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
P Pr ro of fi ib bu us s
Option Module
-Profibus
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
P Pr ro of fi ib bu us s
Option Module
-Profibus
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 in 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.
Profibus
Explains how to connect a connector to N1 series using Prifibus communication modules
as well as how to use it.

Table of Contents
iii Robostar Co., Ltd
Table of Contents
CHAPTER 1. OVERVIEW.......................................................................................................................................1-1
1.1 WHAT IS APROFIBUS OPTION CARD?................................................................................................................1-1
1.2 SYSTEM CONFIGURATION .................................................................................................................................1-1
CHAPTER 2. FUNCTION........................................................................................................................................2-1
2.1 PROFIBUS-DP DEVICE TYPE AND FUNCTION......................................................................................................2-1
2.1.1 DP Master class1(DPM1)........................................................................................................................2-1
2.1.2 DP Master class2(DPM2)........................................................................................................................2-1
2.1.3 DP Slave ..................................................................................................................................................2-1
2.2 PROFIBUS-DP COMMUNICATION SPECIFICATIONS.............................................................................................2-2
2.3 PROFIBUS-DPADDRESS MAP ...........................................................................................................................2-2
CHAPTER 3. SPECIFICATIONS............................................................................................................................3-1
3.1 PROFIBUS OPTION CARD SPECIFICATIONS ........................................................................................................3-1
3.2 DESCRIPTION OF LED FUNCTIONS....................................................................................................................3-1
3.3 STATION NUMBER SETTING ..............................................................................................................................3-2
3.4 BAUD RATE SETTING ........................................................................................................................................3-2
3.5 HOW TO SET INPUT/OUTPUT DATA SIZE ...........................................................................................................3-3
3.6 PROFIBUS NETWORK SPECIFICATIONS ..............................................................................................................3-4
CHAPTER 4. INSTALLATION AND OPERATION SETTING...........................................................................4-1
4.1 HOW TO INSTALL HARDWARE...........................................................................................................................4-1
4.2 HOW TO CONNECT PROFIBUS NETWORK CABLE...............................................................................................4-2
4.3 CONTROLLER SETTING .....................................................................................................................................4-3
4.3.1 FIELD BUS(Profibus) Setting..................................................................................................................4-3
4.3.2 USER I/O Setting .....................................................................................................................................4-5
4.3.3 PROFIBUS ENDIAN...............................................................................................................................4-6
CHAPTER 5. EXAMPLES OF PROFIBUS 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

Table of Contents
iv Robostar Co., Ltd
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
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 Profibus Option Card?
The Profibus Option Card is a board handling Profibus-DP communication with the N1 series
controller made by Robostar Co., Ltd. The N1 series controller allows the use of Profibus Option
Card to enable communication with systems such as PC or PLC using Profibus protocols. The
Profibus Option Card complies with Profibus-DP standards and is capable of communication with
any device which uses Profibus-DP protocols and physical layer for Profibus-DP.
1.2 System Configuration
Fig. 1.1 Connection Diagram of Profibus Network System
When interfacing with systems such as PC or PLC using Profibus, standard RS484 cable
recommended by Profibus Association is used for connecting network. In the event of extending
network by means of other network methods (Ex. Optical network), equipment matching the
specifications should be used to get the extension done.

Function
2-1 Robostar Co., Ltd
Chapter 2. Function
2.1 Profibus-DP device type and function
2.1.1 DP Master class1(DPM1)
This is a central controller which exchanges information periodically with the
dispersed station (Slave) within the defined Message cycle. Its conventional device
includes Programmable Logic Controllers(PLC) or PC.
2.1.2 DP Master class2(DPM2)
Used for engineering or setting/operation device type, setting of a connected
device, evaluating measurements and parameters and commissioning for request of
device status, as well as for maintaining and diagnosing use.
2.1.3 DP Slave
Slave is a peripheral device (I/O device, drive, HMI, valve, measurement transducer)
which sends output data to the peripheral device by gathering input data, and a
certain device supplies only one - input or output data.
function
DP-Slave
DP-Master class1
DP-Master class2
Req
Res
Req
Res
Req
Res
Data exchange
-
○
○
-
△
-
Read Input
-
○
-
-
△
-
Read Output
-
○
○
-
△
-
Get Diagnositics
-
○
○
-
△
-
Get Parameters
-
○
○
-
△
-
Check Config
-
○
○
-
△
-
Get Config
-
○
-
-
△
-
Set Global Control
-
○
○
-
△
-
Set Slave Address
-
△
-
-
△
-
Get Master Diag
-
-
-
○
△
-
Start Seq
-
-
-
△
△
-
Download
-
-
-
△
△
-
Upload
-
-
-
△
△
-
End Seq
-
-
-
△
△
-
Act Parameter Brct
-
-
-
△
△
-
Act Parameter
-
-
-
△
△
-
Req : request, Res : response ○: Essential function, △: Optional function, - : No function
Table 2.1 Alarms for Profibus-DP Function

Function
2-2 Robostar Co., Ltd
2.2 Profibus-DP Communication Specifications
Table 2.2 shows Profibus-DP communication specifications.
Specifications
Communication Speed
12M/6M/3M/1.5M/500k/187.5k/93.75k/45.45k/19.2k/9.6kbs
Communication Method
RS485-based half-duplex communication
Synchronous Method
Frame synchronous method
Encoding Method
NRZI(Non-Return to Zero, Inverted)
Channel Format
Bus format
Number of Units Accessed
32 per segment without repeater;
Up to 124 with repeater present
Data Transfer
Max 46byte input and 46byte output per slave
Slave Address
3~125 (generally no. 1, 2 used by master)
Connection Cable
Shielded twisted pair cable
Terminating Resistance
Table 2.2 Communication Specifications
2.3 Profibus-DP Address Map
Table 2.3 shows the Profibus-DP address map.
Address
Description
0
Service-, diagnosis-and programming tool
1..2
Master(class1)
3..125
Slave(total 123 or 124)
126
Used for setting the slave address via software
127
Used when Master transmits data to all units (Broadcast Address)
Table 2.3 Profibus Address map

Specifications
3-1 Robostar Co., Ltd
Chapter 3. Specifications
3.1 Profibus Option Card Specifications
Fig. 3.1 shows the front view of Profibus Option Card.
Fig. 3.1 Block Diagram of Profibus Option Card
Table 3.1 shows Profibus Option Card specifications.
Functions
Description
Status Display
Status LED
Setup Switch
Station Number Switch
Communication Port
RS485-based Profibus-DP protocol Interface
Operating Voltage
Internal +5V ±5% : 0.5A nominal Maximum
Operating
Temperature
Temperature : operating 0 ~ 40℃
Storage -15 ~ 60℃
Operating Humidity
Humidity : 20 ~ 85% (non-condensing)
Table 3.1 Profibus Option Card Specifications
3.2 Description of LED Functions
The status of Profibus Option Card can be simply known from the outside through the status display
LED attached to Profibus Option Card.
Functions
DATA
Represents current data being exchanged by being connected to Profibus Network
RUN
Represents Profibus Option Card under normal operation
ERR
Represents status of Profibus communication alarm
PWR
Represents status for power supply to Profibus Option Card
Table 3.2 Description of LED Status on Profibus Option Card
①
②
③
④
ProfiBus
Communication
Connector
DATA ERR PWR RUN
Station 1x
Rotary Switch
Station 10x
Rotary Switch
Baudrate
Rotary Switch

Specifications
3-2 Robostar Co., Ltd
3.3 Station Number Setting
Use the Station 10x Rotary Switch and Station 1x Rotary Switch in Fig. 3.1 ①and change into
Station Number set in Master for communication with Profibus-DP Master. Rotary Switch makes use
of a decimal number so you can set a tenth place with 10x Rotary Switch and the first place with 1x
Rotary Switch.
Fig. 3.3 Examples of Station Number Setting
Station Number setting can be done from Station 0 to 97, where the slave station where Profibus
Option Card belongs is generally capable of setting from Station 1 to 64. “Fig. 3.3 Station Number
Setting”shows an example set by 17 stations.
3.4 Baud rate Setting
Communication speed with Profibus Master is set by use of Baud rate Rotary Switch in Fig.3.1 ②.
Rotary Switch uses a decimal number and communication speed for each number is shown in Table
3.3.
Baud rate setup value
Value
Communication
Speed
0
9.6 Kbit/s
1
19.2 Kbit/s
2
93.75 Kbit/s
3
187.5 Kbit/s
4
500 Kbit/s
5
Reserved
6
1.5 Mbit/s
7
3 Mbit/s
8
6 Mbit/s
9
AUTO
Table 3.3 Baud rate setup value

Specifications
3-3 Robostar Co., Ltd
3.5 How to Set Input/Output Data Size
The use of Rotary Switch allows you to set Data Size of communication with Master.
1) Turn the power to N1 controller OFF.
2) Set a mode using the Rotary Switch in Fig. 3.1 ①.
Mode Setup Value
Value
Mode
99
Input Data Size setup Mode
98
Output Data Size setup
Mode
Fig. 3.4 Input Data Size Setup Mode Table 3.4 Mode Setup Value
3) Use the Rotary Switch in Fig.3.1 ②to set input/output Data Sizes.
Setup Values for Input/Output Data Size
Value
Data Size
0
8 byte
1
16 byte
2
32 byte
3
46 byte
Values other than the
above values
8 byte
Fig. 3.4 Input Data Size Setup Mode Table 3.4 Mode Setup Value
※The Module supported from N1 controller only supports 8Ⅹ8 Byte and 46Ⅹ46 Byte.
4) Turn power to N1 controller ON.
5) Check if LED (Input/output setup LED) is blinking (performing ON->OFF 2~3times).
Fig. 3.6 Input/Output Setup LED
6) Repeat the above process to set Data Size for input/output.
Input setup LED
Output setup LED

Specifications
3-4 Robostar Co., Ltd
3.6 Profibus Network Specifications
-Cable Specifications
Parameter
Condition
Overail code
a-core : green, b-core : red
Screen
Plastic coated aluminum tape, metallic surface outside in contact
with a tinned copper drain wire and wire braid
Overail diameter
8.1±0.3mm
Max.pulling tension
80N
Min. bending radius
5x cable overail diameter
Temperature range
-40…+75℃during operation, 5…+50℃for installation
UV resistant
UL 1581 article 1200
Oil resistant
ICEA S-82-552
Flame propagation
UL 13 vertical tray test, IEC 60332-3
Smoke density
Low, IEC 60134
Halogenfree
Yes, IEC 60754-1, 0%
Degree of acidity of gases
IEC 607 54 part 2, (pH > 4.3, c > 10μS/mm)
Oxygen index of outer sheath
IEC 60332-3, min. 35%
Conductor resistance (Loop)
Max.110Ω/km
Screen resistance
Nom.9Ω/km
Attenuation at 0.25/0.625/
1.25/3.125/16MHz
Nom.6/9/12/18/40dB/km
Inductance
Nom. 0.65mH/km
Mutual capacitance
Max. 30nF/km
Capacitance unbalance to earth
Max. 1500pF/km
Impendance 3MHz
150±15Ω
Test voltage
(core/core and vore/screen)
1500V
Operation voltage
Max. 300V
Table 3.6 Line Parameter

Installation and Operation Setting
4-1 Robostar Co., Ltd
Chapter 4. Installation and Operation Setting
4.1 How to Install Hardware
Take the following procedure to be able to use ProfiBus Option Board on N1 series controller.
1) Turn power to controller OFF.
2) Attach the profibus board to PCI slot on N1 series controller.
Fig. 4.1 How to Install Option Board
3) Turn power to controller ON.

Installation and Operation Setting
4-2 Robostar Co., Ltd
4.2 How to Connect Profibus Network Cable
When wiring the profibus cable, make a connection suitable for pin map in Table 4.1. In high-speed
communication, be sure to use cables and connectors in accordance with communication standards.
Pin No.
Signal
Description
3
RxD/TxD-P
Receive Data/Transmission Data+
5
CNTR-P
Ground in data transmission (5V ground)
6
VP
Voltage supplied to terminating resistance (P5V)
8
RxD/TxD-N
Receive Data/Transmission Data+
Table 4.1 Signals from Profibus Connector per Pin
For examples of how to connect the cable, refer to “Fig. 4.2 How to Wire Cable”.
Fig. 4.2 How to Wire Cable

Installation and Operation Setting
4-3 Robostar Co., Ltd
4
L
F3
1
Q
2
R
4.3 Controller Setting
To use a profibus from N1 controller, the setting should be changed from the controller FieldBus
setting to Profibus Mode.
4.3.1 FIELD BUS(Profibus) Setting
The following are how to set parameters for use of Profibus option card.
1. Setting Procedure
Step1. Move to PARA screen
Step2. Move to OPT CARD screen
<MAIN MENU>
1. JOB 2. RUN
3. HOST 4. PARA
5. ORIGIN 6. I/O
7. SYSTEM 8. GPNT
9. INT/FLT A. ALARM
SELECT #
<PARAMETER>
NO TYPE
*CH1 XYZW
CH2 XY_TEST
SEL INFO PUB EXIT
<PUBLIC PARAMETER>
1: HW CONF 2: PALLET
3: PLC 4: ETC
group #
Open initial menu screen
Select 4: PARA
Select 1:HW CONF
Open PUBLIC PARAMETER group screen
Press F3 button to move to PUB
Select 2:COMM
<PUBLIC-HW CONF(0)>
1: TMR 2: COMM
3: I/O 4: D-MAN
5: SVON 6: A I/O
item #

Installation and Operation Setting
4-4 Robostar Co., Ltd
2
R
ESC
ENTER
1
Q
Step3. Move to OPT CARD screen
Step4. CARD setup screen
<HW CONF - COM>
COMMUNICATION SET
1: RS232C
2: FIELD BUS
3: LINE SEPARATOR
group #
Select 2: FIELD BUS
Select 1: CARD
Press ESC and then ENTER to save
Select 3: PROFIBUS
<COM-FDBUS >
1: CARD
2: USER I/O
3: PROFIBUS ENDIAN
4: MAP EXTENTION
Input: ■
<FDBUS-CARD>
OPT COM CARD
1: NONE 2: CC-LINK
3: PROFIBUS 4: D-NET
Selected : PROFIBUS■
<FDBUS-CARD>
OPT COM CARD
1: NONE 2: CC-LINK
3: PROFIBUS 4: D-NET
Selected : PROFIBUS■
S
3
When there is no Profibus B/D, a message “Not Card!”comes up at bottom of T/P
screen and fails to be saved.

Installation and Operation Setting
4-5 Robostar Co., Ltd
2
R
ENTER
2
R
4.3.2 USER I/O Setting
Below is a setup method for using User I/O as communications.
1. Setting Procedure
Step1. Move to USER I/O screen
Step2. USER I/O setup screen
This provides how to use USER I/O when using Field Bus card.
Item
Description
SYS USER I/O
Input/output using USER I/O of N1 System IO B/D
FIELDBUS USER I/O
Input/output using USER I/O of Field Bus card
<COM-FDBUS>
1: CARD
2: USER I./O
3: PROFIBUS ENDIAN
4: MAP EXTENTION
input #
Select 2: USER I/O
<FDBUS-USER I/O>
USER IN/OUT SEL
USER IO : SYS U I/O
Select SYS U I/O”or “FIELD U I/O
<HW CONF - COM>
COMMUNICATION SET
1: RS232C
2: FIELD BUS
3: LINE SEPARATOR
group #
Open COMM screen
Select 2: FIELD BUS
Data(USER I/O area) input/output are restricted due to communications in setting SYS
USER I/O.
Data(User I/O) input/output are restricted through I/O Board in setting FIELDBUS USER I/O
For further details about User I/O, refer to “Handling Manual 3.3.6”.

Installation and Operation Setting
4-6 Robostar Co., Ltd
2
R
3
S
4.3.3 PROFIBUS ENDIAN
The following show how to set Endian for data in Profibus communication.
1. Setting Procedure
Step 1. Move to PROFIBUS ENDIAN screen
Step 2. PROFIBUS EDIAN setup screen
-Setting procedures for transmitting and saving Word or Double Data in communication with
Master PLC when selecting Profibus.
Items
Content
Little Endian
Saved by Byte, in order from low number
Big Endian
Upper Byte and Word value saved in lower number
<HW CONF - COM>
COMMUNICATION SET
1: RS232C
2: FIELD BUS
3: LINE SEPARATOR
group #
Open COMM screen
Select 2: FIELD BUS
<COM-FDBUS>
1: CARD
2: DPRAM USER I./O
3: PROFIBUS ENDIAN
4: MAP EXTENTION
input #
Select 3: PROFIBUS ENDIAN
<FDBUS-ENDIAN>
1: Little Endian
2: Big Endian
Selected : LITTLE
EDIAN setup screen
( Default value is Little Endian.)
1
Q
or
2
R
Word Data
0X1234
0x34
0x12
0x34
0x12
DAT
A
Little
0x12
0x34
0x12
0x34
DAT
A
Big
Double Data 0X12345678
0x34
0x12
0x34
0x12
DAT
A
Little
0x12
0x34
0x12
0x34
DAT
A
Big
0000
0000H
0000
0003H
ADDR