Motoman Placas Rede Industrial

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Part Number: 147380-1

Release Date: May 30, 2005
Document Version: 2
Document Status: Final
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2003 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section Page
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information....................................................................................... 1-1
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions................................................................................................... 2-2
2.3 General Safeguarding Tips............................................................................................ 2-4
2.4 Mechanical Safety Devices............................................................................................ 2-4
2.5 Installation Safety.......................................................................................................... 2-5
2.6 Programming Safety ..................................................................................................... 2-5
2.7 Operation Safety............................................................................................................ 2-6
2.8 Maintenance Safety....................................................................................................... 2-7
3 OPTIONAL FUNCTION FIELDBUS INTERFACE BOARD XFB01
1 General ................... ..................................................................................................... 3-7
2 Installation .......................................... ....................................................................... 3-11
3 Configuration and Indicators....................................................................................... 3-13
4 Profibus DP ................................................................................................................ 3-25
5 Devicenet .............. ..................................................................................................... 3-31
6 CANOpen............................................ ....................................................................... 3-47
7 Ethernet....................................................................................................................... 3-51
8 ControlNet .................................................................................................................. 3-55
9 InterBus ................ ..................................................................................................... 3-57
10 Modbus Plus ...................................... ....................................................................... 3-59
11 Remote I/O.................................................................................................................. 3-65
12 InterBus-FO ................................................................................................................ 3-69
13 ASI........................ ..................................................................................................... 3-71
MOTOMAN i Fieldbus (XFB01) Instruction Manual

NOTES
Fieldbus (XFB01) Instruction Manual ii MOTOMAN

SECTION 1
INTRODUCTION
1.1 About this Document
This manual provides instructions for the Fieldbus Interface XFB01 Board
(AnyBus) and contains the following sections:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – OPTIONAL FUNCTION FIELDBUS INTERFACE BOARD (XFB01)
Provides detailed instructions to operate the Fieldbus Interface XFB01 Board.
1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual for XRC 2001 (P/N 147626-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC 2001 Manipulator Manual (P/N 145960-1)
• Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1)
1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, UP130, UP165, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)
MOTOMAN 1-1 Fieldbus (XFB01) Instruction Manual

INTRODUCTION
NOTES
Fieldbus (XFB01) Instruction Manual 1-2 MOTOMAN

SECTION 2
SAFETY
2.1 Introduction
.
It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

SAFETY
2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

SAFETY
2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

SAFETY
2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.6 Programming Safety

equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications of the controller PLC can cause severe personal injury or
death, as well as damage to the robot! Do not make any modifications to the
PLC. Making any changes without the written permission of Motoman will
VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

SAFETY
• Inspect the robot and work envelope to be sure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.
2.7 Operation Safety

equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
must have the teach pendant when they enter the cell.
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.

SAFETY
2.8 Maintenance Safety

equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
must have the teach pendant when they enter the cell.
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder, and I/O (Input and
Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

MOTOMAN
MOTOMAN XRC
OPTIONAL FUNCTION
Fieldbus Interface Board XFB01
Upon receipt of the product and prior to initial operation, read these instructions thoroughly,
and retain for future reference.
a subsidiary of YASKAWA Electric Corporation
MANUAL NO. MRS50350

Reference list
Operator’s manual Basic programming

Installation and Wiring manual MOTOMAN XRC
Fieldbus Appendix (AnyBus manuals from HMS)
......
Revision
010515
First release of this manual
020313
ASI Master module added.
020327
IO configuration added.
020529
Minor corrections in text.
020906
Corrections in DeviceNet section.
030815
Ethernet Modbus/TCP+EtherNet/IP+IT, CC-Link and FIPIO modules
added.
050511
Correctoin of Remote I/O setting information.
Fieldbus interface board XFB01 Page: 3
Revised: 05-05-11 Doc. name: Mrs50350TOC.fm
1. General .................................................................7
About this manual 7
The Fieldbus interface board (kit) comprises 7
❏ Also needed 8
Safety 8
Manufacturer 8
Introduction 8
Terms 9
Fieldbus systems 9
AnyBus® 10
Introduction to the Fieldbus Interface Board (XFB01) 11
Hardware comparability 11
2. Installation ...........................................................13
3. Configuration and indicators ...............................15
SARCR-XFB01 settings 15
❏ LED1 (status) 15
❏ CN2 (diagnostic channel) 16
❏ SW3 (configuration DIP) 16
❏ SW2 (station ID) 17
❏ SW1 (I/O size) 18
I/O map 19
❏ Fieldbus input data map 19
❏ Fieldbus output data map 20
Module and network status 21
Diagnostic software 22
❏ Cable configuration (CN2 <=> PC) 22
❏ Communication settings 22
❏ Terminal interface 23
Connetion of carrier board 25
4. Profibus DP .........................................................27
Profibus DP slave module 27
❏ Profibus DP interface 27
❏ Termination switch 27
❏ Node address 28
❏ LED Indicators 28
❏ The GSD-file 29
Profibus DP master module 30
❏ Profibus DP interface 30
❏ Configuration interface 31
❏ LED indicators 31
❏ Configuration software 32
5. DeviceNet ...........................................................33
DeviceNet slave module 33
❏ DeviceNet connector 33
❏ Configuration switches 33
❏ Termination 34
❏ The EDS-file 34
DeviceNet master module 35
Page: 4 Fieldbus interface board XFB01
❏ DeviceNet connector 35
❏ Configuration switches 35
❏ Operation mode 36
Configuration using RSNetWorx 37
❏ Getting started 37
❏ Installing EDS files 38
❏ Get On-line 41
❏ General information 41
❏ Scanner configuration and slave mode configuration 42
❏ Scan list configuration with RSNetWorx 43
❏ Mapping data into the DPRAM with RSNetworx 44
❏ Summary of the configuration 45
❏ AnyBus-M DeviceNet techninal information 46
❏ Compliance with predefined standards 46
❏ Extended info available through the diagnostic channel 46
❏ Active, Idle, and Faulted nodes: 47
❏ Node Status 47
6. CANOpen ........................................................... 49
CANOpen slave module 49
❏ CANOpen interface 49
❏ Baudrate 49
❏ Node address 50
❏ LED Indicators 50
❏ Configuration 50
7. Ethernet .............................................................. 53
Ethernet slave module 53
❏ Ethernet connector 53
❏ Configuration switch 53
❏ Modbus protocol 54
❏ IN area 54
❏ OUT area 54
❏ Exception codes 55
8. ControlNet .......................................................... 57
ControlNet slave module 57
❏ Network access port (NAP) 57
❏ Network access port (BNC) 57
❏ MAC ID 57
9. InterBus-S ........................................................... 59
InterBus-S slave module 59
❏ Device ID 59
❏ Bus-IN interface 59
❏ Bus-OUT interface 59
10. Modbus Plus ....................................................... 61
Modbus Plus slave module 61
❏ Fieldbus connector 61
❏ Modbus Plus data transfer services 61
❏ Configuration node ID 62
❏ Configuration source ID 62
Modbus Plus DT module 64
❏ Modbus Plus data transfer services 64
❏ Configuration node ID 65
11. Remote I/O ..........................................................67
Remote I/O slave module 67
12. InterBus-FO ........................................................71
InterBus-FO slave module 71
❏ Device ID 71
❏ Bus interface IN/OUT 71
13. ASI ......................................................................73
ASI master module 73
❏ Fieldbus connector A 73
❏ Fieldbus connector B 73
❏ Configuration interface 73
❏ IN area data mapping 74
❏ OUT area data mapping 75
Terminal interface 76
❏ Settings 76
❏ Configuration via terminal 76
14. FIPIO ...................................................................79
FIPIO slave module 79
❏ Node address 79
15. CC-Link ...............................................................81
CC-Link slave module 81
❏ Baud rate 81
❏ Station number 81
16. Ethernet MB/TCP and EtherNet/IP+IT ................85
Ethernet module 85
❏ LED 1 - Link (activity) 85
❏ LED 2 - Module status 86
About this manual Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm
Fieldbus interface board XFB01

1. General
1.1 About this manual
This Instruction manual comprises information about:
✔ Installation
✔ Setup
This documents may not be copied without our written permission and the con-
tents thereof must not be imparted to a third party nor be used for any unauthor-
ized purpose.
The Fieldbus board is valid for MOTOMAN XRC (hereafter called XRC).
Text written in BOLD letters means command or button.

Text written in ITALIC means text shown on display.
ATTENTION!
Observe precautions for handling electrostatic sensitive devices
1.2 The Fieldbus interface board (kit) comprises

✔ One Carrier board SARCR-XFB01
✔ One AnyBus® module (see table below)
✔ One data disk for setup (not necessary for all types)
Fieldbus kit, Motoman Part No.
Bus type
Master Slave DataTransfer
DeviceNet 347521-90 347521-84
Profibus DP 347522-90 347522-84
InterBus-S 347523-84
InterBus-FO 347523-85
Ethernet 347524-84
Ethernet MB/TCP FiberOpto 347524-85
Ethernet MB/TCP 347524-86
+EtherNet/IP +IT
ControlNet 347525-84
CANOpen 347526-84
Modbus Plus 347527-84 347527-83
LonWorks 347528-84
ASI 347530-90
Remote I/O 347531-83
CC-link 347532-85
FIPIO 347529-84
Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm Safety
■ Also needed
✔ Bus connection cable, Motoman P/N 347198-81, -82
✔ Power supply cable, Motoman P/N 347194-80, -81
✔ Terminator, Motoman P/N 347203
1.3 Safety
This equipment is constructed, produced and tested according to the
laws of the Member States relating to machinery (98/37/EEC), the
demands of the EMC-directives (89/336/EEC) and (93/68/EEC) and
also the LVD-directives (73/23/EEC).
Motoman Robotics Europe AB’s responsibility does not cover errors

or safety risks that may occur in equipment connected to the Moto-
man Robotics Europe AB machine, nor errors or safety risks that may
occur in the machine caused by equipment connected to the Moto-
man Robotics Europe AB’s machine.
External cables must be connected according to our cable connec-

tion guide, see separate document.
1.4 Manufacturer
Address Motoman Robotics Europe AB
Box 504
385 25 Torsås
Sweden
Telephone: +46 480 417 800
Telefax: +46 486 414 10
Type: SARCR-XFB01
1.5 Introduction
The purpose of this document is to provide instructions for users of the MOTO-
MAN Fieldbus Interface Board. This document is to provide support for configura-
tion and usage of the fieldbus board (XFB01). For further information regarding
fieldbus configuration and programming please refer to the AnyBus manuals or
contact the supplier of the PLC-equipment or similar.
This document is limited to the functionality of the XFB01 and the connections to
the MOTOMAN Robot Controller (hereafter referred to as XRC). It is assumed that
the reader has an understanding of the functionality of the XRC control system.
Terms Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm
1.6 Terms
Throughout this document the term “user“ refers to the person or persons who are
installing and programming the XRC system with an XFB01 installed. The
enduser of the robot equipment will be referred to as the customer.
As in all communication systems the terms “inputs“ and “outputs“ can be ambigu-
ous, because their meaning depends on which end of the link that is being refer-
enced. The convention in this document is that “inputs“ and “outputs“ are always
being referenced from the XRC systems end of the link.
1.7 Fieldbus systems

Instead of using traditional wiring to distribute input and output signals, the auto-
mation industry more frequently relays on computer communications. By using
communication systems cost for material, installation, documentation and mainte-
nance 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 automa-
tion, manufacturing automation, assembly automation, building automation, proc-
ess 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. In
reality, this means that the Motoman fieldbus board (XFB01) is uniqe for every
installation.
Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm AnyBus®
1.8 AnyBus®1
The AnyBus product range consists of a series of small fieldbus modules. There is
one AnyBus module for each fieldbus system. All electronics, software and control
for the fieldbus is integrated on the module. All AnyBus modules uses the same
standardised product interface.
Since all AnyBus modules uses the same standardised interface the modules can
be interchanged with other AnyBus modules without having to change the product
design. This standardised interface provides a way to design a product that sup-
ports all the major fieldbus systems in one and the same product version. This
means that the product does not have to handle the fieldbus characteristics, all
that is handled by the AnyBus module.
Product AnyBus module Fieldbus
Application using the Fieldbus data and

AnyBus module to inter- events is transferred to/
face the fieldbus system. from the application via
the standardised product
interface.
Fig.1 AnyBus sytem
There are several types of AnyBus modules available, it is only the amount of data
to be handled which decides which module is the most appropriate. This means
regardless of the complexity of the application, it will be possible to find a suitable
AnyBus module.
Since there is one AnyBus available for each significant fieldbus system on the
market there is no need to consider fieldbus specific information, set-ups or instal-
lation when designing the application.
1. AnyBus® is a registered trademark of HMS Industrial Networks AB, Halmstad, Sweden

Introduction to the Fieldbus Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm
1.9 Introduction to the Fieldbus Interface Board (XFB01)

The XFB01 is designed to make it possible to connect the XRC to the most com-
monly used fieldbus systems on the market. It controls the exchange of data
between the XRC and the AnyBus modules witch constitutes the fieldbus inter-
face.
1.10 Hardware comparability

The XFB01 is electrically compatible with the motherboards in all current models
of XRC cabinets. From the users point of view the fieldbus board will be used as a
standard I/O board available for the XRC system.
The AnyBus interface fulfils the requirements specified by the manufacturer of

each fieldbus system.
Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm Hardware comparability
Revised: 05-05-11 Doc. name: Mrs50350-ch2.fm
2. Installation
For installation guidlines refer to
“Maintenance manual - Installation and wiring, MRS51000”.
Warning!
To prevent electrical shock to personnel and to prevent equipment
damage, ensure power to XRC controller is turned OFF before begin-
ning the installation
Caution!
Follow the proper anti-static procedures to ensure that static electric-
ity does not damage the FBIB.
Caution!
Never change any of the settings on the FBIB while controller
power is ON.
Revised: 05-05-11 Doc. name: Mrs50350-ch2.fm
SARCR-XFB01 settings Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
3. Configuration and indicators

3.1 SARCR-XFB01 settings
SARCR-
XFB01
REV. A 0 1
CN1
CN1 24V DC power supply connector
LED1 Status LED
LED1 CN2 Firmware download / diagnostic channel
CN2 SW3 Configuration setting switch
SW2 Station ID
SW3 SW1 I/O size
CN3 Bus communication connector
Location of the AnyBus fieldbus modules

See separate chapter
SW2
SW1
CN3
Fig.2 XFB01 carrier board
■ LED1 (status)
The status LED indicates the SARCR-XFB01 carrier board status.
Note!
During power up, this led is tested for correct operation. The led turns red for
500ms, followed by green 500ms, finally orange 500ms.
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm SARCR-XFB01 settings
LED1 Description
Turned OFF Microprocessor turned OFF
Green Carrier board initialisation
Flashing green (1Hz) Normal operation
Red Carrier board hardware error detected
Flashing red (1Hz) Error detected in access towards JL-012C chip or Any-
Bus module. Additional information is available through
the serial interface.
Yellow Bootloader enable
■ CN2 (diagnostic channel)

Firmware download / Diagnostic channel (CN2).
For upgrade of carrier board internal software and trouble shooting facilities.
See separate chapter for further information.
■ SW3 (configuration DIP)

Switch No. Position Description
AnyBus Output data used in CLEAR Mode (AnyBus ->
OFF
XRC system)
1
AnyBus Output data used in FREEZE Mode (AnyBus ->
ON
XRC system)
OFF 16 data bytes ENABLED
2
ON 17 data bytes ENABLED (Future use)
Firmware download DISABLED in start-up, Master RUN
OFF
mode in runtime. (Note #3)
3
Firmware download ENABLED in start-up, MASTER
ON
IDLE in runtime. (Note #3)
OFF Serial channel DISABLED (Note #1)
4
ON Serial channel ENABLED (Note #2)
Note #1:
The serial channel should be disabled in normal use.
Note #2:
If bootloader enable mode is enabled at start-up, this switch should be set to OFF
after the LED indicates orange, otherwise the download will be completed and a
new bootload sequence is started
Note #3:
When using ABM-DEV this switch could be used as a RUN / IDLE switch
SARCR-XFB01 settings Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
■ SW2 (station ID)

Station ID (SW2) A hexadecimal rotary switch is used for the Station ID setting.
Value Station ID
0 Forced to 1
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
A 10
B 11
C 12
D 13
E 14
F 15
Note!
Since 'F' in the SW2 station setting is typical used already, do not use the 'F' set-
ting. Be sure not to set more than one board to the same station ID.
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm SARCR-XFB01 settings
■ SW1 (I/O size)

I/O size (SW1) Set the number of I/O points to be transferred. The number of input
and output points cannot be set individually.
Value Output data bits Input data bits XRC shows*
0 Only status 0 8
1 8 8 16
2 16 16 24
3 24 24 32
4 32 32 40
5 40 40 48
6 48 48 56
7 56 56 64
8 64 64 72
9 72 72 80
A 80 80 88
B 88 88 96
C 96 96 104
D 104 104 112
E 112 112 120
F Forced to 112 Forced to 112 120
*) XRC shows = The number of allocated IOs in the controller.

(Number of available IOs + status bit = XRC shown).
e.g. 64 + 8 = 72
I/O map Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
3.2 I/O map

The XRC system has the capability of supporting 256 input and 256 output
signals. Depending on the application of the system, the number of userdefinable
I/O points will vary.
The XRC I/O’s follows a basic octal numbering system, i.e. each input or output
group will occur in a grouping of eight.
■ Fieldbus input data map

The data received from the FBIB and the fieldbus appears in the XRC memory
map according the tables below. The base address in the XRC where the data will
appear depends on the installation. In the examples below the FBIB inputs are
represented from address 2060.
Address Contents Description

MSB LSB
2060 Module and network status FBIB status information.

See section 5.3 below.
2070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus input byte 1 (b0 - b7)
Table above shows the memory map when the I/O size switch is set in position 2
i.e. total 24 input bits (16 fieldbus input bits).

MSB LSB
2060 Module and network status FBIB status information.

See section 5.3 below.
i.e. total 56 input bits (48 fieldbus input bits).
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm I/O map
■ Fieldbus output data map

The data transferred from the XRC to the FBIB and the fieldbus appears in the
XRC memory map according the table below. The base address in the XRC where
the data will appear depends on the installation. In the examples below the FBIB
inputs are represented from address 3060.

MSB LSB
3060 Reserved Not available for use

3070 b7 b6 b5 b4 b3 b2 b1 b0 Fieldbus output byte 1 (b0 - b7)
i.e. total 24 output bits (16 fieldbus output bits).

MSB LSB
3060 Reserved Not available for use

i.e. total 56 output bits (48 fieldbus output bits).
The first byte of output data is reserved for future use and is not accessed by the
FIB. This byte should not be used by the XRC program.
Module and network status Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
3.3 Module and network status

One byte of input status data is generated by the FBIB. The status byte contains
information about the FIB and the fieldbus environment. The byte is continuously
updated by the software. The information available in this byte can be used by the
XRC to monitor the FBIB and the fieldbus system.
The status byte contains the following information:
b7 b6 b5 b4 b3 b2 b1 b0
CB FB - - - Counter
Bit no. Name Description

b0 WD Watchdog counter. These bits are incremented each 32 ms by the FBIB.
b1 This counter is LOW priority, which means that the time may be longer if the
b2 bus is occupied by other communication.
The bits are incremented in the following way 0,1,2,3,4,5,6,7,0,1,2, etc.
b3 - Not used
b4 - Not used
b5 - Not used
b6 FB- Indicates fieldbus status.
status 0: Fieldbus is stopped or communication error detected
1: Fieldbus running
b7 CB- Indicates FBIB status
status 0: Internal FBIB error detected. FBIB not operating properly.
1: Normal FBIB operation. No errors detected.
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm Diagnostic software
3.4 Diagnostic software

Firmware download / Diagnostic channel (CN2).
For upgrade of carrier board internal software and trouble shooting facilities.
A simple textbased terminal interface is provided for diagnostic information.
Note!
The diagnostic interface affects the performance of the data throughput between
the fieldbus and Robot Control and should only be used when performance is not
critical. In normal use set the configuration DIP (SW3: 3 and 4) in OFF state
(Serial channel DISABLED).
■ Cable configuration (CN2 <=> PC) 1

Signal RJ45 pin D-SUB pin 8
TX Pin 1 Pin 2
RX Pin 2 Pin 3
GND Pin 6 Pin 5
RJ45
■ Communication settings
The terminal shall be set to the following settings:
38400 bps
8 bits
No parity
1 stop bit
No flowcontrol
Fig.3 Communication setting

Diagnostic software Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
■ Terminal interface
a) Main menu
This is the main menu. Select the required function by typing commands 1 - 4.
>1: AnyBus Info

>2: Extended Info
>3: SARCR-XFB01 Info
>4: Clear Screen
b) AnyBus Info (Command 1)

This command displays information about the AnyBus module connected.
AnyBus Info
c) Extended info (Command 2)

This command displays fieldbus specific information from the AnyBus module.
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm Diagnostic software
Confirm your choice by pressing 'Y' or cancel the operation with "N".
Fieldbus specific information is displayed if available.
d) SARCR-XFB01 Info (Command 3)

This command displays information about the current SARCR-XFB01 configu-
ration settings.
Connetion of carrier board Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm
e) Clear Screen (Command 4)

This command simply clears the terminal screen.
3.5 Connetion of carrier board

For further information, see MOTOMAN XRC “Installation and Wiring” manual
Power supply
XCO01
XSU02
XEW
XFB01
XEB
Terminator
Bus link
Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm Connetion of carrier board
Profibus DP slave module Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm
4. Profibus DP
4.1 Profibus DP slave module
Profibus DP interface
Termination switch
Node Address x 10
Node address x 1
LED indicators
Fig.4 Profbus DP slave module
■ Profibus DP interface
Pin Description Function
Housing Shield Connected to PE
1 Not connected -
2 Not connected -
3 B-line Positive RxD/TxD according to RS485 speci-
fication
4 RTS Request To Send
5 GND BUS BUS Isolated GND from RS485 side
6 +5V BUS Isolated +5V from RS485 side
7 Not connected
8 A-line Negative RxD/TxD according to RS485 spec-
ification
9 Not connected -
■ Termination switch
The end nodes in a Profibus-DP network must be terminated to avoid reflections
on the bus line. The AnyBus-S Profibus-DP module has an on board termination
switch to accomplish this in an easy way.
Note!
If an external termination connector is used the switch must be in OFF position.
Switch position Description

ON Bus termination enabled If the module is the last or first module
on the network, the bus must be terminated using the termina-
tion switch or by using an external termination connector
OFF Bus termination disabled
Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm Profibus DP slave module
■ Node address
Before configuring the AnyBus-S Profibus-DP module the node address has to be
set. This is done with two rotary switches on the module, this enables address set-
tings from 1-99 in decimal format. Looking at the front of the module, the leftmost
switch is used for the ten setting and the rightmost switch is used for the setting of
the integers.
0 0 Address = (Left Switch x 10) + (Right Switch x 1)

2
6 Example: 2 x 10 + 6 x 1 = 26
Note!
The node address cannot be changed during operation.
■ LED Indicators
The module is equipped with four LED's mounted at the front and one LED on the
board, used for debugging purposes. The function of the LED:s are described in
the table and figure below.
LED Description
1 Not used
2 On-line
4 1
3 Off-line
3 2 4 Fieldbus diagnostics
LED Colour Function

Fieldbus Red Indicates certain faults on the fieldbus side.
diagnostics Flashing 1Hz - Error in configuration: IN and/or OUT length set
during initialisation of the module is not equal to the length set
during configuration of the network.
Flashing 2Hz - Error in User Parameter data: The length/con-
tents of the User Parameter data set during initialisation of the
module is not equal to the length/contents set during configura-
tion of the network.
Flashing 4Hz - Error in initialisation of the Profibus ocmmunica-
tion ASIC.
OFF - No diagnostics present
On-line Green Indicates that the module is On-Line on the fieldbus network.
ON - Module is On-Line and data exchange is possible. OFF -
Module is not On-Line
Off-line Red Indicates that the module is Off-Line on the fieldbus network.
ON - Module is Off-Line and no data exchange is possible
OFF - Module is not Off-Line
Profibus DP slave module Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm
■ The GSD-file
Each device on a Profibus-DP network is associated with a GSD-file, containing
all the necessary information about the device. The configuration tool uses the
GSD-file during configuration of the Profibus DP network.
The SARCR-XFB01 uses the same GSD-file as the AnyBus-S Profibus module.
Valid GSD-file for AnyBus-S Profibus module is: hms_1003.gsd
The latest version of this file can either be downloaded from

http://www.hms.se/fbfiles.htm or received by contacting HMS.
Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm Profibus DP master module
4.2 Profibus DP master module
Profibus DP interface
Termination switch
Configuration interface
LED indicators
Fig.5 Profbus DP master module
■ Profibus DP interface
1 Not connected -
2 Not connected -
3 B-line Positive RxD/TxD according to RS485
specification
4 RTS Request To Send
5 GND BUS BUS Isolated GND from RS485 side
6 +5V BUS Isolated +5V from RS485 side
7 Not connected
8 A-line Negative RxD/TxD according to RS485
specification
9 Not connected -
The end nodes in a Profibus-DP network must be terminated to avoid reflections
on the bus line. The AnyBus-S Profibus-DP module has an on board termination
switch to accomplish this in an easy way.
Note!

ON Bus termination enabled
If the module is the last or first module on the network, the bus
must be terminated using the termination switch or by using an
external termination connector
Profibus DP master module Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm
■ Configuration interface
The configuration port is a non-isolated RS232 communication port.
1 Not connected -
2 RxD Receive data
3 TxD Transmit data
4 DTR Data terminal ready
5 Ground Ground
6 Not connected -
7 RTS Request to send
8 CTS Clear to send
9 Not connected -
■ LED indicators
LED Description
1 Error
2 Ready
4 1
3 Run
3 2 4 Token
LED Colour Function

Error Red This LED is lit if a bus error has occurred
ON - Error on communication line
OFF - No errors detected
Ready Green ON - Module OK
OFF - Hardware error
Flashing 1Hz - No valid firmware stored in flash
Flashing 4Hz - Hardware/system error or firmware/configu-
ration database download in progress
Run Green ON - Communication running
Cyclic flash (approx. 4Hz) - Ready for communication
Acyclic flash - Configuration error or fatal error (See figure
below)
Token Green ON - Profibus Master owns Token
OFF - Profibus Master does not own Token
Revised: 05-05-11 Doc. name: Mrs50350-ch4.fm Profibus DP master module
Note!
The acyclic flashing indicates a configuration error or fatal error, e.g. no valid con-
figuration loaded. The following picture is indicating the general look. The duration
of the indication is approximately 10 seconds.
LED ON
LED OFF
■ Configuration software
(Please refer to "Profibus System Configurator HMS SyCon", doc. No. HMS-
SYCON-2.03)
DeviceNet slave module Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm
5. DeviceNet
5.1 DeviceNet slave module
DeviceNet connector
Configuration switches
LED indicators
Fig.6 DeviceNet slave module
■ DeviceNet connector
Pin Descrip- Function
tion
1 V- CAN Ground
2 CAN_L CAN_L bus line (dominant low)
3 SHIELD CAN Shield
4 CAN_H CAN_H bus line (dominant high)
5 V+ CAN external power supply
■ Configuration switches
The baudrate and Mac ID must be configured before power on. The Mac ID is set
in binary format. Valid settings range from 0-63. (ON=1, OFF=0).
ON
1 2 Baudrate
Baudrate
1 ON ON Reserved
ON OFF 500 kbit/sec
(msb) OFF ON 250 kbit/sec

OFF OFF 125 kbit/sec
Address
Binary value 3-8 Mac ID

000000 0
8 (lsb) 000001 1
000010 2
...... .
...... .
111111 63
Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm DeviceNet slave module
Note!
Mac ID and baudrate cannot be changed during operation.
■ LED indicators
LED Description
1 Reserved
2 Network status
4 1
3 Module status
3 2 4 Reserved
LED Colour Function

Module status Red, stable Major fault
Red, flashing Minor fault
Green, stable Device operational
OFF No power
Network status Red, stable Critical link failure
Red, flashing Connection time out
Green, stable On line, one or more connections established
Green, flashing On line, not connections established
OFF No power, not initialised or no connections
established
■ Termination
Termination of the fieldbus requires a terminating resistor at each end of the field-
bus. These resistors should have a value of 121 ohm.
■ The EDS-file
Each device on a DeviceNet network is associated with an EDS-file, containing all
the necessary information about the device. The configuration tool uses the EDS-
file during configuration of the DeviceNet network. The SARCR-XFB01 uses the
same GSD-file as the AnyBus-S DeviceNet module.
The latest version of this file can either be downloaded from http://
www.hms.se/fbfiles.htm or received by contacting HMS.
DeviceNet master module Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm
5.2 DeviceNet master module
DeviceNet connector
LED indicators
Fig.7 DeviceNet master module
■ DeviceNet connector
Pin Descrip- Function
tion
1 V- CAN Ground
3 SHIELD CAN Shield
5 V+ CAN external power supply
■ Configuration switches
The baudrate and Mac ID must be configured before power on. The Mac ID is set
in binary format. Valid settings range from 0-63. (ON=1, OFF=0).
ON
1 2 Baudrate
Baudrate
1 ON ON Reserved
ON OFF 500 kbit/sec
OFF ON 250 kbit/sec
OFF OFF 125 kbit/sec
Address
Binary value 3-6 Mac ID

000000 0
8 000001 1
000010 2
...... .
...... .
111111 63
Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm DeviceNet master module
Note!
Mac ID and baudrate cannot be changed during operation.
■ LED indicators
LED Description
1 Reserved
2 Module status
4 1
3 Network status
3 2 4 Operation mode
LED Colour Function

Module status Red, stable Major fault
Red, flashing Minor fault
Green, stable Device operational
OFF No power
Network status Red, stable Critical link failure
Red, flashing Minor fault, one or more connections have a
minor fault
Green, stable On line, one or more connections established
Green, flashing On line, not connections established
OFF No power, not initialised or no connections
established
Operation mode Green, stable Run mode
Green, flashing Idle mode
OFF No power or not initialised
■ Operation mode
The operation modes RUN/IDLE can be set with Configuration Switch (SW3 on
the XFB01 carrier board).
Configuration using RSNetWorx Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm
5.3 Configuration using RSNetWorx

One way to configure the AnyBus-M DeviceNet module is to use RSNetWorx for
DeviceNet (DeviceNet configuration tool from Rockwell). See the picture below.
This program is run on a PC in the Windows environment. The program needs a
physical link towards the DeviceNet network where the AnyBus-M module is con-
nected and also the modules that the AnyBus-M shall communicate with. This
physical link can be a serial adapter (for example 1770-KFD), a PCI or ISA card
(for example 1784 scanner), or a PCMCIA interface. When a node in a DeviceNet
network shall be configured with a DeviceNet configuration tool, it is necessary to
have an EDS-file that describes the node for the configuration tool. Please con-
tact each vendor for all products that shall be configured for correct EDS files.
Information
Some of the buttons on the pictures in this chapter have Swedish labels, as they
have been captured on a computer with a Swedish operating system. We apolo-
gise for that.
■ Getting started
The first thing to do when the RSNetWorx shall be used for the first time is to
select which driver that shall be used. RSNetWorx uses a program called RSLinx
to access the DeviceNet network. To install the driver, start the RSLinx program,
and then select configure drivers in the communications menu. A new window will
now appear called "Configure drivers" (see below). Select DeviceNet drivers in
the "Available driver types" scroll list, and press add new.
a) Click Communications.
b) Click Configure Drivers.
c) Select the driver that corresponds to the physical interface that is used (in our
case 1770-KFD).
Revised: 05-05-11 Doc. name: Mrs50350-ch5.fm Configuration using RSNetWorx
d) Click Select to confirm your choice.
e) Now the program wants the user to select the correct settings, that the RSNet-
Worx shall use on the DeviceNet network. In our case the 1770-KFD is con-
nected to a serial COM port on the PC, so we select the COM port that it is
connected to and which data rate we will use on the serial channel.
f) The node address (MAC ID) and data rate (Baudrate), which the configuration
tool will use on the DeviceNet network, has to be selected. In the example
below, we have chosen 55 as MAC ID and 500 kbit/sec, since the rest of the
nodes are configured for that baudrate.
g) Click OK to confirm your selections.
h) RSLinx will now start the driver.
■ Installing EDS files

Before the RSNetWorx can go on-line, the correct EDS-files for all nodes in the
network need to be installed. To install an EDS file, select EDS wizard in the tools
menu. A new window shall now appear and guide the user on how to install the
files.
a) Click Next to continue.
b) Select the alternative Register an EDS file(s).

c) Click Next to continue.
d) Select Register an EDS file and choose the file by pressing the Choose file
button.
e) Click Next to continue.
The EDS wizard will now test the EDS file, to make sure that it does not have any
error. If no errors or warnings are found, the EDS file will appear with a green
"checked" sign on it as seen below. If no errors are found just press next, other-
wise contact the vendor for the product for a correct EDS file.
f) Click Next to continue.
g) Select an icon to be used when the module is displayed in the configuration

tool.
h) Click Next to continue.
i) The EDS wizard will now install the EDS file into the RSNetWorx configuration
tool.
j) Click Finish to finalize the installation.
■ Get On-line
When RSNetWorx has been correctly installed and connected to the DeviceNet
network, the user can go on-line by selecting ONLINE in the Network menu, or by
pressing F10. The user now has to select which physical interface that is used.
Just double click the alternative in the pop-up window that appears (if the correct
alternative do not appear in the window, the driver has not been correctly installed
in RSLinx, see last chapter on how to install the RSLinx driver). The configuration
tool will now browse the network, and display all nodes that are found in the net-
work. All nodes that shall be configured need corresponding EDS files to be able
to be configured.
To configure the deviceNet module, double click on its icon in the main window.
■ General information
In this window, which appears after double clicking the modules icon, all configu-
ration of the AnyBus-M module can be done. The window contains six pages,
General, Module, Scanlist, Input, and Output.
The general page contains information, which is obtaines from the EDS file, and
verified with the module in the network.
General
Module
Scanlist
Input
Output
■ Scanner configuration and slave mode configuration

In the configuration window, on the module page it is possible to change the "Inter
scan delay" and "Foreground to background poll ratio". "Inter scan delay" is the
delay between each I/O poll the master sends to the configured nodes. A node
can be configured to be polled with a "background poll rate". This means that the
module will poll the foreground-nodes X number of times as often as the back-
ground nodes. It is also possible to configure the slave connection in this window.
There is also a button called "Advanced" which gives the user the possibility to
change the maximum expected packet rate (the time the master shall wait for a I/
O response) and the number of times the master shall retry to transmit if a
module is not responding.
To upload the settings that are stored in the module by pressing the Upload fron
scanner button. If the settings are changed, they need to be downloaded to the
module. Pressing the Download to scanner button does this.
In the slave mode window, the user can enable the slave connections that shall be
used and select the amount of data for each connection. This data will have to be
mapped in the Input and Output areas of the DPRAM. In this example we have
chosen to enable a polled slave connection, with 5 bytes as input data and 6 bytes
as output data.
■ Scan list configuration with RSNetWorx

On the Scanlist page, nodes are mapped into the masters scan list. In the picture
below, two modules have been mapped into the masters scan list. To add a node
to the scanlist, mark the node and press the ">" button. The node shall now be
moved into the scan list. To add all nodes into the scan list, click the ">>" button.
The scanlist data can be upploaded from/to the module by pressing the “Upload
to scanner” or “Download to scanner” buttons.
When a node is added into the scan list, the node will automatically be mapped
into the input and output areas, if the check box “Automap on Add” is marked. If
a node does not use the default I/O size that are presented in the EDS file, it
might be necessary to correct the I/O configuration for a node.
To do this, select the node and click the “Edit I/O parameters” button.
Select the I/O connections that shall be used, by marking the checkboxes cor-
responding to the I/O connections. Then fill in the number of bytes that shall be
sent and receved. Also set Heartbeat rate for the COS/Cyclic connection, and
select if the TX bit shall be used for the strobed connection, if those connections
shall be configured.
In our picture below we have selected 4 bytes input data and 5 bytes output data
for the poll connection, and we have chosen not to use the other connections.
Press the OK button when the editing is finished.
■ Mapping data into the DPRAM with RSNetworx

On the input and output pages there are information about how the I/O connec-
tions are mapped into the I/O areas. If the "Automap on add" checkbox was
marked, and the default I/O connections and data sizes are used, the nodes have
automatically been mapped into the I/O areas. If a node has not been mapped into
the I/O areas, it will say "No" in the column "Map" (the column where it says 3.0 for
node 0).
Below we can see that there are three connections that have been mapped into
the input area, each corresponding to different nodes. The first node that has been
mapped is node 1 (the node with MAC ID 1). That node has 2 bytes of input cor-
responding to its polled connection, which will be sent from the node to the Any-
Bus-M module. The data is mapped into the input area from byte 0 to byte 1 (word
0). The next node that has been mapped is node 2. This node also uses the polled
I/O connection, and it will send 4 bytes of polled I/O data to the AnyBus-M module.
The data has been mapped into the bytes 2 to 5 (word 1 and 2) in the input area.
The master’s slave connection also has been configured to 5 bytes of input data
for the polled connection. This data has been mapped into the bytes 6 to 10 (word
3, 4 and the low byte of word 5).
The RSNetWorx uses word addressing. This is the reason why it says 3.0 for node
0 in the map column. This means that the data is mapped from word 3, bit 0 (=
byte 6, bit 0).
Below we can see information for the output data mapping. Here are also three I/
O connections that are configured, 6 bytes polled output for the masters slave
connection, 3 bytes of polled output data for node 1, and 5 bytes of polled output
data for node 2. In this example, the AnyBus-M module's slave connection has
been mapped into the first four bytes in the output data area, bytes 0 to 5 (word 0,
1, and 2). The output data corresponding to node 1 has been mapped into the
bytes 6 to 8 (word 3 and the low byte of word 4).
No I/O data has yet been mapped for node 2. To map the data for that node, just
mark the node by clicking it once and then press the button “Automap”. Now the
node will be mapped directly after the last mapped node in the output data area.
It is also possible to do a more advanced mapping of the data by pressing the

“Advanced” button. To find more information about this pleas see the manual for
RSNetWorX.
■ Summary of the configuration

On the summary page, information about all I/O connections, which are configu-
red into the scan list, is displayed. The Active column tells if each connection is
active or not. The Key column tells if electronic keying will be used to verify the
identity of each node, before any of the I/O connections are established and any
data exchange will be done. The Rx and Tx fields display the data size that is con-
figured for each connection, and the Rx Map and Tx Map fields tell if the connec-
tions have been mapped into the I/O areas.
When all configurations have been done, click “Apply”. Now all changes will be
downloaded to the module. Note that the module needs to be in idle mode to be
able to download any changes to the configuration.
■ AnyBus-M DeviceNet techninal information

Technical data for the AnyBus-M DeviceNet module:
Description Text string Dec Hex
Vendor ID HMS Fieldbus Systems AB 90 0x5A
Product Type Communication Adapter 12 0x0C
Product Code - 14 0x0E
Product Name AnyBus-M DeviceNet - -
■ Compliance with predefined standards

The ANYBUS® M DeviceNet follows the DeviceNet standard that has been deve-
loped by ODVA. It is fully compatible with the DeviceNet specification rev. 2.0 Vol I
and Vol II. The module operates according to the communication adapter profile
(product type 12, see DeviceNet specification for more information). The module
supports the I/O connections Bit strobe, Polled I/O, Change of state and Cyclic I/O
data.
DeviceNet Features
Device Type Communication Adapter Master/Scanner Yes
Explicit peer-to-peer mes- Yes I/O slave messaging
saging
I/O peer-to-peer messaging No Bit strobe Yes
Configuration consistency No Polling Yes
value
Faulted node recovery No Cyclic Yes
Bauderate 125K, 250K, 500K Change of state (COS)
■ Extended info available through the diagnostic channel

The module reports extended information through the diagnostic channel.
The number of connections that has been

established between the AnyBus-M Device-
Active connections: 0000
Net module and other DeviceNet nodes on
the network.
Expected pack rate for the polled and bit-

Expected Pack Rate: 0000
strobe I/O connections.
DIP Set & scan Flags: 8109 The value of the configuration DIP.
■ Active, Idle, and Faulted nodes:
Node's Active:
7- 0:00000000
The Node Active Area is an 8 byte long bit-array con-
15- 8:00000000
taining information about which nodes that are config-
23-16:00000000
ured in the master. If the bit is set (=1), the node is
31-24:00000000
configured in the scanlist, and the master will try to
39-32:00000000
establish connections to the node. If the bit is cleared
47-40:00000000
(=0), the node is not configured, and the master will not
55-48:00000000
communicate with the node.
63-56:00000000
Node's Idle:
7- 0:00000000
15- 8:00000000
23-16:00000000 The Node Idle Area is an 8 byte long bit-array containing
31-24:00000000 information about which nodes that are in idle mode. If
39-32:00000000 the bit is set (=1), the node is idle. If the bit is cleared
47-40:00000000 (=0) the node is not idle, i.e. it is in run mode.
55-48:00000000
63-56:00000000
Node's Faulted:
7- 0:00000010 The Node Faulted Area is an 8 byte long bit-array con-
15- 8:00000000 taining information about which nodes that are not run-
23-16:00000000 ning correctly. If the bit is set (=1), the corresponding
31-24:00000000 node is faulted. If the bit is cleared (=0), the node is
39-32:00000000 operating correctly. For more information about the fault
47-40:00000000 of the node, see corresponding information in the Node
55-48:00000000 Status Area. (See below)
63-56:00000000
■ Node Status
To see node status, type "p" + node + "p". Example:
To get node status print: p(0-63)p
p1p
The module replies:

Node No:1 ->Status:92
The following table describes the meaning of the values that can appear in the
Node status area:
Value Meaning
00 OK or Not in scan list
70 Duplicate MAC ID failure
71 Scanner configuration error
72 Device communication error
73 Wrong device type
Value Meaning
74 Port over-run error
75 Network failure
76 No CAN messages detected
77 Wrong data size
78 No such device found
79 Transmit failure
80 Node in IDLE mode
81 Node in fault mode
82 Fragmentation error
83 Unable to initialise node
84 Node not yet initialised
85 Receive buffer overflow
86 Node changed to IDLE mode
87 Shared master error (not used)
88 Shared choice error (not used)
89 Keeper object failure (not used)
90 CAN port disabled (not used)
91 Bus off
92 No bus power detected
93 Updating flash (not used)
94 In test mode (not used)
95 Halted by user cmd. (not used)
96 Firmware failure (not used)
97 System failure
CANOpen slave module Revised: 05-05-11 Doc. name: Mrs50350-ch6.fm
6. CANOpen
6.1 CANOpen slave module
CANOpen interface
Baudrate
Node Address x 10
Node address x 1
LED indicators
Fig.8 Profbus DP slave module
■ CANOpen interface
Housing
1 Not connected -
3 CAN_GND CAN Ground
4 Not connected -
5 CAN_SHLD Optional CAN shield
6 GND Ground
8 Not connected
9 CAN_V+ CAN external power supply
■ Baudrate
Switch setting Baudrate
0 Not available
1 10 kbit/sec
2 20 kbit/sec
3 50 kbit/sec
4 125 kbit/sec
5 250 kbit/sec
6 500 kbit/sec
7 800 kbit/sec
8 1 Mbit/sec
9 Not available
Note!
The baudrate cannot be changed during operation.
Revised: 05-05-11 Doc. name: Mrs50350-ch6.fm CANOpen slave module
■ Node address
Before configuring the AnyBus-S CANOpen module the node address has to be
set. This is done with two rotary switches on the module. Valid settings range from
1-99. Looking at the front of the module, the leftmost switch is used for the ten set-
ting and the rightmost switch is used for the setting of the integers.
0 0
2 Address = (Left Switch x 10) + (Right Switch x 1)
6 Example: 2 x 10 + 6 x 1 = 26
■ LED Indicators
LED Description
1 Reserved
2 State indication
4 1
3 Bus indication
3 2 4 Power
LED Colour Function

State indication Green, stable Module operational
Green, flashing 1Hz Module in pre-operational
Green, flashing 2Hz Module prepared
Red, flashing 1Hz Bus initialisation failed
Bus indication Red, flashing 1Hz Other error
Green, stable Bus running
Green, flashing 1Hz Bus off / error passive
OFF Module power off or module not initialised
Power Green, stable Power on
OFF Power off
■ Configuration
Default Fast Input Data to the CANopen Bus
Input data DPO Default COB-ID Object Object Default
(high speed) mapping index subindex state
Input data byte TPD01 384 + node 2000h 1-8 Enabled
1-8 address
Input data byte TPD02 640 + node 2000h 9-14 Enabled
9-14 address
CANOpen slave module Revised: 05-05-11 Doc. name: Mrs50350-ch6.fm
Default Fast Output Data from the CANopen Bus

Output data DPO Default COB-ID Object Object Default
(high speed) mapping index subindex state
Output data RPD01 512 + node 2100h 1-8 Enabled
byte 1-8 address
Output data- RPD02 768 + node 2100h 9-14 Enabled
byte 9-14 address
Revised: 05-05-11 Doc. name: Mrs50350-ch6.fm CANOpen slave module
Ethernet slave module Revised: 05-05-11 Doc. name: Mrs50350-ch7.fm
7. Ethernet
7.1 Ethernet slave module
Ethernet connector
LED indicators
Fig.9 Ethernet slave module
■ Ethernet connector
1 TD+ Transmit positive
2 TD- Transmit negative
3 RD+ Receive positive
4 NC -
5 NC -
6 RD- Receive negative
7 NC -
8 NC -
■ Configuration switch
The switches represent the binary value of the last byte in the IP address.
(ON=1, OFF=0).
ON
Example:
1 7 (msb) Gateway address: 0.0.0.0
6 Subnet mask: 255.255.255.0
5 IP address: 192.168.0._
4
3
2
1
Valid setting range from 1 to 255
8 0 (lsb)
Note
This method is an easy way to configure the module for intranet use, but it cannot
be used on the internet.
Revised: 05-05-11 Doc. name: Mrs50350-ch7.fm Ethernet slave module
■ Modbus protocol
The module works as a Modbus/TCP server according to the Modbus/TCP speci-
fication 1.0. It's possible to use up to eight Modbus/TCP connections simultan-
eously. The module supports all the Modbus commands according to class 0 and
class 1 and some of the commands in class 2. The Modbus commands supported
by the module are:
function code Function name Class
1 Read coils 1
2 Read input discretes 1
3 Read multiple registers 0
4 Read input registers 1
5 Write coil 1
6 Write single register 1
7 Read exception status 1
15 Force multiple coils 2
16 Write multiple registers 0
22 Mask write register 2
23 Read/Write registers 2
For more information about the Modbus/TCP specification please

visit the website www.modicon.com/openmbus/.
■ IN area
The IN area which is maximum 14 bytes can be read by Modbus command 1, 2, 3,
4 and 23.It is not possible to write data to the IN area from the bus. Command 1
and 2 uses a bit oriented address information and command 3, 4 and 23 uses
word oriented address information. The possible bit and word addresses are des-
cribed below:
Word address Bit address
000h 0000h 0001h 0002h 0003h 0004h 0005h 0006h 0007h
000h 0008h 0009h 000Ah 000Bh 000Ch 000Dh 000Eh 000Fh
001h 0010h 0011h 0012h 0013h 0014h 0015h 0016h 0017h
... ...0h ...1h ...2h ...3h ...4h ...5h ...6h ...7h
... ...8h ...9h ...Ah ...Bh ...Ch ...Dh ...Eh ...Fh
00Dh 00D0h 00D1h 00D2h 00D3h 00D4h 00D5h 00D6h 00D7h
00Dh 00D8h 00D9h 00DAh 00DBh 00DCh 00DDh 00DEh 00DFh
■ OUT area
The OUT area which is maximum 14 bytes can be written to by Modbus com-
Ethernet slave module Revised: 05-05-11 Doc. name: Mrs50350-ch7.fm
mands 5, 6, 15, 16, 22 and 23. The OUT area can be read by the Modbus com-
mands 1, 2, 3, 4, and 23. Command 1, 2, 5 and 15 uses a bit oriented address
information and command 3, 4, 6, 16, 22 and 23 uses word oriented address
information. The possible bit and word addresses are described below
Word address Bit address
400h 4000h 4001h 4002h 4003h 4004h 4005h 4006h 4007h
401h 4010h 4011h 4012h 4013h 4014h 4015h 4016h 4017h
... ...0h ...1h ...2h ...3h ...4h ...5h ...6h ...7h
... ...8h ...9h ...Ah ...Bh ...Ch ...Dh ...Eh ...Fh
40Dh 40D0h 40D1h 40D2h 40D3h 40D4h 40D5h 40D6h 40D7h
40Dh 40D8h 40D9h 40DAh 40DBh 40DCh 40DDh 40DEh 40DFh
■ Exception codes
The supported exception codes are:
Exception code Name Description
Illegal function The module does not support the function
01
code in the query
Illegal data address The data address received in the query is
02 outside the initialised memory area in the
module
03 Illegal data value The data in the request is illegal
■ LED indicators
LED Description
1 Link LED
2 Status LED
4 1
3 Modbus/TCP connection LED
3 2 4 Activity LED
Revised: 05-05-11 Doc. name: Mrs50350-ch7.fm Ethernet slave module
Description Colour Function

Link LED GREEN Indicates that the module is connected to an
Ethernet network
Status LED GREEN, flashing 1Hz The IP address is not set using the dipswitch
RED, flashing 1Hz The Ethernet MAC address is incorrect
RED, flashing 2Hz The module failed to load Ethernet configura-
tion from the flash
RED, flashing 4Hz Internal error
Modbus/TCP GREEN, flashing The number of flashes indicate the number of
Connection LED Modbus/TCP connections that is established to
the module
Activity LED GREEN No activity
OFF Flashes from green to off when a packet is
received or transmitted
ControlNet slave module Revised: 05-05-11 Doc. name: Mrs50350-ch8.fm
8. ControlNet
8.1 ControlNet slave module
Network access port

Controlnet interface A
Controlnet interface B
MAC ID Hi
MAC ID Lo
LED indicators
Fig.10 ControlNet slave module
■ Network access port (NAP)

The module is also equipped with a NAP (Network access port) for temporary
connection of configuration tools, e.g. a PC card. The minimum Network Update
Time, (NUT), of the module is 5ms.
■ Network access port (BNC)

The module is equipped with two ControlnNet BNC connectors. If redundant ope-
ration is desired, both connectors are used, otherwise connector A or B is used.
■ MAC ID
Before configuring the module the Mac ID has to be set. This is done with two
rotary switches on the module. Valid settings range from 1-99. Looking at the front
of the module, the leftmost switch is used for the ten setting and the rightmost
switch is used for the setting of the integers.
0 0 Address = (Left Switch x 10) + (Right Switch x 1)

2
6 Example: 2 x 10 + 6 x 1 = 26
Note!
MAC ID cannot be changed during operation.
Revised: 05-05-11 Doc. name: Mrs50350-ch8.fm ControlNet slave module
■ LED indicators
LED Description
1 Module status
2 Channel A
4 1
3 Channel B
3 2 4 Module owned

Module status GREEN, stable Module is initialised
GREEN, flashing Waiting for initialisation
RED, stable Major fault
RED, flashing Minor fault
Channel A and B RED, stable Faulted unit, must be restarted or repaired
RED, flashing Incorrect node configuration, duplicate MacID
etc
RED/GREEN, flashing Selftest of bus controller
OFF Module power off of module not initialised
Channel A / B GREEN, stable Normal operation of channel
GREEN, flashing Temporary errors (node will selfcorrect) or
node is not configured to go online
RED, flashing Media fault or no other nodes on the network
RED/GREEN, flashing Incorrect network configuration
OFF Channel is disabled, depending on network
configuration
Module owned GREEN, stable A connection is opened against the AnyBus-S
module
OFF No connection is opened
InterBus-S slave module Revised: 05-05-11 Doc. name: Mrs50350-ch9.fm
9. InterBus-S
9.1 InterBus-S slave module
Bus IN interface
Bus OUT interface
LED indicators
Fig.11 InterBus-S slave module
■ Device ID
The AnyBus S InterBus module will have the device ID = 3, only process data is
used in this device.
■ Bus-IN interface
Housing PE PE
1 DO1 DO1
2 DI1 DI1
3 GND GND
4 Not connected -
5 Not connected -
6 /DO1 /DO1
7 /DI1 /DI1
8 Not connected -
9 Not connected -
■ Bus-OUT interface
Housing PE PE
1 DO2 DO2
2 DI2 DI2
3 GND GND
4 Not connected -
Revised: 05-05-11 Doc. name: Mrs50350-ch9.fm InterBus-S slave module

5 GND GND
6 /DO2 /DO2
7 /DI2 /DI2
8 Not connected -
9 RBST RBST
■ LED indicators
LED Description
5 1 RBDA
2 TR
4 1
3 CC
3 2 4 BA
5 UL

RDBA Red Active when outgoing remote bus is
switched off
TR Green Active when PCP communication is
carried out over the InterBus
CC Green Active if the cable connection is good
and the InterBus Master is not in reset
BA Green Bus Active
UL Green Voltage OK at bus interface
Modbus Plus slave module Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm
10. Modbus Plus

10.1 Modbus Plus slave module
Fieldbus connector
Configuration Node ID
Configuration Source ID
LED indicators
Fig.12 AnyBus-S module
■ Fieldbus connector
Housing PE PE
1 Cable shielding Cable shielding
2 MBP Line B MBP Line B
3 MBP Line A MBP Line A
4 Not connected -
5 Not connected -
6 Not connected -
7 Not connected -
8 Not connected -
9 Not connected -
■ Modbus Plus data transfer services

The AnyBus S Modbus Plus module is using global data for data transfer. Point-
to-point command such as Read Holding Registers can be used for reading the
data out from the module, but no point-to-point writing commands is valid in this I/
O area.
Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm Modbus Plus slave module
■ Configuration node ID
The Node ID on the Modbus Plus node is set before power on. Any change of
Node ID during power on is not valid until next power cycle. The address is set in
binary format. Settings range from 1-64. (Add 1 to binary value of the switches).
ON
5 (msb)
1 2 3 4 5 6
4
3 The switches represent the binary value
2 of the node address. ON=0, OFF=1.
1
0 (lsb)
Example: A binary value of 101100 gives node address 45 (44+1)
Note!
■ Configuration source ID
The module uses a node address from 1 - 64 to configure what node it will extract
the global data from, sent during the token pass. The address is set in binary for-
mat. Settings range from 1-64. (Add 1 to binary value of the switches).
ON
5 (msb)
1 2 3 4 5 6
4
1
0 (lsb)
Note!
The source address cannot be changed during operation.
Modbus Plus slave module Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm
LED indicators
The module is equipped with four LED's mounted at the front of the board, used
for debugging purposes. The function of the LED:s are described in the table and
figure below.
LED Description
1 Not used
2 Error
4 1
3 MBP Active
3 2 4 MBP Init

Error Red Communication error
MBP Active Green, flashing 6 Hz Normal operation
Green, flashing 1Hz The node is in MONITOR_OFFLINE state
Green, 2 flashes, off 2 sec The node is in MAC_IDLE never-getting-
token state
Green, 3 flashes, off 1.7 sec The node is not hearing any other nodes
Green, 4 flashes, off 1.4 sec The node has detected a duplicate node
ID
MBP Init Green Indicates that the peer interface is initial-
ised
Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm Modbus Plus DT module
10.2 Modbus Plus DT module
Fieldbus connector
LED indicators
Configuration node ID
Fig.13 AnyBus-DT module
■ Modbus Plus data transfer services

The AnyBus DT Modbus Plus is only using point-to-point modbus commands for
data transfer. Commands supporter are: Preset Multiple Registers and Read Hol-
ding Registers.
Housing PE PE
1 Cable shielding Cable shielding
2 MBP Line B MBP Line B
3 MBP Line A MBP Line A
4 Not connected -
5 Not connected -
6 Not connected -
7 Not connected -
8 Not connected -
9 Not connected -
■ LED indicators
The module is equipped with three LED's mounted at the front of the board, used
figure below.
LED Description
1 Error
2 Modbus Plus Diagnostics
3 2 1
3 Power
Modbus Plus DT module Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm

Modbus Plus Green, flashing 6 Hz Normal operation
Diagnostics Green, flashing 1Hz The node is in MONITOR_OFFLINE state
Green, 2 flashes, off 2 sec The node is in MAC_IDLE never-getting-
token state
Green, 3 flashes, off 1.7 sec The node is not hearing any other nodes
Green, 4 flashes, off 1.4 sec The node has detected a duplicate node
ID
Power Green Indicates the power is on
■ Configuration node ID
The Node ID of the module is set before power on. Any change of Node ID during
power on is invalid until next power cycle. The address is set in binary format. Set-
tings range from 1-64. (Add 1 to the binary value of the switches).
(Note that the bit order is reversed compared to the AnyBus-S version.)
ON
0 (lsb)
1 2 3 4 5 6
1
4
5 (msb)
Note!
Revised: 05-05-11 Doc. name: Mrs50350-ch10.fm Modbus Plus DT module
Remote I/O slave module Revised: 05-05-11 Doc. name: Mrs50350-ch11.fm
11. Remote I/O

11.1 Remote I/O slave module
Remote I/O interface

Termination switch
LED indicators
Fig.14 AnyBus-S module
1 Blue Blue
2 Shield Shield
3 Clear Clear
The end nodes in a Remote I/O network have to be terminated to avoid reflections
on the bus line. The module has an on board termination switch to accomplish
this in an easy way.
ON Bus termination enabled
Note!
Revised: 05-05-11 Doc. name: Mrs50350-ch11.fm Remote I/O slave module
■ LED indicators
The module is equipped with three LED's mounted at the front of the board, used
figure below.
LED Description
1 Error
2 Active
3 2 1
3 Power

Active Green Normal operation
Communication is active
Power Green Indicates the power is on
The node address must be configurated before power on. Any change during
power on is invalid until next power on cycle. The node address is set in binary for-
mat. Valid setting range from 0-59.
The switches represent the binary value

ON of the node address ON=1, OFF=0
1
Example:
0 (lsb) A binary value of 000101 gives node address 5
1
2
3
4
8 5 (msb)
Remote I/O slave module Revised: 05-05-11 Doc. name: Mrs50350-ch11.fm
The baudrate address must be configurated before power on. Any change during
power on is invalid until next power on cycle.
Observe the order of the switches!
The switches represent the binary value

ON of the baudrate ON=1, OFF=0
1 1 (msb)
0 (lsb)
1 (msb) 0 (lsb) Baudrate

OFF OFF 57.6 kbit/sec
ON OFF 115 kbit/sec
OFF ON 230 kbit/sec
8 ON ON “230 k/sec”
Note!
The node address and the baudrate cannot be changed during operation.
Revised: 05-05-11 Doc. name: Mrs50350-ch11.fm Remote I/O slave module
InterBus-FO slave module Revised: 05-05-11 Doc. name: Mrs50350-ch12.fm
12. InterBus-FO
12.1 InterBus-FO slave module
Bus IN, TX
Bus IN, RX
Bus OUT, TX
Bus OUT, RX
Termination switch SW1

(also activate EBO LED)
LED indicators
Fig.15 Interbus-FO module
■ Device ID
The AnyBus InterBus-FO module will have the device ID = 3, only process data is
used in this device.
■ Bus interface IN/OUT

✔ Transmission media, Optical fibre
Plastic fibre with a core of 980 µm and a clad of 1000 µm.
HCS (glass) fibre with a core of 200 µm and a clad of 230 µm.
✔ Fieldbus connectors
The specified optical connector is the F-SMA and is a standard connector accor-
ding to IEC874-2 and DIN 47258.
✔ Fibre optical conversion

The standard OPTOSUB can be used along with the OPTOSUB-PLUS to convert
to RS485 - level.
Switch to activate/deactivate the Bus-out Next/End
Always turn the switch SW1 to position marked END if it is the last module on the
bus. This will cause the AnyBus InterBus-FO module to terminate the outgoing
bus.
Revised: 05-05-11 Doc. name: Mrs50350-ch12.fm InterBus-FO slave module
■ LED indicators
The module is equipped with six LED's mounted at the front of the board, used for
debugging purposes. The function of the LED:s are described in the table and
figure below
LED Description
1 EBO
6 1 2 RBDA
5 2 3 TR
4 CC
4 3 5 BA
6 UL

EBO Green Active when BUS-OUT is enabled
RBDA Red Active when outgoing remote bus is switched off
TR Green Active when PCP communication is carried out over
the InterBus
CC Green Active if the cable connection is good and the Inter-
Bus Master is not in reset
BA Green Bus active
UL Green Voltage OK at bus interface
ASI master module Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm
13. ASI
13.1 ASI master module
Fieldbus connector A
Fieldbus connector B
Configuration interface
LED indicators
Fig.16 ASI-M module
■ Fieldbus connector A
1 ASI + ASI + power and data (std cable is colour coded: Brown)
2 ASI - ASI + power and data (std cable is colour coded: Blue)
■ Fieldbus connector B
1 ASI + ASI + power and data (std cable is colour coded: Brown)
2 ASI - ASI + power and data (std cable is colour coded: Blue)
■ Configuration interface
Housing PE PE
1 Not connected -
2 RX Receive data
3 TX Transmit data
4 Not connected -
5 GND GND
6 Not connected -
7 Not connected -
8 Not connected -
9 Not connected -
Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm ASI master module
■ LED indicators
The module is equipped with four LED's mounted at the front of the board, used
figure below.
LED Description
1 Not used
2 Network status
4 1
3 Moduule status
3 2 4 Node status

Not used - -
Network status Off No power, not initialised or no connection
established.
Green, flashing On line according to configuration
Green On line, no matching configuration
Modul status Off No power or not initialised
Green, flashing Protected mode
Green Configuration mode
Red Power fail
Node status Green Auto configuration possible
■ IN area data mapping

The IN area. Possible ASI slave addresses are described below.
Byte address Slave address
1 Slave No 1 Slave No 0 (Reserved)
2 Slave No 3 Slave No 2
ASI master module Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm
■ OUT area data mapping

The OUT area. Possible ASI slave addresses are described below.
Byte address Slave address
1 Slave No 1 Slave No 0 (Reserved)
Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm Terminal interface
13.2 Terminal interface

A simple text based terminal interface is used for diagnostic information.
Use the Windows “Hyper Terminal” function.
Windows Start > Program > Utilities > Communication > Hyper Terminal
■ Settings
The communication parameters in the PC shall be set as follows.
38400 bps
8 bits
No parity
1 stop bit
No flow control
Fig.17 Communication setup
■ Configuration via terminal
Main menu
0 - View scan-lists
1 - View all detected nodes
2 - Toggle mode
3 - Change node address
Terminal interface Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm
0 - View scan-lists
Detected nodes
Configured nodes
Activated nodes
X = Node present in list
! - View all detected nodes
X = Node present in list

Revised: 05-05-11 Doc. name: Mrs50350-ch13.fm Terminal interface
2 - Toggle mode
0 - Change to protected mode

1 - Change to configuration
mode
2- Save configuration
3 - Change node address
Type old node address, press

space bar and then type the
new addresses.
When ready, press Enter.
FIPIO slave module Revised: 05-05-11 Doc. name: Mrs50350-ch14.fm
14. FIPIO
14.1 FIPIO slave module
FIPIO bus connection
Node address switch (10x)

Node address switch (1x)
LED indicators
Fig.18 FIPIO slave module.
■ Node address
Use the two rotating switches to set the node address from 0 to 99. The left switch
is used for tens and the right switch for single digits.
0 0
2
Address = (Left Switch x 10) + (Right Switch x 1)
6 Example: 2 x 10 + 6 x 1 = 26
Fig.19 Changing the node address.

Revised: 05-05-11 Doc. name: Mrs50350-ch14.fm FIPIO slave module
■ LED indicators
The LED indicators indicate run time status and errors.
4 1
3 2
Fig.20 LED indicators.
LED Status Description

1 Green Normal operation
OFF Device not powered or major failure (no communication)
2 Red Major unrecoverable fault
Red, flashing Bus not connected or promptness timeout
OFF Not powered or device operating normally
3 Red External device error
OFF Device operating normally
4 Yellow, flashing Bus activity
OFF No bus activity
All Flashing Module not initialised
Basic operation
For more information on operation and programming please refer to the complete
manual for AnyBus FIPIO “ABS-FIP-1”.
The latest version of this document can either be downloaded from

www.hms.se/products/absfipio.shtml or received by contacting HMS.
CC-Link slave module Revised: 05-05-11 Doc. name: Mrs50350-ch15.fm
15. CC-Link
15.1 CC-Link slave module
CC-Link bus connection
Baud rate switch

Station number (10x)
Station number(1x)
LED indicators
Fig.21 CC-Link slave modue.
■ Baud rate
Use the rotating switch to set the baud rade.
156k
625k
FB_INIT
2.5M
When using the
FB_INIT mailbox 901
2
command.
3
4 5M
10M
Fig.22 Baud rate settings.
■ Station number
The two rotating switches are used to specify the module’s station number. Valid
settings range from 1 to 64.
10x 1x
901 901 The station number can also
2 2 be set using the command for
3 3 FB_INIT mailbox. In this case
4 4
the switches should be 99.
Fig.23 Specifying the module’s station number.

Revised: 05-05-11 Doc. name: Mrs50350-ch15.fm CC-Link slave module
■ LED indicators
The LED indicators mounted on the front of the module indicate run time status
and errors. (For the additional Watchdog LED also located on the module please
refer to AnyBus-S Design Guide).
4 1
3 2
LED Colour Status Description

1 Green On Normal operation
OFF Network non-participating or timeout status No power on
the module
2 Red On CRC error detected, Illegal station number or illegal
baudrate selected
OFF Normal operation
No power on the module
3 Green On Data being received
OFF No data reception
4 Green On Data being transmitted
OFF No data transmission
Basic operation
For more information on operation and programming please refer to the complete
manual for AnyBus CC-Link “ABS-APPENDIX-CC-LINK”.

www.hms.se/products/abscclink.shtml or received by contacting
HMS.
CC-Link slave module Revised: 05-05-11 Doc. name: Mrs50350-ch15.fm

Revised: 05-05-11 Doc. name: Mrs50350-ch15.fm CC-Link slave module
Ethernet module Revised: 05-05-11 Doc. name: Mrs50350-ch16.fm
16. Ethernet MB/TCP and EtherNet/IP+IT
16.1 Ethernet module
Ethernet connection
Configuration switch
LED indicators
Fig.25 Ethernet MB/TCP module.
The configuration switches is used to configure the IP address of the module.
■ LED indicators
The LED indicators mounted on the front of the module indicate run time status
and errors. (For the additional Watchdog LED also located on the module please
refer to AnyBus-S Design Guide).
4 1
3 2
The behavior of the LED indicators depends on the module’s configuration.
■ LED 1 - Link (activity)

Configuration 1 (Default)
Colour Status Description
Green On The module has a link
OFF The module does not sense a link
Revised: 05-05-11 Doc. name: Mrs50350-ch16.fm Ethernet module
Configuration 2 (Activity/Link)
Green On The module has a link
OFF The module does not sense a link
Flashing The module is recieving/transmitting on ethernet
■ LED 2 - Module status

Configuration 1
Green 1Hz IP address not set using configuration switch
Red 1Hz Invalid MAC address (Internal Error)
2Hz Failed to load Ethernet configuration from FLASH
4Hz Internal error (fatal)
On Duplicate IP address detected
Configuration 2
Green On The module operates at 100Mbit
OFF The module operates at 10Mbit
Red Telefon flash (2 Invalid MAC address
flash on, long off)
Telefon flash (3 Failed to load Ethernet configuration from FLASH
flash on, long off)
Telefon flash (4 Internal error (fatal)
flash on, long off)
Telefon flash (5 Duplicate IP address detected
flash on, long off)
State Summary Description
Steady Off No power No power applied to the module
Steady Green Device operational The module is operating correctly
Flashing Green Standby The module has not been configured
Flashing Red Minor fault A minor recoverable fault has been detected
Steady Red Major fault A major internal fault has been detected
Flashing green/ Self-test The module is performing av power on self
red test
Configuration 4 (Deactivates LED 2)

Ethernet module Revised: 05-05-11 Doc. name: Mrs50350-ch16.fm
LED 3 - Network status
Configuration 2 (Deactivates LED 3)
State Summary Description

Steady Off No power or no IP The module has no power or no IP address
address has been assigned
Steady Green Connected The module has at least one established
EtherNet/IP-connection
Flashing Green No connections There nor no EtherNet/IP connections
established to the module
Flashing Red Connection timeout One or more ot the connections has timed out.
Steady Red Duplicate IP The module has detected that its IP adress is
already in use
Flashing green/ Self-test The module is performing av power on self
red test
LED 4 - Activity
The LED flashes green each time a packet is recieved or transmitted.
Configuration 2
The LED is deactivated and the Activity and Link indications are merged.
Configuration and programming

For more information please refer to the complete manual for AnyBus-S Ethernet
(Modbus/TCP, EtherNet/IP+IT) “ABS-APPENDIX-EIP”.

www.hms.se/products/abseth.shtml or received by contacting HMS.
Revised: 05-05-11 Doc. name: Mrs50350-ch16.fm Ethernet module
Notes
Headquarters:
Sweden MOTOMAN Robotics Europe AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-417800, Fax: +46-480-417999
Group companies:
Denmark MOTOMAN Robotics Europe AB
Anelystparken 47A, DK-8381 Tilst, Denmark
Tel: +45-7022-2477, Fax: +45-7022-2478
Finland MOTOMAN Robotics Finland OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-403000600, Fax: +358-403000660
France MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
Germany MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Germany MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Portugal MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-234 943 900, Fax: +351-234 943 108
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-480-417800, +46-486-41410
Distributors:
Greece Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
Israel KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-3 9231944, Fax: +972-3 9231933
Norway ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
South Africa Robotic Systems S.A. PTY Ltd
P.O. Box 90741, Bertsham 2013, Johannesburg, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Switzerland Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432
a subsidiary of YASKAWA Electric Corporation

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Part Number: 147380-1

MOTOMAN i Fieldbus (XFB01) Instruction Manual

Fieldbus (XFB01) Instruction Manual ii MOTOMAN

1.2 Reference to Other Documentation

1.3 Customer Service Information

MOTOMAN 1-1 Fieldbus (XFB01) Instruction Manual

Fieldbus (XFB01) Instruction Manual 1-2 MOTOMAN

It is the purchaser's responsibility to ensure that all local, county,

MOTOMAN 2-1 Fieldbus (XFB01) Instruction Manual

2.2 Standard Conventions

Fieldbus (XFB01) Instruction Manual 2-2 MOTOMAN

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

MOTOMAN 2-3 Fieldbus (XFB01) Instruction Manual

2.5 Installation Safety

2.6 Programming Safety

Fieldbus (XFB01) Instruction Manual 2-4 MOTOMAN

• Inspect the robot and work envelope to be sure no potentially hazardous

2.7 Operation Safety

MOTOMAN 2-5 Fieldbus (XFB01) Instruction Manual

2.8 Maintenance Safety

Fieldbus (XFB01) Instruction Manual 2-6 MOTOMAN

a subsidiary of YASKAWA Electric Corporation

MANUAL NO. MRS50350

Operator’s manual Basic programming

Revised: 05-05-11 Doc. name: Mrs50350TOC.fm

Revised: 05-05-11 Doc. name: Mrs50350TOC.fm

About this manual Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm

Fieldbus interface board XFB01

Text written in BOLD letters means command or button.

1.2 The Fieldbus interface board (kit) comprises

Motoman Robotics Europe AB’s responsibility does not cover errors

External cables must be connected according to our cable connec-

Terms Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm

1.7 Fieldbus systems

Different systems are used because of different technical requirements of the

When designing a product which includes fieldbus systems it is necessary to also

Product AnyBus module Fieldbus

Application using the Fieldbus data and

Fig.1 AnyBus sytem

1. AnyBus® is a registered trademark of HMS Industrial Networks AB, Halmstad, Sweden

Introduction to the Fieldbus Revised: 05-05-11 Doc. name: Mrs50350-ch1.fm

1.9 Introduction to the Fieldbus Interface Board (XFB01)

1.10 Hardware comparability

The AnyBus interface fulfils the requirements specified by the manufacturer of

Revised: 05-05-11 Doc. name: Mrs50350-ch2.fm

SARCR-XFB01 settings Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm

3. Configuration and indicators

Location of the AnyBus fieldbus modules

Fig.2 XFB01 carrier board

■ CN2 (diagnostic channel)

■ SW3 (configuration DIP)

SARCR-XFB01 settings Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm

■ SW2 (station ID)

■ SW1 (I/O size)

*) XRC shows = The number of allocated IOs in the controller.

I/O map Revised: 05-05-11 Doc. name: Mrs50350-ch3.fm

3.2 I/O map