Nachi FD User manual

FD CONTROLLER
INSTRUCTION MANUAL
EtherNet/IP Function
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
4th edition
1403, TFDEN-122-004, 002

Table of Contents
1
Table of Contents
Chapter 1 Outline
1.1 What is EtherNet/IP? .................................................................................................................. 1-1
1.2 EtherNet/IP of this controller....................................................................................................... 1-2
1.2.1 I/O signals........................................................................................................................... 1-2
1.2.2 Performance table .............................................................................................................. 1-3
1.2.3 Hardware configuration ...................................................................................................... 1-3
1.2.4 Hardware settings............................................................................................................... 1-4
1.2.5 EtherNet/IP network ........................................................................................................... 1-4
Chapter 2 Needed Parts
2.1 Needed Parts .............................................................................................................................. 2-1
Chapter 3 Signal allocation
3.1 Field bus I/O signals ................................................................................................................... 3-1
3.1.1 When software PLC is enabled .......................................................................................... 3-1
3.1.2 When software PLC is disabled.......................................................................................... 3-1
3.1.3 Assigning signals beyond the number of channels ............................................................ 3-2
3.2 EtherNet/IP signal assignment ................................................................................................... 3-2
Chapter 4 Setting
4.1 Setting procedure ....................................................................................................................... 4-1
4.2 EtherNet/IP slave settings .......................................................................................................... 4-3
4.2.1 Fieldbus settings................................................................................................................. 4-3
4.2.2 EtherNet/IP (slave) settings................................................................................................ 4-4
4.3 EtherNet/IP master settings........................................................................................................ 4-5
4.3.1 Fieldbus settings................................................................................................................. 4-5
4.3.2 EtherNet/IP (Master) Settings.............................................................................................4-6
4.3.3 Setting of scan list .............................................................................................................. 4-7
4.4 Change of the Network Environment........................................................................................ 4-22
4.4.1 Resetting of the fieldbus and EtherNet/IP (master and slave) ......................................... 4-22
4.4.2 Resetting of Scanlist......................................................................................................... 4-23
4.5 Fieldbus Channel Monitor......................................................................................................... 4-28
4.6 Output signal “Fieldbus acting correctly” .................................................................................. 4-29
4.7 Error check delay for EtherNet/IP............................................................................................. 4-30
Chapter 5 Error Detection
5.1 Error Detection on EtherNet/IP module ...................................................................................... 5-1
5.2 Error Detection on this Controller ............................................................................................... 5-3
5.3 Detailed Field Bus Error Settings ............................................................................................... 5-4

Table of Contents
2

1.1 What is EtherNet/IP?
1-1
Chapter 1 Outline
1.1 What is EtherNet/IP?
EtherNet/IP is the industrial network system which is possible to transfer large capacity and wide variety of data
with high speed.
By connecting the limit switches, photo sensors, operating boxes and industrial equipments such as robot
through this network, these equipments are connected with logical access (network I/O). So communication
between the equipments where the hardware connection was hard to be achieved is now improved and diagnosis
of equipments is enabled.
Network speed from 10 Mbps to 100 Mpbps are selectable depending on the network size. (selected
automatically depending on the network)
Two types of communication methods (I/O communication and Explicit communication) are available when
using EtherNet/IP.
・I/O communication: Communication at high-speed cycle
・Explicit communication: Communication for settings / monitoring
In this controller, only I/O communications for transferring I/O signals over the network are supported.
The diagram below gives an example of this controller connected to an EtherNet/IP network.
EtherNet/IP is the registered trademark of ODVA (Open DeviceNet Vender Association, Inc.).
Fig. 1.1.1 EtherNet/IP connection diagram
With EtherNet/IP, the device called a “master” when using DeviceNet/IP is called a “scanner,” and the device
called a “slave” is called an “adapter.”
Controller (scanner)
Switching hub
PC
Various
sequencers
Various
sensors
Various
I/O devices
This
controller

1.2 EtherNet/IP of this controller
1-2
1.2 EtherNet/IP of this controller
1.2.1 I/O signals
EtherNet/IP of this controller supports up to four independent networks (channels). Each of these channels
functions independently as a scanner or an adapter.
The diagram below gives an operational block diagram of the EtherNet/IP.
Physical I/O Software PLC Logical I/O
Network I/O
Fieldbus output
(Y1000 ～Y3047)
Logcal output
(O0000 ～O2047)
Standard output
Standard input
Fixed output
Fixed input
Extended output
Extended input
Fieldbus input
(X1000 ～X3047)
Logical input
(I0000 ～I2047)
Fig. 1.2.1 Operational block diagram
Two methods of accessing network I/O from this controller are available.
When using PLC, access is carried out using field bus I/O having 2048 input points (X1000 to X3047) and 2048
output points (Y1000 to Y3047).
When not using PLC, access is carried out using logical I/O having 1888 input points (I161 to I2048) and 1888
output points (O161 to O2048).

1.2 EtherNet/IP of this controller
1-3
1.2.2 Performance table
Table 1.2.1 Performance table
Item Specification
Number of channels Up to four installed channels
Scanners / adapters Scanners and adaptors can be used.
Adaptors can be configured independently for each channel.
Communications Supports I/O communication only
Number of I/O signals
Capable of using up to 2048 input signals (256 bytes) and up to 2048
output signals (256 bytes) for all channels combined, communication
can be covered by the general-purpose signals of this controller.
(When using embedded PLC)
Addresses The IP address, subnet mask, and default gateway of this controller
can be set for each channel by key entry from the teach pendant.
Transfer rate 10 Mbps, 100 Mbps
The transfer rate is set automatically.
Processing of input data when a
communication error occurs
You can select whether to maintain or clear input signal status when a
communication error occurs.
Possible causes of errors are given below.
・Hardware error of the EtherNet/IP board
・Broken cable or hub error
・Incorrect node address setting
CAUTION
I/O status may not be normal if an error occurs and the LED indicating a problem lights.
Take great care as the interlock functions of the robot, jigs, and/or other devices may fail
to operate normally, resulting in unintended operation.
IMPORTAN
T
The following configuration tool (prepared by the user) is necessary to use the scanner
function.
・RsNetworx for EtherNet/IP (from Rockwell)
1.2.3 Hardware configuration
EtherNet/IP board should be mounted on one of three PCI slots in CPU unit.
Rack unit
Three PCI slots
#1 #2 #3
Slot ID
Fig. 1.2.2 PCI slots

1.2 EtherNet/IP of this controller
1-4
1.2.4 Hardware settings
The EtherNet/IP function is performed using HMS EtherNet/IP module (“Anybus-S Ethernet module” or
“Anybus-M Ethernet scanner module” (HMS Industrial Networks)) that is mounted on field bus base board.
Up to two modules can be mounted on field bus base board.
It’s unnecessary to change the dip switches on field bus base board and HMS EtherNet/IP module.
EtherNet/IP
(Module 2)
Dip switch
EtherNet/IP
(Module 1)
UM236
LED Dip switches Cable connector
Fig. 1.2.3 Appearance of field bus base board Fig. 1.2.4 Appearance of HMS EtherNet/IP module
1.2.5 EtherNet/IP network
Use category 5 or higher Ethernet cable for the EtherNet/IP network. In addition, make sure that the length
of Ethernet cable as measured from switches to this controller does not exceed 100 m.
In order to maintain normal communication status, be sure to use a switch having the functions given below
for the switch to be used as the accumulation point for the EtherNet network.
・Equipped with an L2 switch for preventing signal collision
・Capable of 100 Mbps communications
・Supports full duplex communications
If the network is large and traffic is high, be sure to configure the network using switches equipped with
Quality of Service (QOS) and Virtual Local Area Network (VLAN) functions so that delays in I/O transfer do not
occur.

2.1 Needed Parts
2-1
Chapter 2 Needed Parts
2.1 Needed Parts
Optional hardware is required to use the EtherNet/IP.
Table 2.1.1 Optional hardware required for EtherNet/IP
Part name Product number
Single scanner specification AX10-OP130-A
Single adapter specification AX10-OP130-B
Scanner + Adapter AX10-OP130-C
Dual adapter specification AX10-OP130-D
EtherNet/IP board
(Field bus base board + HMS EtherNet/IP module)
Dual scanner specification AX10-OP130-E
Product numbers are as follows if you want to purchase the field bus base board and the HMS EtherNet/IP
module separately.
Table 2.1.2 Product numbers of each part
Part name Product number
Field bus base board UM236-10
HMS EtherNet/IP scanner module AB5057-B
HMS EtherNet/IP adapter module AB4173-B
The following configuration tool (prepared by the user) is necessary to use the scanner function.
・ RsNetworx for EtherNet/IP (from Rockwell)

2.1 Needed Parts
2-2
NOTE

3.1 Field bus I/O signals
3-1
Chapter 3 Signal allocation
3.1 Field bus I/O signals
The I/O signals of the field bus differ depending on whether PLC is enabled or disabled. In addition, the I/O
points to which signals are assigned is determined based on the field bus channel number to be used.
3.1.1 When software PLC is enabled
When software PLC is enabled, signals are assigned to field bus relay inputs (X1000 ~ X3047) and outputs
(Y1000 ~ Y3047).
Table 3.1.1 I/O assignments when software PLC is enabled
Channel number Input Output Number of points
Channel 1 X1000 ~ X1511 Y1000 ~ Y1511 512 pts (64 bytes)
Channel 2 X1512 ~ X2023 Y1512 ~ Y2023 512 pts (64 bytes)
Channel 3 X2024 ~ X2535 Y2024 ~ Y2535 512 pts (64 bytes)
Channel 4 X2536 ~ X3047 Y2536 ~ Y3047 512 pts (64 bytes)
Total: 2,048 pts
3.1.2 When software PLC is disabled
When software PLC is disabled, signals are assigned to the inputs (I161 ~ I2048) and outputs (O161 ~
O2048) of general-purpose I/O.
Table 3.1.2 I/O assignments when software PLC is disabled
Channel number Input Output Number of points
Channel 1 I161 ~ I672 O161 ~ O672 512 pts (64 bytes)
Channel 2 I673 ~ I1184 O673 ~ O1184 512 pts (64 bytes)
Channel 3 I1185 ~ I1696 O1185 ~ O1696 512 pts (64 bytes)
Channel 4 I1697 ~ I2048 O1697 ~ O2048 352 pts (44 bytes)
Total: 1,888 pts

3.1 Field bus I/O signals
3-2
3.1.3 Assigning signals beyond the number of channels
The field bus can use up to four channels. If all four channels are not being used, it is possible to use the
signal assignment region of channels not being used.
The description below gives an example in which software PLC is enabled. Signals can be assigned using a
similar concept even if software PLC is disabled.
If only one channel is being used, all 2048 points can be used with just “Channel 1” by using “Channel 1”.
Table 3.1.3 I/O assignment when using only one channel
Channel number Input Output Number of points
Channel 1
Channel 2
Channel 3
Channel 4
X1000 ~ X3047 Y1000 ~ Y3047 2,048 pts (256 bytes)
When using two channels, 1024 points can be used for each channel, by using “Channel 1” and “Channel 3”.
Table 3.1.4 I/O assignment when using only two channels
Channel number Input Output Number of points
Channel 1
Channel 2 X1000 ~ X2023 Y1000 ~ Y2023 1,024 pts (128 bytes)
Channel 3
Channel 4 X2024 ~ X3047 Y2024 ~ Y3047 1,024 pts (128 bytes)
3.2 EtherNet/IP signal assignment
The assignment of signals is determined based on the channel numbers of the field bus being used.
If EtherNet/IP is used in this controller, I/O is simply assigned beginning from the signal position determined
based on the channels being used. If the number of I/O bytes is smaller than the number of signals assigned to
each channel, an unused assignment region results.
The description below gives an example in which the system is set to use “Channel 1” as the slave, with two
bytes of input and three bytes of output.
Table 3.2.1 Example of slave signal assignment
Channel number Input Output Remark
X1000 ~ X1015 Y1000 ~ Y1023 Usable assignment region
Channel 1 X1016 ~ X1511 Y1024 ~ Y1511 Unused assignment region

4.1 Setting procedure
4-1
Chapter 4 Setting
4.1 Setting procedure
The basic flow of the setting procedure is given below.
Start
End
Hardware connections
Fieldbus setting
Set the slot ID and module number
where the fieldbus channel number,
master/slave, and EtherNet/IP board to
use are mounted .
Mas ter?
EthernetIP(Master) setting
s
Set the IP Addres s, Subnet m ask ,
Defaultgateway, INPUT BYTES,
OUTPUT BYTES, the action to take
when transmission errors occur and
Execute Mode.
Slave list settings
Add or delete the slaves.
Slave parameter settings
Set the slave node numbers of the sla ves
and the number of input/output bytes.
EthernetIP(Slave) settings
Set the IP Address, Subnet mask,
Defaultgateway, INPUTBYTES,
OUTPUT BYTES and the action to take
wh en transmission errors occur.
Fig. 4.1.1 Setting procedure flowchart
Hardware connections are carried out at time of factory shipment.
To set the scanlist, it is necessary to have the setting PC and RSNetWorx for EtherNet/IP (paid software) by
Rockwell.
When software PLC is used for fieldbus I/O, PLC setting procedure is required separately. For details, refer to
the instruction manual “Software PLC."

4.1 Setting procedure
4-2
INFO.
・In EtherNet/IP, the device called a “slave” on DeviceNet is called an “adapter”.
("EtherNet/IP slave" in this controller means "EtherNet/IP adapter".)
・In EtherNet/IP, the device called a “master” on DeviceNet is called an “scanner”.
("EtherNet/IP master" in this controller means "EtherNet/IP scanner".)
Setting example
The following figure shows the setting example of the configuration used in this chapter.
・Configuration of Robot controller
Set master as module1 of base board. Set slave as module2 of base board.
Connect them to setting PC via a hub.
Fig. 4.1.2 Configuration example
・Setting of field bus
CH1 AnyBusEtherNet/IP Mater module 1
CH2 No use
CH3 AnyBusEtherNet/IP Slave module 2
CH4 No use
・Master detailed settings (CH1)
IP address and so on are omitted.
Input byte number 128
Output byte number 128
・Slave detailed settings (CH3)
IP address and so on are omitted.
Input byte number 128
Output byte number 128
・PC settings
The IP address of the PC must belong to the identical network with the robot controller.
Setting PC
HUB
Base board
Master Slave
Robot controller
172.18.233.71
172.18.233.59
172.18.233.60
RSLinx Classic
RSNetWorx for EtherNet/IP

4.2 EtherNet/IP slave settings
4-3
4.2 EtherNet/IP slave settings
4.2.1 Fieldbus settings
Protocol settings
1 Open <Constant Settings> - [8 Communications] - [3 Fieldbus] screen.
>> The following screen will appear.
2 Align the cursor with the combo box of the “Channel” in which EtherNet/IP is to
be used, and press the [Enter] key.
>> Select “AnyBusEtherNet/IP”, and press the [Enter] key.
＋
3 Use the [Enable] + [Left] or [Right] cursor keys to switch to the radio buttons (a
horizontal row of selector buttons), and select “SLAVE”.
4 Align the cursor with the combo box of “Slot ID”, and press the [Enter].
>> Select the Slot ID in which the field bus base board is installed, and press the
[Enter].
INFO.
The slot ID is required in order to specify the slot position where the EtherNet/IP board is
installed. For the relationship between the slot position and the slot ID, refer to “1.2.3
Hardware Configuration”.
5 Input the module number in the edit box of “module”, and press the [Enter].
INFO.
“Module” is a number that specifies the position of the module on field bus base board. When
“0” is set, the channel is disabled. For the position of the module, refer to “1.2.4 Hardware
Setting”.
Now proceed to set the EtherNet/IP (slave).

4.2 EtherNet/IP slave settings
4-4
4.2.2 EtherNet/IP (slave) settings
Channel settings
1 On the [3 Fieldbus] setting screen, align the cursor with the channel for which
EtherNet/IP (slave) is selected, and press the f key <Refer>.
>> The following screen will appear.
2 Set each parameter.
Table 4.2.1 Parameter of [3 Fieldbus] setting screen (at the EtherNet/IP slave settings)
Parameter Description of function
IP Address
Input the IP address for the corresponding node.
It is used to identify the device on the network. Devices having the same node
number cannot be set on the same network.
The last number of the IP address must be other than “0”.
Subnet mask
Input the subnet mask for the corresponding node.
It is used to manage the network by splitting it into sub-networks. Set the same
value for all devices on the same network.
Default gateway
Input the default gateway for the corresponding node.
Sometimes this setting is not required in cases where there is no router on the
network.
Be sure to consult with your network administrator when making settings.
INPUT BYTES
Input the input bytes from the field bus base board.
It is the size of data input to this controller. Eight signals can be sent/received in
one byte.
OUTPUT BYTES Input the output bytes to the field bus base board.
It is the size of data output from this controller.
AUTO CLEAR INPUTS
Select the input signal status when a communication error has occurred.
When the input signal statuses are to be cleared, “CLEAR” is selected. On the
other hand, when to be held, “HOLD” is selected.
3 Upon completion of the settings, press the f key <OK>.
>> The display returns to [3 Fieldbus] setting screen.
4 On the [3 Fieldbus] setting screen, press the f key <Complete>
>> The setting is saved to the internal memory.
IMPORTAN
T
Be sure to use PLCEngine/EDS_ABS_EIP_V_1_9.eds located in system memory for the EDS
file required to set this controller for scanners being used.
For details on how to set scanners, see the operating manual for your scanner hardware.
The newest EDS file can be downloaded from the website of HMS Industrial Networks.
http://www.anybus.com/

4.3 EtherNet/IP master settings
4-5
4.3 EtherNet/IP master settings
4.3.1 Fieldbus settings
Protocol settings
1 Open <Constant Setting> - [8 Communication] - [3 Fieldbus] screen.
>> The following screen will appear.
2 Align the cursor with the combo box of the “Channel” in which EtherNet/IP is to
be used, and press the [Enter].
>> Select “AnyBusEtherNet/IP”, and press the [Enter].
＋
3 Use the [Enable] + [Left] or [Right] cursor keys to switch to the radio buttons (a
horizontal row of selector buttons), and select “MASTER”.
4 Align the cursor with the combo box of “Slot ID”, and press the [Enter].
>> Select the Slot ID in which the field bus base board is installed, and press the
[Enter].
INFO.
The slot ID is required in order to specify the slot position where the EtherNet/IP board is
installed. For the relationship between the slot position and the slot ID, refer to “1.2.3
Hardware Configuration”.
5 Input the module number in the edit box of “module”, and press the [Enter].
INFO.
“Module” is a number that specifies the position of the module on field bus base board. When
“0” is set, the channel is disabled. For the position of the module, refer to “1.2.4 Hardware
Setting”.
Now proceed to set the EtherNet/IP (master).

4.3 EtherNet/IP master settings
4-6
4.3.2 EtherNet/IP (Master) Settings
Channel Settings
1 On the [3 Fieldbus] setting screen, align the cursor with the channel for which
EtherNet/IP (master) is selected, and press the f key <Refer>.
>> The following screen will appear.
2 Set each parameter.
Table 4.3.1 Parameter of [3 Fieldbus] setting screen (at the EtherNet/IP master settings)
Parameter Description of function
IP Address
Input the IP address for the corresponding node.
It is used to identify the device on the network. Devices having the same node
number cannot be set on the same network.
The last number of the IP address must be other than “0”.
Subnet mask
Input the subnet mask for the corresponding node.
It is used to manage the network by splitting it into sub-networks. Set the same
value for all devices on the same network.
Default gateway
Input the default gateway IP address for the corresponding node.
Sometimes this setting is not required in cases where there is no router on the
network. Be sure to consult with your network administrator when making settings.
INPUT BYTES
Input the input bytes from the field bus base board.
It is the size of data input to this controller. Eight signals can be sent/received in
one byte.
OUTPUT BYTES Input the output bytes to the field bus base board.
It is the size of data output from this controller.
AUTO CLEAR INPUTS
Select the input signal status when a communication error has occurred.
When the input signal statuses are to be cleared, “CLEAR” is selected. On the
other hand, when to be held, “HOLD” is selected.
Execute Mode
Select whether to do the scan list setting.
When the scanning list is set, "Configuration" is selected. Besides, "Run" is
selected. (Refer to "4.3.3 Setting of scan list" for details.)
3 Upon completion of the settings, press the f key <OK>.
>> The display now returns to [3 Fieldbus] setting screen.
4 On the [3 Fieldbus] setting screen, press the f key <Complete>
>> The setting is saved to the internal memory.
Now continue to the setting of scan list.

4.3 EtherNet/IP master settings
4-7
4.3.3 Setting of scan list
The following tools are necessary to set the scan list.
・Configuration tool: RsNetworx for EtherNet/IP (from Rockwell)
・Personal computer
When the scan list is set, the personal computer is connected with the same network as the EtherNet/IP
scanner of this controller.
Fig. 4.3.1 EtherNet/IP Network Diagram
Ethernet
PC
This Controller
EtherNet/IPscanner

4.3 EtherNet/IP master settings
4-8
Setting of EtherNet/IP driver
To use "RsNetworx for EtherNet/IP", the driver is set by using “RSLinx Classic Lite” (“RsNetworx for
EtherNet/IP” attachment tool)".
After setting the driver, the connection from the personal computer to the EtherNet/IP network becomes
possible.
1 Set "Execute Mode" to "Configuration", referring to "4.3.2 EtherNet/IP (Master)
Settings".
The following operations should be done with the personal computer.
2 “RSLinx Classic Lite” is started with a personal computer.
>> The following screen will appear.
3 Select “Communications->RSWho” in the Menu, or click the icon “RSWho”
on the upper left of the screen.
Then, the RSWho window starts as shown below.