers are fixed. Initial input port number: 48 Initial output port number: 348 Ports to be used are assigned in units of 16 points.
I/O Parameters for TT Type No.
4.4 5.4 I/O Port Numbers for TT 7DEOHWRS 5RERW 77 The I/O port numbers applicable to the TT are shown below. (For details, refer to the “Operation Manual for Tabletop Robot TT.”) Internal DI External DI Internal DI 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 DIP switches. (This does not apply when a configurator is used.) (Input) (Output) 7DEOHWRS 5RERW 77 (Input) Port number (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.
6. 5. RCS-C, E-Con and SCON 6.1 5.1 Model Numbers External views (front views) of the RCS, E-Con and SCON controllers that support ProfiBus-DP are shown below.
(2) E-Con Model number: ECON---PR- I/O points: 10 dedicated input points, 12 dedicated output points 5&6 & ( &RQ DQG 6&21 (3) SCON Model number: SCON-C--PR-- I/O points: 16 dedicated input points, 16 dedicated output points 65
6.2 5.
(3) Bus termination settings Among the units connected to a ProfiBus-DP network, the devices at both ends require termination to prevent reflected waves from entering the bus line again. This ProfiBus-DP module provides a termination switch that makes this termination easy. The user need not install a separate terminal resistor. Never install an additional terminal resistor, as it may have negative impact on bus communication or cause a communication error, etc.
(5) Monitor LED indications Of the LEDs provided on the front face of the board, the two LEDs, ERR and POWER, can be used to check the operating condition of the communication module. The board has three LEDs, whose conditions and their meanings are explained below.
(6) Input/output (I/O) signal assignments The RCS-C, E-Con and SCON have the following numbers of inputs and outputs, respectively: [1] RCS-C 8 dedicated input points, 11 dedicated output points (100/200-V specification) or 10 dedicated output points (24-V specification) [2] E-Con 10 dedicated input points, 13 dedicated output [3] SCON 16 dedicated input points, 16 dedicated output These inputs and outputs are assigned as shown below.
5&6 & ( &RQ DQG 6&21 [2] E-Con signal assignments Input number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Note) 70 Signal name Command position 1 Command position 2 Command position 4 Command position 8 Command position 16 Command position 32 Not used Not used Start Reset Servo on *Pause Not used Not used Not used Not used Output number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 The signals denoted by * are contact-b signals (always ON).
[3] SCON signal assignments The SCON has 16 dedicated input points and 16 dedicated output points. The details of inputs and outputs are shown below. Signals are assigned in one of six patterns in accordance with the setting of SCON parameter No. 25 (PIO pattern selection). * indicates a signal that is normally ON. The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are indeterminable.
Category Port No. 5&6 & ( &RQ DQG 6&21 Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Setting of parameter No. 25 Solenoid valve mode 1 4 Signal name Symbol Start position 0 ST0 Start position 1 ST1 Start position 2 ST2 Start position 3 ST3 Start position 4 ST4 Start position 5 ST5 Start position 6 ST6 Cannot be used. Forced brake release BKRL Operation mode RMOD Home return HOME Pause *STP Cannot be used.
(7) Correspondence of RCS-C, E-Con and SCON I/O port numbers and PLC addresses In the assignment of the RCS-C, E-Con or SCON’s ProfiBus-DP board I/Os in the input/output (memory) areas of the PLC, one word of input/output area is occupied by 16 I/O points (dedicated inputs/outputs) of the slave station.
I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits. Accordingly, the PLC addresses are assigned as follows.
Reference 1 When bit addresses are set in the PLC, inputs and outputs are sequentially assigned to the channels corresponding to the node address set by the DIP switches. (Input) (Output) 5&6 & ( &RQ DQG 6&21 Input number Output number Node address nn * The settings in ( ) apply to the E-Con. The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
Reference 2 Example of address assignment rules --- Fuji Electric Bus station number Prefix Word number Bit address Prefix Input bit address (address per bit) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the ProfiBus-DP board in the PLC.
6. 7. ASEL, PSEL, SSEL ASEL, PSEL and SSEL controllers of ProfiBus type can support up to 256 input points and 256 output points. 7.1 6.1 Model Numbers 6.1.1 7.1.1 ASEL, PSEL ASEL and PSEL controllers of ProfiBus type are indicated by the following model numbers: 1-axis type ASEL-C-1--PR- PSEL-C-1--PR- 2-axis type ASEL-C-2--PR- PSEL-C-2--PR- 7.
7.1.2 SSEL 6.1.2 SSEL controllers of ProfiBus type are indicated by the following model numbers: 1-axis type SSEL-C-1--PR- 2-axis type SSEL-C-1--PR- 7.
6.2 7.2 ProfiBus Interface (1) Name of each part x ASEL, PSEL x SSEL Status LEDs 7. ASEL, PSEL, SSEL ProfiBus communication connector (2) Status LED indications The operating condition of the ProfiBus board, as well as the network condition, can be checked using the two LEDs (STATUS0 and STATUS1) provided on the front side of the board.
80 7.
(3) ProfiBus-DP communication connector The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard EN50170. The network connector on the other end is not supplied. Signal name NC NC B-Line NC GND +5V NC A-Line NC Shield Explanation Not connected Not connected Communication line B (positive side) Not connected Signal ground +5-V output Not connected Communication line A (negative side) Not connected Cable shield 7. ASEL, PSEL, SSEL Pin No.
7.3 6.3 I/O Parameter Settings Set the node address, I/O ports and other parameters of the ASEL, PSEL and SSEL used with ProfiBus. (1) Network type setting I/O parameter No. 225, “Network I/F module: Control” has been set to 3H (ProfiBus) at the factory. (No additional setting is required.) (2) Node address Set the node address using I/O parameter No. 226, “Network I/F module: Communication attribute 1.” The setting range is 0 to 125. This parameter has been set to 1H at the factory.
ASEL, PSEL and SSEL Network I/O Parameter List No.
7.4 6.4 I/O Port Numbers and ProfiBus-DP Address Assignments ASEL, PSEL and SSEL controllers operate in the program mode and positioner mode, but the principles of assignment are the same with both modes. To be specific, I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer memory corresponding to the specified node address.
(2) Positioner mode Regardless of the settings of I/O parameter Nos. 1, 16 and 17, physical ports are assigned from No. 0 for input ports and from No. 300 for output ports. As shown in the I/O port table on the next page and subsequent pages, input ports of Nos. 0 to 23 and output ports of Nos. 300 to 307 are used. In this case, both I/O parameter Nos. 14 and 15 are set to 24. (Note) Set the same number of points for I/O parameter Nos.
ASEL Positioner Mode I/O Port Table 7. ASEL, PSEL, SSEL Category Input Output Port No.
PSEL Positioner Mode I/O Port Table Category Output Standard mode Product-type switching mode Positioner mode 2-axis independent mode Teaching mode 16 Position input 10 Input 10 Position input 7 Axis 1 jog- 17 18 19 20 21 22 23 0 1 2 Position input 11 Position input 12 Position input 13 Error reset Start Home return Servo on Input 11 Input 12 Input 13 Input 14 Input 15 Input 16 Error reset Start Home return Servo on Position input 8 Position input 9 Position input 10 Position input 11 Position
SSEL Positioner Mode I/O Port Table 7. ASEL, PSEL, SSEL Category Input Output Port No. Standard mode Product-type switching mode Positioner mode 2-axis independent mode Teaching mode 16 Position input 10 Input 10 Position input 7 Axis 1 jog- 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 Input 13 Position input 10 Inching (0.
8. 7. 8.1 7.1 Common Items and Others Communication Cable For connection cables, use type A cables conforming to the ProfiBus standard. 8.2 7.2 Useful Function When Adjusting an X-SEL Controller (1) If a standard or expansion I/O board is installed in an X-SEL K-type controller, the controller can be started alone without connecting a 24-VDC I/O power supply. (2) If a ProfiBus-DP board is installed in an X-SEL controller, the controller can be started alone even when the network is not yet established.
Change History Revision Date Description of Revision First edition October 2006 &KDQJH +LVWRU\ November 2006 February 2008 March 2008 Second edition y P24 to 34: Added SCON in Section 4. Third edition y Table of Contents: Changed the pages after 4.2 (7). y P25: Corrected the number of dedicated input points for SCON from 13 to 16. y P29: Corrected the number of dedicated input points for SCON from 13 to 16. y P30: Deleted the signal assignments for SCON in [3].
Revision Date April 2008 Description of Revision Sixth edition Corrected clerical errors. Seventh edition Missing number September 2008 May 2010 Ninth edition Added “Please Read Before Use” on the first page after the cover. Added “Safety Guide” on the first page after the table of contents. Added “Change History” on the last page. Updated the back cover. (Changed the addresses of the head office and sales offices, indicated the 24-hour service of Eight, etc.) Eleventh edition ACON and in PCON.
Manual No.: ME0153-12A (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.
