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Study Material

obots. Study Material. Advanced Course. Contents 1. Safety Information and Warning p. 3 Expansion Cards p. 5 Communications p. 7 Inputs and outputs p. 9 RS-232 and RS-422 p. 13 CC-Link p. 29 Profibus p. 49

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Study Material

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  1. obots Study Material Advanced Course

  2. Contents 1 • Safety Information and Warning p. 3 • Expansion Cards p. 5 • Communications p. 7 • Inputs and outputs p. 9 • RS-232 and RS-422 p. 13 • CC-Link p. 29 • Profibus p. 49 • Ethernet p. 57 • Multitasking p. 88 • Compliance Control p. 102 • Multi Mechanism Control p. 113 • Robots p. 116 • Examples p. 122 • Servos p. 128 • Sensorless crash detection p. 146

  3. Contents 2 • Tracking p. 154 • Tracking “Red Line” p. 162 • System “tuning” p. 174 • Euromap 67 p. 185

  4. Safety Information and Warning

  5. Safety Information and Warning The robot movements used in the practical exercises are executed without the normal necessary safety facilities. Please maintain the proper safety distance from the robot system and only execute the movement sequences when the instructor is there to supervise. - Thank You!-

  6. Expansion Cards If you want to use expansion cards on the CR1 controller you must first install an Expansion Option Box. The cards can then be installed in the box. All CRn-5xx controllers can be operated with expansion cards. Programming can be performed in MELFA BASIC IV or with the MOVEMASTER Command. We recommend MELFA BASIC, however, because the MOVEMASTER Command has a number of limitations.

  7. Expansion Cards

  8. Communications

  9. Overview • Series A robots can communicate with their peripherals in a number of different ways. • I/Os Inputs and outputs • RS-232 Serial port • RS-422 Serial port • CC-Link Mitsubishi network • Ethernet TCP/IP • Profibus

  10. Inputs and Outputs • The simplest form of communication is via inputs and outputs. Every • controller has a number of inputs and outputs built in. The number • of I/Os can be increased with external I/O expansion modules, each • of which have 32 I/Os. • You can add up to 7 I/O expansion modules to each controller. • CR 1 16 I/Os Standard expandable to 240 I/Os • CR 2/CR 2A/B 32 I/Os Standard expandable to 256 I/Os • CR 3B 32 I/Os Standard expandable to 256 I/Os

  11. I/O Assignments Some of the controller’s standard integrated I/Os are pre-assigned, but you can change the assignments if necessary. The controllers also have functions that can be assigned to the I/Os. For further details please refer to the hardware manuals.

  12. Station No. CN300 CN100 Hardware Inputs & Outputs • The I/O modules have the designation 2A-RZ 371. • The last module can be max. 50 m from the controller. • Set the station number. • The modules are connected with the ROI connector on the back of the module.

  13. Questions ??

  14. obot RS-232 & RS-422

  15. 2A-RZ 581 RS-232 & RS-422 The RS-232 port is a standard feature in the control panel of the NARC controller. This port is usually used to communicate with Cosirop/Cosimir. You can also install a serial port expansion card. Depending on the controller model the card must be installed in the controller itself or in the Expansion Option Box.

  16. 2A-RZ 581 RS-232 & RS-422 • The serial port expansion card has 2 connectors for: • 1x RS-232 and 1x RS-422 • or • 2x RS-232 Connector CON 1 is reserved exclusively for RS-232. Connector CON 2 can be used for RS-232 or RS-422.

  17. RS-232 & RS-422

  18. RS-232 & RS-422

  19. RS-232 & RS-422

  20. RS-232 & RS-422CBAUxx Parameter • The data transfer rate sets the communication speed between the devices in bits per second. • Possible values: 2400/ 4800 / 9600 / 19200 • Make sure that the setting of the connected device matches the parameter setting.

  21. RS-232 & RS-422CLENExx Parameter • The data bits parameter specifies how many bits per character are transmitted. • Possible values: 7 or 8 data bits • Make sure that the setting of the connected device matches the parameter setting.

  22. RS-232 & RS-422CPRTYExx Parameter • The parity bit is used to check that the received character is correct. • Possible values: 0 / 1 / 2 = NON / ODD / EVEN • Make sure that the setting of the connected device matches the parameter setting.

  23. RS-232 & RS-422CSTOPxx Parameter • The stop bits value specifies how many bits should be waited after sending a character before the next character is transmitted. • Possible values: 1 or 2 • Make sure that the setting of the connected device matches the parameter setting.

  24. RS-232 & RS-422CTERMExx Parameter • Possible values: 0 / 1 = CR / CRLF • Make sure that the setting of the connected device matches the parameter setting.

  25. RS-232 & RS-422CPRCExx Parameter • 0 : No Procedure = Enables communication with the programming packages • 1 : Reserved Reserved • 2 : Data Link = Enables communication with the Data Link Instructions like OPEN/INPUT/PRINT • Make sure that the setting of the connected device matches the parameter setting.

  26. RS-232 & RS-422CDTRExx Parameter • The setting is always NO when COSIMIR/COSIROP or Melfa Basic 4 are used. • Possible values: 0 / 1 = NO / YES • Make sure that the setting of the connected device matches the parameter setting.

  27. RS-232 & RS-422Parameter List

  28. RS-232 & RS-422

  29. Questions ??

  30. obot

  31. CC-Link – General Information • Network system developed by Mitsubishi • Open network administered by the CLPA • The network operates in Master/Slave mode but also supports operation of a standby master • Supported masters: Q and A series PLCs and slot-in PCcards • High data transfer rates

  32. ControlLevel ETHERNET/MAP Net/10 CellLevel CC-Link FieldLevel Remote I/Os Encoders, valve blocks Robots, MMI Fielddevices PLC Drives CC-Link – General Information

  33. CC-Link – General Information • Master/local and Master/remote • Max. 64 slave stations per network • Max. net cable length 1.2km • Max. transfer rate 10Mbps • Remote I/Os can be replaced while the system is in operation • Occupies 32 I/Os

  34. CC-Link – General Information I/O data and data words are transmitted The local station: • Receives the input data of the remote I/O or device station and transmits the output data of the station to the master station or another local station. • Receives the output data of the master station. • Receives the word data of the master station. • Receives the word data of the remote device station or another local station and transmits the word data of the station to the master station or another local station.

  35. Transmission speed 156 kbps 625 kbps 2.5 Mbps 5 Mbps 10 Mbps Max. distance 1200m 600m 200m 150m 100m No. of stations 64 (max. 42 remote and 26 intelligent devices) Link points per network 2,048 I/Os, 512 registers Link points per station 64I/Os, 8 registers Communication method Polling method Synchronisation Frame synchronous method Cable BUS (RS-485), shielded twisted-pair cabling RAS functions Automatic return Slave station separation Communications & error monitoring CC-Link – General Information

  36. 2 Total Length 1 Transmission Speed Over 30cm 1200m 156 kbps Over 2m 600m Over 30cm 625 kbps Over 30cm 200m 2,5 Mbps Over 60cm 150m 5 Mbps 30cm – 59cm 110m 100m Over 1m 10 Mbps 60 cm – 99cm 80m 30 cm – 99cm 50m Distances: 1 = Master, local or intelligent device station – remote I/Os or remote device station 2 = Remote I/Os or remote device station – remote I/Os or remote device station CC-Link – General Information

  37. DA Insulation Shield bl yw wh Aluminium shealth DB DG Earthpoint Standard cabling conforming to the above specifications can be used. CC-Link – General Information

  38. Remote Module Local Module Master Module Terminatingresistor Terminatingresistor Shielded twisted-pair cabling Shielded twisted-pair cabling CC-Link – General Information • Shielded twisted-pair cabling • Avoid loops • Serial wiring without branches • Terminate line ends with resistors The terminating resistor is included with the master station.

  39. CC-Link – Robots SLOT 2 2A-HR 575

  40. CC-Link – Robots

  41. Baud rate Station No. x1 x10 MODE DIP Switches CC-Link – Robot Card Configure the settings described on the next slide before installing the card!

  42. CC-Link – Robot Settings Baud rate setting Select the switch setting before assembling the drive unit! All network parameters must be identical on all network stations.

  43. CC-Link – Robot Settings MODE switch setting

  44. CC-Link – Robot Settings DIP switch settings

  45. CC-Link – Robot Instructions

  46. CC-Link – Robot Connections (I/Os) Don’t forget that the last two bits for every robot are always reserved!

  47. CC LINK – Robot Connections (Registers) When you select one station you can use 4 registers; when you select 4 stations 16 registers are available.

  48. CC-Link – Robot Error Codes

  49. Questions ??

  50. Profibus

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