3FBC-GB 02

C3G Plus
C3G-RIO C3G-PFDP C3G-EIM C3G-EDN
MANUAL FOR FIELD BUS AND

ETHERNET COMMUNICATIONS
C3G-RIO (Remote I/O Link -

Allen Bradley)
C3G-PFDP (Profibus DP Slave)
C3G-EIM (Ethernet, Interbus-S
Slave/Master)
C3G-EDN (Ethernet DeviceNet
Slave)
00757088/GB 3FBC - 02/0400

The information contained in this manual is the property of COMAU S.p.A.
Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.
COMAU reserves the right to alter product specifications at any time without notice or obligation.
PRINTED IN ITALY - 04/2000
Copyright © 1999 by COMAU
UPDATING LIST
UPDATING LIST
In this issue of the manual, with respect to the previous one, changes to technical contents have been per-
formed due to the product updating. The modified sections are listed below.
TITLE: MANUAL FOR FIELD BUS AND ETHERNET COMMUNICATIONS
UPDATING CHAPT. SUBJECT PAG. No. ACTION

01/1099 - Cover - Substituted
01/1099 - Back - Substituted
01/1099 - Preface IV Substituted
01/1099 Field Bus and ETHERNET network communications 1-2-3 Substituted
01/1099 PROFIBUS DP (C3G-PFDP) 12-17 Substituted
01/1099 ETHERNET DeviceNet MODULE (C3G-EDN) 47 ¸ 54 Added
02/0400 - Cover - Substituted
02/0400 - Back - Substituted
02/0400 Communications 2-3 Substituted
02/0400 Field bus 10-15-23-24 Substituted
02/0400 ETHERNET 46-47-50-57 Substituted
A
UPDATING LIST
This page has been left intentionally blank
B
PREFACE
SYMBOLS USED IN THIS MANUAL

The symbols used to indicate CAUTION, WARNING and NOTES are explained below.
Symbol used to identify operating procedures, technical information and precautions which, if
not complied with and/or carried out correctly may cause injury to personnel.
Symbol used to identify operating procedures, technical information and precautions which, if not
complied with and/or carried out correctly may cause damage to the equipment.
Symbol used to identify operating procedures, technical information and precautions to

which attention must be drawn.
TRAINING COURSES
· COMAU Robotics organises special training courses for robot system operating, programming and
maintenance personnel.
· Further courses can be organised to cater for any particular requirements and to provide the technical
and practical information required for independent operation of the COMAU robot system, depending on
the level of knowledge of the participants.
REFERENCE DOCUMENTS
For additional information on the communication modules consult the following documents:
· C3G Plus Technical Specifications;
· EZ Programming Environment;
· PDL2 Programming Language Manual;
· C3G Programming Guide;
· Application Program Manuals;
· Robot Use and Maintenance Manuals;
· C3G Plus Options Installation Manual.
00/0499 i
PREFACE
This page has been left intentionally blank
ii 00/0499
PREFACE
CONTENTS
This manual contains:
Page
FIELD BUS AND ETHERNET NETWORK COMMUNICATIONS

Field Bus.....................................................................................................................................................1
Simultaneous management of several interfaces..................................................................................2
C3G-RIO, C3G-PFDP, C3G-EIM and C3G-PFDP module software configuration programs ...............3
Ethernet Network ........................................................................................................................................3
Safety prescriptions ....................................................................................................................................4
Remote I/O Link (C3G-RIO) .......................................................................................................................5
C3G-RIO jumpers settings ....................................................................................................................8
Test mode..............................................................................................................................................8
$SDIN and $SDOUT for C3G-RIO ........................................................................................................8
Profibus DP (C3G-PFDP) ...........................................................................................................................12
Installation notes....................................................................................................................................12
$SDIN and $SDOUT for C3G-PFDP .....................................................................................................14
Ethernet Interbus Module (C3G-EIM) .........................................................................................................16
Interbus-S Slave interface .....................................................................................................................16
24 Vdc external power supply for Interbus-S slave interface ...........................................................21
$SDIN and $SDOUT for C3G-EIM interbus slave ............................................................................22
Interbus-S master interface ...................................................................................................................25
Specifications ...................................................................................................................................28
Status word description ....................................................................................................................30
Command word description..............................................................................................................31
Ethernet interface ..................................................................................................................................34
Configuration .........................................................................................................................................36
FTPCNFG configuration program.....................................................................................................38
System startup..................................................................................................................................39
Operations ........................................................................................................................................39
Network errors ..................................................................................................................................41
C3G-EIM errors ................................................................................................................................41
FTP errors ........................................................................................................................................45
System variable list...........................................................................................................................46
00/0499 iii
PREFACE
Page
ETHERNET DeviceNet module (C3G-EDN) ..............................................................................................47
DeviceNet Slave ....................................................................................................................................47
Test mode..............................................................................................................................................48
$SDIN and $SDOUT for C3G-EDN .......................................................................................................49
Interface DeviceNet ....................................................................................................................................51
MS led - module status..........................................................................................................................52
NS led - network status .........................................................................................................................52
DeviceNet Slave configuration ...................................................................................................................54
Appendix A
Example of program for use of the C3G-EIM Interbus master module .................................................55
Example of program for to set FTP parameters ....................................................................................57
Example of PDL2 program for using slave field bus with C3G-RIO ......................................................59
iv 01/1099
COMMUNICATIONS
FIELD BUS AND ETHERNET NETWORK COMMUNICATIONS

The following modules are available for managing communication transfer (to PLC, Host, etc.) on the C3G Plus:
· C3G-RIO (Remote I/O link) for communications with the Allen-Bradley PLC;
· C3G-EIM (Ethernet, Interbus-S Slave/Master);
· C3G-EDN (Ethernet, DeviceNet Slave);
and annex:
· C3G-PFDP (Profibus DP).
The C3G-RIO module includes electronics for interfacing with the I/O communication channel to the Al-
len-Bradley PLC.
The C3G-EIM module includes electronics for managing an Interbus-S Slave and an Ethernet interface. An
Interbus-S Master interface can be obtained by installing a specific annex on the module. Optionally, the
module can be set up for external 24VDC power supply for the Interbus-S Slave section.
The C3G-PFDP annex is installed on the C3G Plus control system C3G-RBC2 module and manages the
Profibus DP Slave interface. The Profibus interface is compatible with 12 Mb technology.
The C3G-EDN boards houses electronics that manage a DeviceNet Slave interface and an Ethernet inter-
face. The board also includes a DeviceNet Master interface that has not yet been implemented.
FIELD BUS
These communication modules manage the field bus and were created to replace the traditional parallel I/O
link between robot controller and PLC managing the entire automated line.
By means of these interfaces, a certain number of input and output words can be transferred via a serial line
(field bus). In these words the robot control unit can duplicate its remote interface usually available on the
system I/Os of the SIM module on the X31 connector. The line PLC can consequently manage the robot
control unit, check its status, exchange signals devoted to the remote application via the same line.
The SIM module signals will always be active. Consequently, the “NOT DRIVE OFF” and the
“NOT HOLD” signals must be connected to the 24VDC.
The communication module communicates with the line autonomously via a specific microprocessor and
dedicated firmware.
The C3G system software manages the signals for remote interface previously defined in the SIM module
(DRIVE-ON/OFF, START, HOLD, etc.) and makes the rest of the words available to the user in an area de-
fined by the $WORD variables that can be used by the PDL2 language and also by the C3G integrated PLC.
The robot control unit reserves the first 32 $WORD for communication module and system I/O data. As the
first 512 PDL2 $WORD are shared with the C3G integrated PLC, the same $WORD pointers can be used in
the PLC LADDER programs, where the words are called V MEMORY.
Here follows a reserved $WORD map for C3G-RIO, C3G-EIM and C3G-PFDP slave modules. Refer to the spe-
cific paragraph for the C3G-IBS MASTER module.
01/1099 1
COMMUNICATIONS
16 $WORD 1
1 INPUT ALTO/INPUT UP
SIM 1
2 INPUT BASSO/INPUT DOWN
3 OUTPUT ALTO/OUTPUT UP
4 OUTPUT BASSO/OUTPUT DOWN
5
16
17 COPIA OUTPUT SIM /SIM OUTPUT COPY
18 COPIA OUTPUT IOS /IDS OUTPUT COPY
19
20 OUTPUT FREE
TO PLC
AL PLC
LIBERO OUTPUT
21
PER FOR
INTERBUS-S SLAVE (C3G-EIM)

PROFIBUS DP (C3G-PFDP)
DEVICENET SLAVE (C3G-EDN)

22 UTENTE USER
RIO (C3G-RIO)
23
24
25 COPIA INPUT SIM /SIM INPUT COPY
26 COPIA INPUT IOS /IOS INPUT COPY
27
FROM PLC
28 INPUT FREE
DA PLC
LIBERO INPUT
29
PER FOR
30 UTENTE USER
31
32
A DISP. PER UTENTE /SPARE FOR USER
DISPON.
33
AVAIL.
INTERBUS-S MASTER (C3G-EIM)
512
As the SLAVE field bus word map shows, there is a reserved 8 input and 8 output word area. The C3G-RIO
and C3G-PFDP modules have the same bit meaning definition in remote command words while the
Interbus-S Slave module respects the PHOENIX standard, as agreed with some robot controller manufactur-
ers, including COMAU. The bit meaning for each module is shown in the tables contained in the specific
paragraphs. Excluding the words used by the system software to duplicate the remote interface signals, the
total available I/O points are 224 for C3G-RIO and 480 for Profibus-DP and Interbus-S Slave (in two blocks),
992 for DeviceNet.
SIMULTANEOUS MANAGEMENT OF SEVERAL INTERFACES

Types of interfaces
On system level, there is a primary slave interface and - if two field networks are to be installed - a second-
ary slave interface.
The primary slave interface uses the system $WORD with 17, 18, 25 and 26 pointers or the $WORD 17..24
and 25..32 block. In the presence of a primary slave interface, the other interface can only be a secondary
slave interface.
The secondary slave interface uses a $WORD block other than 17..32.
Interface usage limits
Two interfaces with networks of the same type cannot be used (e.g. a C3G-PFDP Profibus-DP Slave with a
C3G-SL2 Profibus-DP Slave), neither can two Interbus-S Slave interfaces be used (e.g. a C3G-EIM
Interbus-S Slave with another C3G-EIM Interbus-S Slave, or with a C3G-IBS Interbus-S Slave).
2 02/0400
COMMUNICATIONS
The following table shows the possible configurations where:

· YES indicates a possible combination
· NO indicates a combination which is not possible
· (*) indicates an interface which can either be primary or secondary.
C3G-PFDP C3G-EIM (*) C3G-IBS C3G-SL2 C3G-RIO C3G-EDN

C3G-PFDP NO YES (*) YES NO YES YES (*)
C3G-EIM ( q) YES (*) NO NO YES YES YES (*)
C3G-IBS YES NO NO NO NO YES
C3G-SL2 NO YES NO NO NO YES
C3G-RIO YES YES NO NO NO YES
C3G-EDN ( ) m YES (*) YES (*) YES YES YES NO
Information is provided also for the C3G-IBS and C3G-SL2 modules - which are obsolete
and not treated in this manual - for the purpose of offering complete information on the
COMAU interfaces (field bus).
(q) For the Interbus-S Slave section.
(m) For the DeviceNet Slave section.
C3G-RIO, C3G-EIM AND C3G-PFDP MODULE SOFTWARE CONFIGURATION PROGRAMS

The communication modules avail of specific programs to customise operation with respect to the specific
application.
Use and setup instructions for these configuration programs are contained in the “2/2 C3G CONFIGURA-
TION TOOL” floppy disk provided with the controller.
The RI_INST.DOC file contains information on C3G-RIO, C3G-EIM Interbus Slave, C3G-PFDP and
C3G-EDN Device Net Slave module configuration. The IBSM.DOC file contains information on C3G-EIM
module configuration with C3G-EIM-IBSM (Interbus Master) annex.
ETHERNET NETWORK
The C3G EIM module, and the C3G-EDN module, plugged in the Control Unit of the C3G Plus supports an
Ethernet interface. The Ethernet network is the physical support (cable, optical cable, etc.) which connects
the C3G Plus C3G-EIM module to the linked “machines” and is based on the 10 Mbit IEEE 802.3 standard.
The machines linked to the Ethernet network can be “Local Host” (the machine which is operated) and “Re-
mote Host” (the remote machine which is accessed) and are identified in the Client/Server communication
modality by means of a logical address called IP ADDRESS (e.g. 172.22.96.109).
The Client/Server communication modality entails at least one network participant - called “Client” - which
can send commands to another participant, and a network participant which constantly monitors the com-
mands sent by a Client - called “Server”. The Client and the Server are software - and not physical - entities.
The FTP service (File Transfer Protocol) based on the TCP/IP protocol is implemented in the Ethernet net-
work for exchanging files between the two network participants.
The C3G Plus in the Ethernet network can be either Client or Server and can communicate in two ways:
From C3G Plus to Remote Host
In this way, the user sends the filer commands from the C3G Plus command menu. For example, Filer
Copy/View/Rename/Delete accessing the remote host via predefined network devices (NET1: or NET2:).
From the user’s point of view, the operations are similar to those of any other connected device, for example,
COM1:, FD:. This operation is called “C3G Client”.
From Remote Station to C3G Plus
In this way, a remote station user can access the C3G Plus with XFTP program types which implement
some, but not all the commands offered by the FTP. The user can send (“SEND”), get (“GET”) and list
(“LIST”) the files residing on the RBC2’s RAMDISK of the C3G Plus. This operation is called “C3G Server”.
02/0400 3
COMMUNICATIONS
SAFETY PRESCRIPTIONS
Follow the safety prescriptions contained in the controller “Use and Maintenance Manual” for all operations
related to module setup, maintenance and use.
4 00/0499
FIELD BUS
REMOTE I/O LINK (C3G-RIO)

The Remote I/O Link is a serial communication line used between the Allen-Bradley PLC and its remote I/O
racks. It consists of a master-slave link monitored by the PLC via a scanner.
The programming allows to configure the remote racks with different dimensions (quarter, half,
three-quarters, full) and to support a transmission speed included between 57.6 and 230.5 kilobits per sec-
ond. Additionally, it allows single I/O transfers or “block transfers”.
The PLC is the MASTER and the C3G in the network is the SLAVE.
Refer to the A-B ER PC 6477 manual for the Allen-Bradley PLC communication management specifications.
A C3G-RIO module must be inserted in the first free slot in the Control Unit rack to create the link. This mod-
ule is automatically recognised when the control unit is switched on. After inserting the module, configure the
communication parameters so that they correspond to those set for the Allen-Bradley PLC.
Load and start the specific PDL2 program on the control unit for configuring the RIO module, as shown in the
paragraph “C3G-RIO, C3G-EIM and C3G-PFDP module software configuration programs”.
After configuring the module, run a WARM RESTART to activate the set parameters. Check the LEDs on the
front panel to check whether the module is linked to the PLC and the parameters are correctly set (NTW should
blink and STS should be on).
At this point, the Allen-Bradley PLC and the C3G control unit will exchange a number of words which de-
pends on the parameters specified in configuration.
The PLC will have access in the area devoted to remote racks to up to 8 input words (from In: xxx0 to In:
xxx7) and up to 8 output words (from On: xxx0 to On: xxx7) where xxx depends on the dedicated remote
rack address.
The C3G control unit will have access to the words reserved for the RIO interface via the PDL2 $WORD[]
variables. The maximum number of words is 8 for input (from $WORD[25] to $WORD[32]) and 8 for output
(from $WORD[17] to $WORD[24]). If the first $WORD - and the second for multiarm systems - was config-
ured as system reserved, the C3G control unit will use it to receive the remote commands (DRIVE ON,
DRIVE OFF, START, HOLD) and to send system status signals (ALARM, DRIVE ON/OFF, etc.) to the re-
mote device (PLC).
For this case, the meaning of the 16 bits in $WORD[17..18] and $WORD[25..26] is explained in the specific
paragraph. The system $WORD management is carried out by the C3G control unit operating system and
cannot be changed on PDL2 level. The remaining $WORD can be used in the PDL2 programs and the
meaning of the bits in each single $WORD can be planned by the PLC and robot programmers. The follow-
ing figure illustrates an example of $WORD organisation for exchange in a RIO - Allen-Bradley PLC link.
00/0499 5
FIELD BUS
The following figure illustrates an example of a single Allen-Bradley “remote rack” PLC linked to several C3G
control units.
RACK = 1
C3G 1
Starting Quarter = 1
17
Rack Size = 1/2
$WORD 18
19
20
21
22
23
RACK = 1
24
1/2 + 1/2
25 Allen-Bradley = 1/2
26
10 In: 0010
27
11
28
12
29
13
30
14
31
15
32
16
17
RACK =1
Starting Quarter = 3
Rack Size = 1/2
10 On: 0010
C3G 2 11
$WORD 17 12
18
13
19
14
20
15
21
16
22
17
23
24
25
26
27
28
29
30
31
32
Remote PLC-C3G link
6 00/0499
FIELD BUS
C3G-RIO LED
LED Colour Description
NTW GREEN (Network) On (dim light): the master is
linked to the network and the communi-
cation is active.
PWR GREEN (Power) On: the module is powered.
LNK GREEN (Link) On: the PL4 plug is connected. Off:
the plug is not connected.
STS GREEN (Status) On: the module is completely
configured and is communicating with the
master. Off: the module is not configured
and is not communicating with the mas-
ter.
PLG GREEN (Plug) On: the test plug is connected to
J4. Off: the test plug is not connected.
FLG GREEN (Flag) On: the communication test is be-
ing run. Off: the communication test is not
active.
C3G-RIO plugs
Plug Pin number Functions
J4 female 25 Allen-Bradley PLC connection plug
Chassis ground
1 LINE 1: RIO#1 serial line
2 Shield LINE 1
3 Ground
6 RIO12: RIO#1 or RIO#2 selection bit
7 RIO#2
Shield LINE 2
15 LINE 2 (not implemented)
16 Ground
18 TAP: identifies the closing tap
19 LINPR: signals the presence of a linked
20 line
The other pins are not used.
C3G-RIO front panel
00/0499 7
FIELD BUS
Annex location and C3G-RIO DIP-Switch settings
C3G-RIO JUMPER SETTINGS

Check the jumper positions, as shown in the following table.
JUMPER POSITION
W1 open
W2 2-4
TEST MODE
A plug (called a “tap”) can be physically connected to the RIO module in the place of the serial connection.
At the subsequent startup, the hardware will signal the presence of the tap to the software which filters the
error messages deriving from the missing line link. This feature can be very useful for line activation as it al-
lows to use the local commands when not linked up to the Allen-Bradley PLC.
Restart the system software to acknowledge the presence of the tap. Tap disconnection, on the other hand,
will be acknowledged in any moment.
A software tap is also available in addition to the hardware tap. This is because the first bit in $RIO_INIT[1] is
monitored as the hardware signal. The two data are both high when active and are logically related with OR.
The tap connection is described in the figure “RIO network connection examples”.
$SDIN AND $SDOUT for C3G-RIO

The following two tables indicate the correspondence between the system bits which reach the module
(shown in the Bit meaning column) and the correspondence with the $SDIN, $SDOUT and $WORD
mappings. The $WORD indicated in the respective column correspond to read-only locations. Although it is
possible to write in these locations, the system overwrites automatically each change made by the user.
The RIO word column shows the Allen-Bradley note used for data monitoring.
8 00/0499
FIELD BUS
Input $WORD (Commands)
$SDIN $WORD $WORD RIO RIO W bit

RIO RIO bit word bit Meaning
129 26 1 On:yyy1 1 machine 1 motor on
DUPLICATES THE IOS SIGNALS FOR

130 26 2 On:yyy1 2 machine 1 not motor off
131 26 3 On:yyy1 3 machine 1 run
MULTIARM APPLICATIONS
132 26 4 On:yyy1 4 machine 1 not stop
133 26 5 On:yyy1 5
134 26 6 On:yyy1 6
135 26 7 On:yyy1 7
136 26 8 On:yyy1 8
138 26 10 On:yyy1 10 machine 2 not motor off
140 26 12 On:yyy1 12 machine 2 not stop
141 26 13 On:yyy1 13
142 26 14 On:yyy1 14
143 26 15 On:yyy1 15
144 26 16 On:yyy1 16
145 25 1 On:yyy0 1 drives-on
DUPLICATES THE SIM SIGNALS FOR

146 25 2 On:yyy0 2 not drives-off
147 25 3 On:yyy0 3 start
148 25 4 On:yyy0 4 not hold
REMOTE INTERFACE
149 25 5 On:yyy0 5 u1
150 25 6 On:yyy0 6 u2
151 25 7 On:yyy0 7 u3
152 25 8 On:yyy0 8 u4
153 25 9 On:yyy0 9
154 25 10 On:yyy0 10
155 25 11 On:yyy0 11
156 25 12 On:yyy0 12
157 25 13 On:yyy0 13
158 25 14 On:yyy0 14
159 25 15 On:yyy0 15
160 25 16 On:yyy0 16
00/0499 9
FIELD BUS
Output $WORD (Status)
$SDOUT $WORD $WORD RIO RIO W bit

RIO RIO bit word bit Meaning

130 18 2 On:yyy1 2 machine 1 motor off
132 18 4 On:yyy1 4 machine 1 stop
133 18 5 On:yyy1 5
134 18 6 On:yyy1 6
135 18 7 On:yyy1 7
136 18 8 On:yyy1 8
138 18 10 On:yyy1 10 machine 2 motor off
140 18 12 On:yyy1 12 machine 2 stop
141 18 13 On:yyy1 13
142 18 14 On:yyy1 14
143 18 15 On:yyy1 15
144 18 16 On:yyy1 16
145 17 1 On:yyy0 1 not alarm
DUPLICATES THE SIM SIGNALS FOR RE-

146 17 2 On:yyy0 2 drives on/not drives-off
147 17 3 On:yyy0 3 start/not hold
148 17 4 On:yyy0 4 remote
149 17 5 On:yyy0 5 teach enable (DRI.ON+PROG)
MOTE INTERFACE
150 17 6 On:yyy0 6 u1
151 17 7 On:yyy0 7 u2
152 17 8 On:yyy0 8 u3
153 17 9 On:yyy0 9 u4
154 17 10 On:yyy0 10 TP auto / TP manual
155 17 11 On:yyy0 11
156 17 12 On:yyy0 12
157 17 13 On:yyy0 13
158 17 14 On:yyy0 14
159 17 15 On:yyy0 15
160 17 16 On:yyy0 16 heart bit (640 ms pulse)
10 02/0400
FIELD BUS
RIO network connection examples
00/0499 11
FIELD BUS
PROFIBUS DP (C3G-PFDP)
A C3G-PFDP annex must be installed on the RBC2 module to connect a C3G control unit so that is appears
as a Profibus DP network module.
The Profibus DP star network allows communications between a PLC and its remote I/O racks. This network
respects the PROFIBUS specifications (DIN 19245 standards, part 3). It is used in robot cell applications and
supports the DP communication protocol (Decentralized Peripherals).
The main specifications of this standard are:
Number of nodes up to 127

Transmission speed from 9.6 to 12 Mb
Type of network base band
Transmission method Token-passing with master-slave system as per DIN 19245 stan-
dards, part 1
Type of cable twisted and shielded
The Profibus DP protocol requires the definition of certain configuration parameters. The C3G-PFDP
(RI_INST) module software configuration program is used to change the meaning of the status words, the
system commands and the slave address on the network.
The module can be set to TEST mode by setting $PROFDP_INIT[1] bit 2 to either 1 or 0. In this way, the
module and consequently the network status will be ignored by the C3G Plus.
The Profibus DP protocol requires the definition of certain configuration parameters. The C3G-PFDP module
software configuration program is used to change the meaning of the status words, the system commands,
the speed and the slave address on the network.
The master PLC will recognise the C3G as a slave DP with up to 16 input words and up to 16 output words.
The first input word and the first output word are reserved for system status and commands (DRIVE ON,
DRIVE OFF, START, HOLD, ALARM, etc.). The meaning of the bits in the words is explained in the specific
paragraph. Both words are handled directly by the control unit and are echoed in $WORD[17] (C3G -> PLC)
and in $WORD[25] (PLC -> C3G). The remaining words can be configured using the tool and can be used by
means of the PDL2 programming language.
If the Profibus interface is primary, the words exchanged will be allocated in the $WORD block starting from
index 17 (17..24-25..32). If more than 8 words are required, during configuration the user will be asked to in-
dicate the index of the second block of 8+8 words starting from which the systems allocates the excess
words. For example, if the total number of worlds is 12+12 and the index of the second block is 160, the first
8 will be allocated at 17..24-25..32, the remaining four will be at 160..163-168..171. If the interface is second-
ary, the user will be asked to indicate the index from which the system allocates the first block of 8+8 words;
if the total number of words exceeds 8, the index from which the second block of 8+8 words is to be allo-
cated will also be requested. For example, if the number of words is 14+14 and the index of the first block is
40 and the index of the second block is 120, 8+8 words will be allocated at 40..47-48..55 and 6+6 words at
120..125-128..133.
The variables for Profibus configuration are in $PROFDP_INIT[1..10], in $FB_INIT[2] and $FB_CNFG[2].
From version v53x, the slave is configured on the Profibus master using the COMA04A1.GSD file with iden-
tification number 1185 Dec (0x04A1). This number is contained in $PROFDP_INIT[4].
The file is on the ‘C3G Configuration Tools 1/2’ disk.
INSTALLATION NOTES
The BUS segment must always terminate with a closing resistance on both ends. Consequently, the termi-
nal stations must always be powered during line startup and operation. If this cannot be ensured:
· use a constantly powered module as the terminal station;
· use a repeater for which power is constantly ensured.
For additional information of terminals, refer to the MASTER module installation manual.
12 01/1099
FIELD BUS
C3G-PFDP connector
Connector Pin no. Functions
J5 9 pin Input and output network cables are con-
receptacle nected to this connector.
1 P.E. (Protective Earth)
3 +Tx/RxD (Data Line +)
8 -Tx/RxD (Data Line -)
5 GNDI (Reference)
NOTE: For the meaning of LEDS and connectors J3, J4, J6 of RBC2 module,
refer to the C3GPlus Use and Maintenance manual.
n
( ) Use a Profibus DP connector with maximum size shown, e.g. SIEMENS 6ES7972-0BA40-0XA0.
PROFIBUS DP system example
00/0499 13
FIELD BUS
$SDIN AND $SDOUT FOR C3G-PFDP

The following two tables indicate the correspondence between the system bits which reach the module
(shown in the Bit meaning column) and the correspondence with the $SDIN, $SDOUT and $WORD
mappings. The $WORD indicated in the respective column correspond to read-only locations. Although it is
possible to write in these locations, the system overwrites automatically each change made by the user.
The DB n word column shows the SIEMENS noting where n indicates the selected data block and m the
word in the selected block.
$SDIN $WORD $WORD DB n DW bit

C3G-PFDP C3G-PFDP bit word m bit Meaning
129 26 1 n m+1 0 machine 1 motor on
130 26 2 n m+1 1 machine 1 not motor off
131 26 3 n m+1 2 machine 1 run
132 26 4 n m+1 3 machine 1 not stop
133 26 5 n m+1 4
134 26 6 n m+1 5
135 26 7 n m+1 6
136 26 8 n m+1 7
138 26 10 n m+1 9 machine 2 not motor off
139 26 11 n m+1 10 machine 2 run
140 26 12 n m+1 11 machine 2 not stop
141 26 13 n m+1 12
142 26 14 n m+1 13
143 26 15 n m+1 14
144 26 16 n m+1 15
145 25 1 n m 0 drives-on
146 25 2 n m 1 not drives-off
147 25 3 n m 2 start
148 25 4 n m 3 not hold
149 25 5 n m 4 u1
150 25 6 n m 5 u2
151 25 7 n m 6 u3
152 25 8 n m 7 u4
153 25 9 n m 8
154 25 10 n m 9
155 25 11 n m 10
156 25 12 n m 11
157 25 13 n m 12
158 25 14 n m 13
159 25 15 n m 14
160 25 16 n m 15
14 00/0499
FIELD BUS
$SDOUT $WORD $WORD DB n DW bit

C3G-PFDP C3G-PFDP bit word m bit Meaning
130 18 2 n m+1 1 machine 1 motor off
131 18 3 n m+1 2 machine 1 run
132 18 4 n m+1 3 machine 1 stop
133 18 5 n m+1 4
134 18 6 n m+1 5
135 18 7 n m+1 6
136 18 8 n m+1 7
138 18 10 n m+1 9 machine 2 motor off
139 18 11 n m+1 10 machine 2 run
140 18 12 n m+1 11 machine 2 stop
141 18 13 n m+1 12
142 18 14 n m+1 13
143 18 15 n m+1 14
144 18 16 n m+1 15
145 17 1 n m 0 not alarm
146 17 2 n m 1 drives-on / not drives-off
147 17 3 n m 2 start / not hold
148 17 4 n m 3 remote
149 17 5 n m 4 teach enable (DRI.ON+PROG)
150 17 6 n m 5 u1
151 17 7 n m 6 u2
152 17 8 n m 7 u3
153 17 9 n m 8 u4
154 17 10 n m 9 TP auto / TP manual
155 17 11 n m 10
156 17 12 n m 11
157 17 13 n m 12
158 17 14 n m 13
159 17 15 n m 14
160 17 16 n m 15 heart bit (640 ms pulse)
02/0400 15
FIELD BUS
ETHERNET INTERBUS MODULE (C3G-EIM)

The C3G-EIM module supports the Ethernet and Interbus-S slave-master connection functions described be-
low.
The basic version of the C3G-EIM includes the Interbus-S slave function. Annex C3G-EIM-IBSM could be
added to the C3G-EIM board, on the other hand, to interface with the Interbus-S master.
The main characteristics of the two Interbus-S interfaces are:
INTERBUS-S SLAVE INTERFACE

Technical data
· Standard connection by means of SUB-D male/female 9 pin connector (Interbus-S standard pin-out).
· Optical fibre connection by means of PHOENIX-CONTACT OPTOBUS-PLUS-K/IN and
OPTOBUS-PLUS-K/OUT adapter.
· Slave node dimensions: 4, 8, 12, 16 words (the same number of words is transferred both for input and
output).
Example: 4 input words and 4 output words will be transferred when 4 words are selected.
· Scanning: < 10 ms.
· Robot interface according to Interbus-S PHOENIX CONTACT standard.
· ID: 2F hexadecimal.
FUNCTIONAL DESCRIPTION
The board is automatically recognised by the controller when it is inserted in the rack. The slave function is
disabled until it is explicitly configured.
The Interbus-S network does not require configuration parameters for network master communication al-
though the network interface to the C3G system must be configured.
The following parameters are defined during configuration:
· Type of interface (primary or secondary).
· Number of user input and output WORDS (“USER”) (spare for PDL2 programs).
· WORD starter pointer (in the case of secondary interface of primary interface with more than 8 words).
The type of interface (primary or secondary) is selected during configuration according to the number of sys-
tem dedicated WORDS. If a value other than zero is set, the interface will be primary. If this is not so, the
user can explicitly define the type of interface.
The total number of WORDS to be transferred (System + User) can be chosen between 4, 8, 12 and 16. For
example, select 8 to transfer 8 input words and 8 output words. If a different number is required, the system
will set to the immediately higher number of words.
The starter pointer of the words is only used for Secondary Slaves or Primary Slaves with more than 8
words. If the primary is extended, a total of 16 words will be occupied starting from the specified word, i.e. 8
input words and 8 output words. In the case of a known secondary, 32 words will be occupied starting from
the specified word, i.e. 16 input words and 16 output words.
16 00/0499
FIELD BUS
The following diagram illustrates the possible combinations.
Activate the RICNFG on “C3G Configuration Tools” diskette 1/2 for configuration. Alternatively, the spe-
cific system variables can be used although this does not require a complete knowledge of the working
environment on behalf of the user.
System variable settings

The system variables used for this application are:
· $FB_CNFG[3]. If bit 23 is set to 1, this indicates that the Interbus-S Slave function is present. If bit 30 is
set to 1, this indicates that the C3G-EIM board is present.
The value “011” of these bits indicates that the Interbus-S Slave function has not yet been configured.
The value “010” indicates that the Interbus-S function is configured as “secondary”.
The other values indicate different “primary” configurations including the typical configuration with a sys-
tem word indicated by the “000” value of the bits.
· $FB_INIT[3]. Bits 8, 9, 10 contain WORD use configuration. Bit 16 set to 1 indicates that the meaning
given to the system WORD bits is INTERBUS standard.
· $IBSSL_INIT[1]. Bit 1 set to 1 enables the Interbus-S Slave function. Bit 2 set to 1 disables Interbus-S
remote controls.
· $IBSSL_INIT[6] indicates the number of user WORDS.
· $IBSSL_INIT[7] contains the number of user WORDS for primary slave extension or secondary
slave.
01/1099 17
FIELD BUS
The PLC Interbus-S master will recognise the C3G Interbus-S slave node as an I/O module with from 4 to 16
input words and from 4 to 16 output words. The first input word and the first output word are reserved for
commands and system status (DRIVE ON, DRIVE OFF, START, HOLD, ALARM, etc.). The meaning of the
bits in the words is explained in the specific paragraphs. Both words are handled directly by the control unit
and are echoed in (…) and in (…). The remaining words are available for the user. These words can be used
by means of the PDL2 programming language.
INTERBUS SLAVE C3G-EIM

CONNECTION
(4+4 WORDS, PRIMARY)
INTERBUS-S SLAVE INTERFACE DATA FLOW
18 00/0499
FIELD BUS
C3G-EIM INTERBUS SLAVE MODULE CONNECTIONS
C3G-EIM MODULE LED MEANING
LED Colour Function Meaning

ER Red off No power or CPU not working
on Power on and reset on
blinking The CPU has a not recoverable failure. The board
must be substituted.
IM Yellow off Interbus-S master off
on Interbus-S master on but without data transfer
blinking (each 25 on/off Interbus-S master working correctly
cycle)
IS Yellow off Interbus-S slave not powered or not working
on Interbus-S slave working but without local CPU
blinking (each 25 on/off Interbus-S slave working and served by local CPU
cycle)
RU Green off No power, normal working status
on Self-test done
blinking Waiting for synchronisation with the RBC2 module
Power off:
· All LEDs off (with the exception of the IS LED) if the Interbus slave is powered and working.
Startup:
· All LEDs off (with the exception of IM LED)
· ER LED on for approximately 0.5 seconds
· ER LED off and LED 2 on for approximately 10 seconds
· RU LED on for approximately 10 seconds
· RU LED blinking
· IM LED blinking if master is working
· IS LED blinking if slave is working
00/0499 19
FIELD BUS
20 00/0499
FIELD BUS
24 VDC EXTERNAL POWER SUPPLY FOR INTERBUS-S SLAVE INTERFACE

Normally, the Interbus-S slave section of the C2G-EIM board is powered by the rack in which it is inserted. It
is possible to power externally to allow the Interbus-S slave section to work when the C3G Plus controller is
off. In this case, the Interbus-S network master connected to the controller can continue to communicate with
all the slaves installed in the network.
00/0499 21
FIELD BUS
$SDIN and $SDOUT for C3G-EIM Interbus-S slave

The following two tables indicate the correspondence between the system bits which reach the module (shown in
the Bit meaning column) and the correspondence with the $SDIN, $SDOUT and $WORD mappings. The
$WORD indicated in the respective column correspond to read-only locations. Although it is possible to write in
these locations, the system overwrites automatically each change made by the user. The IBS word column
shows the MASTER word pointer (which depends on the Interbus network layout).
The position and the meaning of the bits in the first input word and in the first output word respect the
Interbus-S standard for robot controllers (profile 9.1 - this documentation can be found at the Interbus
Internet site). It is however possible to change this definition with the RI-INST configuration tool and make it
the same as that used for RIO and PROFIBUS-DP (Comau definition).
Answer YES to the question “C3G MAPPING FOR SYS WORD [Y/N]?” and enter the “CONFIGURE SAVE”
and “CONFIGURE CONTROLLER RESTART WARM” from the C3G Plus.
For completeness, the following tables also show the meaning of standard Comau bits.
INTERBUS-S STANDARD BIT MEANING TABLES
$SDIN $WORD $WORD IBS IBS bit

index index bit word bit Meaning
145 25 1 n. 1 Drives-off external
146 25 2 n. 2 Drive-on external
147 25 3 n. 3 external enabling
148 25 4 n. 4 external start
149 25 5 n. 5 RESERVED
152 25 8 n. 8 specified from producer
153 25 9 n. 9 bit 0 of the program number
RESERVED: these bits will be used for future Interbus extensions.

Specified from producer: this bit is not used.
bit 0......7 of the program number: these bits are used to specify the working program number.
They are not used by the system but can be handled by a PDL2 program.
22 00/0499
FIELD BUS
$SDIN $WORD $WORD IBS IBS bit

index index bit word bit Meaning
145 25 1 n. 1 ready for work
146 25 2 n. 2 Automatic extern
147 25 3 n. 3 Drives are switched on
148 25 4 n. 4 User program is running
149 25 5 n. 5 Requirement program number
151 25 7 n. 7 alarm
152 25 8 n. 8 EMERGENCY STOP is active
154 25 10 n. 10 RESERVED
155 25 11 n. 11 RESERVED
156 25 12 n. 12 RESERVED
160 25 16 n. 16 heart bit (640 mS pulse)
RESERVED: these bits will be used for future Interbus extensions.

specified from producer: these bits are free to be used by individual robot manufacturers. The C3G
control units only use the last bit as heart bit for monitoring correct communication operation.
ready for work: this bit will be set to 1 after initialising the C3G software meaning “robot connected to
Interbus-S interface”. The automatic extern bit must also be set to 1 to permit remote control of the control
unit.
Requirement program number: this bit is not used by the system. It can be used together with the input
bit 0 ..... 7 of the program number by a PDL2 program. It is the only bit which can be written by the
PDL2.
EMERGENCY STOP is active: this bit will be high when either an alarm is generated by opening the
safety gates or an emergency stop button is pressed (remotely) while the robot is running.
02/0400 23
FIELD BUS
COMAU STANDARD BIT MEANING TABLES
$SDIN $WORD $WORD IBS bit

index index bit bit Meaning
145 25 1 1 drives-on

146 25 2 2 not drives-off
147 25 3 3 start
148 25 4 4 not hold
REMOTE INTERFACE
149 25 5 5 u1
150 25 6 6 u2
151 25 7 7 u3
152 25 8 8 u4
153 25 9 9
154 25 10 10
155 25 11 11
156 25 12 12
157 25 13 13
158 25 14 14
159 25 15 15
160 25 16 16
$SDOUT $WORD $WORD IBS bit

index index bit bit Meaning
145 17 1 1 not alarm
146 17 2 2 drives on/not drives-off DUPLICATES THE SIM SIGNALS FOR RE-
147 17 3 3 start/not hold
148 17 4 4 remote
149 17 5 5 teach enable (DRI.ON+PROG)
MOTE INTERFACE
150 17 6 6 u1
151 17 7 7 u2
152 17 8 8 u3
153 17 9 9 u4
154 17 10 10 TP auto / TP manual
155 17 11 11
156 17 12 12
157 17 13 13
158 17 14 14
159 17 15 15
160 17 16 16 heart bit (640 ms pulse)
24 02/0400
FIELD BUS
INTERBUS-S MASTER INTERFACE

Technical data
· Standard connection by means of SUB-D male/female 9 pin connector (Interbus-S standard pin-out).
· Optical fibre connection by means of OPTOBUS-PLUS-K/OUT adapter.
· Maximum number of slave nodes: 32.
· Maximum number of words in the network 128+128 (16 bits for each word).
· Scanning: < 15 ms (with maximum network size).
FUNCTIONAL DESCRIPTION
Network transmission is automatically activated when the system acknowledges the presence of a C3G-EIM
board with C3G-EIM-IBSM annex and recognises the connected slaves, where relevant.
The specifications for this INTERBUS Master allow to connect up to 32 slave modules for a total of 128 input
words and 128 output words. Each WORD contains 16 bits.
The Interbus-S network does not require configuration although it is possible to define where to transfer the
words from the network. It is possible to select a separate pointer for the input words and one for the output
words.
The Interbus-S master interface can receive commands and indicate the current status employing other two
data areas consisting respectively of 4 and 2 words. Also in this case, it is possible to define where to trans-
fer the words. If not employed, the transfer can be disabled by setting the pointer to zero.
Activate the IBSM on “C3G Configuration Tools” diskette 1/" for configuration. Alternatively, the specific sys-
tem variables can be used although this requires a complete knowledge of the working environment on be-
half of the user.
This tool can also be used to display some useful information on network structure and master status.
System variable settings

The system variables used for this feature are:
· $FB_CNFG[3]. Bit 24 set to 1 indicates that the INTERBUS Master function is present. Bit 30 set to 1
indicates that the C3G-EIM board is present.
· $MASTER_INIT[1]. Bit 1 set to 1 enables the driver and the INTERBUS Master function. Bit 2 set to 1
enables pointer self-configuration and input-output area lengths. Bit 3 set to 1 enables CLEAR ALARM
network restart. Bit 4 set to 1 enables configuration update after an alarm.
· $MASTER_INIT[2] contains the length of input and output areas expressed in number of words.
· $MASTER_INIT[3] contains the input word pointer.
· $MASTER_INIT[4] contains the output word pointer.
· $MASTER_INIT[5] contains the master command 4 word pointer.
· $MASTER_INIT[6] contains the master status 2 word pointer.
00/0499 25
FIELD BUS
INTERBUS MASTER C3G-EIM MODULE LINK

ER Red off No power or CPU working
blinking The timer is attempting to start the CPU but the CPU is
not working
cycle)
IS Yellow off Interbus slave not powered or not working
cycle)
on Self-test done
blinking Waiting for synchronization with the RBC2 module
Power off:
· All LEDs off (with the exception of LED IS) if the Interbus slave is powered and working.
Startup:
· All LEDs off (with the exception of LED IM)
· LED ER on for approximately 0.5 seconds
· LED ER off and LED 2 on for approximately 10 seconds
· LED RU on for approximately 10 seconds
· LED RU blinking
· LED IM blinking if master is working
· LED IS blinking if slave is working
26 00/0499
FIELD BUS
00/0499 27
FIELD BUS
SPECIFICATIONS
The Interbus-S network is connected by means of a ring. In other words, signals are transferred to and from
the modules on the same cable. The last module internally closes down if no output plug is detected.
The size of the ring and the connected modules is recognised by the network master at each startup or re-
set. The master module firmware recognises the number of input/output words in the network and - if all is
working correctly - cyclically transfers the data from the network to the dual port memory and vice versa.
The network memory is represented with two arrays, one for input and one for output. The master module
transfers data in the order of the modules in the network. The first module will occupy the number of words
corresponding to its dimension starting from the beginning of the array (from the first to the second and so
on).
The system copies the C3G-EIM-IBSM module memory snapshots to the $WORD[ ] array to make the net-
work inputs and outputs available to the user programs (PDL2 or PLC). The I/O is updated every 15 millisec-
onds.
The transfer position can be configured independently for inputs and outputs by means of two pointers
(INWORD and OUTWORD). The pointer values can be changed with the IBSM configuration/diagnostics
program. The I/O word transfer length can also be monitored and configured with this program.
There are two other groups of words in addition to the input and the output arrays. One is reserved for net-
work status and the other for C3G-EIM-IBSM master module commands. These words are mainly used for
managing the field network autonomously with respect to the robot controller status.
There are 2 status words and 4 command words. The word contents is predefined and is described below.
The command words are also called “Signal Interface”.
The default C3G configuration is:
occupied
Pointers $WORD item [ ]
items
Network input: INWORD 33
32
Network output: OUTWORD 65
Master commands: CMDWORD 97 3
Network status STSWORD 101 2
28 00/0499
FIELD BUS
Key:
16I = 16 Inputs (1 Word)
16O = 16 Outputs (1 Word)
4WO = 4 Word di Output
4WI = 4 Word di Input
Data flow block chart
Important. The master balances the output and the input words transferred for each module.
Consequently, if the module has only inputs or only outputs, the additional array will include
some compensation words which are meaningless in the field network (see first example be-
low).
The following example shows the relationship between network and $WORD[ ] area for input only and output
only modules for which a compensation word is created.
Network components
Module
1 C3G-EIM module : Robot control slave interface
2 RT 24 DI 16-T : 24VDC 16 input module
3 BK/LC 2 : Bus Terminal
4 AI : 4 analog input (12 bit) module
5 RT 24 DO 16-T : 24VDC 16 output module
Pointer configuration
INWORD : 33
OUTWORD : 65
00/0498 29
FIELD BUS
C3G-EIM $WORD [ ]
C3G-IBS-M ARRAY
(master) INPUT OUTPUT
$WORD [33] $WORD
Modulo WORD 1 1
num. IN OUT
1 1
C3G
1 IBS 4 4 1 1
1 1
RT 24
2 X
2 DI 16 1 -
4 4
BK/ AI - - 4 4
3/4 LC2 4 4
4 4
4 4
RT 24
5 DO 16 - 1 X 5
1) The numbers in words indicate the module which they belong to.
2) X indicates the compensation words which are meaningless.
5 TOT: 10 3) The BUS TERMINAL modules do not occupy words.
STATUS WORD DESCRIPTION

There are two status words. The first contains a copy of the Interbus Master interface status and the second
contains the error parameter, where relevant.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
- - - - - - FAIL BSA RDY ACT RUN DET CTRL BUS PF USR
The following bits indicate the IBS master driver status.

FAIL: This bit is active until the host indicates SYSFAIL status for the IBS master controller. The VMEbus
SYS_FAIL signal is controlled by the IBS master on A402. Zero is transferred to slave outputs while the
SYS_FAIL signal is active and the IBS master status is running (RUN). The slave inputs will still be updated.
BSA: (Bus segment cancelled). This bit is activated when one or more bus segments are disabled by the
user. It is reset when all the bus segments are enabled.
RDY: This bit is activated whenever the IBS master driver is initialised.
ACT: This bit is activated when the IBS master driver is active (ACTIVE) or running (RUN).
RUN: This bit is activated when the IBS master driver is running (RUN).
DET: This bit is activated when the DETECT sequence is run to identify the position of an IBS error.
The 3..0 bits are error bits which can be reset only with the IBS_CONFIRM_DIAGNOSTICS service or with
signal interface action bit 2.
CTRL: This bit is activated when the IBS master software detects a software or hardware error in the IBS
master. The diagnostic parameter register contains the error code.
30 00/0498
FIELD BUS
BUS: This bit is activated when the bus is cut out due to a fatal Interbus error (broken cable, non corre-
sponding configuration, missing slaves, etc.). This bit can be reset only after a new ACTIVE or RUN input.
The diagnostic parameter register contains the bus position in Seg.Pos format of the bus segment which
generated the error.
PF: This bit is activated when one or more slaves signal a “peripheral error” status. This bit can be reset only
after all the slaves have reset the peripheral error status. This error does not stop the bus. The diagnostic
parameter register contains the bus position in Seg.Pos format of the first slave in peripheral error status.
USR: This bit is activated whenever a service entered by the user cannot be completed due to an error of the
user (wrong status, parameters, etc.). These errors do not stop the bus. The diagnostic parameter register
contains the error code.
Parameter Register
Status Word meaning
COMMAND WORD DESCRIPTION

If management of the network is not to be separated from management of the system, the command words
need not be used.
The signal interface consists of three words. Each word contains 16 bits, each of which relates to a
pre-programmed command sequence. The three word bits relate to the same command although their func-
tion is different.
1. The first word, called “Action bit”, activates the required command sequence:
0 -> 1 (front): command activation required.
1 -> 0 (front): request acknowledged.
2. The second word, called “State bit”, indicates when a command sequence is active:
1: the required sequence is still active.
0: the sequence is free and can be activated.
3. The third word, called “Result bit”, indicates the result of the required sequence:
1: True
0: False
The meaning of the two results (true or false) depends on the programmed command sequences. The
“result bit” corresponding to an “action bit” to which no sequence is linked will be set to true (1).
4. The fourth word contains the parameter related to the command, where required.
00/0498 31
FIELD BUS
activation recognition
action bit
state bit active ready
result bit don't care valid
The meaning of the command sequences linked to the bits is:

Bit 0 / Automatic InterBus startup
The IBS master control task runs the following services with this bit:
IBS_CREATE_CONFIGURATION
IBS_CONFIRM_DIAGNOSTICS
IBS_COMPLETE_READ_CONFIGURATION
IBS_START_DATA_TRANSFER
The IBS master detects the available slaves on the bus and creates the configuration frame. The IBS master
control task then reads the current configuration and fills out the IBS_MSR_NUM_SLAVES,
IBS_MSR_NUM_IO_WORDS and IBS_MSR_CONFIG fields with this information. The data cycles can start
if the outcome of this operation is correct.
This sequence is automatically run when the IBS master driver is started.
Bit 1 / Stop alarm
This bit runs the IBS_ALARM_STOP service which stops the data cycles and activates the PAR_READY
status for the IBS master driver. No slave outputs are reset.
Bit 2 / Reset alarm
This bit runs the IBS_CONFIRM_DIAGNOSTICS service. The error LEDs and bits are reset if the error con-
dition is no longer present.
Bit 3 / Deactivate bus segment
This bit runs the IBS_CONTROL_ACTIVE_CONFIGURATION service with the 0x0000 cut-off code. The bus
segment to be deactivated results from the IBS_MSR_COMMAND_PAR register.
Bit 4 / Activate bus segment
This bit runs the IBS_CONTROL_ACTIVE_CONFIGURATION service with the 0x0001 cut-off code. The bus
segment to be activated results from the IBS_MSR_COMMAND_PAR register.
Bit 7 / Restart Interbus
This bit runs the IBS_ACTIVATE_CONFIGURATION, IBS_CONFIRM_DIAGNOSTICS and
IBS_START_DATA_TRANSFER services to restart the InterBus following a breakdown or alarm stop with
the same configuration which was detected before the stop.
Bit 0/Interbus Autostart appears in all four words in the same position. The PDL2 program will write 1 in the
“ACTION WORD” bit. The C3G-EIM board will answer with a 1 in the corresponding “STATE WORD” bit.
32 00/0498
FIELD BUS
15 7 4 3 2 1 0
ACTION
ACTIONWORD
BIT
STATE WORD
STATE BIT
RESULT
RESULTWORD
BIT
Clear Display
Start
automatic
Configure Bus
Interbus
Start Bus
Stop alarm
Alarm Stop
Reset
Clearalarm
Display
Deact.
Sendbus
all segment
mod. er
Activate
Warm bus segment
Start
Restart Interbus
Bit position of “Signal Interface”
Some network specifications, deemed considerably larger than required, were limited in C3G controller
Interbus-S MASTER interface implementation.
1. Maximum number of modules which can be connected: 32.
2. Maximum number of words which can be transferred (in/out): 128 + 128 (2048 IN/2048 OUT).
Please note the correspondence of the input numbers on the module connector and the position of the corre-
sponding bits in the $WORD.
Example of bit positions in words
16 INPUT MODULE
NETWORK bit 15 bit 0
IBS IN ~ $WORD ~
~ ~
INP
INP116 INP
INP 16
0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
15 0 C3G-
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 EIM
IBSM
00/0498 33
ETHERNET
ETHERNET INTERFACE
ETHERNET TECHNICAL SPECIFICATIONS
· Ethernet network as per IEEE 802.3 standard. · TCP/IP communications protocol

· Communication speed: 10 Mbit/s · FTP file transfer function
· AUI output plug · 6-pin MINI DIN download software
CONNECTIONS

ER Red off No power or CPU not working
blinking The CPU has a not recoverable failure. The board
cycle)
IS Yellow off Interbus-S slave not powered or not working
cycle)
on Self-test done
blinking Waiting for synchronisation with the RBC2 module
Power off:
· All LEDs off (with the exception of the IS LED) if the Interbus slave is powered and working.
Startup:
· All LEDs off (with the exception of IM LED) · RU LED blinking
· ER LED on for approximately 0.5 seconds · IM LED blinking if master is working
· ER LED off and LED 2 on for approximately 10 · IS LED blinking if slave is working
seconds
· RU LED on for approximately 10 seconds
34 00/0498
ETHERNET
00/0498 35
ETHERNET
CONFIGURATION
For the C3G-EIM board to work and for operations to function, different sets of system variables need to be
set and files present on the ramdisk and optionally on the remote host.
SYSTEM VARIABLES
Board ($NET_L_)
For the board to work, the IP address, IP inetmask and hostname of the board need to be set. These should
be specified by the network manager as they should be unique on the network. The variables are only read
at startup time of the controller, so any changes require a restart of the controller.
$NET_L[1] := ‘172.22.100.53’ -- IP address

$NET_L[2] := ‘robot1’ -- Hostname
$NET_L[3] := ‘255.0.0.0’ -- Subnet mask
If the local configuration has been changed ($NET_L[X]), the system will prompt for the Con-
figure Controller Restart Cold command again.
Client ($NET_C_)
Access to the remote host from the C3G controller requires the client system variables ($NET_C_) to be set.
When the user specifies Filer Copy NET1:, this is translated into a ftp connection to $NET_C_HOST[1] with
a login of $NET_C_USER[1] & $NET_C_PASS[1] and the directory is set to $NET_C_DIR[1]. File transfers
can be performed in binary or ascii. To set binary mode, set the $NET_C_CNFG[1] to 1. There are two sets
of variables for representing NET1: and NET2; the following set is an example of NET1.
$NET_C_HOST[1] := ‘172.22.96.109’ -- FTP Server (remote)

$NET_C_USER[1] := ‘comau’ -- Login
$NET_C_PASS[1] := ‘robotics’ -- Password
$NET_C_DIR[1] := ‘//usr//c3g//test’ -- Default directory
$NET_C_CNFG[1] := 1 -- Binary mode file transfer -- 0 Asci mode
Server ($NET_S_)
Access to the C3G Controller from a remote station is controlled and restricted by the $NET_S_ set of sys-
tem variables. There are eight sets of variables and for each variable there is information on username
($NET_S_STR[1,nn]), password ($NET_S_STR[2,nn]) and access rights ($NET_S_STR[3,nn]).
$NET_S_STR[1, 1] := ‘usera’ -- User (3,8)

$NET_S_STR[2, 1] := ‘passworda’ -- Pass
$NET_S_STR[3, 1] := ‘rwods’ -- Access
--
$NET_S_STR[1, 2] := ‘userb’ -- User (3,8)
$NET_S_STR[2, 2] := ‘passwordb’ -- Pass
--
-- Number of servers allowed at one time.
$NET_S_INT[1] := 8 -- Number of server (maximum 8)
$NET_S_INT[2] := 15 * 1000 * 60 -- Timeout for a server
$NET_S_INT[3] := 4 * 60 -- Time required for starting the network software
after the controller boot
It could happen that even if the client closes the session, on the server side the session remains alive for a
certain amount of time. The amount of time is usually server dependent. If the C3G boots while on the server
a session is not completely close it could happen that the C3G is not able to access the server. A certain
amount of time is needed in order to permit on the server side to close all the sessions. In order to avoid this
problem the network is mounted on the C3G only if the amount of time $NET_S_INT[3] in second is elapsed
since the previous bot. If this variable is set to “0", the network is mounted immediately.
Additional users can be set using the remote boot option.
36 00/0498
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Boot ($NET_B_)
To simplify the configuration of multiple controllers and for handling in a more dynamic way the configuration
of the controller, there is ability to download the configuration information from a remote server. This means
that the configuration can be centrally.
There are five parameters which need to be set:
· Remote server IP address or name
· Boot login
· Boot password
· Boot directory
· Boot file
$NET_B[1] := ‘172.22.96.109’ -- IP Address of remote host

$NET_B[2] := ‘comau’ -- User
$NET_B[3] := ‘robotics’ -- Pass
$NET_B[4] := ‘eim.clg’ -- Cnfg
$NET_B_DIR := ‘//usr//eim//eincnfg’ -- Directory in which is located the file
Information
The number of servers operating and the hosts/users connected to the server can be viewed from the
$NET_I_STR and $NET_I_INT variables. $NET_I_INT[1] is the number of active servers. $NET_I_STR[1,x]
is the remote host name and $NET_I_STR[2,x] is the user connected.
FILES
Hosts (local and remote)
The network understands IP addresses. User understand symbolic names. To relate a IP address to sym-
bolic name, there is the hosts file. This is a standard file (Unix & Dos also have them) . If a hosts file is pres-
ent on the ramdisk, the data is used for setting up the IP address to network name. The file is not essential. It
is only read at startup time. In addition, if the remote boot configuration feature is used ($NET_B_xx) then a
remote host can be used for configuring the network.
#
# This is a sample HOSTS file used by C3G-EIM
#
# This file contains the mappings of IP addresses to host names. Each
# entry should be kept on an individual line. The IP address should
# be placed in the first column followed by the corresponding host
# name.
# The IP address and the host name should be separated by at least one
# space.
#
# Additionally, comments (such as these) may be inserted on individual
# lines or following the machine name denoted by a ‘#’ symbol.
#
# For example:
#
# 102.54.94.97 rhino.acme.com # source server
# 38.25.63.10 x.acme.com # x client host
127.0.0.1 localhost
172.168.9.10 green
172.168.9.96 red
172.168.9.253 yellow
172.168.9.254 blue
172.22.100.201 Vax
172.22.100.53 robot1
00/0498 37
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Boot configuration (remote only)

The boot configuration file contains information about how the controller should be configured. The informa-
tion in the boot configuration file is the “pointer” as from where access and hosts files should be read. The lo-
cal IP address or hostname is used for searching in the file for the relevant information.
For example, if the current host is ‘robot1’, then the list of users is in a file userlist on server 172.22.96.109.
# File name eim.cfg

# This is an example boot configuration file
# Each line contains the
# <IPaddress | Hostname> Accfile <Login_host User Pass Directory >
#
#
# Board 172.22.100.53 should read the file ‘USER.CFG’ by logging
# into machine 172.22.96.109 with user ‘comau’ and password ‘robotics’
172.22.100.53 USER.CFG 172.22.96.109 comau robotics /usr/eim/eimcnfg
User access file (remote only)

This file contains information about who can use the controller and the access rights. On each line needs to
be specified the user, password and access rights.
# File name USER.CFG

# This is an example of a userlist file
# It contains a list of users who can use the server
# Each line contains
# User_name Password Access_rights on the controller
# r=read
# w=write
# o=overwrite
# d=delele
# s=system access
#
usera passworda rwods
userb passwordb rwods
userc passwordc rwod
userd passwordd rwo
usere passworde rwd
userf passwordf rw
userg passowrdg r
userh passwordh w
FTPCNFG CONFIGURATION PROGRAM

There is a dedicated tool that permits to set the system variables needed for the network configuration.
Please refer to the document FTP_INST.DOC for more information. It is possible to find the documentation
on the 2/2 C3G Configuration Tool disk, which is provided with the C3G Plus controller.
38 00/0498
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SYSTEM START UP
There is the following process upon board start.
1. RBC-EIM synchronisation
The C3G-EIM board starts and waits for the RBC software to start (LED Flashing)
2. System parameters read
The $NET_L_, $NET_S_ and $NET_B_ parameters are read and the hosts file if present.
3. Local board parameters
A check is made that the $NET_L parameters are not different from what has been stored in Eeprom. If
there are differences, the new parameters are set in eeprom but the IP address will not have effect until
a controller restart. A restart message is issued. If $NET_L parameters are unset, then the current
Eeprom values are used, if they have been set once.
4. Boot server access.
If $NET_B parameters have been set, then an attempt is made to login into the boot server and the con-
figuration file obtained.
5. Configuration file
The boot configuration file should contain information about this board. Each line of the file contains, the
IP address or hostname, the user access file and optional information as to where to obtain this informa-
tion. If the optional information is not present the current login is used for obtaining the configuration file.
6. User access file
The user access file contains information similar to $NET_S about who can access this controller and
the access rights.
7. Hosts file
The hosts file is obtained and used in addition to the C3G resident hosts file.
8. The system is now operational.
OPERATIONS
C3G CLIENT-REMOTE SERVER
All operations that can be performed from the C3G Command language are performed as device NET1: or
NET2:. The commands that understand NET1: are
Filer Copy
Filer Delete
Filer Rename
Filer View
Filer Utility Backup. For this specific command is necessary to change the device in $DFT_DV[3]
Each time a command is issued the NET_C variables are used. If there is no connection, a connection is
made. If the values are different, a new connection or change of directory is performed.
00/0498 39
ETHERNET
REMOTE CLIENT-C3G SERVER

Not all clients are the same eg. Xftp vs. FTP and therefore the actual commands seen by the user maybe dif-
ferent. The set of FTP commands that can be handled by the C3G server are:
FTP Command Description

“USER” User login
“PASS” User password
“QUIT” Quit a session
“PORT” Set the port for file transfers
“LIST” Directory listing (long format)
“NLST” Directort listing (short format)
“CWD” Change directory (only / or \)
“XCWD” Change directory (only / or \)
“RETR” Get a file
“TYPE” Set the transfer mode ASCII or BINARY
“STOR” Send the file
“APPE” Append the file
“NOOP” No-operation
“DELE” Delete a file
“RNFR” Rename a file from
“RNTO” to
“MODE” Set the operation mode
“XPWD” Current working directory (\)
“PWD” Current working directory (\)
USEFUL TIPS
Some useful notes about operation of the system.
CARRIAGE RETURN & LINE FEED

Different file systems use different means for marking the end of the line. The Comau system is similar to
Dos and uses CR(0xd) and LF (0xa). Unix on the otherhand uses just LF (0xa).
When transfering files in BINARY mode, there is no conversion. However, the CR and LF are converted in
ASCII mode. When sending a file, the CR & LF are converted to just LF. When receiving a file, the LF is con-
verted into CR & LF.
In DOS, there is the end of file marker 0x1A. When transfering in ASCII to a remote server, this is used to
detect end of file and therefore end of transfer.
To set ACII mode as a client, set $NET_C_CNFG to 0.
To set ASCII mode for the server, send the command TYPE ASCII.
TIMEOUT
Operations on networks are very much dependant on a time factor. Actions are suspended for a specified
amount of time before a negative result is returned. This means that user operations cannot always be im-
mediately aborted. For example, issuing a ^C to abort an action, can take a long time.
40 00/0498
ETHERNET
NETWORK ERRORS
Errors can occur from one of three different “places” and therefore different manuals need to be referenced.
Unfortunately, many of the errors are the same number and this cannot be avoided. To understand which er-
ror, the context is important.
· C3G system errors
· FTP defined errors
· EIM operating board errors.
C3G EIM ERRORS

The C3G errors are documented in the appropriate C3G manuals. Errors which are specific to the EIM board
are:
15418 2-WARNING Time out on wait
Cause:
A requested operation between the C3G-EIM and RBC timed-out.
Remedy:
Re-attempt your request and if it fails again, restart (warm or cold) the controller.
15419 2-WARNING No free server

Cause:
The limit of number of servers allowed at once has been reached.
Remedy:
Check who is connected and if necessary terminate a session.
15420 2-WARNING Insufficient access right

Cause:
The user does not have the access rights for the operation.
Remedy:
Either change the access rights or ask someone with the appropriate rights to perform the
operation.
15421 2-WARNING Buffer in use

Cause:
A client command was issued and the user then aborted the command.
Time is needed for the actual network to respond to the abort.
Remedy:
Wait until the command has completed. The time is dependant on the network.
15422 2-WARNING C3G-EIM error: <error>, <info>
Cause:
The C3G-EIM operating error <number> occured.
Remedy:
Report to Comau
00/0498 41
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15423 2-WARNING Invalid $NET_L initialisation setting

Cause:
One of the $NET_L_ system variables was incorrectly set.
Remedy:
Check that all three have been set correctly.
15424 2-WARNING Invalid $NET_B setting

Cause:
One of the $NET_B_ system variables was incorrectly set.
Remedy:
Check that all values have been correctly set.
15425 2-WARNING Login failed

Cause:
Unable to login to the remote server
Remedy:
Check that access is possible to remote server.
15426 2-WARNING Boot configuration failed

Cause:
The boot configuration failed because either the system variables have not been correctly
set or because the remote server did not contain the files.
Remedy:
Check the $NET_B parameters and that the remote server is correctly setup.
15427 2-WARNING FTP error: <error>, <info>

Cause:
A FTP error has occured.
Remedy:
Check FTP manual/section.
42 00/0498
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15428 10-DRIVE OFF C3G-EIM fatal error: <error>

Cause:
One of the tasks on the C3G-EIM board has failed.
Remedy:
Report this problem to Comau with the last commands executed.
15429 10-DRIVE OFF New NET: settings. Controller Reset required

Cause:
The $NET_L settings are different from C3G-EIM’s values and in order to have effect the
controller needs to be reset.
Remedy:
Reset the controller at a appropriate moment.
15430 2-WARNING No Host, User or Password specified for connection

Cause:
One of the $NET_C.... parameters has not been set.
Remedy:
Check all have been set.
15431 2-WARNING Connection fail

Cause:
An attempt to connect to a remote server has failed.
Remedy:
Check that the remote server is operating and that access is available.
15432 2-WARNING Invalid IP address

Cause:
The IP address is invalid. It should be in aaa.bbb.ccc.ddd format.
Remedy:
Check the system variables.
15433 2-WARNING Client command interrupted

Cause:
The user has request an abort.
Remedy:
No action necessary.
15434 2-WARNING FTP not mounted

Cause:
The FTP network support has been dismounted or never mounted.
Remedy:
This is an informational message.
00/0498 43
ETHERNET
15435 10-DRIVE OFF C3G-EIM FTP version mismatch

Cause:
The system software loaded on the C3G-EIM does not match with the C3G system software
version.
Remedy:
Make sure that all versions are at the same revision level.
15436 10-DRIVE OFF FTP server fatal error <error>

Cause:
The FTP server has exited due to the detection of a fatal error, such as a communications
adapter failure or incorrect startup parameters.
Remedy:
Determine the cause of the fatal error and correct it.
15437 2-WARNING FTP mounted <version>

Cause:
The File Transfer Protocol (FTP) server is mounted on the controller and is ready for com-
munication.
Remedy:
15438 10-DRIVE OFF FTP Watch Dog

Cause:
The File Transfer Protocol (FTP) server is no more active.
Remedy:
Report this problem to Comau with the last commands executed.
15439 2-WARNING C3G-EIM powerfail detected

Cause:
The File Transfer Protocol (FTP) server has detected a power failure on the C3G-EIM board.
The server is going to restart.
Remedy:
44 00/0498
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FTP errors
The FTP errors are defined by the FTP standard RFC 959.
· 421
Service not available, closing control connection. This may be a reply to any command if the service
knows it must shut down.
· 425
Can’t open data connection.
· 426
Connection closed; transfer aborted.
· 450
Requested file action not taken. File unavailable (e.g., file busy).
· 451
Requested action aborted: local error in processing.
· 452
Requested action not taken. Insufficient storage space in system.
· 500
Syntax error, command unrecognized. This may include errors such as command line too long.
· 501
Syntax error in parameters or arguments.
· 502
Command not implemented.
· 503
Bad sequence of commands.
· 504
Command not implemented for that parameter.
· 530
Not logged in.
· 532
Need account for storing files.
· 550
Requested action not taken. File unavailable (e.g., file not found, no access).
· 551
Requested action aborted: page type unknown.
· 552
Requested file action aborted. Exceeded storage allocation (for current directory or dataset).
· 553
Requested action not taken.File name not allowed.
00/0498 45
ETHERNET
SYSTEM VARIABLE LIST
System variable Example setting Description

$NET_L : ARRAY[3] OF STRING Local settings
$NET_L[1] ‘172.22.100.53’ IP address of board
$NET_L[2] ‘robot1’ Hostname of board
$NET_L[3] ‘255.0.0.0’ Subnet mask of board
$NET_C_HOST : ARRAY[2] OF Client remote server -
STRING host
$NET_C_HOST [1] ‘172.22.96.109’ FTP Server (remote)
$NET_C_USER : ARRAY[2] OF Client remote server -
STRING username
$NET_C_USER [1] ‘comau’ Login
$NET_C_PASS : ARRAY[2] OF Client remote server -
STRING password
$NET_C_PASS [1] ‘robotics’ Password
$NET_C_DIR : ARRAY[2] OF Client remote server -
STRING directory
$NET_C_DIR [1] ‘//usr//c3g//test’ Default directory
$NET_C_CNFG : ARRAY[2] OF
INTEGER
$NET_C_CNFG [1] 1 Binary mode file trans-
fer
$NET_B : ARRAY[4] OF Boot parameters
STRING
$NET_B[1] ‘172.22.96.109’ IP Address of remote
host
$NET_B[2] ‘comau’ User
$NET_B[3] ‘robotics’ Pass
$NET_B[4] ‘eim.cfg’ Cnfg
$NET_B_DIR ‘c:\\’ Directory in which is
located the configura-
tion file
$NET_S_STR : ARRAY[3,8] OF Server users passwords
STRING and access
$NET_S_STR[1,1] ‘UTENTE ‘ User
$NET_S_STR[2,1] ‘COUT’ password
$NET_S_STR[3,1] ‘rwods’ access rights
$NET_S_INT: ARRAY[3] OF Server settings
INTEGER
$NET_S_INT[1] 8 Number of server (maxi-
mum 8)
$NET_S_INT[2] 15 * 1000 * 60 Timeout for a server
$NET_S_INT[3] 4 * 60 Start up time
$NET_I_STR : ARRAY[2,8] OF Current connections
STRING
$NET_I_STR[1,x] Remote host #1
$NET_I_STR[2,x] Remote user #1
$NET_I_INT : ARRAY[2] OF Current connections
INTEGER
$NET_I_INT[1] Number of connections
46 02/0400
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ETHERNET DeviceNet MODULE (C3G-EDN)

From an electrical and functional point of view, the connection to the Ethernet network is per-
fectly similar to that present on the C3G-EIM board. Therefore, at least as regards the Ether-
net connection, all references made for the C3G-EIM board are also valid for the C3G-EDN.
If both boards are plugged in the control unit, the system assumes that the Ethernet interface
is connected to the C3G-EIM board.
DeviceNet Slave (C3G-EDN)

DeviceNet is a serial communication link that uses Controller Area Network (CAN) technology.
The CAN protocol covers part of layer 1 (physical) and part of layer 2 (data link) of the ISO model for the
protocols. The DeviceNet protocol covers layer 7 (application) of the ISO model.
The C3G-EDN board supports two CAN channels and a link to an Ethernet Network.
Generally, a DeviceNet network connects industrial devices with higher level control devices.
The list below summarizes the specific Physical/Media characteristics of a DeviceNet:
· Trunkline−dropline configuration
· Able to support 64 nodes
· Node removal without severing the network
· Simultaneous support for both network−powered (sensors) and self−powered devices (actuators)
· Protection against wiring errors
· Selectable baud rates of 125k baud, 250k baud, and 500k baud:
Data rate Trunk Distance Drop Lenght

Maximum Cumulative
125 K baud 500 m 6m 156 m
250 K baud 250 m 6m 78 m
500 K baud 100 m 6m 39 m
· Adjustable power configuration to cater to individual application needs

· High current capability (up to 16 amps per supply)
· Operation with off−the−shelf power supplies
· Power taps that permit connection of several power supplies of multiple vendors provided these are
compatible with the DeviceNet standard
· Built−in overload protection
· Power available along the bus: both signal and power lines contained in the trunkline
· Use of Controller Area Network (CAN) technology.
· Use of the connection−based model to facilitate application to application communication
· Optimized management for movement of I/O data
· Fragmentation for moving large blocks of information
· Duplicate MAC ID detection
In order to establish a link, the C3G-EDN board must be plugged in the Control Unit of the C3G controller.
This board is automatically recognized by the system software when the controller is switched on. After
plugging in the board, the communication parameters must be configured. These must match those set on
the Scanner PLC side.
To configure the C3G-EDN board, a specific PDL2 program must be loaded and run on the control unit as
indicated in the C3G-RIO, C3G-EIM, C3G-PFDP board software configuration programs paragraph.
02/0400 47
ETHERNET
After configuring the board, a WARM RESTART must be executed in order to activate the settings. To check
that the board is connected to the PLC and that the parameters have been set correctly, observe the LEDs
on the front panel above the connector . Both the MS (Module Status) LED and the NS (Network Status)
LED should be turned on and green.
At this point, PLC scanner and the C3G control unit will exchange a number of words that depends on the
parameters specified during configuration. The C3G control unit will be able to access the words reserved for
the DeviceNet Slave interface through the PDL2 $WORD[ ] variables. The maximum number of words in in-
put is 32 and the maximum number of words in output is 32. The total number of input words is always equal
to the number of words in output.
If more than 8 inputs (and therefore output) words are configured and the DeviceNet interface is primary, the
first 8 input words and the first 8 output words will be allocated in the block with indexes from 25 to 32 for
the inputs (from $WORD[25] to $WORD[32]) and from 17 to 24 for the outputs (from $WORD[17] to
$WORD[24]); the others will be allocated starting from an index specified by the user during network configu-
ration. In this case, the system allocates a block with dimension module 8 large enough to contain the num-
ber of words required.
For example, if the total number of words required is 19 (No. of system words 1 + No. of user word 18), a
block of 8+8 words will be allocated starting from index 17 and a block of 16+16 words starting from the in-
dex specified by the user. If the interface is secondary, the same logic is applied to the total number of
words. For example, if the total number of words required is 21, the system will allocate a block of 24+24
words starting from the index specified by the user.
If the first (and the second in the case of multi-arm systems) $WORD has been configured as reserved for
the system, the C3G control unit will use this to receive remote commands (DRIVE ON, DRIVE OFF,
START, HOLD) and to send system status (ALARM, DRIVE ON/OFF etc.) to the remote device (PLC).
In this case, the meaning of the 16 bits in $WORD[17 ..18] and $WORD[25 ..26] is explained in the tables
provided in the specific paragraph. The system $WORD are managed by the operating system of the C3G
control unit and cannot be changed at PDL2 level. The remaining $WORD can be used in PDL2 programs
and the meaning of the bits in each $WORD can be planned by the PLC and robot programmers.
The configuration of the board is contained in the $DEVNET_INIT[1..10] system variable. For the meaning of
each field, refer to the documentation of the configuration tool (RI_INST) or to the system variable documen-
tation.
TEST MODE
The board can be set to TEST mode by setting or resetting bit 2 (the second bit) of $DEVNET_INIT [1]; in
this way, the status of the board and therefore of the network is ignored by the C3G Plus.
48 01/1099
ETHERNET
$SDIN AND $SDOUT FOR C3G-EDN

Two tables indicting the correspondence between the system bits received by the board (indicated in the bit
Meaning column) and correspondence with the mapping of the $SDIN, $SDOUT and $WORD are given be-
low. The $WORD indicated in the related column corresponds to a read only location. Although it is possible
to write to these locations, the system automatically overwrites any user modification.
$SDIN $WORD $WORD bit

index index bit Meaning

129 26 1 Machine 1 motor on
130 26 2 Machine 1 not motor off
131 26 3 Machine 1 run
132 26 4 Machine 1 not stop
133 26 5
134 26 6
135 26 7
136 26 8
138 26 10 Machine 2 not motor off
140 26 12 Machine 2 not stop
141 26 13
142 26 14
143 26 15
144 26 16

145 25 1 drives-on
146 25 2 Not drives-off
147 25 3 start
148 25 4 Not hold REMOTE INTERFACE
149 25 5 u1
150 25 6 u2
151 25 7 u3
152 25 8 u4
153 25 9
154 25 10
155 25 11
156 25 12
157 25 13
158 25 14
159 25 15
160 25 16
01/1099 49
ETHERNET
Output $WORD (State)
$SDOUT $WORD $WORD bit

index index bit Meaning
130 18 2 Machine 1 motor off

132 18 4 Machine 1 stop
133 18 5
134 18 6
135 18 7
136 18 8
138 18 10 Machine 2 motor off
140 18 12 Machine 2 stop
141 18 13
142 18 14
143 18 15
144 18 16
145 17 1 Not alarm
146 17 2 Drives on/not drives off

147 17 3 Start/not hold
148 17 4 remote
149 17 5 Teach enable (DRI.ON+PROG)
REMOTE INTERFACE
150 17 6 u1
151 17 7 u2
152 17 8 u3
153 17 9 u4
154 17 10 TP auto / TP manual
155 17 11
156 17 12
157 17 13
158 17 14
159 17 15
160 17 16 Heart bit (640 ms pulse)
50 02/0400
ETHERNET
INTERFACE DeviceNet
MEANING OF THE C3G-EDN BOARD LEDS
LED Color State Meaning

ER Red Off no power or CPU is running
On power on, but reset is active
Flashing The CPU has a not recoverable failure. The board
DS Yellow Off DeviceNet Slave not ready for operation
On DeviceNet Slave ready for operation, but data transfer
is not active
Flashing DeviceNet Slave in data transfer mode (the LED
flashes each time data is transferred)
DM Yellow Reserved for the DeviceNet Master
RU Green Off no power, or FTP application running
On self-test passed
Flashing waiting for the RBC2 synchronization
Startup:
· All LEDs off
· ER LED off for approx. 0,5 s
· ER LED off, LED 2 on for approx. 10s
· RU LED on for approx. 10s
01/1099 51
ETHERNET
MS Led - Module Status

This two-color (green/red) LED displays device status. It indicates whether or not the device is powered and
is operating correctly.
The main meaning of this led is summarized in the table below.
LED Status Meaning

Off DeviceNet slave driver not initialized
Flashing green DeviceNet Slave must be configured or requires restart by the manager run-
ning on the Robot Cpu:
· Slave has not been started by the Robot Cpu;
· CAN controller in bus off status;
· Slave has been reset by master;
· Slave in ‘communication error’ status.
Solid green DeviceNet stack started and in good health.
Solid red The C3G-EDN board has been reset by a non-power-down reset.
NS-LED - Network status

This two-color (green/red) LED indicates the status of the communication link.
The main meaning of this led is summarized in the table below.
LED Status Meaning

Off DeviceNet slave not on-line.
Flashing green No Master (no active connections).
Solid green Link ok.
Flashing green One or more I/O connections timed out. If all connections timed out, LED is
flashing green.
Solid red · Duplicate MAC ID detected;
· CAN controller is in ‘Bus Off’ status;
· Communication error status.
52 01/1099
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01/1099 53
ETHERNET
DeviceNet Slave Configuration.

The RI_INST configuration tool can be used to configure the Slave. The user must provide the system with
various information, usually:
· Amount of data exchanged and how these are to be treated by the controller. For example, in this
phase, the number of system words and the number of user words are requested.
· Some parameters for the network configuration as the address of the node (MAC_ID) or the baud rate.
· Vendor ID and Product Code. Those should be the same as in the ‘.eds’ file.
These data must be correct for regular functioning of the connection.
Obviously, also the scanner (PLC as master) must be configured according to what has been configured on
the adapter side (C3G controller as a Slave).
For configuration, the scanner (PLC) needs a file containing the parameters of the C3G controller. This can
be found on disk 2/2 of the PDL2 application programs. The extension of this file is ‘.eds’.
54 01/1099
EXAMPLE OF PROGRAM
ANNEX A
EXAMPLE OF PROGRAM FOR USE OF THE C3G-EIM Interbus master MODULE
Input and output $WORD can be created in $BIT to use the Interbus-S network I/Os more easily. In this way,
the I/O points can be used as Boolean variables $DIN and $DOUT.
This example program uses two instructions:
· MWIR: MOVE WORD TO IMAGE REGISTER to transfer inputs from $WORD to $BIT.
· MIRW: MOVE IMAGE REGISTER TO WORD to transfer outputs from $BIT to $WORD.
The program structure is shown in the following figure.
Program structure
Program example
00/0498 55
EXAMPLE OF PROGRAM
Transfer subroutine
56 00/0498
EXAMPLE OF PROGRAM
EXAMPLE OF PROGRAM FOR SETTING FTP PARAMETERS

--
-- FTPSET : Program to set FTP parameters
--
--
PROGRAM ftpset NOHOLD
BEGIN
--
-- Local information
-- This information is used for setting the IP on the board. It is read
-- only upon powerup of the controller. Change requires reset.
--
$NET_L[1] := ‘172.22.100.53’ -- IP address
$NET_L[2] := ‘robot1’ -- Hostname
$NET_L[3] := ‘255.0.0.0’ -- Subnet mask
--
-- Client information.
-- When accessing from the C3G controller a remote host via device NET1:
-- these parameters are used for determining the remote access.
--
-- Server mapped to NET1:
--
$NET_C_USER[1] := ‘comau’ -- Login
$NET_C_PASS[1] := ‘robotics’ -- Password
$NET_C_DIR[1] := ‘//usr//c3g//test’ -- Default directory
$NET_C_CNFG[1] := 1 -- Binary mode file transfer
--
-- Server mapped to NET2:
--
$NET_C_USER[2] := ‘myname’ -- Login
$NET_C_PASS[2] := ‘secret’ -- Password
$NET_C_DIR[2] := ‘//usr//local//proj’ -- Default directory
$NET_C_CNFG[2] := 1 -- Binary mode file transfer
--
-- Boot parameters.
-- These parameters only need to be set if a remote host is to be used
-- for configuring the controller and in particular the server access.
--
$NET_B[1] := ‘172.22.96.109’ -- IP Address of remote host
$NET_B[2] := ‘comau’ -- User
$NET_B[3] := ‘robotics’ -- Pass
$NET_B[4] := ‘eim.cfg’ -- Cnfg
-- Directory in which is located the configuration file
$NET_B_DIR := ‘//usr//eim//eimcnfg’
--
-- Server information
-- Who can access the C3G controller and what sort of access?
--
$NET_S_STR[1, 1] := ‘usera’ -- User (3,8)
02/0400 57
EXAMPLE OF PROGRAM
$NET_S_STR[2, 1] := ‘passworda’ -- Pass

--
$NET_S_STR[1, 2] := ‘userb’ -- User (3,8)
$NET_S_STR[2, 2] := ‘passwordb’ -- Pass
--
$NET_S_STR[1, 3] := ‘userc’ -- User (3,8)
$NET_S_STR[2, 3] := ‘passwordc’ -- Pass
--
$NET_S_STR[1, 4] := ‘userd’ -- User (3,8)
$NET_S_STR[2, 4] := ‘passwordd’ -- Pass
--
$NET_S_STR[1, 5] := ‘usere’ -- User (3,8)
$NET_S_STR[2, 5] := ‘passworde’ -- Pass
--
$NET_S_STR[1, 6] := ‘userf’ -- User (3,8)
$NET_S_STR[2, 6] := ‘passwordf’ -- Pass
--
$NET_S_STR[1, 7] := ‘userg’ -- User (3,8)
$NET_S_STR[2, 7] := ‘passwordg’ -- Pass
--
$NET_S_STR[1, 8] := ‘userh’ -- User (3,8)
$NET_S_STR[2, 8] := ‘passwordh’ -- Pass
--
-- Number of servers allowed at one time.
--
$NET_S_INT[1] := 8 -- Number of server (maximum 8)
$NET_S_INT[2] := 15 * 1000 * 60 -- Timeout for a server
$NET_S_INT[3] := 40 * 60 - Startup time 4 minute
END ftpset
58 00/0498
EXAMPLE OF PROGRAM
EXAMPLE OF PDL2 PROGRAM FOR USING SLAVE FIELD BUS WITH C3G-RIO
-- THIS PROGRAM WAS USED TO TEST THE SYSTEM SIGNALS MANAGED BY THE RIO MODULE
-- FOR COMMUNICATIONS WITH THE ALLEN-BRADLEY PLC.
-- The C3G controller sends commands to itself via the $WORD[18]
-- available to the user which the Allen-Bradley PLC copies to $WORD[25]
-- containing the system input signals. The program checks correct execution
-- of the commands via the $WORD[17] status word.
--
--
PROGRAM rio NOHOLD, STACK = 500
-- CONSTANTS FOR $WORD [17] STATUS SIGNALS (C3G -> PLC)

-- (number of bit in $WORD)
CONST k_notalarm = 1 - - NOT ALARM signal bit
CONST k_driveson = 2 - - DRIVE ON/OFF signal bit
CONST k_start = 3 - - START/HOLD signal bit
CONST k_remote = 4 - - REMOTE CONTROL signal bit
CONST k_teach = 5 - - PROG AND DRIVE-ON CONTROL signal bit
CONST k_tpauto = 10 - - TP SWITCH ON AUTO signal bit
-- CONSTANTS FOR $WORD [25] CONTROL SIGNALS (PLC->PLC)

-- (number of bit in $WORD)
CONST k_cmddrion = 1 - - DRIVE ON control bit
CONST k_cmsnotdrioff = 2 - - NOT DRIVE OFF control bit
CONST k_cmdstart = 3 - - START control bit
CONST k_cmdnothold = 4 - - NOT HOLD control bit
BEGIN
WRITE (‘***** RIO TEST PROGRAM *****’, NL)
-- init and setup not drives-off and not hold

$WORD[18] := 0
BIT_SET ($WORD[18], k_cmdnotdrioff) -- setup NOT DRIVE-OFF
BIT_SET ($WORD[18], k_cmdnothold) -- setup NOT HOLD
IF BIT TEST ($WORD[17], k_remote, TRUE) THEN

WRITE (NL, ‘switch to REMOTE!’, NL)
ENDIF
-- wait for switch on REMOTE
WAIT FOR BIT TEST ($WORD[17], k_remote, TRUE)
CYCLE
WRITE (‘DRIVES ON’, NL)
BIT_SET ($WORD[18], k_cmddrion) -- DRIVE-ON command
WAIT FOR BIT TEST ($WORD[17], k_cmddrion, TRUE) -- wait for DRIVE-ON status
BIT_CLEAR ($WRD[18], k_cmddrion) -- cancel DRIVE-ON command
WRITE (‘START’, NL)
BIT_SET ($WORD[18], k_cmdstart) -- START command
WAIT FOR BIT_TEST ($WORD[17], k_start, TRUE) -- wait for START status
BIT_CLEAR ($WORD[18], k_cmdstart) -- cancel START command
DELAY 120000 -- wait for 2 minutes
00/0498 59
EXAMPLE OF PROGRAM
WRITE (‘HOLD’, NL)

BIT_CLEAR ($WORD[18], k_cmdnothold) -- HOLD command
WAIT FOR BIT_TEST ($WORD[17], k_start, FALSE) -- wait for HOLD status
BIT_SET ($word[18], k_cmdnothold) -- cancel HOLD command
DELAY 60000 -- wait for 1 minute
WRITE (‘START’, NL)

BIT_SET ($WORD[18], k_cmdstart) -- START command
WAIT FOR BIT_TEST ($WORD[17], k_start, TRUE) -- cancel START status
BIT_CLEAR ($WORD[18], k_cmdstart) -- cancel START command
DELAY 120000
WRITE (‘DRIVES-OFF’, NL) -- DRIVE-OFF command

WAIT FOR BIT-TEST ($WORD[17], k_driveson, FALSE) -- wait for DRIVE-OFF
BIT_SET ($WORD[18], k_cmdnotdrioff) -- cancel DRIVE-OFF command
DELAY 60000 -- wait for 1 minute
WRITE (‘number cycle’, $CYCLE, NL)
DELAY 300000 -- wait for 5 minutes

END rio
60 00/0498

3FBC-GB 02

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C3G Plus

C3G-RIO C3G-PFDP C3G-EIM C3G-EDN

MANUAL FOR FIELD BUS AND

C3G-RIO (Remote I/O Link -

00757088/GB 3FBC - 02/0400

UPDATING CHAPT. SUBJECT PAG. No. ACTION

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SYMBOLS USED IN THIS MANUAL

Symbol used to identify operating procedures, technical information and precautions to

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FIELD BUS AND ETHERNET NETWORK COMMUNICATIONS

FIELD BUS AND ETHERNET NETWORK COMMUNICATIONS

18 COPIA OUTPUT IOS /IDS OUTPUT COPY

INTERBUS-S SLAVE (C3G-EIM)

DEVICENET SLAVE (C3G-EDN)

26 COPIA INPUT IOS /IOS INPUT COPY

INTERBUS-S MASTER (C3G-EIM)

SIMULTANEOUS MANAGEMENT OF SEVERAL INTERFACES

The following table shows the possible configurations where:

C3G-PFDP C3G-EIM (*) C3G-IBS C3G-SL2 C3G-RIO C3G-EDN

C3G-RIO, C3G-EIM AND C3G-PFDP MODULE SOFTWARE CONFIGURATION PROGRAMS

REMOTE I/O LINK (C3G-RIO)

Remote PLC-C3G link

C3G-RIO front panel

Annex location and C3G-RIO DIP-Switch settings

C3G-RIO JUMPER SETTINGS

$SDIN AND $SDOUT for C3G-RIO

Input $WORD (Commands)

$SDIN $WORD $WORD RIO RIO W bit

DUPLICATES THE IOS SIGNALS FOR

DUPLICATES THE SIM SIGNALS FOR

Output $WORD (Status)

$SDOUT $WORD $WORD RIO RIO W bit

DUPLICATES THE IOS SIGNALS FOR

DUPLICATES THE SIM SIGNALS FOR RE-

RIO network connection examples

Number of nodes up to 127

PROFIBUS DP system example

$SDIN AND $SDOUT FOR C3G-PFDP

Input $WORD (Commands)

$SDIN $WORD $WORD DB n DW bit

Output $WORD (Status)

$SDOUT $WORD $WORD DB n DW bit

ETHERNET INTERBUS MODULE (C3G-EIM)

INTERBUS-S SLAVE INTERFACE

The following diagram illustrates the possible combinations.

System variable settings

INTERBUS SLAVE C3G-EIM

INTERBUS-S SLAVE INTERFACE DATA FLOW

C3G-EIM INTERBUS SLAVE MODULE CONNECTIONS

C3G-EIM MODULE LED MEANING

LED Colour Function Meaning

24 VDC EXTERNAL POWER SUPPLY FOR INTERBUS-S SLAVE INTERFACE

$SDIN and $SDOUT for C3G-EIM Interbus-S slave

INTERBUS-S STANDARD BIT MEANING TABLES

Input $WORD (Commands)

$SDIN $WORD $WORD IBS IBS bit

RESERVED: these bits will be used for future Interbus extensions.

Output $WORD (Status)

$SDIN $WORD $WORD IBS IBS bit

RESERVED: these bits will be used for future Interbus extensions.

COMAU STANDARD BIT MEANING TABLES

Input $WORD (Commands)