ATI Technologies PROFINET DL10 User manual

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table of Contents
Glossary........................................................................................................................................C-4
C. Control and Signal Modules ...................................................................................................C-6
DL10—PROFINET®Control/Signal Module ...............................................................................C-6
1. Product Overview..................................................................................................................C-6
1.1 DL10 Master Module ................................................................................................................. C-6
1.2 DL10 Tool Module...................................................................................................................... C-7
1.3 DL15 Tool Module...................................................................................................................... C-7
2. Product Information..............................................................................................................C-8
2.1 Master Module........................................................................................................................... C-8
2.1.1 PROFINET Interface Information ................................................................................... C-8
2.1.2 System Failure (SF) and Bus Failure (BF) LEDs ..........................................................C-11
2.1.3 Ethernet 1 and Ethernet 2 LEDs .................................................................................. C-12
2.1.4 Integrated Ethernet Switch........................................................................................... C-12
2.1.5 Reset-To-Factory Push-Button..................................................................................... C-13
2.2 Arc Prevention Circuit ............................................................................................................ C-13
2.2.1 Arc Prevention Circuit Behavior during Coupling......................................................... C-14
2.2.2 Arc Prevention Circuit Behavior during Coupling......................................................... C-14
2.2.3 Arc Prevention Circuit Behavior during Uncoupling ..................................................... C-15
2.3 Tool Module ............................................................................................................................. C-16
2.3.1 Tool-ID.......................................................................................................................... C-16
2.4 Tool Side TSI............................................................................................................................ C-17
2.5 TSI Operational Function........................................................................................................ C-19
2.5.1 The Master is Free of the Stand and the Tool is in the Stand ...................................... C-19
2.5.1.1 RTL Bypass Relay Circuit............................................................................. C-19
2.5.2 The Master is Coupled with the Tool and the Tool is in the Stand................................ C-20
2.5.3 The Master is Coupled with the Tool and the Tool is Free of the Stand ....................... C-21
2.5.4 TSI Behavior................................................................................................................. C-22

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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3. Installation ...........................................................................................................................C-23
3.1 Master Control/Signal Module Installation............................................................................ C-23
3.2 Master Control/Signal Module Removal................................................................................ C-24
3.3 Tool Control/Signal Module Installation................................................................................ C-24
3.4 Tool Control/Signal Module Removal.................................................................................... C-25
3.5 Setting the Tool-ID................................................................................................................... C-26
3.6 PROFINET Interface................................................................................................................ C-26
3.7 Utility Schematic ..................................................................................................................... C-26
3.8 Electrical Connections............................................................................................................ C-26
4. Operation .............................................................................................................................C-27
4.1 Lock, Unlock, and RTL Sensor Cable LED Behavior........................................................... C-28
4.2 Inputs........................................................................................................................................ C-29
4.2.1 Locked.......................................................................................................................... C-29
4.2.2 Unlocked ...................................................................................................................... C-29
4.2.3 Input/Logic Power Good............................................................................................... C-29
4.2.4 Output Power Available................................................................................................ C-29
4.2.5 RTL1 and RTL2............................................................................................................ C-29
4.2.6 Tool Present ................................................................................................................. C-29
4.2.7 Tool Power Is On.......................................................................................................... C-29
4.2.8 Unlatch Enabled........................................................................................................... C-29
4.2.9 TSIV ............................................................................................................................. C-29
4.2.10 TSRV............................................................................................................................ C-29
4.2.11 RTLV1 and RTLV2........................................................................................................ C-29
4.3 Error Conditions...................................................................................................................... C-30
4.3.1 ERROR ON LATCH...................................................................................................... C-30
4.3.2 ERROR ON UNLATCH ................................................................................................ C-30
4.3.3 UNSAFE UNLATCH..................................................................................................... C-30
4.3.4 RTL/RTLV Mismatch .................................................................................................... C-30
4.3.5 TSIV/TSRV Mismatch................................................................................................... C-30
4.3.6 Lock/Unlock Sensor Fault ............................................................................................ C-30
4.3.7 COMM Error................................................................................................................. C-30
4.4 Recommended Sequence of Operation................................................................................ C-32
5. Maintenance.........................................................................................................................C-39
5.1 Pin Block Inspection and Cleaning ....................................................................................... C-40

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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6. Troubleshooting and Service Procedures........................................................................C-41
6.1 Troubleshooting...................................................................................................................... C-41
6.2 Service Procedures................................................................................................................. C-42
6.2.1 Seal Replacement........................................................................................................ C-42
6.2.2 DL10 Device Replacement Procedures....................................................................... C-43
6.2.2.1 Master Module Replacement Procedures .................................................... C-43
6.2.2.2 Replace a Master Module with an Already Commissioned Master Module.. C-43
7. Serviceable Parts ................................................................................................................C-46
7.1 Master Module Serviceable Parts.......................................................................................... C-46
7.2 Tool Module Serviceable Parts .............................................................................................. C-46
7.3 Accessories............................................................................................................................. C-46
8. Specications ......................................................................................................................C-47
9. Drawings ..............................................................................................................................C-49
9.1 DL10M DL10T........................................................................................................................... C-49
9.2 DL10M DL15T........................................................................................................................... C-54

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-4
Glossary
Term Denition
BF LED BUS Failure (BF) LED.
Clear Errors An output supplied to the ATI Master node to clear all applicable error conditions
CL-RPC Connection Less Remote Procedure Call.
COMM Error Tool-ID communication timeout.
DCP PROFINET Discovery and Conguration Protocol.
EOAT End Of Arm Tool (end effector).
Error on Latch Output An input indicating a short circuit overload condition exists with the Latch Output.
Error on Unlatch Output An input indicating a short circuit overload condition exists with the Unlatch Output.
Ethernet Switch An Ethernet network component connecting multiple communication partners with each
other.
FE Functional Earth
GSDML File Aspecial kind of XML-based Device Description File used by PROFINET to
automatically obtain the device characteristics.
Input/Logic Power Good An input indicating the presence of US1 power at the ATI Master.
Latch The output supplied to the ATI Master module to couple the Tool Changer.
LLDP Link Layer Discovery Protocol
Lock/Unlock Sensor Fault An input indicating that the Locked and Unlocked inputs are ON at the same time.
Locked
A proximity sensor input indicating that the coupling mechanism is in the
Locked position.The “LOCKED” bit in the PROFINET bitmap will only be set
high if the following conditions are on:
• LOCKED sensor input is high
• UNLOCKED sensor input is low
• TOOL PRESENT input is high
Output Power Available An input indicating the presence of US2 Power at the ATI Master.
PROFINET A communication system for Industrial Ethernet designed and developed by PROFIBUS
International.
It uses some mechanisms similar to those of the PROFIBUS eld bus
RTL (Ready To Lock) A proximity sensor input that senses when the ATI Tool is in close proximity.
RTL Relay A relay circuit present on the ATI Master module that is driven by the RTL sensor and allows
the Tool Changer locking mechanism to retract when there is no Tool present.
RTLV An input provided for health status monitoring of the RTL Relay.
Spare An O/P bit.
SF LED System Failure LED; this is a standard status LED, similar to the DeviceNet Module Status
LED; it has a red part and a green part.
SNMP Simple Network Management Protocol
Tool Power is On The “Tool Power is ON” bit is set high when the Arc Prevention Circuit has activated power on the tool side. If this bit is low there will be neither Input/Logic Power nor Output power
available on the tool.
Tool Present A hard connect input (sourced from the Tool) indicating the Master and Tool are electrically
connected to each other.
Tool-ID An input from the Master node reporting the values from the Tool-ID switch on the Tool
module.
TSI The Tool Stand Interlock feature is a custom ATI safety solution and circuit designed to only
allow the Tool Changer to release while in the stand or storage location.
TSI Relay A relay circuit present on the ATI Tool module that is driven by a tool stand limit switch in
order to close the TSI circuit and allow the Tool Changer to release.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-5
Term Denition
TSIV An input supported for monitoring of a tool stand limit switch used within the TSI circuit.
TSRV An input provided for the health status monitoring of the TSI Relay.
Unlatch The output supplied to the ATI Master module to uncouple the Tool Changer.
Unlatch Enable Indicates it is safe to proceed with an unlatch request.
Unlocked
A proximity sensor input indicating that the coupling mechanism is in the
Unlocked position. The “UNLOCKED” bit in the PROFINET bitmap will only be
set high if the following conditions are on:
• UNLOCKED sensor input is high
• LOCKED sensor input is low.
Unsafe Unlatch An input indicating that an Unlatch command was received which would result in an unsafe
tool release and was therefore not processed.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-6
C. Control and Signal Modules
DL10—PROFINET®Control/Signal Module
1. Product Overview
The modules enable the customer to control and communicate with the Tool Changer through a PROFINET
network. A PROFINET node is established on the Master only. Control of the Tool Changer is achieved through
the Master node along with the reporting of the various Tool Changer I/O. The Tool module supports Tool‑ID and
functions as a pass‑through for PROFINET network and power to the customer tooling.
A 3‑pin spring signal contact block is provided on the Master module for support of integrated single or double
solenoid valves. The integrated valve is supplied fromATI as part of the valve adapter block (9121‑Jxx). Refer to
the valve adapter block manual for more information (9620‑20‑C‑Jxx Air and Valve Adapters with Valve Signal
Pass Through). Electrical connector details are provided in drawings in Section 9—Drawings.
Because the Master module requires the use of a valve adapter, the Tool module must have a spacer module so that
the Master and Tool modules are aligned when coupled.
In addition to supporting the standard Tool Changer input signals (Locked, Unlocked, and Ready to Lock proximity
sensors) the modules also support advanced diagnostic and fault reporting. Refer to Section 4.3—Error Conditions.
Compliant spring pins are provided on the Master and xed contact pins on the Tool. To avoid unintentional human
contact, the Master spring pins are recessed below an insulated surface on both the power and signal circuits. When
the modules are coupled, the V‑ring seal forms a water resistant but not waterproof seal around the pin block.
The Unlock signal to the integrated solenoid valve is routed through a “Tool Stand Interlock” (TSI) safety circuit
that prevents the robot from unlocking the Tool from the Master, when the Tool is not in the tool stand. Refer to
Section 2.4—Tool Side TSI for additional information regarding TSI.
1.1 DL10 Master Module
The module has the following connections:
• (1) 4‑pin male M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (4) 3‑pin female M8 connectors for RTL1, RTL2, Lock, and Unlock sensor connections.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
• (1) 3‑pin internal valve connection
The Master module also incorporates ATI’s exclusive Arc Prevention Circuit which extends the life of all
electrical power contacts by eliminating arcing caused by inductive loads and high inrush current during
coupling/uncoupling. Refer to Section 2.2—Arc Prevention Circuit for additional information regarding the
Arc Prevention Circuit.
The module provides status LED’s to visually indicate its operation. A reset button provides the ability to
return to factory default settings. Refer to Section 2.1.2—System Failure (SF) and Bus Failure (BF) LEDs
and Section 2.1.3—Ethernet 1 and Ethernet 2 LEDs.
PROFINET requires a FE ground, the Master module provides a M5 x 0.8 FE ground terminal that is passes
FE ground to the Tool Module through the 7‑Pin contact block.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
C-7
Figure 1.1—DL10 Modules
10-Pin Signal Contact
10-Pin Spring Signal Contact
and Rubber V-ring Seal
4-Pin Female M12 D-coded
PROFINET Connector
4-Pin Female M12 D-coded
PROFINET Connector
4-Pin Female M12
TSI Connector
(4) 3-Pin Female M8
Sensor Connector
RTL, Lock, and Unlock
5-Pin Male
Auxilary Power Connector
M5x0.8 Threaded Hole
FE Ground Terminal Connection
5-Pin Female
Auxilary Power Connector
Tool ID
SF, Ethernet 2, BF,
Ethernet 1 LED's,
and Reset Switch
M5x0.8 Threaded Hole
FE Ground Terminal Connection
Valve Signal Pin Block
(not visible)
7-Pin Contact
7-Pin Spring Contact
and Rubber V-ring Seal
DL10 Master Module
DL10 Tool Module (Shown)
1.2 DL10 Tool Module
The module has the following connections:
• (1) 4‑pin female M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (1) 4‑pin female M12 TSI connector.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
The TSI connector supports the use of a mechanical limit switch that has (2) sets of N.O. contacts
(double‑pole, single throw).
The Tool module employs a series of (5) push button switches for setting of the Tool‑ID input that allows
the customer to distinguish between the different tools that are used in a robotic cell or on a production
line. The Tool‑ID is reported through the Master module bitmap. PROFINET requires a FE ground, the
Tool module provides a M5 x 0.8 FE ground terminal that is passes FE ground to the customer tooling. See
Section 2.1.1—PROFINET Interface Information for PROFINET bitmap and detailed I/O information.
1.3 DL15 Tool Module
The module has the following connections:
• (1) 4‑pin female M12 D‑coded PROFINET connector.
• (1) 5‑pin male auxiliary power connector.
• (1) 4‑pin female M12 TSI connector.
• (1) M5 x 0.8 threaded hole for FE ground terminal connection that is accessed by removing the M5
set screw plug.
The TSI connector supports the use of a single (non‑series), PL e rated, RIFD based contactless safety
switches.
The Tool module employs a series of (5) push button switches for setting of the Tool‑ID input that allows the
customer to distinguish between the different tools that are being used in a robotic cell or on a production
line. The Tool‑ID is reported through the Master module bitmap. PROFINET requires a FE ground, the
Tool module provides a M5 x 0.8 FE ground terminal that is passes FE ground to the customer tooling. See
Section 2.1.1—PROFINET Interface Information for PROFINET bitmap and detailed I/O information.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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2. Product Information
This section provides more detailed information on the behavior of the DL10 modules.
2.1 Master Module
2.1.1 PROFINET Interface Information
Table 2.1 lists the PROFINET interface parameters employed in the DL10 Master module.
Table 2.1—PROFINET Interface Parameters
Parameter Description
DCP supported
Fast Startup supported
Used Protocols (subset) UDP, IP,ARP, ICMP (Ping)
Topology recognition LLDP, SNMP V1, MIB2, physical device
VLAN- and priority tagging yes
Context Management by CL-RPC
Minimum cycle time 2 ms
Baud rate 100 MBit/s
Data transport layer Ethernet II, IEEE 802.3
A GSDML le for the Master node is available from our website:
(www.ati‑ia.com/download/edsles) or by email.
Reference the part number: GSDML le 9031‑20‑1012
Robot input and output bitmaps for the Master node are provided in Table 2.4 and Table 2.5.

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table 2.2—I/O Bit map, Robot Inputs from Master Module
Byte BitNumber Name Description/Function
0
0 Locked The Tool Changer is locked.
1 Unlocked The Tool Changer is unlocked.
2Input/Logic Power
Good US1 Power Present I/P.
3Output Power
Available US2 Power Present I/P.
4 RTL1 Ready-to-Lock Prox1 I/P.
5 RTL2 Ready-to-Lock Prox2 I/P.
6 Tool Present The Master and Tool are in electrical contact.
7 Tool Power is on Indicates that the Arc Prevention Circuit is turned ON and
power is provided to the Tool.
1
0 Unlatch Enabled Unlatch Enabled Status Information.
1 TSIV TSI Switch Verify.
2 TSRV TSI Relay Verify.
3 Reserved
4 RTLV1 Ready-to-Lock Relay 1 Verify.
5 RTLV2 Ready-to-Lock Relay 2 Verify.
6 to 7 Reserved
2
0 Error on Latch Overload or short circuit on the Latch Output.
1 Error on Unlatch Overload or short circuit on the Unlatch Output.
2 Reserved
3 Unsafe Unlatch Unlatch rejected due to an unsafe condition present.
4Lock/Unlock Sensor
Fault Lock and Unlock Inputs ON at the same time.
5 COMM Error Tool-ID communication timeout.
6 RTL/RTLV Mismatch RTL state does not match the RTLV state.
7 TSIV/TSRV Mismatch TSIV state does not match the TSRV state.
3 0 to 7 Reserved
4
0Tool-ID Switch1 Bit1
N/A
1Tool-ID Switch1 Bit2
2 Tool-ID Switch1 Bit4
3 Tool-ID Switch1 Bit8
4 Tool-ID Switch2 Bit1
5 Tool-ID Switch2 Bit2
6 Tool-ID Switch2 Bit4
7 Tool-ID Switch2 Bit8

Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table 2.2—I/O Bit map, Robot Inputs from Master Module
Byte BitNumber Name Description/Function
5
0Tool-ID Switch3 Bit1
N/A
1Tool-ID Switch3 Bit2
2 Tool-ID Switch3 Bit4
3 Tool-ID Switch3 Bit8
4 Tool-ID Switch4 Bit1
5 Tool-ID Switch4 Bit2
6 Tool-ID Switch4 Bit4
7 Tool-ID Switch 4 Bit 8
6
0Tool-ID Switch5 Bit 1
N/A
1Tool-ID Switch5 Bit2
2 Tool-ID Switch5 Bit4
3 Tool-ID Switch5 Bit 8
4 to 7 Reserved
7 0 to 7
Table 2.3—I/O Bitmap, Robot Outputs to Master Module
Byte Bit# Name Description/Function
0
0 Latch Request Lock.
1 Unlatch Request Unlock.
2 Spare Spare O/P.
3 Clear Errors Reset errors, allow affected I/O to be reactivated.
4 to 7 Reserved
1 to 7 Reserved