IAI RCM-GW-PR User manual

PROFIBUS Gateway
Operation Manual, First Edition
PROFIBUS
Gateway Unit
RCM-GW-PR

PROFIBUS 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 of Gateway Unit ........................................................................................................... 4
1.5 Description of Model Name......................................................................................................... 6
2. Specifications and Name of Each Part.......................................................................7
2.1 General Specifications................................................................................................................ 7
2.2 External Dimensions ................................................................................................................... 8
2.3 Name and Function of Each Part................................................................................................ 9
3. Installation and Noise Elimination Measures............................................................15
3.1 Installation Environment............................................................................................................ 15
3.2 Supply Voltage.......................................................................................................................... 15
3.3 Noise Elimination Measures and Grounding............................................................................. 15
3.4 Installation................................................................................................................................. 17
4. Wiring.......................................................................................................................18
4.1 Overall Configuration ................................................................................................................ 18
4.2 I/O Signals of Gateway Unit...................................................................................................... 20
4.3 Design of SIO Communication Network (SIO Communication)................................................ 23
5. Slave Function .........................................................................................................32
5.1 Address Configuration in Each Operation Mode....................................................................... 33
5.1.1 Gateway Control Signals.............................................................................................. 33
5.1.2 Simple Direct/Position-number Specification Mode..................................................... 36
5.1.3 Numerical Specification Mode...................................................................................... 53
5.1.4 Position-number Specification Mode............................................................................ 59
5.2 Communication Signal Details.................................................................................................. 63
5.2.1 Overview of Communication Signal Timings................................................................ 63
5.2.2 Communication Signals and Operation Timings.......................................................... 64
5.2.3 Command Transmission .............................................................................................. 76
5.3 System Design.......................................................................................................................... 77
5.3.1 Settings for Controller Communication......................................................................... 77
5.3.2 Settings for Profibus-DP Communication..................................................................... 78
5.3.3 Creation of Network Configuration............................................................................... 81
5.3.4 Example of Actual Assignments................................................................................... 86

PROFIBUS Gateway
5.4 Supported S7 Function Blocks/Functions................................................................................. 87
5.4.1 GW_CTL_11................................................................................................................. 88
5.4.2 RC_NVC_11................................................................................................................. 89
5.4.3 RC_ESYNC_00............................................................................................................ 90
5.4.4 RC_BCMOVP_00......................................................................................................... 91
5.4.5 RC_READ_00 .............................................................................................................. 92
5.4.6 RC_WRITE_00............................................................................................................. 93
5.4.7 RC_PROM_00.............................................................................................................. 94
5.4.8 RC_PMSL_00............................................................................................................... 94
Appendix 1. Sample Programs for S7-300...................................................................95
Appendix 2. Supply Format and Use Procedure of FB/FCt..........................................98

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PROFIBUS 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-SE, ACON-SE, SCON and ERC2-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.

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PROFIBUS 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.
(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.
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

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PROFIBUS 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)

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PROFIBUS Gateway
1.4 Features of Gateway Unit
With the Gateway Unit, a desired operation mode can be selected from five patterns of the numerical
specification mode, one pattern of the position-number specification mode, and three patterns of the
simple direct/position-number specification mode.
(1) Numerical specification mode
In positioning operation in the numerical specification mode, the actuator is operated by directly
specifying the position data, speed, acceleration/deceleration, and in-position band, in numerical
values.
In push-motion operation in the numerical specification mode, the actuator is operated by directly
specifying the position data, speed, acceleration/deceleration, push band, and current-limiting value
for setting push force, in numerical values.
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] Numerical specification mode, maximum 4 axes
[2] Numerical specification mode, maximum 6 axes
[3] Numerical specification mode, maximum 8 axes
[4] Numerical specification mode, maximum 10 axes
[5] Numerical specification mode, maximum 16 axes
(2) Position-number specification mode
The actuator is operated by specifying position numbers. The position data, speed,
acceleration/deceleration, etc., must be entered beforehand in the position data table for each axis.
Various status signals can be input/output and current position data can be read.
Up to 16 axes can be connected in the position-number specification mode
(3) Simple direct/position-number specification mode
In this mode, the actuator can be moved via combination of position number specification and direct
specification (position data is specified in numerical values, while other movement parameters are
specified by position numbers).
Axis numbers must be assigned from position-number specification axes first, followed by simple
direct specification axes. Depending on the size of the assigned area, this mode is available in the
large pattern (160 bytes for input and output, respectively), middle pattern (128 bytes for input and
output, respectively), and small pattern (64 bytes for input and output, respectively). Up to 16 axes
can be connected as a total of both types of axes.
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.

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PROFIBUS Gateway
Operation Modes and Key Functions
Key function Numerical
specification mode Position-number specification mode
Simple direct/
position-number
specification mode
Operation by position data
specification {X {
Direct specification of speed
and acceleration/deceleration {X X
Push-motion operation {{{
Reading of current position {X {
Operation by position number
specification X {{
Reading of completed position
number X {{
Number of connectable axes 16 16 16
Settable axis numbers (*1) 0 to 15 0 to 15 0 to 15
Maximum specifiable position
data 9999.99 mm Set in the position table.
Caution
*1 A range of effective axis numbers that can be set for axes connected for SIO communication. Axes
exceeding the maximum limit will be ignored. No alarm will generate.

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PROFIBUS Gateway
1.5 Description of Model Name
Base model Profibus specification
Gateway Unit