YASKAWA motoman NX100 User manual

MANUAL NO.
2
ME00107EN
Part Number: 170542-1CD
Revision: 0
FIELDBUS PCI-CARD
INSTRUCTIONS
FOR NX100, DX100, OR DX200
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH50 II INSTRUCTIONS
NX100, DX100 or DX200 INSTRUCTIONS
NX100, DX100 or DX200 OPERATOR’S MANUAL (for each purpose)
NX100, DX100 or DX200 MAINTENANCE MANUAL
The NX100, DX100 or DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

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Fieldbus PCI-Card
Copyright © 2014, Yaskawa America, Inc. All Rights Reserved.

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Fieldbus PCI-Card
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH50 II for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in the Chapter 1: Safety of
the DX200 instructions. To ensure correct and safe operation,
carefully read the DX200 instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.

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Fieldbus PCI-Card
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the Fieldbus PCI-Card .
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
MANDATORY
Always be sure to follow explicitly the
items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION” .
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

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Fieldbus PCI-Card
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
controller and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the controller.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
controller and the programming pendant.

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Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and
TM
are omitted.
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately,
and be sure that all other necessary processing has been
performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the controller after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
controller Instructions before operating the manipulator:

© 2014 Yaskawa Nordic AB · Reg.No. ME00107EN-02
Original instructions
Instruction manual
Fieldbus PCI-Card

Page 2 Reg.No. ME00107EN-02
■Reference list
YASKAWA Nordic AB engineers
■Revision
Third release of this manual. The fieldbus PCI-card was earlier described in Instruction Manual
MRS6014GB.3 Fieldbus PCI-card.
Fieldbus PCI-Card

Reg.No. ME00107EN-02 Page 3
Fieldbus PCI-Card
Contents
1 General............................................................................................................................ 7
1.1 About this manual ..................................................................................................... 7
1.1.1 Copyright ................................................................................................................. 7
1.2 System requirements................................................................................................ 7
1.2.1 NX100 Software ...................................................................................................... 7
1.2.2 DX100/DX200 software........................................................................................... 7
1.3 In manual included Fieldbus PCI-cards and NetTools........................................... 7
1.4 Safety.......................................................................................................................... 8
1.5 Handling ESD sensitive devices.............................................................................. 9
1.6 Manufacturer.............................................................................................................. 9
1.7 Introduction ............................................................................................................... 9
1.8 Terms........................................................................................................................ 10
1.9 Fieldbus systems .................................................................................................... 10
1.10 Introduction to the fieldbus PCI-cards .................................................................. 10
1.11 Hardware compatibility........................................................................................... 10
2 Installation...................................................................................................................11
2.1 General......................................................................................................................11
2.1.1 Specification ...........................................................................................................11
2.1.2 Technical specification............................................................................................11
2.1.3 Compliances and conformances............................................................................11
2.2 Hardware installation...............................................................................................11
2.2.1 NX100 Installation ................................................................................................. 12
2.2.2 DX100/DX200 Installation ..................................................................................... 12
3 Software configuration...........................................................................................15
3.1 Settings .................................................................................................................... 15
3.2 Manual I/O allocation (FD 134) ............................................................................... 19
3.3 I/O map ..................................................................................................................... 20
3.3.1 Fieldbus input data map ........................................................................................ 20
3.3.2 Fieldbus output data map ...................................................................................... 20
3.4 Fieldbus status byte................................................................................................ 21
4 General installation in IP-based networks.......................................................22
4.1 Ping .......................................................................................................................... 22
4.1.1 No answer from ping.............................................................................................. 22
4.1.2 Only one Ethernet cable used ............................................................................... 22
4.1.3 Logical Networks ................................................................................................... 22
4.2 Anybus IPconfig...................................................................................................... 23
4.2.1 The module is not shown....................................................................................... 24
4.2.2 The module has IP address 0.0.0.0....................................................................... 25

Page 4 Reg.No. ME00107EN-02
Fieldbus PCI-Card
Contents
5 Profibus DPV1 Slave AB3601...............................................................................26
5.1 Profibus Interface Details....................................................................................... 26
5.2 Card .......................................................................................................................... 26
5.2.1 Status LEDs........................................................................................................... 26
5.2.2 Connectors 9-pin D-sub......................................................................................... 27
5.3 PROFIBUS network setup ...................................................................................... 28
5.3.1 GSD-file ................................................................................................................. 28
6 Profibus DPV1 Master AB3602 ............................................................................29
6.1 Profibus interface details ....................................................................................... 29
6.2 Card .......................................................................................................................... 29
6.2.1 Status LEDs........................................................................................................... 29
6.3 PROFIBUS network setup ...................................................................................... 31
6.3.1 AnyBus NetTool for PROFIBUS ............................................................................ 31
6.3.2 Termination............................................................................................................ 31
6.3.3 Node settings......................................................................................................... 31
6.3.4 Configuration online............................................................................................... 32
7 DeviceNet Adapter Slave AB3603.......................................................................33
7.1 DeviceNet Interface Details .................................................................................... 33
7.2 Card .......................................................................................................................... 33
7.2.1 Status LEDs........................................................................................................... 33
7.2.2 Connectors ............................................................................................................ 34
7.3 DeviceNet network setup........................................................................................ 34
8 DeviceNet Scanner Master AB3604 ...................................................................36
8.1 DeviceNet Interface Details .................................................................................... 36
8.2 Card .......................................................................................................................... 36
8.2.1 Status LEDs........................................................................................................... 36
8.2.2 Connectors ............................................................................................................ 37
8.3 DeviceNet network setup........................................................................................ 37
8.3.1 AnyBus NetTool for DeviceNet .............................................................................. 38
8.3.2 Termination............................................................................................................ 38
8.3.3 Nodes .................................................................................................................... 38
8.3.4 Configuration online............................................................................................... 38
8.3.5 Configuration with RSNetworx from Rockwell....................................................... 38
9 AS-Interface Master AB3605.................................................................................39
9.1 AS-Interface Master................................................................................................. 39
9.2 Card .......................................................................................................................... 39
9.2.1 Status LEDs........................................................................................................... 39
9.2.2 Connectors ............................................................................................................ 40
9.2.3 Rectifying of interruption........................................................................................ 40

Reg.No. ME00107EN-02 Page 5
Fieldbus PCI-Card
Contents
9.3 Principle of Input/Outputs in ASI ........................................................................... 41
9.4 Configuration interface........................................................................................... 41
9.4.1 Menu Tree Overwiev ............................................................................................. 42
9.4.2 Change settings..................................................................................................... 47
10 EtherNet/IP Adapter/Modbus TCP Slave AB3606.......................................49
10.1 EtherNet/IPAdapter/Modbus TCP slave interface details ................................... 49
10.2 Card .......................................................................................................................... 49
10.2.1 Status LEDs........................................................................................................... 50
10.3 Network setup.......................................................................................................... 51
10.3.1 EIP setup ............................................................................................................... 51
10.3.2 Modbus/TCP.......................................................................................................... 51
11 EtherNet/IP Scanner Master AB3607...............................................................52
11.1 EtherNet/IP Scanner master interface details....................................................... 52
11.2 Card .......................................................................................................................... 52
11.2.1 Status LEDs........................................................................................................... 53
11.3 Network setup.......................................................................................................... 54
11.3.1 Introduction to Scanlist .......................................................................................... 54
11.3.2 Scanlist via web-pages.......................................................................................... 54
12 PROFINET-IO Slave AB3609...............................................................................58
12.1 PROFINET-IO Slave Interface Details .................................................................... 58
12.2 Card .......................................................................................................................... 58
12.2.1 Status LEDs........................................................................................................... 59
12.3 Network setup.......................................................................................................... 60
13 FL-Net AB3610 .........................................................................................................61
13.1 FL-Net Interface Details .......................................................................................... 61
13.2 Card .......................................................................................................................... 61
13.2.1 Status LEDs........................................................................................................... 62
13.3 Network setup.......................................................................................................... 62
14 FIPIO Slave AB3611 ...............................................................................................63
14.1 FIPIO Interface Details ............................................................................................ 63
14.2 Card .......................................................................................................................... 63
14.2.1 Status LEDs........................................................................................................... 64
14.3 Setup ........................................................................................................................ 64
14.3.1 Setup in Schneider’s “UNITY” programming environment .................................... 65

Page 6 Reg.No. ME00107EN-02
Fieldbus PCI-Card
Contents
15 Interbus-S Slave AB3615.....................................................................................69
15.1 Interbus-S Interface Details.................................................................................... 69
15.2 Card .......................................................................................................................... 69
15.2.1 Status LEDs........................................................................................................... 70
15.3 Setup ........................................................................................................................ 71
16 CanOpen Slave AB3616 .......................................................................................72
16.1 CanOpen Interface Details...................................................................................... 72
16.2 Card .......................................................................................................................... 72
16.2.1 Status LEDs........................................................................................................... 73
16.3 Setup ........................................................................................................................ 74
16.3.1 Network configuration............................................................................................ 74
17 EtherCAT slave AB3617........................................................................................76
17.1 General..................................................................................................................... 76
17.1.1 Interface details ..................................................................................................... 76
17.2 Card .......................................................................................................................... 76
17.2.1 Status LEDs........................................................................................................... 77
17.2.2 State Description ................................................................................................... 77
17.2.3 Network Setup ....................................................................................................... 78

Fieldbus PCI-Card
About this manual
1 General
1.1 About this manual
This Instruction manual comprises information about:
• Installation
• Setup
The fieldbus PCI-cards are valid for YASKAWA controller NX100 and DX100 (hereafter called the
controller).
Text written in BOLD letters means command or button. Text written in ITALIC means text shown on
display.
1.1.1 Copyright
This manual may be copied for internal use without our written permission but not imparted to a third
party.
Any unauthorized use or copying of the contents or any part thereof is prohibited. This applies in
particular to trademarks, model denominations, documents, and drawings.
1.2 System requirements
1.2.1 NX100 Software
For the fieldbus PCI-card installation, the PCI card driver and version NS3.14-01A (or later) of the
NX100 system software are required.
1.2.2 DX100/DX200 software
No specific requirements.
1.3 In manual included Fieldbus PCI-cards and NetTools
Device YASKAWA Nordic
AB Part no.
Note
Profibus DP PCI-card, Slave AB3601 34790180
Profibus DP PCI-card, Master AB3602 34790190
DeviceNet PCI-card, Adapter(Slave) AB3603 34790080
DeviceNet PCI-card, Scanner(Master) AB3604 34790090
AS-Interface(ASI) PCI-card, Master AB3605 34790290
EtherNet/IP PCI-card, Slave/Adapter AB3606 34790380
EtherNet/IP PCI-card, Master/Scanner AB3607 34790390
PROFINET-IP PCI-card, Slave AB3609 34790480
FL-Net PCI-card, Slave AB3610 34790580
FIPIO PCI-card, Slave AB3611 34790680
Interbus-S PCI-card, Slave AB3615 34790780
CanOpen PCI-card, Slave AB3616 34790880
Reg.No. ME00107EN-02 Page 7

Fieldbus PCI-Card
Safety
Device YASKAWA Nordic
AB Part no.
Note
EtherCAT PCI-card, Slave AB3617
34790980 Only in
combination with
DX100/DX200
software
NetTool-DeviceNet (Network setup software) 8501405
NetTool-PROFIBUS (Network setup software) 8501401
ASI configuration cable
347583-80 (3
meters) (standard)
347583-81 (6)
347583-82 (9)
347583-83 (12)
347583-84 (15)
The delivered Fieldbus PCI-card kit comprises:
• PCI-card
• Software (drivers, GSD-files, EDS-files etc) Available on www.hms.se
The delivered Fieldbus NetTools comprises:
• Software
The NetTool-DeviceNet (Network setup software) also comprises
• Network adapter
1.4 Safety
This equipment is constructed, produced and tested according to the laws of the Member
States relating to the EMC-directive (2004/108/EC) as well as the LVD-directives (2006/95/EC)
YASKAWA Nordic AB’s responsibility does not cover errors or safety risks that may occur in
equipment connected to and/or installed in the machine, nor errors or safety risks that may
occur in the machine caused by equipment connected to and/or installed in the machine.
The machine must not be put into service until the complete production unit corresponds to
the laws of the Member States relating to machinery (2006/42/EC).
External cables must be connected according to our cable connection guide, see separate document.
Page 8 Reg.No. ME00107EN-02

Fieldbus PCI-Card
Handling ESD sensitive devices
1.5 Handling ESD sensitive devices
Fig. 1 ESD warning sign
The ESD warning sign shows where to take precautions to avoid electrostatic discharge (ESD).
The card contains ESD sensitive components. Static electricity can damage electronic devices and
your system. Ensure that you understand how to handle devices that are sensitive to static electricity.
To reduce the possibility of electrostatic discharge, observe the following precautions:
• To avoid damage, keep static-sensitive devices in their protective packaging until you are ready to
install them.
• Handle the card carefully, holding it by its edges or frame, and do not touch circuits, solder joints,
or connectors.
• Wear an ESD wrist strap and attach it to the system chassis ground or to any metal part of the
system before handling components or working in the interior compartment of the workstation.
• Use an antistatic mat.
1.6 Manufacturer
Address: YASKAWA Nordic AB
P.O Box 504
Verkstadsgatan 2
SE-385 25 Torsås
Telephone: [phone]
Telefax: [phone]
1.7 Introduction
The purposes of this document is to provide instructions for users of the YASKAWA fieldbus PCI-
cards and for supporting the configuration process. For further information regarding fieldbus
configuration and programming please contact supplier.
This document is limited to the functionality of the fieldbus PCI-cards and the connections to the
YASKAWA Robot Controller (hereafter referred to as the robot controller). It is assumed that the
reader has an understanding of the functionality of the robot controller.
Reg.No. ME00107EN-02 Page 9

Fieldbus PCI-Card
Terms
1.8 Terms
Throughout this document the term “user“, refers to the person or persons who are installing and
programming the robot controller with a fieldbus PCI-card installed. The end user of the robot
equipment will be referred to as the customer.
As in all communication systems the terms “inputs“ and “outputs“ can be ambiguous, because their
meaning depends on which end of the link that is being referenced. The convention in this document
is that “inputs“ and “outputs“ are always being referenced from the robot controller end of the link.
1.9 Fieldbus systems
Instead of using traditional wiring to distribute input and output signals, the automation industry more
frequently relays on computer communications. By using communication systems cost for material,
installation, documentation and maintenance can be greatly reduced. The communication system
can also be used for more advanced features like connecting different control systems and to
distribute the control functions to intelligent sub-systems, sensors and actuators.
The communication systems used for these tasks are commonly called a fieldbus system. Fieldbus
systems are used in all sectors of automation: Factory automation, manufacturing automation,
assembly automation, building automation, process automation, etc.
Different systems are used because of different technical requirements of the application. Those
different requirements are different levels of bus systems, bus structures, real-time behaviour,
amount of data being transferred, transmission media, distribution of power on the communication
media. The difference between the technical demands and the fact that no system on the market
fulfils all requirements has lead to a wide variety of different fieldbus systems.
When designing a product which includes fieldbus systems it is necessary to also take the local
computer network or communication system into consideration.
1.10 Introduction to the fieldbus PCI-cards
The PCI-cards are designed to make it possible to connect the robot control system to the most
commonly used fieldbus systems on the market. It controls the exchange of data between the robot
control system and the AnyBus system modules.
1.11 Hardware compatibility
The fieldbus PCI-cards are electrically compatible with the motherboards in all current models of
robot controllers. From the users point of view the fieldbus board will be used as a standard I/O board
available for the robot controller.
Page 10 Reg.No. ME00107EN-02

Fieldbus PCI-Card
General
2 Installation
2.1 General
2.1.1 Specification
• 3.3 and 5 V support (Universal keyed add-in)
• Competitively priced - high performance
• Easy plug-and-play interface
2.1.2 Technical specification
• Size(W x L x D): 100 x 120 22 mm (3.94” x 4.72” x 0.87”)
• Power supply: 3.3 and 5 V, 600 mA VDC
• Temperature: operating 0° +55°C
2.1.3 Compliances and conformances
• EMC compliance: 2004/108/EC
a. Emission: EN 61000-6-4:2001
b. Immunity: EN 61000-6-2:2001
• CE marked
• UL conformance
• Tested and verified for Fieldbus and network conformance
• RoHS compliance
2.2 Hardware installation
Warning
To prevent electrical shock to personnel and to prevent equipment damage, ensure
power to the robot control system is turned OFF before beginning the installation.
Caution
Never change any of the settings on the PCI-card while controller power is ON.
Caution
The card contains ESD sensitive components. Observe ESD precautions when handling the
card.
The following installation instructions apply to all fieldbus PCI-cards delivered by YASKAWA.
Reg.No. ME00107EN-02 Page 11

Fieldbus PCI-Card
Hardware installation
2.2.1 NX100 Installation
A
B
Fig. 2 PCI-card installation
A. PCI card B. Hole for securing screw
1. Unplug AC power and remove system cover.
2. If present, remove the bracket opposite the PCI slot.
3. Align the card connector with the slot and press firmly until the card is completely seated.
4. Secure the card connector to the chassis using a screw.
Note
To ensure trouble-free operation, the front plate of the card must be screwed together with the
system cover. The system cover must also be grounded in compliance with local regulations.
5. Re-attach the system cover and AC power
2.2.2 DX100/DX200 Installation
1. Remove the installation frame from the CPU rack by loosen the four screws, see Fig. 3 Remove
installation frame.
Page 12 Reg.No. ME00107EN-02

Fieldbus PCI-Card
Hardware installation
Fig. 3 Remove installation frame
2. Remove the cover and the retaining bracket for the PCI-card. Loosen the indicated screws, see
Fig. 4 Cover.
Fig. 4 Cover
3. Insert the PCI-card in an available slot. See Fig. 5 PCI-card in slot.
Reg.No. ME00107EN-02 Page 13

Fieldbus PCI-Card
Hardware installation
Fig. 5 PCI-card in slot
4. Install the installation frame in the CPU-rack and fasten it using the 4 screws. See Fig. 6 Installed
frame.
Fig. 6 Installed frame
A. Screw
Page 14 Reg.No. ME00107EN-02