FRO­NIUS Profinet Robacta TX User manual

/ Perfect Charging / Perfect Welding / Solar Energy
42,0426,0092,EA 006-30122014
Profinet Robacta TX
Profinet Robacta TX 10i
Operating Instructions
Robot option
EN-US

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EN-US
Dear reader,
Introduction Thank you for the trust you have placed in our company and congratulations on buying this
high-quality Fronius product. These instructions will help you familiarize yourself with the
product. Reading the instructions carefully will enable you to learn about the many different
features it has to offer. This will allow you to make full use of its advantages.
Please also note the safety rules to ensure greater safety when using the product. Careful
handling of the product will repay you with years of safe and reliable operation. These are
essential prerequisites for excellent results.

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EN-US
Contents
General ...................................................................................................................................................... 5
Profinet basics ...................................................................................................................................... 5
Application example.............................................................................................................................. 5
Robot control unit connection area on the torch neck changing station ............................................... 5
Fieldbus terminal allocation .................................................................................................................. 6
Device master file for fieldbus coupler BK9103 .................................................................................... 6
Address settings at fieldbus coupler using DIP switches...................................................................... 6
Data transmission properties ..................................................................................................................... 7
Data transmission properties ................................................................................................................ 7
Configuration parameters ..................................................................................................................... 7
Pin assignment for Profinet connection RJ 45 AIDA............................................................................. 7
Pin assignment for supply connection +24 V AIDA 1 and 2 ................................................................. 7
Establishing the power supply ................................................................................................................... 9
Safety.................................................................................................................................................... 9
Power supply options............................................................................................................................ 9
Establishing the power supply via the supply connection +24 V AIDA with 2 voltage circuits ............. 9
Establishing the power supply via the supply connection +24 V AIDA with 1 voltage circuit ............... 10
Establishing the power supply via the external power supply connection "A" (Robacta TX only) ........ 11
Connecting the robot control unit to the torch neck changing station ........................................................ 14
Safety.................................................................................................................................................... 14
Connecting the robot control unit data cable to the torch neck changing station.................................. 14
Robacta TX input and output signals ........................................................................................................ 15
Input signals (from torch neck changing station to robot) ..................................................................... 15
Output signals (from robot to torch neck changing station) .................................................................. 15
Robacta TX 10i input and output signals .................................................................................................. 17
Input signals (from torch neck changing station to robot) ..................................................................... 17
Output signals (from robot to torch neck changing station) .................................................................. 17
Robacta TX signal descriptions ................................................................................................................. 19
Signal description of input signals (from torch neck changing station to robot) .................................... 19
Signal description of output signals (from robot to torch neck changing station).................................. 20
Robacta TX 10i signal descriptions............................................................................................................ 22
Signal description of input signals (from torch neck changing station to robot) .................................... 22
Signal description of output signals (from robot to torch neck changing station).................................. 23
Troubleshooting ......................................................................................................................................... 25
Safety.................................................................................................................................................... 25
General ................................................................................................................................................. 25
Fieldbus status LEDs ............................................................................................................................ 26
Operating status LEDs.......................................................................................................................... 27
Supply display LEDs ............................................................................................................................. 28
Ethernet/Switch diagnostic LEDs.......................................................................................................... 28
Technical Data ........................................................................................................................................... 29
BK9103 ................................................................................................................................................. 29

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EN-US
General
Profinet basics Profinet is a manufacturer-independent, open fieldbus standard for various applications in
manufacturing, process and building automation. Profinet is designed for both fast, time-
critical data transmissions as well as comprehensive and complex communication tasks.
Application ex-
ample
(1) Cooling unit
(2) Power source
(3) Power source interface
(4) Hose pack connection
(5) Wire-feed unit
(6) Welding torch
(7) Robot
(8) Drum coil
(9) Torch neck changing station
(10) Profinet interface
(11) Profinet data cable
(12) Robot control unit
(13) Profinet data cable
Robot control
unit connection
area on the torch
neck changing
station
(1) Supply connection +24 V AIDA 1
(2) Profinet connection RJ 45 AIDA
(3) Profinet connection RJ 45 AIDA
(4) Supply connection +24 V AIDA 2
(3) (4) (5) (6)
(2)
(1)
(13) (11)(12) (10) (8) (7)
(9)
(1)
(2)
(3)
(4)

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Fieldbus terminal
allocation
The following shows the fieldbus terminal allocation factory setting:
Additional fieldbus terminals can be installed in a robot interface. However, the number is
limited by the size of the housing.
Device master file
for fieldbus cou-
pler BK9103
A device master file is assigned to every participant in a Profinet network. The device mas-
ter file contains all information about the participant. The device master file is required for
the network configuration and is available in the Download area at the following Internet
address: http://www.beckhoff.at/
Address settings
at fieldbus cou-
pler using DIP
switches
The DIP switches on the fieldbus coupler are used to select different addressing options
and the Profinet name. The device conforms to Profinet standards when
- DIP switches 1-8 are set to - OFF -
- DIP switches 9 and 10 are set to - ON -
All other modes are available as options.
NOTE! The process data frame changes when additional fieldbus terminals are
installed.
BK 9103
KL9010 KL1408 KL1408 KL1408 KL2408 KL2612
NOTE! You must restart the fieldbus coupler to apply any changes made to field-
bus coupler address settings.

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EN-US
Data transmission properties
Data transmis-
sion properties
Configuration pa-
rameters
Pin assignment
for Profinet con-
nection RJ 45
AIDA
Pin assignment
for supply con-
nection +24 V
AIDA 1 and 2
Transmission technology Ethernet
Network topology Star, line
Medium Twisted pair cable
Transmission rate 100 Mbit/s, full duplex mode
Bus connection Profinet RJ 45 AIDA
Process data width 40 bits (standard configuration)
Process data format Intel
With some robot control units, it may be necessary to enter the configuration parameters
described here so that the bus module can communicate with the robot.
Parameter Value
Vendor ID 01B0hex
Device ID 0201hex
Station Type fronius-tx-4-100-707
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Pin Signal
1 TD+
2 TD-
3 RD+
4-
5-
6 RD-
7-
8-
12345
Pin Remarks
1 +24 V power supply for fieldbus coupler (US1)
2 0 V power supply for fieldbus coupler (US1)
3 +24 V power supply for sensors/actuators - connected via the Emergency
Stop switch (US2)

8
4 0 V power supply for sensors/actuators - connected via the Emergency Stop
switch (US2)
5-
Pin Remarks

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EN-US
Establishing the power supply
Safety
Power supply op-
tions
The following power supply options are available:
Establishing the
power supply via
the supply con-
nection +24 V
AIDA with 2 volt-
age circuits
Proceed as follows for the interface power supply connection (+24 V AIDA with 2 voltage
circuits):
WARNING! Incorrect operation or shoddy workmanship can cause serious injury
or damage. All activities described in these operating instructions may only be
carried out by trained and qualified personnel. All functions described in these op-
erating instructions may only be used by trained and qualified personnel. Do not
carry out any of the work or use any of the functions described until you have fully
read and understood the following documents:
- these operating instructions
- all the operating instructions for the system components, especially the safe-
ty rules
WARNING! Automated machinery can cause serious injury and damage. In ad-
dition to these operating instructions, you should also follow the safety rules pro-
vided by the robot manufacturer and welding system manufacturer. For your own
personal safety, please make sure that all safety measures in the work area of the
robot are in place and remain in effect while you are in this area.
WARNING! An electric shock can be fatal. Before starting the work, all devices
and components involved must be
- switched off
- unplugged from the mains
- secured against being switched on again
Type of power supply Description
Via supply connection + 24 V
AIDA with 2 voltage circuits
Fieldbus coupler and fieldbus terminals are supplied
separately with power
Via supply connection + 24 V
AIDA with 1 voltage circuit
Fieldbus coupler and fieldbus terminals are supplied
jointly by only one voltage circuit
Via the external power supply
connection "A" (Robacta TX only)
Fieldbus coupler and fieldbus terminals are supplied
jointly by only one voltage circuit

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Connect the power supply to supply
connection +24 V AIDA (1)
Establishing the
power supply via
the supply con-
nection +24 V
AIDA with 1 volt-
age circuit
Proceed as follows for the interface power supply connection (+24 V AIDA with 1 voltage
circuit):
Remove 8 screws (1)
Remove cover (2)
Disconnect plug (3) from plug (4)
(1)
1
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(2)
1
2
(3)
(4) 3

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EN-US
Connect plug (5) to plug (4)
-Plug (3) remains unconnected
Connect the power supply to supply
connection +24 V AIDA (6)
Place the cover (2) onto the torch neck
changing station
Secure 8 screws (1)
Establishing the
power supply via
the external pow-
er supply connec-
tion "A" (Robacta
TX only)
Proceed as follows for the interface external power supply connection "A":
(5)
(4)
(3)
4
(6)
5
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(2)
6
7
NOTE! Fieldbus coupler and fieldbus terminals are supplied jointly by only one
voltage circuit via the external power supply connection "A".

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Remove 8 screws (1)
Remove cover (2)
Disconnect plug (3) from plug (4)
Connect plug (5) to plug (4)
-Plug (3) remains unconnected
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(2)
1
2
(3)
(4) 3
(5)
(4)
(3)
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EN-US
Connect the power supply to the exter-
nal power supply connection "A" (6)
Place the cover (2) onto the torch neck
changing station
Secure 8 screws (1)
(6)
5
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(2)
6
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Connecting the robot control unit to the torch neck
changing station
Safety
Connecting the
robot control unit
data cable to the
torch neck chang-
ing station
Connect data cable to Profinet connec-
tion RJ 45 AIDA (1)
If available, connect additional network
participants via a data cable to Profinet
connection RJ 45 AIDA (2)
WARNING! Incorrect operation or shoddy workmanship can cause serious injury
or damage. All activities described in these operating instructions may only be
carried out by trained and qualified personnel. All functions described in these op-
erating instructions may only be used by trained and qualified personnel. Do not
carry out any of the work or use any of the functions described until you have fully
read and understood the following documents:
- these operating instructions
- all the operating instructions for the system components, especially the safe-
ty rules
WARNING! Automated machinery can cause serious injury and damage. In ad-
dition to these operating instructions, you should also follow the safety rules pro-
vided by the robot manufacturer and welding system manufacturer. For your own
personal safety, please make sure that all safety measures in the work area of the
robot are in place and remain in effect while you are in this area.
WARNING! An electric shock can be fatal. Before starting the work, all devices
and components involved must be
- switched off
- unplugged from the mains
- secured against being switched on again
(1)
(2)
1
2

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EN-US
Robacta TX input and output signals
Input signals
(from torch neck
changing station
to robot)
Output signals
(from robot to
torch neck chang-
ing station)
Serial no. Signal designation Range Action
E01 Torch neck sensor 1 - High
E02 Torch neck sensor 2 - High
E03 Torch neck sensor 3 - High
E04 Torch neck sensor 4 - High
E05 Torch neck sensor 5 - High
E06 Torch neck sensor 6 - High
E07 Torch neck sensor 7 - High
E08 Torch neck sensor 8 - High
E09 Torch neck sensor 9 - High
E10 Torch neck sensor 10 - High
E11 Wire sensor signal - High
E12 Pressure switch signal - High
E13 Gas nozzle free / 'TC Ready' - High
E14 Gas nozzle free / Cleaning motor lowered - High
E15 Cleaning motor turning - High
E16 Parting agent level OK - High
E17 Cleaning motor lowered / 'Cleaning Error' - High
E18 Cleaning motor raised - High
E19 Wire cutter closed - High
E20 Wire cutter open - High
E21 Robacta TX slide sensor - High
E22 'C-Sens. 4' signal 1 - High
E23 Robacta TX cover sensor 1 - High
E24 Robacta TX cover sensor 2 - High
Serial no. Signal designation Range Action
A01 Clamp gas nozzle and cleaning motor on /
Start cleaning
- High
A02 Inject parting agent - High
A03 Cleaning motor up - High
A04 Cut wire - High
A05 Robacta TX cover valve 1 - High
A06 Robacta TX cover valve 2 - High
A07 'C-Act. 3' signal 1 - High
A08 Not used - -
A09 Change torch neck valve 1 - High
A10 Reserve relay OUT - -
A11 Not used - -
A12 Not used - -
A13 Not used - -

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A14 Not used - -
A15 Not used - -
A16 Not used - -
Serial no. Signal designation Range Action

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EN-US
Robacta TX 10i input and output signals
Input signals
(from torch neck
changing station
to robot)
Output signals
(from robot to
torch neck chang-
ing station)
Serial no. Signal designation Range Action
E01 Torch neck sensor 1 - High
E02 Torch neck sensor 2 - High
E03 Torch neck sensor 3 - High
E04 Torch neck sensor 4 - High
E05 Torch neck sensor 5 - High
E06 Torch neck sensor 6 - High
E07 Torch neck sensor 7 - High
E08 Torch neck sensor 8 - High
E09 Torch neck sensor 9 - High
E10 Torch neck sensor 10 - High
E11 Wire sensor signal - High
E12 Not used - -
E13 Gas nozzle free / 'TC Ready' - High
E14 Gas nozzle free / Cleaning motor lowered - High
E15 Cleaning motor turning - High
E16 Parting agent level OK - High
E17 Cleaning motor lowered / 'Cleaning Error' - High
E18 Cleaning motor raised - High
E19 Wire cutter closed - High
E20 Wire cutter open - High
E21 Slide sensor - High
E22 'C-Sens. 4' signal 1 - High
E23 Cover sensor 1 - High
E24 Cover sensor 2 - High
Serial no. Signal designation Range Action
A01 Clamp gas nozzle and cleaning motor on /
Start cleaning
- High
A02 Inject parting agent - High
A03 Cleaning motor up - High
A04 Cut wire - High
A05 Cover valve 1 - High
A06 Cover valve 2 - High
A07 'C-Act. 3' signal 1 - High
A08 Not used - -
A09 Not used - -
A10 Reserve relay OUT - -
A11 Not used - -
A12 Not used - -
A13 Not used - -

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A14 Not used - -
A15 Not used - -
A16 Not used - -
Serial no. Signal designation Range Action