Okura Robot Palletizer A Series User manual

Okura Yusoki Co., Ltd.
Operation Manual
Okura Robot Palletizer
Fieldbus Installation
OXPA-Qm2 1.0.4.8 --
Rc101.bin 2.02 --
POD (J) 2.02 –
POD (E) 1.00G –
M933-01

Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.
This manual is a guidebook to help you safely and correctly use your A Series Robot
Palletizer. It should be useful not only to beginners who are using an Okura Palletizer
for the first time, but also to experienced users, who can use this Manual to reconfirm
their knowledge. Please read this Manual carefully and use the Palletizer with a clear
understanding of its content.
Definition of Operator
Important!
Definition of operator:
Only AUTHORIZED PERSONNEL can operate the robot.
The definition of “AUTHORIZED PERSON” is described
below:
The only personnel that can operate the robot and/or
robot system are those who have enough knowledge or
experience of robot operation and have also been trained
to operate the robot. They must also have been
authorized by the employer.

Table of Contents
1.OUTLINE 1-1
2.PREPARATION 2-1
2.1. ABC ································································································· 2-1
2.2. POWER CABLE FOR ABC ········································································· 2-1
2.3. SUB NETWORK CABLE ············································································ 2-1
2.4. ABC CONFIGURATION TOOL ···································································· 2-2
2.5. ABC CONFIGURATION FILE ····································································· 2-2
2.6. GDS FILE ···························································································· 2-2
2.7. PC ································································································· 2-2
2.8. CONFIGURATION CABLE·········································································· 2-2
2.9. ATTACHING ABC ··················································································· 2-2
3.SETUP 3-1
3.1. CONFIGURATION ABC ············································································ 3-1
3.2. SETUP UNIQUE TO PROFIBUS ··································································· 3-2
3.3. SETUP UNIQUE TO ETHERNET/IP ······························································ 3-2
3.4. SETUP CONTROLLER USING OXPA-QMII ···················································· 3-2
4.TEST 4-1
4.1. TEST OF PROFIBUS················································································· 4-1
4.2. TEST OF ETHERNET/IP ··········································································· 4-3

1-1
1. Outline
This document explains how to add an optional fieldbus function to a robot controller. The fieldbus
function is realized by the addition of an AnyBus Communicator (henceforth, ABC). An additional
procedure is shown below.
1. Preparation
Preparation required for the addition of ABC
Attachment to the robot controller
2. Setup
Configuration of ABC
A setup of the robot controller
3. Test
How to check the communication between the robot controller and fieldbus viaABC
Profibus
Ethernet/IP

1-2

2-1
2. Preparation
The fieldbus function in option can be added to the controller. CE and UL controller is already
equipped with the DIN rail for attaching ABC. What is required to a fieldbus function is described
as follows;
2.1. ABC
It is necessary to purchase an ABC to link with Profibus or Ethernet/IP.
Profibus AnyBus Communicator-Profibus-DP AB7000
Ethernet/IP AnyBus Communicator-Ethernet AB7007
2.1.1. Manufacture
ABC is the product of HMS Industrial Networks.A reference is shown below.
Germany + 49-721-96472- 0 [email protected]
Japan + 81-45-478-5340 [email protected]
Sweden + 46-35-17 29 20 [email protected]
U.S.A. + 1-773-404-2271 [email protected]
2.2. Power Cable for ABC
It is necessary to supply DC24V to ABC. The power supply connector is available at the
side of ABC. The opposite, i.e., DC24V supply, side of a connector is connected to P24 of
the terminal block near ABC, and N24. Use a twisted pair cable.
2.3. Sub Network Cable
Connect each 9-pin female connector of ABC and RC101 according to the diagram
shown below. Ashielded cable shall be used as communication and + and – of each signal
shall be twisted. One side of a shield is connected to the frame of the controller.
RC101CN5 AnyBusCommunicator
TxD+ 1 1 +5VOutput (50mA max)
RxD+ 2 2 RS232 Rx
RTS+ 3 3 RS232 Tx
CTS+ 4 4 Not connected
GND 5 5 Ground
TxD- 6 6 RS422 Rx+
RxD- 7 7 RS422 Rx-
RTS- 8 8 RS485 + /RS422 Tx+
CTS- 9 9 RS485 - /RS422 Tx-

2-2
2.4. ABC Configuration Tool
"Configuration Tool for AnyBus Communicator 2.10" can be downloaded from the site of
HMS. Configuration Tool is common for all the fieldbuses.
http://www.anybus.com/eng/support/support.asp?PID=104&ProductType=AnyBus%20Communicator
2.5. ABC Configuration File
Configuration File which Okura Yusoki offers shall be used. You have to download this
file to new ABC once.
Profibus AbcRc101ProfiDp.cfg
Ethernet/IP AbcRc101EhernetIP.cfg
onoffln.cfg
2.6. GDS File
GDS File required for Configuration of a Profibus master can be downloaded from the
site of HMS. Profibus Gateway of ABC corresponds only to the slave of Profibus-DP.
Therefore, you have to prepare Profibus Master independently. The GDS file name is
HMS_1803.gsd.
http://www.anybus.com/eng/support/support.asp?PID=104&ProductType=AnyBus%20Communicator
2.7. PC
PC which can perform ABC Configuration Tool is required in order to communicate by
RS232C between PC and AnyBus, to be equipped with one RS232C port. Since a
USB-RS232C converter may not communicate correctly, a direct RS232C interface is
required for it. The following clause explains about a connection cable.
2.8. Configuration Cable
When purchasing from HMS Configuration Cable which connects PC and ABC, the
part.no 017620 shall be ordered. When manufacturing, it can make with reference to
Pocket Guide. It can be used for the configuration of other ABC only with this cable.
2.9. Attaching ABC
CE and UL controllers are equipped with the DIN rail to mount on. Refer to the Document
of AnyBus Communicator for the method of mounting the ABC in the DIN rail.
2.9.1. Connection and routing
Separate the electric wire linked toABC from power cable.

3-1
3. Setup
3.1. Configuration ABC
Refer to Document of AnyBus Communicator about an setup.
Screen 1
1. ABC and PC are connected by Configuration Cable
2. DC24V supplied to ABC
3. Execution of ABC Config Tool displays [Select Configuration] (Screen 1).
4. A [Cancel] button is clicked and [Select Configuration] is closed
5. COM 1-3 is chosen by /Tools/Port
6. Configuration File is opened by Menu/File/Open
7. [Connect] button of Toolbar is clicked
8. The [Download to ABC] button of Toolbar is clicked
9. Download is performed
Configuration File means the following files.
Profibus AbcRc101ProfiDp.cfg
Ethernet/IP AbcRc101EtherNetIP.cfg

3-2
3.2. Setup unique to Profibus
The switch cover on ABC is opened and StationAddress is set up with a rotary switch.
3.3. Setup unique to Ethernet/IP
3.3.1. IP Address
IP address is set up using the ping command. Refer to the document of ABC for details.
3.3.2. Timeout Setup of Ethernet/IP Protocol
Although ABC can detect that the Ethernet cable is disconnected, it can not detect that
the Ethernet protocol is interrupted. In order to detect discontinuation of the Ethernet/IP
protocol, it is necessary to write onoffln.cfg in ABC. onoffln.cfg can be written in ABC by
carrying out drug drops using FTP from Windows Explorer.
"ftp:// <IP address>/" is inputted into the address of Windows Explorer and onoffln.cfg is
dragged and dropped to the displayed window.
3.4. Setup Controller using OXPA-QmII
1. [Menu/Registration/External PLC setting--] is clicked
2. External PLC setting] (Screen 2) is displayed
3. [Ext comm] is set as Centro or Disable
4. [FBUS] is chosen by [Serial comm]
5. A fieldbus type is chosen by FBUS Type
(1) Profibus-DP P-DP is chosen
(2) Ethernet/IP E/IP is chosen
Screen 2

4-1
4. Test
4.1. Test of Profibus
Starting Profibus Configuration Tool, use your own apparatus master and use ABC for a
slave. HMS_1803.gsd is used for registration of Slave.
I/O size sets up the same following size as Ethernet/IP.
INPUT 52 byte
OUTPUT 50 byte
The example using SyCon as Profibus Configuration Tool is shown. (Screen 3)
Screen 3
Generally an I/O check can be performed from Profibus Configuration Tool.
The data memory of the controller is checked using OxpaPlc.
Screen 4

4-2
Input data sent to Profibus from the robot controller and Output data sent to the robot
controller from Profibus can be checked. Input data is written by OxpaPlc. This example
shows that 1234H has just been written in D2815. Moreover, AA55H is written in D2790
of a data memory from SyCon.
The status of the fieldbus, the sub-network and the LED display are shown in Table 1.
Refer to Profibus document of ABC for details.
Table 1
LED Normal Profibus
Cable removed Profibus
stopped Subnet stopped
1 Fieldbus Online Green Off Off green
2 Fieldbus offline Off Red Red Flash green
3 (Not used) Off Off Off Off
4 Fieldbus Diag Off Off Off Flash green
5 Subnet status Green Green Green Red
6 Device status Flash green Flash green Flash green Flash green

4-3
4.2. Test of Ethernet/IP
How to test the communication state of the robot controller and Ethernet/IP Scanner with
using EIPScan is explained.
1. ABC is turned on
2. ABC and PC are connected by the Ethernet cross-over cable
3. EIPScan is started
4. Menu/Network/Add Device is performed
5. The IP address ofABC is inputted in the [Add New Device] dialog (Screen 5)
6. ABC is displayed on the EIPScan screen (Screen 6)
Screen 5
Screen 6

4-4
The right click of the [AnyBus-C EtherNet/IP] is carried out, and [Add Connection] is
clicked. A type tab is clicked and Target->Originator is set as Point To Point. (Screen 7)
Screen 7
Data Size tab is clicked and Data Size of "Originator->Target" and "Target->Originator"
is changed into 50 and 52, respectively. (Screen 8)
Screen 8

4-5
Destination tab is clicked and sets up as Screen 9.
Configuration Connection Instance 3
Originator->Target Connection Point 150
Target->Originator Connection Point 100
Screen 9
If it is connected correctly transmitting data and receiving data can be performed.
(Screen 10)
Blue character Controller->Ethernet/IP Scanner
Green character Ethernet/IP Scanner->Controller
Screen 10

4-6
The data to the controller from the Ethernet/IP Scanner can be checked by writing a
value in a data memory using OxpaPlc. The data written in D2815 appears in blue. The
example shows the 1234H is written in D2815.
The data from the Ethernet/IP Scanner to the controller clicks the place of a green
character, inputting a numerical value is checked by OxpaPlc. The example which wrote
AA55H in D2790 is shown.
The status of the fieldbus and the sub-network and the LED display are shown in Table 2.
Refer to Ethernet/IP document ofABC for details.
Table 2
LED Normal Ethernet
Cable Removed Ethernet
Scanner
stopped
Subnet
stopped
1 Module Status Green Green Green Green
2 Network Status Green Flash green Flash green Flash green
3 Link Green Off Green Green
4 Activity Flash green Off Flash green Flash green
5 Subnet status Green Green Green Red
6 Device status Flash green Flash green Flash green Flash green

Operation Manual
Okura Robot Palletizer
Fieldbus Installation
01 Version: 2004.7.31
Okura Yusoki Co., Ltd.