Toshiba TS3000 Series User manual

STE 80756–2
６
TS3000 SCARA / LINEAR system
TS3100 SCARA / LINEAR / 6-AXIS system
TSL3000 SCARA system
INSTRUCTION MANUAL
FIELD BUS SLAVE FUNCTION MANUAL
Notice
1. Make sure that this instruction manual is delivered to the final
user of Toshiba Machine's industrial robot.
2. Before operating the industrial robot, read through and
completely understand this manual.
3. After reading through this manual, keep it nearby for future
reference.
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN

FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
Copyright 2012 by Toshiba Machine Co., Ltd.
All rights reserved.
No part of this document may be reproduced in any form without obtaining prior written
permission from Toshiba Machine Co., Ltd.
The information contained in this manual is subject to change without notice to effect
improvements.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
Preface
This manual describes the initial setting procedures and operating method of the field
bus slave function, the TS3000/TS3100/TSL3000 (referred to as TS3000 series below)
robot controller extension function. It is intended for users with general knowledge of
field bus.
The slave module for the field bus can select either of the three (3) types; PROFIBUS,
DeviceNet or CC–Link, which should be determined at order entry.
The field bus input signals are assigned to DIN301 to DIN364 and DIN401 to DIN464,
and the output signals are assigned to DOUT301 to DOUT364 and DOUT401 to
DOUT464. Also, the Simple PLC Function (option) can be used to enable changing of
the I/O and routing of the system signal I/O through the field bus.
Instruction manuals which are referred to from this manual
• Robot language manual
• Operation manual
• User parameter manual
• Maintenance manual
• Instruction manual of master station you wish to use
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
!CAUTION
This manual does not contain any detailed descriptions
on power and robot connection.
For the connection of the power and robot, see the
Installation & Transport Manual.
Cautions on Safety
This manual contains the important information on the robot and controller to prevent
injury to the operators and persons nearby, to prevent damages to assets and to assure
correct use.
Make sure that you well understand the following details (indications and symbols)
before reading this manual. Always observe the information that is noted.
[Explanation of indications]
Indication Meaning of indication
!DANGER
This means that "incorrect handling will lead to fatalities or
serious injuries."
!CAUTION
This means that "incorrect handling may lead to personal
injuries 1) or physical damage 2)."
•Injuries refer to injuries, burns and electric shocks, etc., which do not require
hospitalization or long-term medical treatment.
•Physical damage refers to damages due to destruction of assets or resources.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
[Explanation of symbols]
Symbol Meaning of symbol
This means that the action is prohibited (must not be done).
Details of the actions actually prohibited are indicated with
pictures or words in or near the symbol.
This means that the action is mandatory (must be done).
Details of the actions that must be done are indicated with
pictures or words in or near the symbol.
!
This means danger.
Details of the actual danger are indicated with pictures or words in
or near the symbol.
!
This means caution.
Details of the actual caution are indicated with pictures or words in
or near the symbol.
!CAUTION
To perform the work ranging from robot installation to
operation with safety, read through and through the Safety
Manual provided separately before actually starting the
work.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
Maintenance and Inspection
To use the robot safety, strictly observe the following matters.
!DANGER
Prohibited
• NEVER burn, disassemble or charge the battery. Otherwise,
it may explode.
Mandatory
• Before performing the maintenance and inspection, be sure to
turn off the main power switch of the controller.
• When disposing of batteries, be sure to follow the user's
regulations.
!CAUTION
Disassembly
prohibited
• The user should NEVER replace or change parts other than
those stipulated in the instruction manual. Otherwise, the
performance will deteriorate, resulting in troubles.
Mandatory
• To replace parts, use the spare parts designated by Toshiba
Machine.
• Carry out the maintenance and inspection on a regular basis.
Otherwise, the equipment may go wrong or accidents will be
caused.
!CAUTION
To perform the maintenance and inspection of the robot
with safety, read through and through the Maintenance
Manual provided separately before actually starting the
work.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
Table of Contents
Page
1. Operation Flow......................................................................................................... 7
2. Hardware Structure .................................................................................................. 9
2.1 Field Bus Printed Board Assembling Procedures to the TS3000/TS3100
Controller....................................................................................................... 9
2.2 Installing the Printed Board in the TSL3000 Controller................................ 12
2.3 Connection................................................................................................... 14
2.3.1 Pin Array of Connector for Connecting External Equipment........... 14
2.3.2 Connection ..................................................................................... 16
3. Field Bus Slave Module.......................................................................................... 17
3.1 PROFIBUS Slave Module Specifications..................................................... 17
3.1.1 PROFIBUS Specifications.............................................................. 17
3.1.2 Setting of PROFIBUS User Parameter........................................... 18
3.2 DeviceNet Slave Module Specifications....................................................... 20
3.2.1 DeviceNet Specifications................................................................ 20
3.2.2 Setting of DeviceNet User Parameter............................................. 21
3.3 CC–Link Slave Module Specifications ......................................................... 23
3.3.1 CC–Link Specifications................................................................... 23
3.3.2 Setting of CC–Link User Parameter ............................................... 24
4. Error Detection ....................................................................................................... 26
5. Verifying Motion...................................................................................................... 27
6. How to Use SCOL Language Instruction................................................................ 30
6.1 Sample Program.......................................................................................... 31
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
1. Operation Flow
The operation flow to enable the field bus interface is given below.
* When specifying the Field Bus during the purchase of the robot controller, read the
step (2) Connecting with the master station and skip to step (4) Setting the master
station and go to later steps.
(1) Mounting the field bus ··· See Section 2 of this manual.
Mount the field bus you procured on the controller.
Uncover the controller and perform the manual work.
Before starting this work, be sure to turn the power off.
When you already specified the field bus at order entry of the robot, the bus is
factory-set. Make sure of it.
To proceed with the next process, the controller should remain uncovered.
⇓
(2) Connecting with the master station ··· See Section 2 of this manual.
Connect the field bus terminal on the controller side with the field bus cable
connecting to the master station.
⇓
(3) Setting the controller parameters ··· See Section 3 of this manual, the
operation manual and user parameter manual.
Turn on the controller power, edit the [U16 FIELD BUS] parameter contained
in the user parameter (USER.PAR) file.
The user parameter becomes operative after the power is turned off once,
then on again.
⇓
(4) Setting the master station ··· See Section 3 of this manual and the master
station instruction manual.
Perform setting of the master station. The setting procedures differ with the
master station to be used. Refer to the master station instruction manual you
procured.
⇓
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
⇓
(5) Confirming the operation ··· See Section 5 of this manual and the master
station instruction manual.
The power is turned on in order of “First Field Bus master” and “Robot
controller”.
To make sure that the I/Os assigned to the robot controller can be operated
properly, set ON the switch assigned from the master station and monitor the
I/O status from the robot controller. Also, set ON the switch on the robot
controller side and monitor the I/O state from the master station to make sure
that the information can be transmitted legally.
If an error has generated, investigate the error information from the master
station.
⇓
(6) Creating the robot program and verifying the control ··· See Section 6 of this
manual and the master language instruction manual.
Create the robot program, referring to the example of robot program creation
and make sure that the I/Os on the field bus can be controlled, using the
SCOL language.
⇓
(7) Finish of the work
Now the work has finished. Turn off the controller power and cover the
controller.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
2. Hardware Structure
2.1 Field Bus Printed Board Assembling Procedures to the TS3000/TS3100
Controller
Assemble the Field Bus printed board in the manner described below.
(1) Turn off the power of the robot controller.
(2) Turn off the main power of 200V supplied to the robot controller.
Disconnect the power connector (ACIN–CN1) to assure safety.
(3) Remove the top cover of the robot controller.
This top cover is secured with a total of twelve (12) screws (M3 ×6) (eight (8)
screws each on the both lateral sides and four (4) screws on the top side of the
robot controller. Remove the screws, using a screwdriver, then draw the cover to
side and remove.
Fig. 1 Removing the TS3000/TS3100 Cover
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
(4) Remove the dummy connector plate attached to the rear side of the robot controller.
(5) Remove the mounting screws on the X8GC printed board.
(6) Insert the field bus printed board into CN19 of the X8GC printed board
(7) Use the screws to secure the printed board in place.
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Dumm
y
connector
p
late
Fig. 3 Top View and Side View of TS3000/TS3100 Controller
(After Installation of Field Bus Printed Board
Fig. 2 Rear Side of the TS3000/TS3100 Robot Controller

FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
8) Attach the cover to the robot controller as originally set, then secure it with the
screws.
Reference: After installing each field bus printed board, the appearance will be as
shown in Fig. 4.
CC-Link
Device-Net
PROFIBUS
PROFIBUS DeviceNet CC–Link
Fig. 4 Rear View of TS3000/TS3100 Controller
(After Instillation of Field Bus Printed Boards)
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
2.2 Installing the Printed Board in the TSL3000 Controller
Use the procedure below to install the field bus printed board into the robot controller.
(1) Turn off the 200V power supplied to the robot controller from the primary side.
To ensure safety, disconnect the power connector (ACIN).
(2) Remove the top cover of the robot controller.
The top cover is secured using a total of eight (8) countersunk screws (M3x10
black) with four screws on the side panel and four screws on the top panel of the
robot controller. Use a screwdriver to remove the screws, and pull the cover
towards the front to remove.
Fig. 5 Removing the TSL3000 Cover
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
(3) Remove the dummy connector plate (shown as the cross-hatched section in Fig. 6)
on the rear panel of the robot controller.
Dummy connector
plate
Fig. 6 TSL3000 Robot Controller Front Panel Top
(4) Remove the mounting screws on the X8YX printed board.
(5) Insert the field bus printed board into CN6 of the X8YX printed board.
(6) Use the screws to secure the printed board in place.
Fig. 7 TSL3000 Robot Controller Side Panel (After Installation of Field Bus
Printed Board)
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
(7) Remount the cover onto the robot controller, and secure in place using the screws.
Reference: Fig. 8 shows the appearance after each type of field bus printed board
is installed.
V+
CH
dr
CL
V-
DeviceNet
DA
DB
DG
FG
CC-Link
PROFIBUS
PROFIBUS DeviceNet CC-Link
Fig. 8 TSL3000 Controller Front Panel (After Installation of Field Bus Printed Board)
2.3 Connection
2.3.1 Pin Array of Connector for Connecting External Equipment
The pin array of the Field bus connector in the controller panel is as shown below.
(a) PROFIBUS
Pin No. Signal name Application
Housing SHIELD Connected to PE.
1 — Not connected.
2 — Not connected.
3 RXD (B-line) Positive RxD/TxD according to RS485 specifications.
4 RST Request to send
5 GND (V–) Isolated GND from RS485 side.
6 P5V (V+) Isolated P5V from RS485 side.
7 — Not connected.
8 TXD (A-line) Negative RxD/TxD according to RS485 specifications.
9 — Not connected.
Field bus connector: 9pin D_SUB (female)
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
PROFIBUS
9pin
6pin
5pin
1pin
1pin
5pin
6pin
9pin
PROFIBUS
TS3000/TS3100 TSL3000
(b) DeviceNet
Pin No. Signal name Application
1 24G (V–) Negative supply voltage
2 CAN_L CAN_L bus line
3 SHIELD Cable shield
4 CAN_H CAN_H bus line
5 P24V (V+) Positive supply voltage
Field bus connector: 5.08 pluggable screw
V+
CH
dr
CL
V-
DeviceNet
5
p
in
1
p
in
TS3000/TS3100 TSL3000
1
p
in
Device-Net
5
p
in
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
(c) CC–LINK
Pin No. Signal name Application
1 DA Communication line (DA)
2 DB Communication line (DB)
3 DG Digital GND (DG)
4 SHIELD Cable shield
Field bus connector: Terminal block
DA
DB
DG
FG
CC
-Link 4
p
in
1
p
in
4
p
in
1
p
in
CC-Link
TS3000/TS3100 TSL3000
2.3.2 Connection
For the cable connecting the external equipment, use the recommended cable of
the master sequencer (PLC) you use.
Use the following cable for the connector on the cable side.
(a) PROFIBUS : XM2D–0901 made by OMRON
(b) DeviceNet : MSTB2.5/5–STF-5.08 made by Phoenix
(c) CC–Link : V1.25-M3
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
3. Field Bus Slave Module
3.1 PROFIBUS Slave Module Specifications
3.1.1 PROFIBUS Specifications
Field bus specifications PROFIBUS
Module name W8XOA
Master operation Not supported.
Master device 16-bit little endian device (e.g., Siemens S7 315DP2)
16-bit big endian device
Node address The node address is specified by user parameter (1 to
125).
Baudrate Automatic detection
(9.6 kbps, 19.2 kbps, 45.45 kbps, 93.75 kbps, 187.5
kbps, 500 kbps, 1.5 Mbps, 3 Mbps, 6 Mbps, 12 Mbps)
GSD file Each device on the PROFIBUS network relates to the
GSD file containing all required information on the
devices.
The GSD file is used to establish the network.
The basic settings can be made by loading this file.
The GSD file is contained in the Instruction Manual
CD.
Number of inputs 128 numbers (DIN301 to 364, DIN401 to 464)
Number of outputs 128 numbers (DOUT301 to 364, DOUT401 to 464)
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
3.1.2 Setting of PROFIBUS User Parameter
The PROFIBUS user parameter should be specified, using [U16] of the
USER.PAR file. The contents of [U16] are shown below.
= (Type of field bus) (Node) (Baudrate) (Type of master)
[U16] FIELD BUS
= 1 3 -1 0
(Type of field bus) : Specify the type of the field bus.
Specify "1" for the PROFIBUS.
–1 : Without any field bus option (initial value)
1 : PROFIBUS
(Node) : Specify the node address of the field bus.
Take careful precautions not to share the same address
with any other device in the same network.
The range of the set value differs with the type of the field
bus.
–1 : Without any field bus option (initial value)
0 to 127 : Effective range of PROFIBUS node address
(Baudrate) : Specify the baudrate.
PROFIBUS baudrate is set from the master side. As the
robot controller automatically detects it, the baudrate need
not be specified on the robot controller side.
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FIELD BUS SLAVE FUNCTION MANUAL
series Robot Controller
(Type of master) : Specify the type of the field bus master.
As the byte order (endian) differs with the master, specify
the type according to the master.
0 : 16-bit big endian
1 : 16-bit little endian (S7 315DP2 made by Siemens)
2 : 32-bit big endian
3 : 32-bit little endian
Example setting:
When the PROFIBUS is selected, the node address is 2 and Siemens's S7
315DP2 is used as the master module:
[U16] FIELD BUS
{Type / Node Addr / Speed / Byte Order}
= 1 2 -1 1
Example setting:
When the field bus slave module is neglected:
[U16] FIELD BUS
{Type / Node Addr / Speed / Byte Order}
= –1 –1 -1 -1
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