IAI RCM-GW-PR User manual

Operation Manual, Second Edition
ProfiBus
Gateway Unit
RCM-GW-PR

CAUTION
Note on Connecting a PC or Teaching Pendant to the Gateway
Unit Grounded via the Positive Terminal of Its 24-V Power Supply
If the positive terminal of the gateway unit’s 24-V power supply is grounded, use a SIO converter as
shown below to connect a teaching pendant or PC to the gateway unit. In this case, do not connect the FG
of the SIO converter.
Teaching pendant PC, etc.
PC software
RS232 connection type
<Model number: RCM-101-MW>
USB connection type
<Model number: RCM-101-USB>
* The cables are supplied with the
PC software.
SIO converter (optional)
(with built-in terminal resistor)
Model number: RCB-TU-SIO-A (B) Gateway unit
Do not
connect
the FG.
* One e-CON connector, one junction
and one terminal resistor are supplied
with each controller link cable.
e-CON connector (3-1473562-4 by AMP)
Junction (5-1473574-4 by AMP)
Terminal resistor
R = 220Ω
Controller link cable
Model number: CB-RCB-CTL002
24-V power
supply

CAUTION
If the positive terminal of the gateway unit’s 24-V power supply is grounded, the gateway unit cannot be
connected directly to a teaching pendant or PC.
If a teaching pendant or PC is connected directly to the gateway unit grounded in this condition, the
power-supply circuit may be shorted and the PC/teaching pendant may be damaged.
Cannot be connected directly.
This teaching
pendant cannot be
used this way.
Gateway unit
24-V power
supply

PfofiBus Gateway
Table of Contents
1. Overview................................................................................................................... 1
1.1 ProfiBus Gateway Unit ................................................................................................................ 1
1.2 What Is ProfiBus?........................................................................................................................ 2
1.3 Application Example of Gateway Unit......................................................................................... 3
1.4 Features and Key Functions........................................................................................................ 4
1.4.1 Features ......................................................................................................................... 4
1.4.2 Key Functions ...................................................................................................................... 4
1.5 Description of Model Name......................................................................................................... 7
1.6 Accessories ................................................................................................................................. 7
2. Specifications and Name of Each Part...................................................................... 8
2.1 General Specifications................................................................................................................. 8
2.2 External Dimensions.................................................................................................................... 9
2.3 Name and Function of Each Part.............................................................................................. 10
3. Installation and Noise Elimination Measures........................................................... 16
3.1 Installation Environment............................................................................................................ 16
3.2 Supply Voltage .......................................................................................................................... 16
3.3 Noise Elimination Measures and Grounding............................................................................. 16
3.4 Installation.................................................................................................................................. 18
4. Wiring...................................................................................................................... 19
4.1 Overall Configuration................................................................................................................. 19
4.2 I/O Signals of Gateway Unit ...................................................................................................... 22
4.3 Design of SIO Communication Network (SIO Communication)................................................ 25
4.3.1 Wiring ........................................................................................................................... 25
4.3.2 Axis Number Setting..................................................................................................... 33
4.4 How to Connect the Teaching Tool When the Positive Terminal of the 24-V Power Supply Is
Grounded................................................................................................................................... 34
5. Address Configuration of Gateway Unit .................................................................. 35
5.1 Position Number Specification Mode ........................................................................................ 35
5.1.1 Overall address configuration....................................................................................... 36
5.1.2 Gateway Control/Status Signals................................................................................... 37
5.1.3 Assignment for Each Axis ............................................................................................ 40
5.2 Direct Numerical Specification Mode ........................................................................................ 43
5.2.1 Overall Address Configuration ..................................................................................... 44
5.2.2 Gateway Control/Status Signals................................................................................... 46
5.2.3 Assignment for each axis............................................................................................. 49
5.3 Command Specification Mode................................................................................................... 53
5.3.1 Overall Address Configuration ..................................................................................... 55
5.3.2 Gateway Control/Status Signals................................................................................... 57
5.3.3 Assignment for Each Axis ............................................................................................ 60
5.3.4 Command Area ............................................................................................................ 65
6Communication Signal Details ................................................................................ 75
6.1 Overview of Communication Signal Timings............................................................................. 75
6.2 Communication Signals and Operation Timings....................................................................... 77
6.3 Basic Operation Timings ........................................................................................................... 85

PfofiBus Gateway
6.4 Command Transmission............................................................................................................ 95
7. Building Your Network System................................................................................ 96
7.1 Procedure.................................................................................................................................. 96
7.2 Setting the Controller................................................................................................................. 97
7.3 Setting the Gateway Unit and PLC Master................................................................................ 99
7.4 PLC Address Assignment........................................................................................................ 100
8. Supported S7 Function Blocks/Functions.............................................................. 106
8.1 GW_CTL_11............................................................................................................................ 107
8.2 RC_NVC_11............................................................................................................................ 108
8.3 RC_ESYNC_00....................................................................................................................... 109
8.4 RC_BCMOVP_00.................................................................................................................... 110
8.5 RC_READ_00 ......................................................................................................................... 111
8.6 RC_WRITE_00........................................................................................................................ 112
8.7 RC_PROM_00......................................................................................................................... 113
8.8 RC_PMSL_00.......................................................................................................................... 113
Appendix 1. Sample Programs for S7-300 .............................................................. 114
Appendix 2. Supply Format and Use Procedure of FB/FCt ..................................... 117

PfofiBus Gateway
1. Overview
1.1 ProfiBus Gateway Unit
The ProfiBus Gateway Unit (hereinafter referred to as “ProfiBus Gateway” or “Gateway Unit”) is used to
connect a ProfiBus communication protocol network on which a host programmable controller (hereinafter
“PLC”) operates, to a SIO communication sub-network (Modbus communication protocol) linking ROBO
Cylinder controllers.
The physical standard to which the SIO communication network conforms is RS-485, and the slave
addresses on this network are 1 through 16.
All data exchanged between the ProfiBus communication network and the Modbus SIO communication
network are tentatively saved in the internal memory of the Gateway Unit, and then transferred cyclically.
The PLC recognizes the Gateway Unit as a remote I/O device.
The Gateway Unit supports PCON-C/CG/SE, ACON-C/CG/SE, SCON-C and ERC2-NP/PN/SE
controllers.
* “Gateway” is a term used in communication networks, referring to a device that converts data to/from
different media and protocols to enable communication between networks.
* ProfiBus protocols include ProfiBus-DP for factory automation (FA) and ProfiBus-PA for process
automation (PA). Of these two protocols, this manual covers ProfiBus-DP. Accordingly, “ProfiBus”
refers to ProfiBus-DP throughout this manual.
Caution
This manual only describes the controls feasible using the Gateway Unit. In the event of any conflict
between this manual and the operation manual for the controller, the content of this manual will
prevail. Refer to the operation manual for each controller for any function, parameter setting, alarm
detail or any other information not described in this manual.
1

PfofiBus Gateway
1.2 What Is ProfiBus?
(1) FA communication system
In FA communication, each communication specification varies depending on the communicating
equipment, type of information, and purpose of communication, among others. In general, however,
the FA communication system is divided into the information level, controller level and field level, as
shown below.
Information
level
Controller levelField level
FA computer
Robot Remote
I/O
Motor
driver
Installed
instrument Solenoid valve Limit switch
Sensor level
Device level
Key open network
(2) Information level
Also called “PLC upper network.” The main purpose of this network level is to transmit production
information, etc., to information terminals. Ethernet is the most commonly used communication
method for the information level.
(3) Controller level
Also called “Inter-PLC network.” This network level often handles real-time information of production lines.
(4) Field level
Also called “PLC lower network.” This network level is mainly used to save wirings for systems
controlled by a single controller. In this sense, this network is regarded as a means for “wire-saving
communication.” The field level is largely divided into the device level and the sensor level.
2

PfofiBus Gateway
(5) ProfiBus
ProfiBus is an open field network most commonly used in the world today. It was first established
under DIN 19245 (German standard) in Germany in 1989, and standardized under EN 50170
(European standard) in July 1996. In January 2000, ProfiBus became an international standard under
IEC 61158. There are two ProfiBus protocols designed for different purposes: ProfiBus-DP for factory
automation (FA), and ProfiBus-PA for process automation.
This manual covers ProfiBus-DP.
The key features of ProfiBus-DP are as follows:
[1] A field network realizing complete multi-vendor connectivity
[2] Able to send large amounts of data at high speed.
•Up to 244 bytes of data per device
•Maximum baud rate of 12 Mbps
[3] Up to 125 nodes can be connected.
* For details on ProfiBus, refer to the operation manuals for your master unit and PLC.
Along with this manual, also read the operation manual for each controller connected.
This ProfiBus Gateway cannot be used in any way not described as feasible in this manual.
To prevent malfunction, the customer is also advised not to use settings, wirings and other uses other
than those described as feasible in this manual.
1.3 Application Example of Gateway Unit
The network illustrated below gives an application example of the Gateway Unit.
CPU
unit
ProfiBus
unit
(master
station)
Remote I/O
station ProfiBus Gateway
(Remote I/O station)
Remote I/O
station Remote I/O station
SIO communication network (Modbus)
3

4
PfofiBus Gateway
1.4 Features and Key Functions
1.4.1 Features
The ProfiBus gateway unit lets you select a desired operation mode from three modes including the
position number specification mode, direct numerical specification mode and command specification
mode.
(1) Position number specification mode
In this mode, a desired position number is specified to operate the actuator. Up to 16 axes can be
connected. The position data, speed, acceleration/deceleration, etc., must be input to the position
table beforehand.
Although the input/output of various status signals and completed position number can be read, the
current position cannot be monitored in this mode.
(2) Direct numerical specification mode
In the direct numerical specification mode, the position data, speed, acceleration/deceleration,
positioning band and push-current limiting value are specified directly as numerical values to operate
the actuator.
Various status signals can be input/output and current position data can be read.
There are five patterns in the numerical specification mode, each accommodating a different number
of connected axes.
[1] Direct numerical specification mode/Up to 4 axes can be connected
[2] Direct numerical specification mode/Up to 6 axes can be connected
[3] Direct numerical specification mode/Up to 8 axes can be connected
[4] Direct numerical specification mode/Up to 10 axes can be connected
[5] Direct numerical specification mode/Up to 16 axes can be connected
(3) Command specification mode
In this mode, the actuator can be operated in one of two operation patterns: “positioner operation” in
which a desired position number is specified to operate the actuator, and “simple direct operation”
where only the position data is specified directly as a numerical value and all other items such as the
speed, acceleration/deceleration, positioning band and push-current limiting value are specified via a
position number. As for the axis configurations, these two operation patterns can be used separately
or in combination. If the two patterns are combined, the axis numbers must be assigned sequentially
from the axes used in positioner operation, followed by the axes used in simple direct operation. You
can select the Large mode (160 input bytes, 160 output bytes), Middle mode (128 input bytes, 128
output bytes) or Small mode (64 input bytes, 64 output bytes) depending on the size of the assigned
areas, and up to 16 axes can be connected.
1.4.2 Key Functions
A comparison table of key functions provided by the gateway unit in the respective modes is given on the
following page.
Use this table as a reference in conjunction with the explanation of each operation mode in Chapter 5.