DAINCUBE DGW-CE User manual
CC-Link to EtherCAT Gateway
DGW-CE
User Manual
(R1) Version 1.0
DAINCUBE Corp.
2019.02.07
DGW-CE Hardware User Manual
190207—February, 2019
DAINCUBE Corp
Web: www.daincube.com
E-mail: [email protected]om
Tel: 82-32-329-9783~4
Fax: 82-32-329-9785
#401-701, Bucheon TechnoPark 4-
Dainji 655 Pyeongcheon-ro,
Wonmi-gu, Bucheon-Si, Gyeonggi-
Do, Republic of Korea
Copyright © 2005–2019 Daincube
All rights reserved.
Printed in the Republic of Korea
주의: The contents may differ
depending on the manual version.
Preface
Copyright notice
Copyright © 2005–2017 Daincube. All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Important information
This documentation is intended for qualified audience only. The product described herein is not an end
user product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Product support
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: suppo[email protected]
Safety precautions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Symbols
The following symbols may be used in this specification:
Warning: Indicates a potentially hazardous situation which, if not avoided, could result in death
or serious injury or damage to the equipment. Be careful of handling and handling.
Caution: Indicates that you must do this.
Prohibition: Indicates that you should never.
Revision history
Revision
Data
Comment
Version 1.0
2019.02.07
Initial Version
Contents
1. Safety Information ........................................................................................................5
2. Warranty and warranty coverage................................................................................7
2.1. Warranty period .....................................................................................................................7
2.2. Scope of the warranty............................................................................................................7
2.3. Service coverage.....................................................................................................................7
2.4. Fire extinguish ........................................................................................................................7
3. Product description.......................................................................................................8
3.1. Outline and dimensions .........................................................................................................8
3.2. Specification ...........................................................................................................................9
3.3. Overall configuration............................................................................................................10
3.4. Functional diagram...............................................................................................................11
3.5. Mounting guide....................................................................................................................12
4. EtherCAT ......................................................................................................................14
4.1. Process Data Object .............................................................................................................14
5. CC-Link V1.1 ................................................................................................................16
5.1. Profile ...................................................................................................................................16
6. Connectors ...................................................................................................................18
6.1. Connector description ..........................................................................................................18
6.2. Main Power ..........................................................................................................................18
6.3. EtherCAT (RJ45) ....................................................................................................................18
6.4. EtherNet/IP (Not Used) ........................................................................................................18
6.5. CC-Link Connector ...............................................................................................................19
6.6. USB to Serial (USB Dongle Optional)...................................................................................19
7. Switches .......................................................................................................................20
7.1. CC-Link Baudrate Switch ......................................................................................................20
7.2. CC-Link Station Number Switch...........................................................................................20
8. General care and maintenance ..................................................................................21
9. Appendix......................................................................................................................22
Robot Safety Controller 사용자 매뉴얼
DAINCUBE Corp. 5 / 22
1. Safety Information
Before unpacking and installing the product or adding it to the unit, carefully read all the
instructions that come with the package.
Do not use the product in extreme dust, humidity or temperature conditions. Do not install the
product where it is wet.
The power cord must be disconnected before performing assembly and adjustment work or
maintenance and inspection of the machine. There is a danger of electric shock.
Turn off the power for 5 minutes before servicing the product and wait for longer. Otherwise,
residual charge may cause electric shock.
Robot Safety Controller 사용자 매뉴얼
DAINCUBE Corp. 6 / 22
⚠Warning
Please check the grounding before installing and using the product. There is a risk of injury due to
electric shock.
Use the device within the indicated voltage range.
Operators must have more than a certain level of technical knowledge through training and be
familiar with the details of the intended use described in the user manual.
After installing the product, check the wiring to the main unit again and apply power.
When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case,
inspect wiring thoroughly and check it for properness before turning on the power.
Before operating the unit, be sure to check that there is no danger in or around the operating
range.
Do not allow water or oil to get on the unit and the power cord.
Install the unit in a place which can endure its weight and conditions while running.
Take care not to squeeze and thus damage the cable with any object.
Do not lay the cable over sharp edges to avoid damaging the cable sheath.
Check the mounting screws regularly so that they are always firmly tightened.
Never touch terminals directly or internal parts of controller.
Do not disassemble or modify the product.
Before carrying out assembly and adjustment work or maintenance and inspection work of the
machine, be sure to disconnect the power cord.
Connect the power supply after completing the adjustment of all the cables and switches.
⚠Caution
After the shutdown window, turn off the power supply. Otherwise the components could be
destroyed or undefined signals could occur.
To prevent the equipment from falling to the ground.
Never lay the device onto unstable surfaces. It could fall to ground and thus be damaged.
It is recommended to use the unit in an environment where no electrical noise is present.
In noisy environments, use a filter fitted.
Never lay the device close to heat sources or into direct sunlight.
Avoid exposing the device to mechanical vibrations, excessive dust, and humidity or to strong
magnetic fields.
Make sure that no foreign objects or liquids can penetrate into the device.
Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
Always pay special attention to the robot’s movement in the Teach Mode.
Robot Safety Controller 사용자 매뉴얼
DAINCUBE Corp. 7 / 22
2. Warranty and warranty coverage
DAINCUBE's products are delivered only after passing strict quality inspection before shipment.
2.1. Warranty period
The warranty period is as follows
12 months after our shipment.
2.2. Scope of the warranty
Where a defective condition occurs during proper use conditions and obviously under the responsibility
of the manufacturer, within the term above, we shall repair the product without charge.
However, any items that apply to the following are excluded from the warranty coverage.
The warranty is not valid if the defect is due to accidental damage, mishandling, misuse, voltage
fluctuation, high/low voltage or natural disaster.
If the product is repaired or tried to repair from unauthorized personal/Repair Shop.
If the product serial number is tempered.
The product is defective due to wear of parts, which can be considered as consumable parts by the
nature. (such as a cable)
Defects resulting from changes over time such as natural color fading of paint.
Defects resulting from mishandling or improper use.
Defects resulting from an inadequacy or error in maintenance and inspection.
Defects resulting from the use of any part other than our genuine parts.
Defects resulting from a modification not approved by us or our dealers.
Only a delivered product shall be singly warranted, and no damage induced by the defect of the
delivery product can be warranted. For repair, transport the product to our factory.
2.3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer
dispatching. Therefore, the following are charged separately even within the warranty term:
Maintenance and inspection.
Technical guidance and technical training in the operating instructions.
Technical guidance and technical training on program-related matters such as program creation.
2.4. Fire extinguish
Please use the CARBON DIOXIDE fire extinguisher to extinguish a fire in a robot (instrument, controller).
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 8 / 22
3. Product description
This gateway (product name : DGW-CE) is a device that mapping and exchanges fieldbus protocol
I/O data between EtherCAT Master and CC-Link Master
When using Mitsubishi PLC (CC-Link) as host controller, EtherCAT type Robot Motion Controller can
be connected with PLC by connecting the communication line simply.
It can easily diagnose communication error status through external LED and it is easy to install in
control panel by adopting DIN Rail mounting method.
3.1. Outline and dimensions
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 9 / 22
3.2. Specification
Function Specification
Certification
Passed a CC-Link Conformance Test (CLPA)
Communication
EtherCAT
Type
Slave
Number of Port
2 (In/Out)
Speed
100Mbps
Connector
8-pin RJ45
Protection
Built-in 1.5kV magnetic isolation
CC-Link
Type
Slave
Version
1.1
Data size[bit]
96/96 (In/Out)
Station Number
1~64 (Changed by switch)
Occupied Station
1
Number of Port
1
Baud Rate
156Kbps ~ 10Mbps (Changed by switch)
Connector
5-pin Terminal Block
H/W Specification
CPU
ARM Cortex-M3 32-bit RISC (100MHz)
Memory
Flash
4Mbytes (NOR)
Instruction RAM
768Kbytes
Data RAM
512Kbytes
Buffer RAM
64Kbytes
Debug port
1 Micro USB (USB dongle optional)
Power Input
+24VDC ±5%
Power Consumption
300mA (Max) @ 24VDC
Dimension
25 119 110 [mm]
Weight
350g (Max)
Environment
Operating temperature : 0℃to +50℃
Storage temperature : -20℃to +70℃
Humidity : 10% to 85% (Non-condensing)
Cooling method : Ambient
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 10 / 22
3.3. Overall configuration
AC 220
Magnetic contact
Current
Breaker
Surge
absorber
SMPS
Servo AMP
AC Line Filter
Drive Power
Control Power
Brake
Relay
DC +24V
Enabling Switch
Select Switch
Emergency Switch
Clean AC
M/CM/C
Safety Control
Block
Servo AMP
Brake
Relay
Ferrite
To EtherCAT
Device
PLC
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 11 / 22
3.4. Functional diagram
Internal block diagram
IN
CPU
CC-Link Gateway
Station
Number
Station
Mode
OUT
IN/OUT
CC-Link
Slave
Controller
EtherCAT
Slave
Controller
Shared
Memory
EtherCAT Master - CC-Link Master connection configuration diagram
d
EtherCAT
Master Servo AMP
Gateway
(I/O mapping)
EtherCAT
Slave
CC-Link
Slave
I/O
CC-Link
Master
EtherCAT CC-Link
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 12 / 22
3.5. Mounting guide
1) Selection of DIN Rail
DGW-CE can be mounted on the control panel using DIN Rail.
Follow the guide and mount it correctly on the DIN Rail.
Refer to the figure below for specifications of DIN Rail.
2) Mounting methode
First joint the top of DIN Rail mount and the join the bottom
After joining, confirm that it is firmly engaged.
For ventilation, wiring and product exchange, make sure that the space is at least 20mm in side and
30mm in top and bottom.
Turn the power off when assembling the unit or disconnecting wiring and removing the product
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 13 / 22
3) Separating methode
When removing the DGW-CE from the DIN Rail, remove the bottom of the DIN Rail mount first and remove
the top.
Disconnecting the upper part first or removing it with excessive force may damage the DIN Rail mount.
Be sure to turn off the power before proceeding.
4) Mounting guide (Case not used)
If you are not using the case, please refer to the following mounting hole information.
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 14 / 22
4. EtherCAT
4.1. Process Data Object
Sender
Receiver
RxPDO (1600h, sm2)
Master
Slave
TxPDO (1A00h, sm3)
Slave
Master
RxPDO (Master -> Slave)
Index
Sub-Index
BitLen
Bit Position
Name
7000h
1
8
0
Data Output Bit 0
1
Data Output Bit 1
2
Data Output Bit 2
3
Data Output Bit 3
4
Data Output Bit 4
5
Data Output Bit 5
6
Data Output Bit 6
7
Data Output Bit 7
2
8
0
Data Output Bit 8
1
Data Output Bit 9
2
Data Output Bit 10
3
Data Output Bit 11
4
Data Output Bit 12
5
Data Output Bit 13
6
Data Output Bit 14
7
Data Output Bit 15
3
8
0
Data Output Bit 16
1
Data Output Bit 17
2
Data Output Bit 18
3
Data Output Bit 19
4
Data Output Bit 20
5
Data Output Bit 21
6
Data Output Bit 22
7
Data Output Bit 23
4
8
0
Data Output Bit 24
1
Data Output Bit 25
2
Data Output Bit 26
3
Data Output Bit 27
4
Data Output Bit 28
5
Data Output Bit 29
6
Data Output Bit 30
7
Data Output Bit 31
7001h
1
16
-
Data Output Word 0
2
16
-
Data Output Word 1
3
16
-
Data Output Word 2
4
16
-
Data Output Word 3
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 15 / 22
TxPDO (Slave -> Master)
Index
Sub-Index
BitLen
Bit Position
Name
6000h
1
8
0
Data Input Bit 0
1
Data Input Bit 1
2
Data Input Bit 2
3
Data Input Bit 3
4
Data Input Bit 4
5
Data Input Bit 5
6
Data Input Bit 6
7
Data Input Bit 7
2
8
0
Data Input Bit 8
1
Data Input Bit 9
2
Data Input Bit 10
3
Data Input Bit 11
4
Data Input Bit 12
5
Data Input Bit 13
6
Data Input Bit 14
7
Data Input Bit 15
3
8
0
Data Input Bit 16
1
Data Input Bit 17
2
Data Input Bit 18
3
Data Input Bit 19
4
Data Input Bit 20
5
Data Input Bit 21
6
Data Input Bit 22
7
Data Input Bit 23
4
8
0
Data Input Bit 24
1
Data Input Bit 25
2
Data Input Bit 26
3
Data Input Bit 27
4
Data Input Bit 28
5
Data Input Bit 29
6
Data Input Bit 30
7
Data Input Bit 31
6001h
1
16
-
Data Input Word 0
2
16
-
Data Input Word 1
3
16
-
Data Input Word 2
4
16
-
Data Input Word 3
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 16 / 22
5. CC-Link V1.1
5.1. Profile
RX, RWr (Slave -> PLC Master)
Index
BitLen
Bit Position
Name
RX
32
RX00
Data Input Bit 0
RX01
Data Input Bit 1
RX02
Data Input Bit 2
RX03
Data Input Bit 3
RX04
Data Input Bit 4
RX05
Data Input Bit 5
RX06
Data Input Bit 6
RX07
Data Input Bit 7
RX08
Data Input Bit 8
RX09
Data Input Bit 9
RX0A
Data Input Bit 10
RX0B
Data Input Bit 11
RX0C
Data Input Bit 12
RX0D
Data Input Bit 13
RX0E
Data Input Bit 14
RX0F
Data Input Bit 15
RX10
Data Input Bit 16
RX11
Data Input Bit 17
RX12
Data Input Bit 18
RX13
Data Input Bit 19
RX14
Data Input Bit 20
RX15
Data Input Bit 21
RX16
Data Input Bit 22
RX17
Data Input Bit 23
RX18
Data Input Bit 24
RX19
Data Input Bit 25
RX1A
Data Input Bit 26
RX1B
Data Input Bit 27
RX1C
Data Input Bit 28
RX1D
Data Input Bit 29
RX1E
Data Input Bit 30
RX1F
Data Input Bit 31
RWr
16
RWr0
Data Input Word 0
16
RWr1
Data Input Word 1
16
RWr2
Data Input Word 2
16
RWr3
Data Input Word 3
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 17 / 22
RY, RWw (PLC Master -> Slave)
Index
BitLen
Bit Position
Name
RY
32
RY00
Data Input Bit 0
RY01
Data Input Bit 1
RY02
Data Input Bit 2
RY03
Data Input Bit 3
RY04
Data Input Bit 4
RY05
Data Input Bit 5
RY06
Data Input Bit 6
RY07
Data Input Bit 7
RY08
Data Input Bit 8
RY09
Data Input Bit 9
RY0A
Data Input Bit 10
RY0B
Data Input Bit 11
RY0C
Data Input Bit 12
RY0D
Data Input Bit 13
RY0E
Data Input Bit 14
RY0F
Data Input Bit 15
RY10
Data Input Bit 16
RY11
Data Input Bit 17
RY12
Data Input Bit 18
RY13
Data Input Bit 19
RY14
Data Input Bit 20
RY15
Data Input Bit 21
RY16
Data Input Bit 22
RY17
Data Input Bit 23
RY18
Data Input Bit 24
RY19
Data Input Bit 25
RY1A
Data Input Bit 26
RY1B
Data Input Bit 27
RY1C
Data Input Bit 28
RY1D
Data Input Bit 29
RY1E
Data Input Bit 30
RY1F
Data Input Bit 31
RWw
16
RWw0
Data Input Word 0
16
RWw1
Data Input Word 1
16
RWw2
Data Input Word 2
16
RWw3
Data Input Word 3
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 18 / 22
6. Connectors
6.1. Connector description
6.2. Main Power
Connector
Reference
Name
Function
Direction
1
24V
+24V Power
IN
2
CHGND
CHGND
OUT
3
GND
24V GND
IN
6.3. EtherCAT (RJ45)
Connector
Reference
Name
Function
Direction
RJ1
EtherCAT (IN)
EtherCAT (IN)
IN
RJ2
EtherCAT (OUT)
EtherCAT (OUT)
OUT
6.4. EtherNet/IP (Not Used)
Connector
Reference
Name
Function
Direction
RJ3
EtherNet/IP
EtherNet/IP
I/O
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 19 / 22
6.5. CC-Link Connector
Connector
Reference
Name
Function
Direction
1
DA
DATA (A+)
I/O
2
DB
DATA (B-)
I/O
3
DG
DATA GND
IN
4
SLD
Shield
IN
5
F.G
CHGND
OUT
6.6. USB to Serial (USB Dongle Optional)
Connector
Reference
Name
Function
Direction
1
5V
+5V Power
IN
2
D-
Data -
I/O
3
D+
Data +
I/O
4
ID
N.C.
N.C.
5
GND
5V GND
IN
CC-Link to EtherCAT Gateway 사용자 매뉴얼
DAINCUBE Corp. 20 / 22
7. Switches
7.1. CC-Link Baudrate Switch
Connector
Reference
Name
Function
description
B.RATE
CC-Link Baudrate Switch
CC-Link Baudrate setting
0
0
156K
SW
1
1
625K
SW
2
2
2.5M
SW
3
3
5M
SW
4
4
10M
SW
7.2. CC-Link Station Number Switch
Connector
Reference
Name
Function
description
X10
Station Number Switch
Station Number setting
0~9
0~9
Station Number (x10)
SW
X1
Station Number Switch
Station Number
0~9
0~9
Station Number (x1)
SW
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