Motoman XRC User manual

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: [phone]
FAX: [phone]
24-Hour Service Hotline: [phone]
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Part Number: 148148-1CD
Revision: 0

The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2003 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

TABLE OF CONTENTS
MOTO MAN i Fieldbus (XFB01) Instruction Manual
Section Page
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information....................................................................................... 1-1
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions................................................................................................... 2-2
2.3 General Safeguarding Tips............................................................................................ 2-4
2.4 Mechanical Safety Devices............................................................................................ 2-4
2.5 Installation Safety.......................................................................................................... 2-5
2.6 Programming Safety ..................................................................................................... 2-5
2.7 Operation Safety............................................................................................................ 2-6
2.8 Maintenance Safety....................................................................................................... 2-7
3 OPTIONAL FUNCTION FIELDBUS INTERFACE BOARD XFB01
1 General ........................................................................................................................ 3-1
2 Installation.................................................................................................................. 3-7
3Configuration and Indicators........................................................................................3-9
4I/O Map...... ................................................................................................................ 3-13
5 InterBus-S...................................................................................................................3-17
6 Profibus-DP............................................................................................................... 3-21
7DeviceNet....................................................................................................................3-25

Fieldbus (XFB01) Instruction Manual ii MOTO MAN
NOTES

MOTO MAN 1-1 Fieldbus (XFB01) Instruction Manual
SECTION 1
INTRODUCTION
1.1 About this Document
This manual pro vides instructions for the Fieldb us Interf ace XFB01 Board
(AnyBus) and contains the following sections:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – OPTIONAL FUNCTION FIELDBUS INTERFACE BOARD (XFB01)
Provides detailed instructions to operate the Fieldbus Interface XFB01 Board.
1.2 Reference to Other Documentation
For additional information refer to the following:
• Concurrent I/O Parameters Manual for XRC 2001 (P/N 147626-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC 2001 Manipulator Manual (P/N 145960-1)
• Motoman UP20, XRC 2001 Manipulator Manual (P/N 145965-1)
• Motoman UP50, XRC 2001 Manipulator Manual (P/N 145964-1)
• Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1)
1.3 Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at
[phone]. Please have the following information ready before you call:
• Robot Type (UP6, UP130, UP165, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)

INTRODUCTION
Fieldbus (XFB01) Instruction Manual 1-2 MOTO MAN
NOTES

MOTO MAN 2-1 Fieldbus (XFB01) Instruction Manual
SECTION 2
SAFETY
2.1 Introduction
.
We suggest that you obtain and re view a cop y of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
Ultimately, the best safe guard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair , or use
the robot system be trained in an appro ved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

SAFETY
Fieldbus (XFB01) Instruction Manual 2-2 MOTO MAN
2.2 Standard Conventions
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
•NOTE
Pay particular attention to the information pro vided under these headings which
are defined bel w (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

SAFETY
MOTO MAN 2-3 Fieldbus (XFB01) Instruction Manual
2.3 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and an yone w orking near the robot must become f amiliar with the
operation of this equipment. All personnel in volved with the operation of the
equipment must understand potential dangers of operation. General safe guarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard v oltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, P art 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4 Mechanical Safety Devices
The safe operation of the robot, positioner , auxiliary equipment, and system is
ultimately the user's responsibility . The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the v arious national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

SAFETY
Fieldbus (XFB01) Instruction Manual 2-4 MOTO MAN
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel amiliar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the w ork en velope of each robot with floor markings, signs, an
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a mo ving robot
and other equipment (pinch points).
• Provide suf ficient room inside the orkcell to permit safe teaching and
maintenance procedures.
2.6 Programming Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and an yone w orking near the robot must become f amiliar with the
operation of this equipment. All personnel in volved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications of the controller PLC can cause s vere personal injury or
death, as well as damage to the robot! Do not make any modifications to th
PLC. Making any changes without the written permission of Motoman will
VOID YOUR WARRANTY!
• Some operations require standard passw ords and some require special
passwords. Special passw ords are for Motoman use only . YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a flop y disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before an y service procedures are done and before an y
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allo ws the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be tak en when making these modifications
Double-check all modifications under very mode of robot operation to
ensure that you ha ve not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel f amiliar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.