Fieldbus PCI-CARD For DX100 DX200 or NX100

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.
Part Number: 170542-1CD

Revision: 0
MANUAL NO.
ME00107EN 2
170542-1CD
Fieldbus PCI-Card
Copyright © 2014, Yaskawa America, Inc. All Rights Reserved.
ii
ME00107EN
170542-1CD
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.
iii
ME00107EN
170542-1CD
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”.
Indicates an imminent hazardous

situation which, if not avoided, could
DANGER result in death or serious injury to
personnel
Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous

CAUTION 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.
Always be sure to follow explicitly the

MANDATORY items listed under this heading.
Must never be performed.

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.
To ensure safe and efficient operation at all times, be sure

NOTE 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.
iv
ME00107EN
170542-1CD
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.
ME00107EN
170542-1CD
Fieldbus PCI-Card
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:
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.
vi
ME00107EN
© 2014 Yaskawa Nordic AB · Reg.No. ME00107EN-02
Original instructions
Instruction manual
Fieldbus PCI-Card
Fieldbus PCI-Card
■ 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.
Page 2 Reg.No. ME00107EN-02

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
Reg.No. ME00107EN-02 Page 3

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

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/IP Adapter/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

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 Note
AB Part no.
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

Fieldbus PCI-Card
Safety
Device YASKAWA Nordic Note

AB Part no.
34790980 Only in
EtherCAT PCI-card, Slave AB3617 combination with
DX100/DX200
software
NetTool-DeviceNet (Network setup software) 8501405
NetTool-PROFIBUS (Network setup software) 8501401
347583-80 (3
meters) (standard)
347583-81 (6)
ASI configuration cable
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.

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: +46 480 417 800
Telefax: +46 486 414 10
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.

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.

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.

Fieldbus PCI-Card
Hardware installation
2.2.1 NX100 Installation
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.

Fieldbus PCI-Card
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.

Fieldbus PCI-Card
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

Fieldbus PCI-Card
Settings
3 Software configuration
3.1 Settings
To setup the configuration of the system, first enter maintenance mode.
S TART HOLD
REMOTE TEACH
P LAY
J OB EDIT DIS P LAY UTILITY
J OB CONTENT
TEST0 1 S:0 000
CONTROL GROUP :R1 TOOL:
0000 NOP
0001 S ET B000 1
0002 S ET B001 0
0003 MOVJ VJ =80.00
0004 MOVJ VJ =80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ =80.00
0008 MOVJ VJ =100.00
0009 MOVJ VJ =100.00
0010 MOVJ VJ =100.00
0011 MOVJ VJ =100.00
MOVJ VJ =0.78
A Main Menu Short C ut Turn o n servo po we r
D
LAYOUT TOOL SE L GO BACK
B Mu lti
COO RD
COORD
ENTRY
DIR E C T
OP EN
PAGE AREA
S ELECT
S ERVO
MAIN SIMPLE ON CANCEL
MENU MENU READY AS S IS T
S ERVO ON
X- X+ X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+
C L- L+
FAS T
Y-
B-
Y+
B+
Z- Z+ MANUAL SP EED
Z- Z+
U- U+ T- T+
S LOW
E- E+ 8- 8+
INTER 7 8 9 TES T
SHIF T
SHIF T
LOCK S TART
ROB OT INFORM 4 5 6 BWD FWD

LIST
EX.AXIS
WELD 1 2 3 DELETE INS ERT
ON/OF F
MOTION 0 . -
AUX MODIFY ENTER
TYPE
Fig. 7 Programming pendant

A. Main menu C. Main menu button
B. Cursor key D. Select button
1. Maintenance mode:
To enter maintenance mode, press [MAIN MENU] button while turning the power supply on. The
Menu maintenance window is shown.

Fieldbus PCI-Card
Settings
Fig. 8 Menu maintenance

2. Security:
Step to SYSTEM and press the [SELECT] button

3. Choose SECURITY on the appearing pull down menu.
Fig. 9 Security
4. In the MODE box in security window:
Press [SELECT], choose MANAGEMENT MODE and press [SELECT]. A password window is
shown.
5. Enter “99999999” and press [ENTER]

Fieldbus PCI-Card
Settings
Fig. 10 Password
6. To do a setup:
Step to SYSTEM and choose SETUP on the pull down menu.
Fig. 11 Setup
7. In SETUP screen:
Mark the OPTION BOARD and press [SELECT]

Fieldbus PCI-Card
Settings
Fig. 12 Option board (ASI PCI-card)

8. Step to the PCI-card, object for installation (AB3605 ASI M in this fig). Press [SELECT].
Fig. 13 Setup for the choosen board (AB3604 DeviceNet M)

9. Step to (A) and set the value to USED by [SELECT].
10. IO SIZE (B) specifies the size of the signals. Type the desired value and press [ENTER]. The
maximum values of IO SIZE depend on the limitation of the different cards, see specific PCI-card.
11. Depending of the design of the fieldbus system, different BAUD RATE’s (D) are desired. The
maximum value of BAUD RATE depends on the limitation of the different cards, see specific
PCI-card. This is an available choice only at the DeviceNet PCI-cards.
12. Press [ENTER].
13. The question “MODIFY” appears. Select YES.
14. Continue to the IO MODULE

Fieldbus PCI-Card
Manual I/O allocation (FD 134)
Fig. 14 IO MODULE settings

15. In the IO MODULE, press [ENTER]. The card in CPU option 1 will allways be placed as number
16 (card in CPU option 2 as No.17). The amount of desired Inputs and Outputs (I/O’s) are shown
(in DeviceNet Master ex. above 20 bytes x 8 bits + 8 status bits = 168 bits).
Fig. 15 PCI card (AB3602 Profibus M)

16. The last position will automatically be marked, press [ENTER] again.
17. The question “MODIFY” appears. Select YES.
3.2 Manual I/O allocation (FD 134)

The installed PCI-cards are given specific areas by default. But from generation DX100 it is possible
to allocate certain areas. As an option this possibility can be enabled. The procedure for this function
is located in a separate instruction for External I/O signal allocation function.

Fieldbus PCI-Card
I/O map
3.3 I/O map

Depending on the application of the system, the number of userdefinable I/O points will vary. The
robot controller I/O’s follows a basic octal numbering system, i.e. each input or output group will occur
in a grouping of eight.
• The NX100 system has the capability of supporting 1024 input and 1024 output signals.
• The DX100 system has the capability of supporting 2048 input and 2048 output signals.
3.3.1 Fieldbus input data map
The data received from the PCI fieldbus card appears in the robot controller memory map according
to the tables below. The base address in the robot controller where the data will appear depends on
the installation. In the examples below the PCI card inputs are represented from address 20060
Memory map when the I/O size is set to a total of 24 input bits (16 fieldbus input bits)
Address Contents Description

MSB LSB
20060 Module and network status Status information. See
section3.4 Fieldbus status
byte
20070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7)
20080 b15 b14 b13 b12 b11 b10 b9 b8 Fieldbus input byte 2 (b8 -
b15)
Memory map when the I/O size is set to a total of 56 input bits (48 fieldbus input bits)

MSB LSB
20060 Module and network status Status information. See
section3.4 Fieldbus status
byte
20070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7)
b15)
b23)
b31)
b39)
b48)
3.3.2 Fieldbus output data map
The data transferred from the robot controller to the PCI fieldbus card appears in the robot controller
memory map according the table below. The base address in the robot controller where the data will
appear depends on the installation. In the examples below the PCI card inputs are represented from
address 30060.

Fieldbus PCI-Card
Fieldbus status byte
Memory map when the I/O size is set to a total of 24 output bits (16 fieldbus output bits)

MSB LSB
30060 Reserved Not available for use
30070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 -
b7)
b15)
Memory map when the I/O size is set to a total of 56 output bits (48 fieldbus output bits)

MSB LSB
30060 Reserved Not available for use
b7)
b15)
b23)
b31)
b39)
b48)
The first byte of output data is reserved for future use and is not accessed by the PCI fieldbus card.
This byte should not be used by the robot controller program.
3.4 Fieldbus status byte

One byte of input status data is generated by the PCI fieldbus card. The status byte contains
information about the PCI card and the fieldbus environment. The byte is continuously updated by
the software. The information available in this byte can be used by the robot controller to monitor the
PCI card and the fieldbus system.
The status byte contains the following information:
Bit no: Function Valid

0 0 Not used
1 0 Not used
2 0 Not used
3 0 Not used
4 0 Not used
5 1 = Some configured slaves are unreachable AB3602 only
6 1 = No communication Master/Slave
7 1 = General failure Master/Slave

Fieldbus PCI-Card
Ping
4 General installation in IP-based networks

This chapter is valid for the PCI cards that use IP based communication over Ethernet.
Every node on an IP network must have a unique IP address.
4.1 Ping
The IP address on the board is set with the HMS “Anybus IPconfig” tool which can be downloaded
from the HMS support web page. Verify with the ping command-line tool. If a ping is successful, the
cabling and IP address/subnet mask are operational. Equipment connected together must have the
same subnet mask. If not they will be on different logical networks.
4.1.1 No answer from ping
If no answer, verify the robot controller IP address and subnet mask (Maintenance Mode, Setup-
>Option Function). Verify IP address on your PC, write “ipconfig” on the command line. Subnet
masks must be equal and IP addresses must be unique. Cleaning the arp cache may sometimes
help if cables are connected/disconnected frequently. On the command line write “arp –d”.
4.1.2 Only one Ethernet cable used
This is a special case when robot controller and pinging PC is connected with just one cable. Most
modern PCs does automatic cross over of the Ethernet cable.
Solution:
Connect a switch/hub between the robot controller and the PC. If the communication works after that,
the cable needs to be of the crossover type.
4.1.3 Logical Networks
One reason that the ping does not work could be erroneously configured subnet masks. An IP
address consists of two parts:
1. Subnet. The first part describing the subnet/logical network where the node belongs. Nodes that
communicate with each other need to be on the same subnet. If not a gateway/router is needed
to connect the different networks.
2. Node address.
The other part describes the node address within the subnet
The IP address is not only a node address, the subnet part is of the same importance. The subnet
mask is the key to the subnet part of the IP address. It tells how many of the most significant bits in
the IP address that is the network address
Example 1:
The IP address 172.17.20.106 with subnet mask 255.255.0.0. The subnet part of the address is
172.17, the node address is 20.106. A node with this IP address can only communicate with nodes
which have their IP address starting with 172.17.
Example 2:

Fieldbus PCI-Card
Anybus IPconfig
The same IP address as example 1, but subnet mask 255.255.255.0. This gives the subnet part of
the address to 172.17.20 and the node part to 106. This node can only communicate with nodes
which have an IP address starting at 172.17.20.
Example 3:
It is easier to understand the IP address parts if looking at their binary representations:
172.17.20.106 is in hex 0xAC11146A, 255.255.0.0 is 0xFFFF0000. Logical OR between the IP

address and the subnet mask gives the subnet address, which is 172.17.0.0.
0xAC11146A
& 0xFFFF0000
―――――――――――
0xAC110000
There is a deprecated default rule regarding the subnet mask selection. It simplifies the subnet mask
selection, but makes many people unaware of it’s existence. IP addresses starting at 1-127 is class A
addresses and have subnet mask 255.0.0.0. 128-191 is class B with 255.255.0.0, 192-223 is class C
with 255.255.255.0. IP addresses starting at 224 is class D addresses and reserved for multicast
traffic.
4.2 Anybus IPconfig

The Anybus IPconfiguration tool can be downloaded from the HMS website.
1. Locate “Support”
2. On the dropdown menu, select Anybus-S or Anybus-M depending on if you use a slave or
master module.
3. Select the network type.
A specific site for the selected fieldbus appears. The IP based boards have a link to the Anybus
IPconfig utility program. On this page there is also other useful information, e.g. how to configure the
network, see Fig. 16 Example Configuration of network.

Fieldbus PCI-Card
Anybus IPconfig
Fig. 16 Example Configuration of network
4.2.1 The module is not shown
If the module not is shown, verify the cabling etc. using the “ping” command, see 4.1 Ping
Fig. 17 Settings Anybus IPconfig
If the module is still not shown:

1. Press the “Settings” button
2. Mark the check box “Broadcast from a Specific Network Interface Controller”, see Fig. 17
Settings Anybus IPconfig
3. Check that the correct network adapter is selected.

Fieldbus PCI-Card
Anybus IPconfig
4.2.2 The module has IP address 0.0.0.0
If the module has IP address 0.0.0.0, check that DHCP is not set by mistake. If setting DHCP without
having a DHCP server the IP address shows up as 0.0.0.0. If using DHCP, the server gives IP
addresses dynamically to nodes on the network.

Fieldbus PCI-Card
Profibus Interface Details
5 Profibus DPV1 Slave AB3601

5.1 Profibus Interface Details
• Complete Profibus DPV1 Slave functionality according to extensions of IEC 61158
• Up to 164 bytes input and 164 bytes output
• Supports PA baud rate up to 45.45 Kbit/s
• Supports class 1 and class 2 services
• Automatic baudrate detection (9.6 kbit/s - 12 Mbit/s)
• RS-485 optically isolated Profibus interface with on-board DC/DC converter
5.2 Card
Caution
card.
Fig. 18 PCI Profibus DPV1 slave card
5.2.1 Status LEDs
No: Indication State Meaning

Green Controlled by application
1 Appl. connected
Red Standalone
Green, flashing I/O access OK
2 I/O ACCESS Red, flashing I/O access failure (recoverable)
Off No activity

Fieldbus PCI-Card
Card

Off No power or no DPV1 request
currently being executed
3 Acyclic Traffic
Green A DPV1 request is currently being
executed
Off No diagnostics present or no power
on the module
Red, Flashing 1 Error in configuration data
Hz
4 Fieldbus Diagnostics
Red, Flashing 2 Error in parameter data
Hz
Red, Flashing Profibus ASIC initialisation error
4Hz
Off Bus is not online, or no power on the
nodule
5 Fieldbus On Line Green Bus is online and data exchange is
possible
Green, flashing Clear mode
Off Bus is off line
6 Fieldbus Off line Red Bus is off line, or no power on the
module
5.2.2 Connectors 9-pin D-sub
The 9-pin D-sub is the standard connector and is recommended for data transfers rates higher than
1500kbit/s.
A B
Fig. 19 D-sub layout

A. D-sub, male layout B. D-sub, female layout
Pin Signal Note

Housing Shield
1 NC
2 NC
3 B-Line
4 RTS RTS is used in some equipment to determine
the direction of transmission. In normal
applications only A-Line, B-Line and shield are
used.
5 GND BUS +%V BUS and GND BUS are used for bus
6 +5V BUS termination. Some devices, like optical
transceivers (RS485 to fibre optics) might
require external power supply from these pins.
7 NC
8 A-Line
9 NC

Fieldbus PCI-Card
PROFIBUS network setup
5.3 PROFIBUS network setup

For a complete network setup See 6.3 PROFIBUS network setup. Each slave device in a PROFIBUS
network is associated with an GSD-file which has to be downloaded to the network.
5.3.1 GSD-file
The GSD-file, contains all the necessary information about the device. The configuration tool uses
the GSD-file during configuration of the Profibus DP network.
Note
The latest version of the GSD-file can either be downloaded from http://www.anybus.com or
received by contacting HMS.

Fieldbus PCI-Card
Profibus interface details
6 Profibus DPV1 Master AB3602

6.1 Profibus interface details
• Complete Profibus class 1 and class 2 Master according to IEC 61158
• Up to 125 DP/DPV1 slaves can be connected
• Up to 255 bytes input and 255 bytes output data
• Supports Profibus baud rates up to 12 Mbit/s
• RS-485 optically isolated Profibus interface with on-board DC/DC converter
• Configuration via Anybus NetTool Windows based configuration software
6.2 Card
Caution
card.
Fig. 20 PCI Profibus DPV1 Master card
6.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity

Fieldbus PCI-Card
Card

Green Operate Mode
Green, flashing Clear Mode
3 Master status
Red Stop Mode
Off Offline
Green Master has the token
4 Token hold
Off Master does not have the token
Green Database OK
Green, flashing Database download in progress
5 Database Status
Red Database invalid
Off No database downloaded
Green Data exchange with all configured
slaves
Green, flashing Data exchange with at least one
configured slave
6 Communication status
Red Bus control error (Possible short
circuit or configuration error)
Off No data exchange with any off the
configurated slaves
Fieldbus interface
A B
Fig. 21 D-sub layout

A. D-sub, male layout B. D-sub, female layout
Pin Signal
Housing Cable shield
1 -
2 -
3 B-Line
4 RTS
5 GND_BUS
6 +5V BUS (output)
7 -
8 A-Line
9 -

Fieldbus PCI-Card
Serial interface
Pin Signal
Housing PE
1 -
2 RxD
3 TxD
4 -
5 GND
6 -
7 -
8 -
9 -
6.3 PROFIBUS network setup

To be able to setup the PROFIBUS fieldbus network, the AnyBus NetTool for PROFIBUS is
recommended to use.
6.3.1 AnyBus NetTool for PROFIBUS
Anybus NetTool for Profibus is a configuration tool to create complete Profibus-DP network
configurations. The graphical workbench of NetTool allows the compilation of Profibus network
configurations based on slave GS*-files. By online functionality the Profibus configuration can be
downloaded to the master module and the I/O-data of the connected slaves be monitored and
modified.
The configuration tool includes all necessary software and a hardware interface to configure, manage
and troubleshoot your PROFIBUS network.
• When installed, go to the Help-menu where all necessary information/guidelines for the setup can
be found.
6.3.2 Termination
The end nodes(first and last nodes) in a PROFIBUS network must be terminated to avoid reflections
on the bus line.
• Attach a terminating resistor, equal to 220 ohms, to each end of the data transfer cable. The
resistors are connected across the A- and B-lines(Pin 8 and 3 of the SUB-D connector).
Caution
If you do not use terminating resistors as described, the PROFIBUS cable system will NOT
operate properly
6.3.3 Node settings
All nodes have to be, by hardware, setup according to the configuration defined in the software. The
kind of setting device is varying, depending on which manufacturer used.

Fieldbus PCI-Card
6.3.4 Configuration online
The network configuration have to be scanned and downloaded to the PCI-card. Before going online
a connection must be established to the configuration connector on the PROFIBUS PCI-card.

Fieldbus PCI-Card
DeviceNet Interface Details
7 DeviceNet Adapter Slave AB3603

7.1 DeviceNet Interface Details
• Complete DeviceNet 2.0 Adapter implementationaccording to ODVA, group 2 only server
• DIP switch select baud rate and MACID
• Baud rate 125-500 kbit/s
• Optically isolated DeviceNet interface
7.2 Card
Caution
card.
Fig. 22 PCI DeviceNet adapter (slave) card
7.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
3 - - Not used
4 - - Not used

Fieldbus PCI-Card
DeviceNet network setup

Off No power or not online
Green Link OK, online, connected
5 Network status Green, flashing Online not connected
Red Critical link failure
Red, flashing Connection timeout
Off No power to device
Green Device operational
6 Module status Green, flashing Data size greater than configured
Red Unrecoverable fault
Red, flashing Minor fault
7.2.2 Connectors
Application interface
The module is available in both serial and parallel versions.
Fieldbus interface
1 2 3 4 5
Fig. 23 Male Connector DeviceNet
No: Signal Decription Note

V- Negative supply voltage The module requires 24VDC bus
1 power
2 CAN_L CAN_L bus line
3 shield Cable shield
4 CAN_H CAN_H bus line
V+ Positive supply voltage The module requires 24VDC bus
5 power
Note
The layout in Fig. 23 Male Connector DeviceNet is for a male connector. Female connectors
are in the opposite order.
7.3 DeviceNet network setup

For a complete network setup See 8.3 DeviceNet network setup. Each slave device in a DeviceNet
network is associated with an EDS-file which has to be downloaded to the network.

Fieldbus PCI-Card
The EDS-file contains all the necessary information about the device. The configuration tool uses the
EDS-file during configuration of the DeviceNet network.
Note
The latest version of the EDS-file can either be downloaded from http://www.hms.se or
received by contacting HMS.

Fieldbus PCI-Card
DeviceNet Interface Details
8 DeviceNet Scanner Master AB3604

8.1 DeviceNet Interface Details
• Complete DeviceNet 2.0 scanner implementation according to ODVA
• Group 2 Client/Server/UCMM support
• Optically isolated DeviceNet interface
• Baud rate 125-500 kbit/s
• Controls up to 63 DeviceNet slaves/Adapters
• Supports FLASH field upgrades
• Configuration via Anybus Nettool or RSNetworx
8.2 Card
Caution
card.
Fig. 24 PCI DeviceNet scanner (master)
8.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
3 - - Not used

Fieldbus PCI-Card

- No power or not initialized
4 Operation mode Green, flashing Idle mode
Green Run mode
Off No power, not initialized or no
connection established
Green, flashing Online, no connection established
5 Network status Green Online, at least one connection

established
Red, flashing Minor fault; at least one connection
has a minor fault
Red Critical link failure
Off No power or not initialized
Green Module status OK
6 Module status
Red Major fault
8.2.2 Connectors
Fieldbus interface
1 2 3 4 5
Fig. 25 Male Connector DeviceNet
No: Signal Decription Note

V- Negative supply voltage The module requires 24VDC bus
1 power
2 CAN_L CAN_L bus line
3 shield Cable shield
4 CAN_H CAN_H bus line
V+ Positive supply voltage The module requires 24VDC bus
5 power
Note
The layout in Fig. 25 Male Connector DeviceNet is for a male connector. Female connectors
are in the opposite order.
8.3 DeviceNet network setup

To be able to setup the DeviceNet fieldbus network, the AnyBus NetTool for DeviceNet is
recommended to use.

Fieldbus PCI-Card
8.3.1 AnyBus NetTool for DeviceNet
The AnyBus NetTool for DeviceNet is a Configuration Tool that allows configuration and maintenance
of your DeviceNet Network. Setup functions include full Scanner configuration and DeviceNet slave
configuration. The AnyBus NetTool-DN lets users configure, manage and troubleshoot any
DeviceNet network or network component on a DeviceNet network.
The tool consists of a Windows 32-bit graphical network configuration software and a DIN rail
mountable adapter that connect a PC, via RS232, to the DeviceNet cable. The configuration tool
includes all necessary software and a hardware interface to configure, manage and troubleshoot
your DeviceNet network.
• When installed, go to the Help-menu where all necessary information/guidelines for the setup can
be found.
8.3.2 Termination
The end nodes (first and last nodes) in a DeviceNet network must be terminated to avoid reflections
on the bus line.
• Attach a terminating resistor equal to 121 ohms, 1 %, 1/4W or greater wattage, to each end of the
trunk cable. The resistors are connected across the CAN_H and CAN_L lines (Blue and white
wires of the DeviceNet cable).
Caution
If you do not use terminating resistors as described, the DeviceNet cable system will NOT
operate properly.
8.3.3 Nodes
All nodes have to be, by hardware, setup according to the configuration defined in the software. The
kind of setting device is varying, depending on which manufacturer used.
8.3.4 Configuration online
The network configuration have to be scanned and downloaded to the PCI-card. Before going online
a connection must be established to the DeviceNet network. The adapter can be connected parallelly
anywhere within the fieldbus network.
8.3.5 Configuration with RSNetworx from Rockwell
RSNetworx for DeviceNet form Rockwell can be used instead of AnyBus NetTool for configuring the
DeviceNet network. RSNetWorx does not presently show parameters for the masters why the
information below may be helpful in order to get the HMS DeviceNet scanner in “idle”-mode, where it
can receive configuration.
Use "Class / Instance Editor” and right-click the node, so the editor going to choose. It is a kind of
dialogue that allows the user to send an (almost) arbitrarily CIP command with arbitrary data to a
node on the network, usually it is used to read / write settings of a slave, but it can be used for other
things as well.
A “SetAttributeSingle” has to be send to Class 0x01, Instance 0x01 and Attribute 0x67. The data
must be either "0" or "1" depending on whether the master should be set to "Run" or "Idle".

Fieldbus PCI-Card
AS-Interface Master
9 AS-Interface Master AB3605

9.1 AS-Interface Master
• Complete AS-Interace Master supporting version 2.1 and also backwards compatible with version
2.0
• Controls up to 62 AS-Interface slaves
• Optically isolated interface
• Full extended master M1E
• Supports auto-configuration or configuration via RS-232 using standard Windows hyper-terminal
program on PC
9.2 Card
Caution
card.
Fig. 26 PCI AS-Interface Master
9.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
Green Module is in running mode
3 Running/Idle
Red Module is in idle mode

Fieldbus PCI-Card
Card

Off No error, no slave 0,
autoprogrammming not possible
8Hz Green Auto programming possible
1Hz Green Slave address 0 exist
4 Auto prog, slave 0 exist
Red Periphery error
8Hz Red Perophery error, auto-programming
possible
1Hz Red Periphery error, slave address 0 exist
Green, flashing online according to configuration
5 Network status Green Online, but no connections
established
Red Offline
Green, flashing Protected mode
6 Module status
Green Configuration mode
Red Power fail bus
9.2.2 Connectors
1 2 3
Fig. 27 Connector PCI AS-interface Master
No: Signal
1 AS-Interface +
2 -
3 AS-Interface -
9.2.3 Rectifying of interruption
Since there are possibilities of AS-interface being affected by interruption, a ferrite clip should be
attached to its bus cable according to Fig. 28 Ferrite clip on cable.
Fig. 28 Ferrite clip on cable

Fieldbus PCI-Card
Principle of Input/Outputs in ASI
9.3 Principle of Input/Outputs in ASI
Note
For every Input or Output in ASI the respective Input/Output will be allocated (blocked).
The Inputs/Outputs of the nodes in an ASI fieldbus system can be set up as in following example:
I/O NO: Function Comment

25-32 8 bits of system status For NX100 specific fieldbus status
data
33-36 4 bits of system status For ASI fieldbus system internal
status data.
Always 4 first bits of the first node in
ASI.
37-40 4 bits of data input Node 1
4 bits of data output
9.4 Configuration interface

This interface provides a simple text based interface via the onboard RS232 interface. All network
configuration parameters are available using a standard terminal emulator such as the windows
Hyperterminal.
Note
No data exchange is halted and no mailbox activity is possible while using this interface.
Terminal emulation: ASCII

Baudrate: 38400
Databits: 8
Stopbits: 1
Parity: None
Flow control: None

Fieldbus PCI-Card
Configuration interface
9.4.1 Menu Tree Overwiev
Fig. 29 Menu tree
Enable Terminal Interface Menu
The module displays the following screen when connecting to the configuaration interface
Fig. 30 Enable terminal interface menu

Fieldbus PCI-Card
To activate the configuration interface, press [Enter]. Note that data exchange and mailbox activity
will be halted until the RS232 cable is physically disconnected.
Main menu
The following menu entries are available from the main menu. Detailed information of each menu
entry is presented in the following pages.
Fig. 31 Main menu
The status section reflects the contents of the AS-Interface flag bytes.
View scan-lists
This command displays all network status lists in the format shown in Fig. 32 Scan-list.

Fieldbus PCI-Card
Fig. 32 Scan-list
- = No slave present
X = Slave present

Fieldbus PCI-Card
View all nodes
This command displays I/O configuration, ID codes and all parameters for slave
Fig. 33 All nodes
View all detected nodes
This command will display all detected nodes
Fig. 34 Detected nodes

Fieldbus PCI-Card
To alter a setting for a specific node, type the desired node address and press [Enter].
View single node
This command displays information about a single node.
Fig. 35 Single node
To view or alter the settings for a specific node, type the desired node address and press [Enter].
Toggle node
This mode is used to alter the current operating mode of the module.
Fig. 36 Toggle mode
Press [ESC] to cancel.
Online/Offline mode
This command is used to toggle Online/Offline mode
Fig. 37 Online/Offline mode

Fieldbus PCI-Card
Auto address
This command is used to enable/disable the automatic address programming feature.
Fig. 38 Auto address
Save configuration
Fig. 39 Save configuration
Press [Enter] to store the current configuration, or press [ESC] to cancel.
Note
This command is not allowed in protected mode.
9.4.2 Change settings
This menu is displayed when a specific node has been selected in main menu commands 1 to 4.

Fieldbus PCI-Card
Fig. 40 Change settings
To alter the value of a parameter, select the desired parameter by typing the corresponding number
and press [Enter].
A menu similar to the one below is displayed, allowing the selected parameter to be altered.
Type the new value and press [Enter]. The parameter value will change accordingly.
Fig. 41 Change parameter

Fieldbus PCI-Card
EtherNet/IP Adapter/Modbus TCP slave interface details
10 EtherNet/IP Adapter/Modbus TCP Slave AB3606

10.1 EtherNet/IP Adapter/Modbus TCP slave interface details
• Complete EtherNet/IP Adapter (slave) interface
• Baud rate: 10/100 MBit/s
• EtherNet/IP level 2 I/O server
• Transformer isolated Ethernet interface
• Modbus/TCP server/slave functionality
10.2 Card
Caution
card.
Fig. 42 EtherNet/ProfiNet/FL-Net card

Fieldbus PCI-Card
Card
10.2.1 Status LEDs

Appl. Green Controlled by application
1
connected Red Standalone
Green, flashing
2 I/O ACCESS Red, flashing I/O ACCESS
Off
3 Activity Green, flashing A packet is received or transmitted
Green, Link detected
4 -
Off Link not detected
Green On-line, one or more connections
established (CIP Class 1 or 3)
Green, flashing On-line, no connections established
Red Duplicate IP- Configured IP address already
in use
Red, flashing Connection timeout. One or more of the
5 Network status connections in which this module is the
target has timed-out. This state is only left if
all timed-out connections are re-established
or if the module is reset.
Alternating red/ Self test in progress
green
Off No power or no IP address
Green Controlled by a Scanner in Run state
Green, flashing Not configured, or Scanner in Idle state
Red A major unrecoverable fault has been
detected
6 Module status
Red, flashing A minor recoverable fault has been detected
Alternating red/ Self-test in progress
green
Off No power
Fieldbus interface
1 8
Fig. 43 RJ45 female layout
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination

Fieldbus PCI-Card
Network setup
Pin RJ45
(Female) Signal
5 Termination
6 RD-
7 Termination
8 Termination
10.3 Network setup

from the HMS support webpage.
See section 4 General installation in IP-based networks.
10.3.1 EIP setup
To configure the EtherNet/IP fieldbus network RS-Networx can be used. EDS files used by
configuration tools, as well as examples can be found on the HMS support webpage. Some
EtherNet/IP scanners do not support configuration with EDS-files, in these cases the instance
numbering must be entered manually. Minimum is to set output/producing instance number and
input/consuming instance number of the assembly object, the rest can often be set to = 0. The
instance numbering for the AB3606 and its assembly object: output/producing instance=100, input/
consuming instance=150, configuration instance=197, Heartbeat Input-Only=198, Heartbeat Listen-
Only=199.
10.3.2 Modbus/TCP
ModbusTCP addressing. IO area is addressed with both coils (1 bit) and registers (16 bits). The coils
have the MSB bit first, as opposite to DX100. The registers have the same bit mapping. Input area:
coil 0—16383, register 0 – 1023 Output area: coil 16384 – 32767, register 1024 – 2047, i.e. the same
bits can be read via coil and registers. Both in and out areas can be read via Modbus.

Fieldbus PCI-Card
EtherNet/IP Scanner master interface details
11 EtherNet/IP Scanner Master AB3607

11.1 EtherNet/IP Scanner master interface details
• Complete EtherNet/IP Scanner (master)” interface
• Dual Port (DPRAM) parallel interface
• EtherNet/IP level 4 I/O client - ODVA certified
11.2 Card
Caution
card.

Fieldbus PCI-Card
Card
11.2.1 Status LEDs

1
Off No activity
3 - - Not used
Green Link established
4 Link/Activity Green, flashing Activity; receiving/transmitting data
Off No link or power off
Green Connected
The module has at least one
established EtherNet/IP connection
(target or originated)
Green, flashing No connections
There are no EtherNet/IP
connections established to the
module (class 1 or class 3, target or
originated)
5 Network status Red Duplicate IP
Configured IP address already in use
Red, flashing Connection timeout
One or several EtherNet/IP target
connections have timed-out
The module can only leave this state
if all timed-out target connections are
re-established, or if the module is
reset
Off No power or no IP address
Green Device operational
Module is operating correctly in Run-
state
Green, flashing Standby
Module has not been configured
Scanner in Idle-state
Red Major fault
Major unrecoverable fault
6
Minor recoverable fault (originated
on timeout)
An originated connection could not
be opened
Alternating Red/ Self test
Green Module is performing power up test
procedures
Off No power

Fieldbus PCI-Card
Network setup
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
11.3 Network setup

To configure the EtherNet/IP fieldbus network RS-Networx is used.
When configuring the HMS Ethernet/IP scanner it must be in ”idle” mode. One way to change
between “idle” and “run” mode is to access the PCI board’s on-board http server. Use any standard
webbrowser and write the IP address of the board in the address-field.
11.3.1 Introduction to Scanlist
This functionality is supported if the robot controller has a HMSAB.DRV version 1.5.15.9 (DX100) or
1.4.18.9 (NX100/NXC100) or later. Date for release is 2013-01-08. All versions for DX200.
The AB3607 card must have version 1.08 or newer. Version can be seen in the AnyBus IPConfig tool.
The scanner starts to scan EtherNet/IP slaves when set in RUN-mode according to the configured
scanlist. This scanlist can be accessed via Explicit CIP-messages via Ethernet or via WEB-pages by
the help of two SSI-commands.
11.3.2 Scanlist via web-pages
The module must be in Scanner mode Idle to be able to change the scanlist. The default WEB-pages
have this enabled via the check box on the first page.

Fieldbus PCI-Card
Network setup
A
B
Fig. 46 Anybus Master EtherNet/IP

A. Scanner mode Idle B. Scanlist Config
Note
If Scanlist Config is missing, update the HMSAB.DRV in the robot controller or the firmware
on the PCI card.
To enter Configuration of Scanlist, select text “Scanlist Config”:
Fig. 47 Anybus Master EtherNet/IP 2

A. Delete
B. Add
If you try to add or edit the scanlist when the module is in RUN-mode the following error will be
displayed:

Fieldbus PCI-Card
Network setup
Fig. 48 Error:12
To edit a connection in the list, just click on that row. To add a connection press [Add]. To delete a
connection select row and press [Delete]. See Fig. 47 Anybus Master EtherNet/IP 2.
Example below shows connection 5 bytes from an AnyBus Ethernet/IP adapter. Please note the
instance numbering:
Fig. 49 Scanlist configuration
Note
The sum of all Originator->Target is not allowed to be greater than 505 bytes and the sum of
all Target ->Originator is not allowed to be greater than 509 bytes. See Fig. 49 Scanlist
configuration. Be sure not to set greater values or addresses outside these limits.

Fieldbus PCI-Card
Network setup
Note
The default value for the Configuration instance is 0.

Fieldbus PCI-Card
PROFINET-IO Slave Interface Details
12 PROFINET-IO Slave AB3609

12.1 PROFINET-IO Slave Interface Details
• Complete PROFINET-IO device functionality
• Max. 255 bytes of input and 255 bytes output data
• 100 Mbit full duplex transmission
• RJ45 connector
• Powerful 32 Bit processor for short cycle times
• GSD file for easy configuration
12.2 Card
Caution
card.

Fieldbus PCI-Card
Card
12.2.1 Status LEDs

1
Off No activity
3 - - Not used
4 Link/Activity Green, flashing Receiving/transmitting data
Off No link or power off
Green Initialized, no error
Green, 1 flash Diagnostic data available
Green, 2 flashes Blink. Used by an engineering tool to identify the
Anybus module
Red, 1 flash Configuration Error
Too many modules/submodules
5 Module status I/O size derived from IO controller
configuration is too large
Configuration mismatch 8no module, wrong
module)
Red, 3 flashes No station name or no IP address assigned
Red, 4 flashes Internal Error
Green Online, RUN
Connection with IO controller established
IO controller is in RUN state
Communica- Green, 1 flash Online, STOP
6
tion status Connection with IO controller established
IO controller is in STOP state
Off Offline
No connection with IO controller
Fieldbus interface
1 8

Fieldbus PCI-Card
Network setup
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
12.3 Network setup

Two unique IDs have to be set on the ProfiNet slave:
• IP address
• Device Name
Set a Device Name for the module when the Anybus PROFINET IO module is to be used for the first
time in the network. The Device Name must be unique within the network. The IP address can be
assigned by the master, by DHCP, or set explicitly .
Both the IP address and the device name can be set by, e.g. Siemens engineering tool. There is a
guide for the Siemens tool on the HMS webpage. If using more than one AB3609 they can be
distinguished by their MAC addresses.
The configuration of AB3609 can be read by accessing the modules built in FTP server. The settings
are in the files “ethcfg.cfg” and “pniocfg.cfg”.

Fieldbus PCI-Card
FL-Net Interface Details
13 FL-Net AB3610
13.1 FL-Net Interface Details
• Complete FL-Net server functionality
• Support shielded (STP) and unshielded (UTP) cables
• FL-Net class 1 node
• Customizable identity/profile information
• Dual Port (DPRAM) parallel interface
13.2 Card
Caution
card.

Fieldbus PCI-Card
Network setup
13.2.1 Status LEDs

1
Off No activity
Green Packet received or transmitted
3 COM
Off No activity
4 LNK
Off No link established
Green Participating on FL-Net
5 FL-LNK
Off Not participating on FL-Net
Red Unit needs to be replaced (e.e. invalid MAC ID)
or
6 ERR Anybus watchdog enabled and not updated properly
Red, flashing Parameter error
Off Normal state
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
13.3 Network setup


Fieldbus PCI-Card
FIPIO Interface Details
14 FIPIO Slave AB3611

14.1 FIPIO Interface Details
General features:
• Supports both FIP and WorldFIP standards
• Baudrate. The baud rate is fixed to the standard FIPIO baudrate 1Mbit/s
• The FIPIO slave is configured as a Class 0 device, i.e. it cannot change configuration in run-time.
It supports all 3 different FIPIO profiles:
• FRD C2 = FRDP - FIPIO Reduced Device Profile. Up to 2 words in/out = 4 bytes = 32 bits.
• FSD C8 = FSDP - FIPIO Standard Device Profile. Up to 8 words in/out = 16 bytes = 128 bits
• FED C32 = FEDP - FIPIO Extended Device Profile. Up to 32 words in/out = 64 bytes = 512 bits.
• The profile is selected depending on the configured IO size.
14.2 Card
Caution
card.
Fig. 54 FIPIO slave card
The top connectors are most bus IN interface. The bottom connectors, above the LEDs are bus OUT
interface.

Fieldbus PCI-Card
Setup
14.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
Off Device not powered or major failure
(no communication)
3 Run
Green Normal operation (Device powered
up and operating)
Off No bus activity
4 COM
Green, flashing Bus activity
Off Not powered or device operating
normally
5 Err Red, flashing Bus not connected or promptness
timeout
Red Major unrecoverable fault
Off Device operating normally
6 I/O
Red External device error
Fieldbus interface
Fig. 55 9-pin D-sub male layout
14.3 Setup
Node address setting can be in the range: 1-62 and 64-255.
Node address restrictions:

• Node address 0 is reserved for the fieldbus control system (e.g. the PLC)
• Node address 63 is reserved for configuration and diagnostic terminals
• Addresses 1 - 62 are used for connecting industrial peripheral devices to FIPIO. These devices

Fieldbus PCI-Card
Setup
• must be declared in the remote I/O configuration of the PLC that controls the process.
• Addresses 64 - 255 can only be used if supported by the fieldbus control system.
14.3.1 Setup in Schneider’s “UNITY” programming environment
The older environment, “PL7”, is described on AnyBus support pages for FIPIO. The UNITY
environment came into use around 2004.
The configuration starts from project Browser with adding a FIPIO node.
Fig. 56 Node configuration
Chose one of the profiles FRD C2, FSD C8 or FED C32 depending of what is configured in the robot
controller. The profile is set up depending on the configured IO size. I.e. 2 words give FRD, 3-8 words
give FSD and 9-32 words give FED. The profiles without “P” is selected (=class 0 = not configurable
from the master).

Fieldbus PCI-Card
Setup
Fig. 57 Choose profile
After configuring the node it creates a number of I/O objects. Note that FRD is addressed via bits and
FED/FSD via words
FED C32: %IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.31
%QW\2.nod nb\0.0.0.0 - %QW\2.nod nb\0.0.0.31
FSD C8: %IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.8
%IW\2.nod nb\0.0.0.0 - %IW\2.nod nb\0.0.0.8
FRD C2 %I\2.nod nb\0.0.0 - %IW\2.nod nb\0.0.31
%Q\2.nod nb\0.0.0 - %QW\2.nod nb\0.0.31

Fieldbus PCI-Card
Setup
Fig. 58 FIPIO address
Fig. 59 FIPIO address continued
In online mode it looks Fig. 60 Online mode when OK when OK.
Fig. 60 Online mode when OK
In online mode it looks like Fig. 61 Online mode when NOT OK when not OK.

Fieldbus PCI-Card
Setup
Fig. 61 Online mode when NOT OK
The data in and out can be read in online and debug on a node that is OK.
Fig. 62 Online data presentation
The data can be read as Decimal, Hexadecimal or binary.
Fig. 63 Data format

Fieldbus PCI-Card
Interbus-S Interface Details
15 Interbus-S Slave AB3615

15.1 Interbus-S Interface Details
The Interbus-S 2Mbit/s module is a slave node that can be read from/written to by an Interbus master.
Being a slave module, it cannot initiate communication to other nodes; it only responds to incoming
requests.
• Galvanically isolated bus electronics.
• Up to 10 words of cyclic in/out data => 20 bytes in 20 bytes out => 160 bits in 160 bits out.
• No settings needed in maintenance mode.
• Baudrate. Setting only possible by changing jumper on physical AnyBus card. See below. The
module supports 2Mbit/s and 500kbit/s operation.
• Physical Addressing. No setting. The addressing in a Interbus-S system is automatically assigned
to devices using their physical location.
• No “Process Data” (parameter data) is used.
15.2 Card
Caution
card.
Fig. 64 Interbus-S slave card
The top connector is bus IN interface. The bottom connector, above the LEDs, is bus OUT interface.

Fieldbus PCI-Card
Card
15.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
CC/RC Green Cable connection is good and the
3
Interbus master is not in reset mode.
4 RD Yellow Remote bus disabled
5 BA Green Bus active
TR Green RCP-communication active. Hold
6
time = 500ms
Fieldbus connector bus IN
Fig. 65 Male 9-pin D-sub
Fieldbus connector bus OUT
Fig. 66 Female 9-pin D-sub

Fieldbus PCI-Card
Setup
15.3 Setup
The Interbus-S slave can run on either 500 kbit/s or 2 Mbit/s. The setting is made by switching a
jumper on the card when the card is unpowered.
Referring to image below:

• Moving the jumper to the A-side sets baudrate 2 Mbit/s
• Moving the jumper to the B-side sets baudrate 500 kbit/s
Fig. 67 Switching baudrate: 500 kbit/s or 2 Mbit/s

Fieldbus PCI-Card
CanOpen Interface Details
16 CanOpen Slave AB3616

16.1 CanOpen Interface Details
I/O Data is exchanged using Process Data Objects (PDO). The module supports up to 80 RPDO’s
and 80 TPDO’s, each capable of carrying up to 8 bytes of data.
• DS301 v4.02 compliant
• Backwards compatible with DS301 v3
• Application interface fully backwards compatible with ABS-COP-1 & 2.
• Galvanically isolated bus electronics
• Supports all standard baudrates
• Network store/restore functionality
• Heartbeat & Node Guarding support
• 80 Process Data Objects (PDO)s in/out => 160 bytes in and 160 bytes out => 1280 bits in 1280
bits out.
• No parameter data is used.
16.2 Card
Caution
card.

Fieldbus PCI-Card
Card
Fig. 68 CanOpen slave card
16.2.1 Status LEDs

1
Off No activity
Off Normal operation
3 Status
Red Unrecoverable fault detected
Off Module not powered
4 Power
Green Module powered
Off Module not powered
Green, flashing 2 Module is in the PRE-OPERATIONAL state
Hz
5 Run Green Module is in the OPERATIONAL state
Green, single Modules in the STOPPED state
flash
Red, flashing Bus initialisation fault

Fieldbus PCI-Card
Setup

Off No error
Red Bus off
Red, single flash Warning limit reached
Red, double flash Error control event
6 Error
Alternating red/ Self test
green Module is performing power up test
procedures
Red, triple flash Sync error
Fieldbus interface
Fig. 69 9-pin D-sub male layout
16.3 Setup
• Baudrate, 8 values possible to set in Maintenance mode: 10kbps, 20kbps, 50kbps, 125kbps,
250kbps, 500kbps, 800kbps and 1Mbps.
• Node address value: Valid settings range from 1...127.
• EDS file for use in configuration tool can be downloaded from HMS. www.anybus.com. Select
SUPPORT and then AnyBus-S. Then choose CANopen Slave Interface. There you will find EDS
files as well as other examples of how to configure.
16.3.1 Network configuration
To configure a CanOpen network may be complicated. This should be seen as helpful suggestions/
information:
The DS301 Can Open specification itself describes how the CanOpen protocol works and what the
various configuration objects are used for. When working with CanOpen this document will be useful
sooner or later.
It is strongly recommended to attend seminars or education about the CanOpen protocol before
carrying out more complex experimenting.

Fieldbus PCI-Card
Setup
Working with CanOpen is often more similar to work with serial protocols like Modbus than compared
to working with fieldbuses like Profibus or Devicenet.
CanOpen requires more knowledge about the lower-level protocol details as they often need to be
modified during network configuration.
CanOpen provides much more flexibility but places high competence demands on the installer.

Fieldbus PCI-Card
General
17 EtherCAT slave AB3617

17.1 General
EtherCAT slave is supported by the system sw and the HMSAB.DRV version 1.6.5.9.
17.1.1 Interface details
• CANopen over EtherCAT

• DS301 v4.02 compliant
• Galvanically isolated network electronics
• Generic Device Description File provided
17.2 Card
Caution
card.
EtherCA T in-port
EtherCA T out-port
Status LEDs
Fig. 70 EtherCAT slave card

Fieldbus PCI-Card
Card
17.2.1 Status LEDs

1 Appl. connected
Red Standalone
Off No activity
Off No link detected on Ethernet port 1 = In
port
3 Link/Activity 1
Green Link detected on Ethernet port 1
Green, flashing Exchanging packets on Ethernet port 1
Off No link detected on Ethernet port 2 = Out
port
4 Link/Activity 2
Green Link detected on Ethernet port 2
Green, flashing Exchanging packets on Ethernet port 2
Off The device is in INIT state
Green, flashing The device is in PRE-OPERATIONAL
state
5 Run
Green, single The device is in SAFE-OPERATIONAL
flash state
Green The device is in OPERATIONAL state
Off EtherCAT communication is working
Red, flashing General configuration error
Red, single flash Slave device application has changed the
EtherCAT state autonomously:
6 Error
Parameter ‘Change’ in the AL status
register is set to 01 (change/error).
Red, double flash Sync manager watchdog timeout
Red Application watchdog timeout
17.2.2 State Description
The actual state is described by LED 5 in 17.2.1 Status LEDs.
The Anybus-S EtherCAT module enters the INIT state directly after start-up. All other transitions are
controlled by the network master.
INIT
INIT is entered directly after start-up. The Anybus-S EtherCAT module will remain in this state until it
is switched to the PRE-OPERATIONAL state by the master.
PRE-OPERATIONAL
The module is configured by the master. Iin the PRE-OPERATIONAL state EtherCAT mailbox
communication and SDO communication are allowed. Once configured the module will be switched
to the SAFE-OPERATIONAL state by the master.

Fieldbus PCI-Card
Card
SAFE-OPERATIONAL
Input I/O data (PDOs) can be sent from the module to the master in the SAFE-OPERATIONAL state.
No data communication from the master to the module.
OPERATIONAL
In OPERATIONAL state all kinds of communication are allowed, input I/O data from slave to master,
output I/O data from master to slave as well as SDO communication
Fieldbus interface
1 8
Pin RJ45
(Female) Signal
1 TD+
2 TD-
3 RD+
4 Termination
5 Termination
6 RD-
7 Termination
8 Termination
17.2.3 Network Setup
The only setup needed on the robot controller is the amount of used IO. No IP address is used on
EtherCAT. Instead the addressing is made by the EtherCAT master and the address depends on
where the slave is on the EtherCAT network.
EtherCAT network can have any topology, but, unlike many other Ethernet based fieldbuses,
standard network switches cannot be used. An EtherCAT slave forwards a telegram directly from an
incoming port to an outgoing port by HW assistance. If a node is last on the network it sends the
telegrams back on the inport.
If the slave shall detect lost connection with the master, the Synch Manager Watchdog (SM
Watchdog) has to be enabled by the master. See Fig. 72 Settings for recommended configuration of
SM Watchdog (register 420 h = 1000) and the Multiplier (register 400h = 2498), resulting in 100 ms
watchdog. Fig. 72 Settings is a screen shot from Beckhoff’s System Manager. The HMS support
website has a guide showing how to set up a Beckhoff PLC for AnyBus-S EtherCAT.

Fieldbus PCI-Card
Card
Fig. 72 Settings

YAS KAWA Compa ny group: Dis tributors
AT YAS KAWA Europe GmbH BG Ka mma rton Bulga ria Ltd
Am Concorde Pa rk 1/B6/108-110, S ofia +359 (02) 926 6060
AT-2320 S chwe cha t-Wie n, Aus tria
last page
P hone +43-1-707-9324-15 CZ Ha dyna Inte rna tiona l s pol. s .r.o.
Os tra va -Ma ria ns ke Hory +420 596 622 636
CZ YASKAWA Czech s .r.o.
We s t Bus ine s s Ce nte r Chr· ötía ny, Chr· ötía ny 206 CH MES S ER Eute ctic Ca s tolin S witze rla nd S .A.
CZ-252 19 Rudn· u P ra hy, Cze ch Re public D‰llikon +41-44-847 17 17
P hone +420-257-941-718
GR Kouva lia s Robotics
DE YAS KAWA Europe GmbH vlona +30-22950 42902
Ka mme rfe lds tra s s e 1, DE-85391 Alle rs ha us e n, Ge rma ny
P hone : +49-8166-90-0 HU Re hm He ge s ztÈs te chnika Kft
Buda pe s t +3 6-53-380 078
DK YAS KAWA Nordic AB
Robotce nte r Da nma rk HU Fle xma n Robotics Kft.
He lge Nie ls e ns AllÈ 7, 2E, DK-8723 L¯ s ning, De nma rk
Buda pe s t +3 6-30-951 0065
P hone : +45-7022-2477
ES YAS KAWA Ibe rica S .L. IL YASKAWA Europe Te chnology LTD.

Ros h Ha · yin +972-3-9004114
Ave nida Ma rina 56 b, P a rce la 90, ES -08830
St. Boi de Llobre ga t (Ba rce lona ), S pa in
P hone : +34-93-6303478
LT P rofibus UAB
P a ne ve zys +370-45-518575
FI YAS KAWA Finla nd OY
Me s s inkika tu 2, F I-20380 Turku, Finla nd
NO Optimove a s
P hone : +358-403000600 Lie rs tra nda +47-32240600
FR YAS KAWA S .A.R.L PL Inte gra tor RHC S p.z.o.o

Rue Nunge s s e r e t Coli, D2A Nante s -Atla ntique , Torun +48 56 65 19 710
FR-44860 S a int-Aigna n-de -Gra nd-Lie u, Fra nce
P hone : +33-2-40131919 RO S a m Robotics srl
Timis oa ra +40 720 279 866
IT YAS KAWA Italia S RL
Via Ma s s imo díAntona 41/43, IT-10040 Riva lta di Torino, TR Te knodrom Robotics & Automa tion INC
Ita ly Ge bze /Koca e li +90 262 678 8818
P hone : +39-011-9005833
ZA Robotic Syst e ms S A P TY Ltd
NL YAS KAWA Benelux B.V J oha nne s burg +2 7-11-6083182
Scie nce P a rk Eindhove n 5031, Indus trie te rre in Ekke rs rijt
NL-5692 EB S on, The Ne the rla nds
P hone : +31-40-2895500
PT YAS KAWA Ibe rica S .L.

Z. Ind. Ave iro S ul, lote 21 N. S. F· tima , P T-3810 Ave iro,
P ortuga l
P hone : +351-234-943-900
RU YAS KAWA Nordic AB

2B Otra dna ya Building 2
RU-1 27237 Mosco w, Rus s ia
P hone :+7 495 6442409
SE YAS KAWA Nordic AB

P.O. Box 504, Ve rks ta ds ga ta n 2, SE-3 85 25 Tors Âs , S we de n
P hone : +46-480-417800
SI YASKAWA Slovenia d.o.o.

Le povce 23, P a rce la 90, S I-1310 Ribnica , S love nia
P hone : +386-1-8372410
SL YAS KAWA GmbH, o.z.

Kutlikova 17 821
S K-02 Bra tis la va , S lova kia
P hone : +421 2 6828 6535
UK YAS KAWA UK Ltd

J ohns on P a rk, Wildme re Roa d, Ba nbury,
Oxo n OX16 3J U, United Kingdom
P hone : +44-1295-272755
YASKAWA Nordic AB
PO Box 504, SE-385 25 TorsÂs, Sweden
Phone: +46-480-417800, Fax: +46-480-417999
info@yaskawa.eu.com
www.yaskawa.eu.com
170542-1CD
Fieldbus PCI-Card Revision History
Revision History
Date CEN / Revision Reason For Revision Initials
ECN No.
7/23/2014 53700 0 Original Release JFC
A-1
ME00107EN
FIELDBUS PCI-CARD
INSTRUCTIONS
FOR NX100, DX100, OR DX200
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
ME00107EN 2

Fieldbus PCI-CARD For DX100 DX200 or NX100

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Fieldbus PCI-CARD For DX100 DX200 or NX100

Uploaded by

Copyright:

Available Formats

FIELDBUS PCI-CARD

Part Number: 170542-1CD

Copyright © 2014, Yaskawa America, Inc. All Rights Reserved.

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly the

Must never be performed.

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure

• Observe the following precautions when performing teaching

YASKAWA Nordic AB engineers

Page 2 Reg.No. ME00107EN-02

3 Software configuration ...........................................................................................15

4 General installation in IP-based networks.......................................................22

Reg.No. ME00107EN-02 Page 3

5 Profibus DPV1 Slave AB3601...............................................................................26

6 Profibus DPV1 Master AB3602 ............................................................................29

7 DeviceNet Adapter Slave AB3603.......................................................................33

8 DeviceNet Scanner Master AB3604 ...................................................................36

9 AS-Interface Master AB3605.................................................................................39

Page 4 Reg.No. ME00107EN-02

9.3 Principle of Input/Outputs in ASI ........................................................................... 41

10 EtherNet/IP Adapter/Modbus TCP Slave AB3606.......................................49

11 EtherNet/IP Scanner Master AB3607...............................................................52

12 PROFINET-IO Slave AB3609...............................................................................58

13 FL-Net AB3610 .........................................................................................................61

14 FIPIO Slave AB3611 ...............................................................................................63

Reg.No. ME00107EN-02 Page 5

15 Interbus-S Slave AB3615 .....................................................................................69

16 CanOpen Slave AB3616 .......................................................................................72

17 EtherCAT slave AB3617........................................................................................76

Page 6 Reg.No. ME00107EN-02

1.2 System requirements

1.2.2 DX100/DX200 software

1.3 In manual included Fieldbus PCI-cards and NetTools

Reg.No. ME00107EN-02 Page 7

Device YASKAWA Nordic Note

The delivered Fieldbus PCI-card kit comprises:

Page 8 Reg.No. ME00107EN-02

1.5 Handling ESD sensitive devices

Fig. 1 ESD warning sign

Reg.No. ME00107EN-02 Page 9

1.9 Fieldbus systems

1.10 Introduction to the fieldbus PCI-cards

1.11 Hardware compatibility

Page 10 Reg.No. ME00107EN-02

• 3.3 and 5 V support (Universal keyed add-in)

2.1.2 Technical specification

• Size(W x L x D): 100 x 120 22 mm (3.94” x 4.72” x 0.87”)

2.1.3 Compliances and conformances

• EMC compliance: 2004/108/EC

2.2 Hardware installation

To prevent electrical shock to personnel and to prevent equipment damage, ensure

Reg.No. ME00107EN-02 Page 11

2.2.1 NX100 Installation

Fig. 2 PCI-card installation

1. Unplug AC power and remove system cover.

5. Re-attach the system cover and AC power

2.2.2 DX100/DX200 Installation

Page 12 Reg.No. ME00107EN-02

Fig. 3 Remove installation frame