Robostar N1 Series Option DeviceNet User manual

R
Ro ob bo os st ta ar r R Ro ob bo ot t
N
N1 1 S Se er ri ie es s O Op pt ti io on n
D De ev vi ic ce eN Ne et t
Option Module
- DeviceNet
Robostar Co., Ltd
Robostar Robot Controller Manual
www.robostar.co.kr
√

R
RO OB BO OS ST TA AR R R RO OB BO OT T
N
N1 1 S Se er ri ie es s O Op pt ti io on n
D De ev vi ic ce eN Ne et t
Option Module
- DeviceNet
www.robostar.co.kr
Robostar Co., Ltd
Robostar Robot Controller Manual
√

Copyright ⓒROBOSTAR Co., Ltd 2012
The copyright of this user manual is owned by Robostar Co., Ltd. No part of this manual may be
used in any form or by any means without Robostar Co., Ltd. Specifications are subject to change
without prior notice.

Product Warranty
i Robostar Co., Ltd
Regarding Product Warranty
Robostar products are manufactured under strict quality control and all Robostar products
are covered under one year warranty from the date of manufacture. We offer free services
during this warranty period only for mechanical breakdowns caused by faults by Robostar or
breakdowns which arise from problem in design and manufacturing faults during normal use.
No free service is provided to the following occasions.
(1) After the warranty period expires
(2) Mechanical troubles caused by inappropriate repairs, alteration, movement and other negligent
handling directed by your company or a third party.
(3) Mechanical troubles caused by use of other products than the ones assigned by our company,
such as components and grease
(4) Mechanical troubles caused by fires, disasters, earthquakes, storm and flooding and other natural
disasters
(5) Malfunction due to use in environment beyond our product specifications, such as in excretions
and flooding
(6) Malfunction due to normal wear of consumable parts
(7) Malfunction due to lack of carrying out maintenance work checklist as listed in User Manual and
Handling Manual
(8) Damage not included in robot repair costs
Address and Contact Details for Robostar Co., Ltd
Head Office and Factory
700, Suin-ro, Sangnok-gu,
Ansan-City, Gyeonggi-do, Republic of
South Korea (426-220)
2nd Factory
108, Saneop-ro, Gwonseon-gu,
Suwon-City, Gyeonggi-do, Republic of
South Korea (441-813)
Service Inquiry and Product Inquiry
- Sales Inquiry
TEL. [phone]
FAX. [phone]
- Customer Inquiry
TEL. [phone]
www.robostar.co.kr

Composition of User Manual
ii Robostar Co., Ltd
C
Co om mp po os si it ti io on n o of f U Us se er r M Ma an nu ua al l
The User Manual of this product is composed of the following. If this is the first time to use
this product, fully understand each and every detail in the manual before use.
DeviceNet
Explains how to connect a connector to N1 series using DeviceNet communication modules as
well as how to use it.

Table of Content
iii Robostar Co., Ltd
Table of Contents
CHAPTER 1. OVERVIEW.......................................................................................................................................1-1
1.1 WHAT IS ADEVICENET OPTION BOARD?..........................................................................................................1-1
1.2 SYSTEM CONFIGURATION .................................................................................................................................1-1
CHAPTER 2. FUNCTION........................................................................................................................................2-1
2.1 SPECIFICATIONS OF DEVICENET OPTION BOARD..............................................................................................2-1
2.2 CHARACTERISTICS AND FUNCTIONS OF DEVICENET.........................................................................................2-1
CHAPTER 3. SPECIFICATIONS............................................................................................................................3-1
3.1 DEVICENET SPECIFICATIONS ............................................................................................................................3-1
3.2 STATUS DISPLAY LED ......................................................................................................................................3-2
3.3 STATION NUMBER SETTING ..............................................................................................................................3-3
3.4 DISPLAY OF COMMUNICATION POWER AND COMMUNICATION LINE .................................................................3-3
3.5 I/O SIZE SETTING ............................................................................................................................................3-5
3.6 CABLE SPEC .....................................................................................................................................................3-6
3.7 HOW TO INSTALL HARDWARE...........................................................................................................................3-1
CHAPTER 4. INSTALLATION AND OPERATION SETTING...........................................................................4-1
4.1 HOW TO CONNECT DEVICENET FIELD NETWORK CABLE.................................................................................4-1
4.2 CONTROLLER SETTING .....................................................................................................................................4-2
4.2.1 FIELD BUS(DeviceNet) Setting...............................................................................................................4-2
4.2.2 USER I/O Setting .....................................................................................................................................4-4
4.3 PLC DATATRANSFER SPEED ............................................................................................................................4-5
CHAPTER 5. EXAMPLES OF DEVICENET SETTING......................................................................................5-1
5.1 EXAMPLES OF AB PLC RSNETWORK SETTING ................................................................................................5-1
CHAPTER 6. MEMORY MAPPING.......................................................................................................................6-1
6.1 N1 CONTROLLER DATA MAPPING.....................................................................................................................6-1
6.1.1 N1 Series System Input #1........................................................................................................................6-2
6.1.2 N1 Series System Input #2 & FIELDBUS INPUT#1................................................................................6-3
6.1.3 N1 Series FIELDBUS INPUT #2.............................................................................................................6-3
6.1.4 N1 Series System Output #1.....................................................................................................................6-3
6.1.5 N1 Series FIELDBUS Output #2 .............................................................................................................6-4
6.2 PRECAUTIONS FOR USE IN N1 SERIES SYSTEM MODE ......................................................................................6-4

Table of Content
iv Robostar Co., Ltd
6.3 N1 SERIES FIELDBUS(CC_LINK)TIMING DIAGRAM ........................................................................................6-5
6.3.1 Operation in AUTO RUN MODE ............................................................................................................6-5
6.3.2 JOB Program Change during JOB Operation.........................................................................................6-7
6.3.3 JOB Program Change after Completing JOB Program ..........................................................................6-9
6.3.4 JOB Program START after Disabling Alarm .........................................................................................6-11
6.3.5 JOB Program Restart after Disabling Alarm.........................................................................................6-13
6.3.6 SERVO OFF...........................................................................................................................................6-15
6.3.7 Rebooting...............................................................................................................................................6-17
6.3.8 MODE(AUTO, STEP, JOG) Change .....................................................................................................6-19
6.3.9 STEP MODE..........................................................................................................................................6-21
6.3.10 Operation in JOG MODE......................................................................................................................6-23
6.3.11 Forward Operation in JOG MODE.......................................................................................................6-25
6.3.12 Read RPM, TRQ.....................................................................................................................................6-27
6.3.13 Read Current Position ...........................................................................................................................6-28
6.3.14 Read GLOBAL Point..............................................................................................................................6-29
6.3.15 Write GLOBAL Point.............................................................................................................................6-31
6.3.16 Read GLOBAL Integer...........................................................................................................................6-33
6.3.17 Write GLOBAL Integer ..........................................................................................................................6-34
6.3.18 Read GLOBAL Float..............................................................................................................................6-35
6.3.19 Write GLOBAL Float.............................................................................................................................6-36

Overview
1-1 Robostar Co., Ltd
Chapter 1. Overview
1.1 What is a DeviceNet Option Board?
A DeviceNet Option Board is a board in charge of DeviceNet field network system communication
of Robostar N1 controller. N1 controller allows the use of a DeviceNet Option Board to enable
communicating with systems such as PC or PLC using DeviceNet protocols. DeviceNet, one of
fieldbus communication methods getting the most spotlight over recent years, is considered the
most successful technology among a variety of fieldbuses due to its short system response time
and high reliability through the use of CAN (Controller Area Network) protocols.
1.2 System Configuration
The upper network can be interfaced with a DeviceNet master station such as PC or PLC, while a
master station utilizes DeviceNet field network to communicate with sub-slave stations.
Fig. 1.1 DeviceNet System Configuration

Function
2-1 Robostar Co., Ltd
Chapter 2. Function
2.1 Specifications of DeviceNet Option Board
DeviceNet
connections
Connector
Pluggable connector(5.08mm, 5-pin)
Data Transfer Method
CAN(Controller Area Network)
Transfer Cable
DeviceNet dedicated cable (4-wire shield cable)
Withstand Voltage
500VDC
Terminating Resistance
120 Ohm
Communications
Communication Protocol
ODVA 2.0
Communication Speed
125/250/500Kbaud (Set automatically depending on
master)
Product Code
0x10/0x11
Product Type
0(Generic)
Vendor ID
1055
Electrical
Communication Power
11~25V DC
Communication Current
Below 30mA
Control Power
5V DC(Provided from Robostar controller)
Environment
Operating Temperature
0 ~ 40℃
Storage Temperature
-15 ~ 60℃
Operating Humidity
20~80% PH
2.2 Characteristics and Functions of DeviceNet
Max Number of
Stations to use
64 stations (0-63)
Communication
Distance per
Speed
125Kbps
500m
250Kbps
250m
500Kbps
100m
Data
Transmit/Receive
Methods
Explicit Message(Parameter input/output data)
Polled I/O Message(Real-time input/output data)
Transmit/Receive
Length
Explicit Message: Flexible depending on parameter length
Polled I/O Message: Max 32Byte(Default:8Byte)
Device Type
Group2 Only Server(Predefined Master/Slave Connection Set)

Specifications
3-1 Robostar Co., Ltd
Chapter 3. Specifications
3.1 DeviceNet Specifications
DeviceNet Option Board is connected to the external fieldbus through a 5-pin connector and
connected to Robostar N1 controller through a built-in Dual_Port memory. DeviceNet Option Board
consists of DeviceNet 5-pin connector, module status display LED, network status display LED, prefix
setup switch, I/O SIZE setup switch, and RS-232 connector(DB9).
Fig. 3.1 DeviceNet Board Block-diagram
Table 3.1 DeviceNet Connector Setting
Signal
Connector
Description
V-
1
Communication Power, Ground(0V)
CAN_L
2
Communication Signal, Low
Drain
3
Shield
CAN_H
4
Communication Signal , High
V+
5
Communication Power , +24V DC
①
②
③
④
⑤
Program Change
NS_R NS_G MS_G MS_R
Station 1x
Rotary Switch
Station 10x
Rotary Switch
I/O Size
V+
CANH
Drain
CANL
V-
DeviceNet
Communication
Connector