b-62924en/04 profibus dp operator's manual -...

OPERATOR’S MANUAL

B-62924EN/04

In this manual we have tried as much as possible to describe all thevarious matters.However, we cannot describe all the matters which must not be done,or which cannot be done, because there are so many possibilities.Therefore, matters which are not especially described as possible inthis manual should be regarded as ”impossible”.

The export of this product is subject to the authorization of thegovernment of the country from where the product is exported.

No part of this manual may be reproduced in any form.

All specifications and designs are subject to change without notice.

B-63734EN/01 SAFETY PRECAUTIONS

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SAFETY PRECAUTIONSThis section describes the safety precautions related to the use ofCNC units, to ensure safe operation of machines fitted with FANUCCNC units. Read this section carefully before attempting to use anyfuncction described in this manaul.Users ahould also read the relevant descriptions in the Operator’sManual to become fully familiar with the functions to be used.

When creating a system using the PROFIBUS-DP function, alwaysrefer to Chapter 2, “BUILDING OF THE SAFE SYSTEM” in Part II,“OPERATION.”

CONTENTS1.1DEFINITION OF WARNING, CAUTION, AND NOTE............s-21.2GENERAL WARNINGS AND NOTES ......................................s-3

SAFETY PRECAUTIONS B-63734EN/01

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1.1 DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user andpreventing damage to the machine. Precautions are classified intoWarning and Caution according to their bearing on safety. Also,supplementary information is described as a Note. Read the Warning,Caution, and Note thoroughly before attempting to use the machine.

Applied when there is a danger of the user being injured or whenthere is a damage of both the user being injured and the equipmentbeing damaged if the approved procedure is not observed.

WARNINGApplied when there is a danger of the user beinginjured or when there is a damage of both the userbeing injured and the equipment being damaged ifthe approved procedure is not observed.

CAUTIONApplied when there is a danger of the equipmentbeing damaged, if the approved procedure is notobserved.

NOTEThe Note is used to indicate supplementaryinformation other than Warning and Caution.

- Read this manual carefully, and store it in a safe place.

B-63734EN/01 SAFETY PRECAUTIONS

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1.2 GENERAL WARNINGS AND NOTES

WARNING1 Before operating the machine, thoroughly check the

entered data. Operating the machine with incorrectdata may result in the machine behavingunexpectedly, possibly causing damage to theworkpiece and/or machine itself, or injury to the user.

2 Never attempt to perform a production run, such asactually machining a workpiece, without firstchecking the operation of the machine. Beforestarting the machine for a production run, ensure thatthe program command values, offsets, currentposition, external signals, and other settings aresuitable for the operation to be performed. Alsocheck that the machine operates correctly byperforming a trial run using, for example, the singleblock, feedrate override, or machine lock function orby operating the machine with neither a tool norworkpiece mounted.

3 Ensure that the specified feedrate is appropriate forthe intended operation. Generally, for each machine,there is a maximum allowable feedrate.The appropriate feedrate varies with the intendedoperation. Refer to the manual provided with themachine to determine the maximum allowablefeedrate. If a machine is run at other than the correctspeed, it may behave unexpectedly, possiblycausing damage to the workpiece and/or machineitself, or injury to the user.

4 When using a tool compensation function,thoroughly check the direction and amount ofcompensation. Operating the machine withincorrectly specified data may result in the machinebehaving unexpectedly, possibly causing damage tothe workpiece and/or machine itself, or injury to theuser.

5 The parameters for the CNC and PMC are factory-set. Usually, there is not need to change them.When, however, there is not alternative other than tochange a parameter, ensure that you fullyunderstand the function of the parameter beforemaking any change. Failure to set a parametercorrectly may result in the machine behavingunexpectedly, possibly causing damage to theworkpiece and/or machine itself, or injury to the user.

SAFETY PRECAUTIONS B-63734EN/01

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CAUTION1 Immediately after switching on the power, do not

touch any of the keys on the MDI panel until theposition display or alarm screen appears on the CNCunit.Some of the keys on the MDI panel are dedicated tomaintenance or other special operations. Pressingany of these keys may place the CNC unit in otherthan its normal state. Starting the machine in thisstate may cause it to behave unexpectedly.

2 The operator's manual and programming manualsupplied with a CNC unit provide an overalldescription of the machine's functions, including anyoptional functions. Note that the optional functionswill vary from one machine model to another.Therefore, some functions described in the manualsmay not actually be available for a particular model.Check the specification of the machine if in doubt.

3 Some functions may have been implemented at therequest of the machine-tool builder. When usingsuch functions, refer to the manual supplied by themachine-tool builder for details of their use and anyrelated cautions. Refer to the following twoexamples.<1> Some machines have a tool replacement

device that operates when a tool feature isexecuted. When the user is working near thedevice, he or she may touch it. Execute toolfeatures in a place sufficiently away from thetool replacement device.

<2> Many auxiliary features cause machineoperation such as rotation of the spindle.Understand the operations of auxiliary featuresbefore using them.

NOTE1 Command programs, parameters, and variables are

stored in nonvolatile memory in the CNC unit.Usually, they are retained even if the power is turnedoff. Such data may be delated inadvertently,however, or it may prove necessary to delete all datafrom nonvolatile memory as part of error recovery.To guard against the occurrence of the above, andassure quick restoration of deleted data, backup allvital data, and keep the backup copy in a safe place.

2 PROFIBUS-DP cannot be used with DeviceNet.

B-62924EN/04 TABLE OF CONTENTS

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TABLE OF CONTENTS

SAFETY PRECAUTIONS.......................................................................... s-1

I. GENERAL

1 GENERAL ..............................................................................................31.1 ORGANIZATION............................................................................................41.2 APPLICABLE MODELS.................................................................................5

2 OVERVIEW OF PROFIBUS-DP FUNCTIONS .......................................62.1 SOFTWARE FOR PROFIBUS-DP FUNCTIONS...........................................72.2 MASTER FUNCTIONS ..................................................................................82.3 SLAVE FUNCTIONS .....................................................................................9

II. OPERATION

1 16i/18i/21i-A/B, Power Mate i-D/H, AND 16/18-C ..............................131.1 OVERVIEW .................................................................................................141.2 MASTER FUNCTION SETTING..................................................................15

1.2.1 Bus Parameter Setting ........................................................................................... 181.2.2 Slave Parameter Setting......................................................................................... 231.2.3 Setting for Address Assignment ............................................................................ 271.2.4 Setting for Operation mode ................................................................................... 311.2.5 Updating DI/DO Data for the Master Function..................................................... 33

1.3 SLAVE FUNCTION SETTING .....................................................................371.3.1 Status Register ....................................................................................................... 441.3.2 Updating DI/DO Data for the Slave Function ....................................................... 45

1.4 SETTING THE SLAVE PARAMETERSFOR USING A SLAVE STATION MANUFACTURED BY FANUC ..............46

1.5 GSD FILE OF THE FANUC CNCS..............................................................51

2 Series 15i-A.........................................................................................592.1 OVERVIEW .................................................................................................602.2 MASTER FUNCTION SETTING..................................................................61

2.2.1 Bus Parameter Setting ........................................................................................... 622.2.2 Slave Parameter Setting......................................................................................... 662.2.3 Setting for Address Assignment ............................................................................ 71

2.3 SLAVE FUNCTION SETTING .....................................................................752.3.1 Status Register ....................................................................................................... 79

TABLE OF CONTENTS B-62924EN/04

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2.4 SETTING THE SLAVE PARAMETERSFOR USING A SLAVE STATION MANUFACTURED BY FANUC ..............80

2.5 GSD FILE OF THE FANUC CNCS..............................................................81

3 Power Mate-D/H ..................................................................................873.1 SLAVE FUNCTION SETTING .....................................................................883.2 SETTING THE SLAVE PARAMETERS

FOR USING A SLAVE STATION MANUFACTURED BY FANUC ..............893.3 GSD FILE OF THE FANUC CNCS..............................................................90

4 BUILDING A SAFE SYSTEM...............................................................934.1 SYSTEM SAFETY .......................................................................................94

5 EXAMPLE OF CONNECTION..............................................................975.1 EXAMPLE OF CONFIGURATION...............................................................98

5.1.1 Master Station Setting ........................................................................................... 995.1.2 Slave Station Setting............................................................................................ 103

III. CONNECTION

1 CONNECTING THE PROFIBUS FUNCTIONS...................................1071.1 PROFIBUS CONNECTION .......................................................................1081.2 PROFIBUS CABLE PARAMETERS ..........................................................1091.3 CABLE LENGTH AND TRANSFER RATE ................................................1101.4 CONNECTOR............................................................................................1111.5 CABLE CONNECTION..............................................................................1121.6 TERMINATING RESISTOR.......................................................................1131.7 CABLE SHIELDING...................................................................................114

2 PROFIBUS FOR THE Series 16/18-C ...............................................1152.1 CONFIGURATION.....................................................................................1162.2 INSTALLATION .........................................................................................117

2.2.1 Environmental Conditions................................................................................... 1172.2.2 Cable Installation................................................................................................. 1172.2.3 PROFIBUS Board Connector Layout ................................................................. 119

2.3 CONNECTION DIAGRAM .........................................................................120

3 PROFIBUS FOR THE LCD-MOUNTED TYPE Series 16i/18i/21i .....1213.1 CONFIGURATION.....................................................................................1223.2 INSTALLATION .........................................................................................125

3.2.1 Environmental Conditions................................................................................... 125

B-62924EN/04 TABLE OF CONTENTS

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3.2.2 Mounting the Board............................................................................................. 1253.2.3 Mounting the Adapter Unit ................................................................................. 1263.2.4 Connection between the PROFIBUS Board and Adapter Units ......................... 1263.2.5 Connector Layout ................................................................................................ 128

3.3 COMPLETE CONNECTION DIAGRAM ....................................................130

4 PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i,Series 15i, and Power Mate i ...........................................................1314.1 CONFIGURATION.....................................................................................1324.2 INSTALLATION .........................................................................................133

4.2.1 Environmental Conditions................................................................................... 1334.2.2 Mounting the Board............................................................................................. 1334.2.3 Connector Layout ................................................................................................ 134

4.3 COMPLETE CONNECTION DIAGRAM ....................................................1354.4 NOTES ON CONNECTING PROFIBUS BOARDS

FOR THE Power Mate i .............................................................................136

5 PROFIBUS FOR THE Power Mate-D/H ............................................1375.1 CONNECTION DIAGRAM .........................................................................1385.2 ENVIRONMENTAL CONDITIONS.............................................................1395.3 SIGNALS ...................................................................................................140

5.3.1 PROFIBUS Interface ........................................................................................... 1405.3.2 Built-in I/O Machine Interface ............................................................................ 140

5.4 BUILT-IN I/O MACHINE INTERFACE .......................................................1415.4.1 Overview.............................................................................................................. 1415.4.2 Details of DI Connection..................................................................................... 1435.4.3 Details of DO Connection ................................................................................... 145

IV. MAINTENANCE

1 PROFIBUS FOR THE Series 16/18-C ...............................................1491.1 COMPONENT LAYOUT ............................................................................1501.2 LED INDICATORS AND THEIR MEANINGS ............................................151

1.2.1 DP-Master Function LED Indicators................................................................... 1511.2.2 DP-Slave Function LED Indicators ..................................................................... 152

2 LCD-MOUNTED TYPE PROFIBUS FOR THE Series 16i/18i/21i .....1532.1 COMPONENT LAYOUT ............................................................................1542.2 LED INDICATORS AND THEIR MEANINGS ............................................155

2.2.1 LED Indicators of the DP-Master Function ........................................................ 155

TABLE OF CONTENTS B-62924EN/04

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2.2.2 LED Indicators of the DP-Slave Function........................................................... 156

3 PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i,Series 15i, AND Power Mate i ..........................................................1573.1 COMPONENT LAYOUT ............................................................................1583.2 LED INDICATORS AND THEIR MEANINGS ............................................159

3.2.1 LED Indicators of the DP-Master Function ........................................................ 1593.2.2 LED Indicators of the DP-Slave Function........................................................... 160

4 PROFIBUS FOR THE Power Mate-D/H ............................................1614.1 PROFIBUS DRAWING NUMBER..............................................................1624.2 ALARM MESSAGES AND MEANINGS.....................................................163

SUPPLEMENT

A SETTING WHEN EDITION 07 OR EARLIER OF SERIES 6557IS USED .............................................................................................167A.1 MASTER FUNCTION SETTING................................................................168

A.1.1 Bus Parameter Setting ......................................................................................... 170A.1.2 Slave Parameter Setting....................................................................................... 175A.1.3 Setting for Address Assignment .......................................................................... 179

A.2 SLAVE FUNCTION SETTING ...................................................................183A.2.1 Status Register ..................................................................................................... 187

A.3 SETTING THE SLAVE PARAMETERSFOR USING A SLAVE STATION MANUFACTURED BY FANUC ............188

A.4 GSD FILE OF THE FANUC CNCS............................................................189

B SETTING WHEN SERIES 6556 IS USED ..........................................197B.1 MASTER FUNCTION SETTING................................................................198

B.1.1 Bus Parameter Setting ......................................................................................... 200B.1.2 Slave Parameter Setting....................................................................................... 202B.1.3 Setting for Address Assignment .......................................................................... 204

B.2 SLAVE FUNCTION SETTING ...................................................................207B.3 SETTING THE SLAVE PARAMETERS

FOR USING A SLAVE STATION MANUFACTURED BY FANUC ............208B.4 GSD FILE OF THE FANUC CNCS............................................................209

C SETTING USING A PERSONAL COMPUTER ..................................210C.1 SETTING USING DP-Configurator MANUFACTURED BY Softing ...........211

I. GENERAL

B-62924EN/02 GENERAL 1.GENERAL

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1 GENERALThis chapter explains the organization of this manual and appliedmodels.

1.GENERAL GENERAL B-62924EN/02

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1.1 ORGANIZATION

This manual consists of the following parts:

About this manualSAFETY PRECAUTIONSDescribes the precautions which must be observed when any of thefunctions explained in this manual is used.I. GENERAL

Describes the organization of this manual, and lists applicablemodels and related manuals.

II. OPERATIONDescribes how to set the data necessary to enable PROFIBUS-DP communication.

III. CONNECTIONDescribes how to connect devices to enable PROFIBUS-DPcommunication, as well as related precautions.

IV. MAINTENANCEDescribes PROFIBUS-DP board drawing numbers, the meaningsof LED indications, and error messages.

B-62924EN/02 GENERAL 1.GENERAL

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1.2 APPLICABLE MODELSThe models covered by this manual are as follows. Theabbreviations listed below may be used to refer to the correspondingmodels.

Model name AbbreviationSeries 16-MODEL CSeries 160-MODEL C

Series 16-C

Series 18-MODEL CSeries 180-MODEL C

Series 18-C16/18-C

LCD-mounted type Series 16i-MODEL ALCD-mounted type Series 160i-MODEL A

LCD-mounted typeSeries 16i -A

LCD-mounted type Series 16i-MODEL BLCD-mounted type Series 160i-MODEL B

LCD-mounted typeSeries 16i -B









LCD-mounted type16i/18i/21i-A/B

Stand-alone type Series 16i-MODEL AStand-alone type Series 160i-MODEL A



Stand-alone typeSeries 18i –A


Stand-alone typeSeries 21i -A

Stand-alone type16i/18i/21i-A

FANUC Series 15i-MODEL AFANUC Series 150i-MODEL A

Series 15i -A 15i -A

FANUC Power Mate-MODEL D Power Mate-DFANUC Power Mate-MODEL H Power Mate-H

Power Mate

FANUC Power Mate i-MODEL D Power Mate i-DFANUC Power Mate i-MODEL H Power Mate i-H

Power Mate i

2.OVERVIEW OF PROFIBUS-DP FUNCTIONS GENERAL B-62924EN/02

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2 OVERVIEW OF PROFIBUS-DPFUNCTIONS

This chapter explains overview of FANUC PROFIBUS-DP functions.

B-62924EN/02 GENERAL 2.OVERVIEW OF PROFIBUS-DP FUNCTIONS

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2.1 SOFTWARE FOR PROFIBUS-DP FUNCTIONS

Table 2-1 lists each model and the series of each software componentthat is applicable to the model.In this manual, the software component required for using eachPROFIBUS-DP function is expressed as follows:- Application software for PROFIBUS-DP function → CONTROL SOFTWARE- Control software for PROFIBUS-DP master function → MASTER SOFTWARE- Control software for PROFIBUS-DP slave function → SLAVE SOFTWARE

Table 2-1 Each Model and Its Corresponding Series of Each Software ComponentModel name Software name Applicable series

MASTER SOFTWARE Series 6552SLAVE SOFTWARE Series 6553

LCD-mounted type Series 16i/18i/21i-A/BStand-alone type Series 16i/18i/21i-APower Mate i-D/H CONTROL SOFTWARE Series 6557

MASTER SOFTWARE Series 6552SLAVE SOFTWARE Series 6553Series 15i-ACONTROL SOFTWARE NoneMASTER SOFTWARE Series 6554SLAVE SOFTWARE Series 6551Series 16/18-CCONTROL SOFTWARE Series 6557SLAVE SOFTWARE Series 6551

Power Mate-D/HCONTROL SOFTWARE None

2.OVERVIEW OF PROFIBUS-DP FUNCTIONS GENERAL B-62924EN/02

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2.2 MASTER FUNCTIONS

The specifications of the PROFIBUS-DP Master function differdepending on the CNC model and the series of CONTROLSOFTWARE.

Table 2-2 Overview of the Master Function

CNCLCD-mounted type Series 16i/18i/21i-A/B,

Stand-alone type Series 16i/18i/21i-APower Mate i-D/H, Series 16/18-C

Series 15i-A

Con

ditio

n

CONTROL SOFTWARE Edition 08 or laterof series 6557

Edition 07 or laterof series 6557 Series 6556 None

Range of valid masterstation numbers 0 to 125 0 to 125 0 to 2 0 to 125

Range of valid slave stationnumbers for whichcommunication can beperformed

0 to 125(Communication

can be performedwith up to 32 slave

stations.)



stations.)



stations.)



stations.)

Maximum DI/DO data sizeper slave station

244 bytes(Total of DI/DO) 32/32 bytes 32/32 bytes 32/32 bytes

Maximum user parameterdata size per slave station 206 bytes 32 bytes 6 bytes 32 bytes

Mas

ter f

unct

ions

Maximum diagnose datasize per slave station 244 bytes 32 bytes 6 bytes 32 bytes

Reference item in this manual II-1.2 SUPPLEMENT-A.1

SUPPLEMENT-B.1 II-2.2

B-62924EN/02 GENERAL 2.OVERVIEW OF PROFIBUS-DP FUNCTIONS

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2.3 SLAVE FUNCTIONS

The specifications of the PROFIBUS-DP Slave function differdepending on the CNC model and the series of CONTROLSOFTWARE.

Table 2-3 Overview of the Slave Function (1/2)

CNCLCD-mounted type Series 16i/18i/21i-A/B,

Stand-alone type Series 16i/18i/21i-APower Mate i-D/H, Series 16/18-C

CONTROL SOFTWARE Edition 08 or later ofseries 6557

Edition 07 or later ofseries 6557 Series 6556

Con

ditio

n

SLAVE SOFTWARESeries 6551 or

Edition 07 or later ofseries 6553

Series 6551 orEdition 05 or later of

series 6553

Series 6551 (All editions)or

series 6553 (All editions)Range of valid slavestation numbers 0 to 125 0 to 125 0 to 125

Maximum DI/DO data size 244 bytes(Total of DI/DO) 32/32 bytes 32/32 bytes

Slav

e fu

nctio

ns

Approval given by thePROFIBUS certificationorganization

-

Reference item in this manual II-1.3 SUPPLEMENT-A.2 SUPPLEMENT-B.2

Table 2-3 Overview of the Slave Function (2/2)CNC Series 15i-A Power Mate-D/H

CONTROL SOFTWARE None None

Con

ditio

SLAVE SOFTWARE Edition 05 or later ofseries 6553

Edition 05 or later ofseries 6551

Range of valid slave stationnumbers 0 to 125 1 to 125

Maximum DI/DO data size 32/32 bytes 32/32 bytes

Slav

e fu

nctio

ns

Approval given by thePROFIBUS certificationorganization

Reference item in this manual II-2.3 II-3.1

NOTEWhen the model is the Power Mate i-D/H and the DPL/MDI and DPL/MDI operationpackage are used, the specifications are those of Edition 07 or earlier of series6557.For details of operation in this case, see Section 1.3, "Slave Function Setting" inPart II, "OPERATION."

II. OPERATION

B-62924EN/04 OPERATION 1.16i/18i/21i-A/B, Power Mate i-D/H, AND 16/18-C

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1 16i/18i/21i-A/B, Power Mate i-D/H, AND16/18-C

This chapter describes PROFIBUS-DP functions for LCD-mountedtype 16i/18i/21i-A/B, stand-alone type 16i/18i/21i-A, Power Mate i-D/H, and 16/18-C.

NOTEPROFIBUS-DP cannot be used with DeviceNet.

1.16i/18i/21i-A/B, Power Mate i-D/H, AND 16/18-C OPERATION B-62924EN/04

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1.1 OVERVIEW

In PROFIBUS-DP communication, two types of nodes are involved: amaster station (also referred to as a DP-Master) and a slave station(also referred to as a DP-Slave). DI/DO data is exchanged between aDP-Master and DP-Slave according to a data exchange request fromthe DP-Master.The DP-Master function is referred to as the PROFIBUS-DP Master(class1) function (simply referred to as the master function). The DP-Slave function is referred to as the PROFIBUS-DP Slave function(simply referred to as the slave function).

Two classes of DP-Masters are used in PROFIBUS-DPcommunication: class1 and class2. A DP-Master (class1) is a DP-Master that communicates with DP-Slaves. A DP-Master (class2) is aDP-Master that serves as the management station within aPROFIBUS-DP system, and communicates with the DP-Master(class1).The master function of FANUC CNCs supports only the DP-Master(class1) function, so that the FANUC DP-Master cannot be used as aDP-Master (class2).


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1.2 MASTER FUNCTION SETTING

To use the master function, bus parameters and slave parameters mustbe set, and addresses must be assigned.The bus parameters are referenced by the network, and the slaveparameters are set for each slave. In address assignment, PMCaddresses used by the DP-Master to transfer DI/DO signals to andfrom each DP-Slave are set.The methods of setting the parameters are described below.

NOTETo set the bus parameters and slave parameters,you can also use DP-Configurator (tool running on aPC) manufactured by Softing. For details of thissetting, see Section C.1, "Setting Using DP-Configurator Manufactured BY Softing," in"SUPPLEMENT."

Procedure (CRT/MDI)(1) Press function key <SYSTEM>, then press soft key [PMC] to

switch to the PMC screen.

(2) Pressing soft keys [PMCDGN], [IOCHK], and [PROFI] in thestated order displays Screen 1-1.

Screen 1-1


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(3) Pressing soft key [MASTER] displays Screen 1-2.

Screen 1-2

(4) The following parameters can be set by pressing thecorresponding soft keys on the screen 1-2:<1> Bus parameters [BUS]<2> Slave parameters [SLAVE]<3> Operation mode [MODE]

Pressing soft key [INI.AL] has the same effect as performinginitialization by pressing soft key [INIT] on the bus parameter settingscreen, slave parameter setting screen, or address assignment screen.For the initialized values on these screens, see the descriptions of therelevant sections.REFRESH TIME indicates the time required for updating DI/DO datafor the master function. For details, see Section 1.2.5, "UpdatingDI/DO Data for the Master Function."


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A setting error message may be displayed at the lower left of Screen1-2. In this case, take appropriate action, referencing the table below.

Table 1-1 Setting error messageMessage Caution and action

“ SET SLAVE NUMBER[<=32]AND POWER OFF ”

The number of slave stations with whichcommunication is to be performedexceeds 32.Set ENABLE for up to 32 slave stations,and turn the power off, then on again.

“ SET VALID SLAVE PARAMAND POWER OFF ”

An invalid value is set for a slaveparameter for a slave station for whichENABLE is set.Enter a valid value, and turn the poweroff, then on again.Check whether the 15 CONFIG DATAsetting is valid in particular.

“ SET ADDRESS ALLOCATIONAND POWER OFF ”

DI/DO SIZE = 0/0 is set in addressassignment for a slave station for whichENABLE is set.Set a valid size, and turn the power off,then on again.

NOTEWhen Edition 08 of series 6557 of CONTROLSOFTWARE is used, pay careful attention to thefollowing points:- The setting error messages listed in Table 1-1 are

displayed at the lower left of Screen 1-8 (modescreen).

- The message "SET I/O SIZE[MAS + SLV <=256],POWER OFF" may be displayed at the lowerleft of Screen 1-8 (mode screen).This message indicates that the total of the DI/DOsizes set for the master and slave functionsexceeds 256 bytes when these functions are usedtogether in this node. In this case, set the DI/DOsizes again so that the total does not exceed 256bytes, and turn the power off, then on again.


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1.2.1 Bus Parameter Setting

Pressing soft key [BUS] on Screen 1-2 displays Screen 1-3 to enablebus parameter setting. The bus parameters consist of two pages. Usethe page keys to switch between the pages.

Screen 1-3

The data in the parentheses indicated to the right of each itemrepresents a range of settable values. For 2 BAUDRATE only,however, the transfer rate corresponding to a set value is displayed.

Switch between pages by pressingpage keys <↑> and <↓>.


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Soft key [INIT] on Screen 1-3 initializes the bus parameters to thestandard values used when the transfer rate is 12 Mbps.

CAUTIONTo change the transfer rate from 12 Mbps to adifferent value, set the bus parameters againaccording to Table 1-3, "Bus Parameter SettingsCorresponding to Each Transfer Rate" in thissection.

Soft key [DETAIL], shown at the bottom of Screen 1-3, is displayedwhen the cursor is moved to 17 MASTER USER DATA. Pressingthis soft key displays Screen 1-4 to enable the setting of detailed dataas long as the number of bytes is specified in 17 MASTER USERDATA.

Screen 1-4


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Table 1-2 summarizes the bus parameters. Table 1-3 lists the busparameter values to be set for each transfer rate. For details, refer tothe following documents issued by PROFIBUS Nutzerorganisatione.V.: PROFIBUS STANDARD DIN 19 245 Part 1

This document describes data transfer, access methods, protocols,and interfacing with the application layer.

Draft Standard PROFIBUS-DP DIN 19 245 Part 3This document describes an abstract model of the PROFIBUS-DP communication function, and so forth.

Table 1-2 Bus ParametersItem Description

FDL ADD Fieldbus data link address.Station number of the DP-Master.

BAUDRATE Transfer rate code number.(0:9.6 kbps, 1:19.2 kbps, 2:93.75 kbps, 3:187.5 kbps, 4:500 kbps, 6:1.5 Mbps, 7:3 Mbps,8:6 Mbps, 9:12 Mbps)

T SL Slot time.Maximum time from token frame transmission until the first character of a response frame isread. (Unit: Bit time)

MIN T SDR Minimum station delay time of responders.Minimum elapsed time from the last bit of send or receive data to the first bit of the next sendor receive data. (Unit: Bit time)

MAX T SDR Maximum station delay time of responders.Maximum elapsed time from the last bit of send or receive data to the first bit of the next sendor receive data. (Unit: Bit time)

T QUI Transmitter fall/repeater switch time.Wait time after data transmission until the receiver can be operated again. (Unit: Bit time)

T SET Setup time.Time after the occurrence of an event until the execution of the corresponding action isstarted. (Unit: Bit time)

T TR Target rotation time.Estimated time required for a PROFIBUS token to make one rotation. (Unit: Bit time)

G Gap update factor.Number of tokens that rotate during a gap maintenance period.

HSA Highest station address.Maximum node number set on the PROFIBUS.

MAX RETRY Maximum number of retries.BP FLAG User interface flag.

Bit 7: Error_Action_Flag0: Does not change the operation mode if an error occurs.1: Changes the operation mode from Operate mode to the Clear mode if an error occurs.

Bits 6 to 0: Reserved (to be set to 0)MIN SLAVE INT Minimum slave interval between two slave poll cycles.

Minimum polling interval between slaves. (Unit: 100 µs)POLL TIME OUT Poll timeout for master-master communication.

Maximum wait time after the issue of a request for communication between master stationsuntil a response is received. (Unit: 1 ms)

DATA CONTROL Time until the data transfer list is updated at least once. (Unit: 10 ms)CLASS2 NAME Master who created this parameter sets.

Name of the DP-Master (class2) that created the bus parameters.MASTER USER DATA Data necessary for the bus parameters and specified by the manufacturer.


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Remarks) Explanation of terms used in the above tableBit time : Time (sec) required to send one bit of data

at a specified transfer rate. This isequivalent to the reciprocal of a transferrate (bps).

Gap maintenanceperiod

: Period during which the list for managingthe address of the connected DP-Master isupdated. (Unit: Bit time)

Operation mode : Operation mode of a DP-Master (class1).Offline : Mode that disables

communication with all nodesStop : Mode that enables

communication with the DP-Master (class2)

Clear : Mode in which the output to theDP-Slave is set to 0

Operate : Mode that enables DI/DOcommunication with DP-Slaves

Data transfer list : List with a 16-byte area. This list is held inthe DP-Master so that each bit indicateswhether data transfer to and from each ofthe nodes of station numbers 0 to 125 hasbeen performed (1) or not (0) (bits 6 and 7of the 16th byte are not used).


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Table 1-3 Bus Parameter Settings Corresponding to Each Transfer RateBus parameter Setting

1: FDL ADD 0 to 1252: BAUDRATE (Kbps) ≤187.5 500 1500 3000 6000 120003: T SL 100 200 300 400 600 10004: MIN T SDR 11 11 11 11 11 115: MAX T SDR 60 100 150 250 450 8006: T QUI 0 0 0 3 6 97: T SET 1 1 1 4 8 168: TTR 65000 65000 65000 65000 65000 650009: G 10 10 10 10 10 1010: HSA 126 126 126 126 126 12611: MAX RETRY 1 1 1 2 3 412: BP FLAG 0 0 0 0 0 013: MIN SLAVE INT 1 1 1 1 1 114: POLL TIME OUT 1000 1000 1000 1000 1000 100015: DATA CONTROL 100 100 100 100 100 10016: CLASS2 NAME This parameter need not be set.17: MASTER USER DATA 0 0 0 0 0 0

Viewing this table for parameter setting:First, determine the value of 2: BAUDRATE. Then, set the other parameters according tothe set baud rate.

NOTEFor multiple master communication, satisfy thefollowing conditions:- The value set for 1:FDL ADD for a master station is

not used as another master station number.- The same values are set for bus parameters 2 to 11

for all master stations.- When a larger value is set for T SET, T SL is larger

than T ID1.(T ID1 = 33 + 2 + 2 × T SET + T QUI)


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1.2.2 Slave Parameter Setting

Pressing soft key [SLAVE] on Screen 1-2 displays Screen 1-5 toenable slave parameter setting.By pressing soft keys [PRV.NO] and [NXT.NO], the station numberof a DP-Slave to be set can be changed. To move to the screen of adesired station number directly, enter the station number, then presssoft key [PRV.NO] or [NXT.NO].

CAUTIONWhen setting slave parameter data, pay carefulattention to the following points:1 The slave parameters are available for 126 stations.

However, set the slave parameters for no more than32 DP-Slaves for actual communication.

2 When using DP-Slaves provided by othermanufacturers, set the slave parameters accordingto the GSD file attached to each DP-Slave.

3 When setting the slave parameters, carefully checkthe slave number of each DP-Slave to be set.

Screen 1-5

Soft key [INIT] on Screen 1-5 initializes the slave parameters of aspecified station number to the standard values used for connecting aDP-Slave using a FANUC CNC. For details of the settings required toconnect a DP-Slave manufactured by FANUC, see Section 1.4,"Setting the Slave Parameters for Using a Slave Station Manufacturedby FANUC." Soft key [DETAIL] shown at the bottom of Screen 1-5is displayed when the cursor is moved to an item from 14 USER PRMDATA to 16 SLAVE USER DATA. Pressing this soft key displays ascreen such as Screen 1-6. (Screen 1-6 shows the screen displayed by


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pressing soft key [DETAIL] when the cursor is placed at the item of15 CONFIG DATA.) Detailed data as long as the number of bytesspecified in each of these items can be set.

NOTEBefore a DP-Slave manufactured by FANUC can beconnected, data dependent on the FANUC DP-Slavemust be set in the slave parameters. Usually, softkey [INIT] can be used for initialization to enable aFANUC DP-Slave to be connected. In 15 CONFIGDATA, however, variable data dependent on the sizeof DI/DO data exchanged with the DP-Slave must beset. So, when setting 15 CONFIG DATA, seeSection 1.4, "Setting the Slave Parameters for Usinga Slave Station Manufactured by FANUC."

Screen 1-6


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Table 1-4 summarizes the slave parameters. For details, refer to thefollowing documents issued by PROFIBUS Nutzerorganisation e.V.: PROFIBUS STANDARD DIN 19 245 Part 1



Table 1-4 Slave ParametersItem Description

DISABLE/ENABLE(DIS/ENB)

Specify whether to perform communication with the DP-Slave for which the slave parametersare set.

DISABLE : Does not perform communication.ENABLE : Performs communication.

Note) This item specifies whether the DP-Master manufactured by FANUC makes a requestfor communication with the DP-Slave. Specifically, this item is not part of the slaveparameters.

IDENT NO. DP-Slave identification number.Specify the identification number of a DP-Slave to be connected.

SLAVE FLAG Slave specification bit flag.Bit 7: Active

0: Does not perform communication with the DP-Slave.1: Performs communication with the DP-Slave.

Bit 6: New_Prm0: Does not send new parameter data to the DP-Slave.1: Sends new parameter data to the DP-Slave.

Bits 5 to 0: Reserved (to be service to 0)SLAVE TYPE Manufacturer-specified type indication for the DP-Slave.LOCK REQ, UNLOCKREQ

When LOCK_REQ=ON and UNLOCK_REQ=OFF are set, the DP-Slave disables the DP-Master from modifying the parameters.When LOCK_REQ=OFF and UNLOCK_REQ=ON are set, the DP-Slave allows the DP-Master to modify the parameters.

SYNC REQ When ON is set, the Sync control command can be used.FREEZE REQ When ON is set, the Freeze control command can be used.WD REQ When On is set, disconnection detection is performed.WD FACT1, WDFACT2

Coefficients for disconnection detection time determination. 10 × WD_FACT1 × WD_FACT2 (msec)

MIN TSDR Minimum wait time until a response is returned to the DP-Master. (Unit: Bit time)GROUP IDENT Specify groups for the DDLM_Global_Control instruction. Each bit represents a group. Up to

eight groups can be specified.USER PRM DATA User parameter data.

Data necessary for the slave parameters and specified by the manufacturer.CONFIG DATA Configuration data.

Data for specifying information such as the size of I/O data to be exchanged between theDP-Master and DP-Slave.

SLAVE USER DATA Slave user data.Data specified by the manufacturer to indicate the characteristics of the DP-Slave.


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Remarks) Explanation of terms used in the above tableSync controlcommand

: Command for specifying operation in Syncmode. When operation is performed in Syncmode, the DP-Slave updates the output signalsonly when the Sync control command isreceived.

Freeze controlcommand

: Command for specifying operation in Freezemode. When operation is performed in Freezemode, the DP-Slave updates input signals onlywhen the Freeze control command is received.

Disconnectiondetection

: Function for checking if data is exchangednormally between the DP-Master and DP-Slave. If data is not exchanged after thedisconnection detection time determined byWD FACT1 and WD FACT2 has elapsed, anerror is assumed.

Bit time : Time (sec) required to send one bit of data at aspecified transfer rate. This is equivalent to thereciprocal of a transfer rate (bps).

CAUTIONSet values for parameters USER PRM DATA,CONFIG DATA, and SLAVE USER DATA so thatthe total of the three parameter lengths does notexceed 207.


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1.2.3 Setting for Address Assignment

Pressing soft key [ADDR] on Screen 1-5 displays Screen 1-7.By pressing soft keys [PRV.NO] and [NXT.NO], the station numberof a DP-Slave to be set can be changed. To move to the screen of adesired station number directly, enter the station number, then presssoft key [PRV.NO] or [NXT.NO].

Screen 1-7

CAUTIONWhen assigning addresses, pay careful attention to thefollowing points:1 Assign addresses to all DP-Slaves that are set to

ENABLE in the slave parameters.2 Be careful not to assign duplicate addresses to a

DP-Slave.3 Ensure that a specified DI data area, DO data area,

and diagnose data area do not overlap one another.4 Ensure that the specified addresses do not overlap

an area used for a ladder program.5 Use the R area only. (When using PMC-SB5, be

careful not to exceed R1499. When using PMC-SB6or PMC-NB6, be careful not to exceed R2999.)


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Each item must be set as described below.DI/DO SETTING

Set the area to be used as a DI/DO data buffer. The total of theDI/DO sizes for one slave station must not exceed 244 bytes.

NOTEDiagnose data is classified as standard diagnosedata and extended diagnose data. The DP-Slavesmanufactured by FANUC use standard diagnosedata (6 bytes) only. On the other hand, DP-Slavessupplied by other manufacturers may use extendeddiagnose data of more than six bytes. When usingDP-Slaves supplied by other manufacturers,determine the size of the diagnose data byreferencing the GSD file of each DP-Slave.

DIAGNOSE DATA SETTINGSet an area for storing diagnose data. For details of standarddiagnose data, see Table 1-5.


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Table 1-5 Standard Diagnose dataItem Description

STATION STATUS 1(Size: 1 byte)

The state of a DP-Slave is indicated.Bit 7: Diag.Master_Lock

This bit indicates that the parameters of the DP-Slave are set by another DP-Master.When the value of MASTER_ADDRESS is neither 255 nor the address of the DP-Master, this bit is set by the DP-Master.

Bit 6: Diag.Prm_FaultThis bit is set by the DP-Slave when the latest parameter data contains an error.

Bit 5: Diag.Invalid_Slave_ResponseThis bit is set by the DP-Master when incorrect data is received from the DP-Slave.

Bit 4: Diag.Not_SupportedThis bit is set by the DP-Slave when the DP-Slave receives an instruction that is notsupported by the DP-Slave.

Bit 3: Diag.Ext_DiagThis bit is set by the DP-Slave when extended diagnose data can be used. The DP-Master of FANUC CNCs can reference up to 26 bytes of the extended diagnose data.

Bit 2: Diag.Cfg_FaultThis bit is set by the DP-Slave when the latest configuration data differs from the dataheld by the DP-Slave.

Bit 1: Diag.Station_Not_ReadyThis bit is set by the DP-Slave when the DP-Slave is not ready for data transfer.

Bit 0: Diag.Station_Non_ExistentThis bit is set by the DP-Slave when communication with the DP-Slave is impossible.


The state of a DP-Slave is indicated.Bit 7: Diag.Deactivated

This bit is set by the DP-Master when communication with the DP-Slave is disabledduring slave parameter setting.

Bit 6: Reserved (undefined)Bit 5: Diag.Sync_Mode

This bit is set by the DP-Slave when the Sync control command is received.Bit 4: Diag.Freeze_Mode

This bit is set by the DP-Slave when the Freeze control command is received.Bit 3: Diag.WD_On

This bit is set by the DP-Slave when the disconnection detection function is operating.Bit 2: Reserved (set to 1 at all times)Bit 1: Diag.Stat_Diag

If this bit is set by the DP-Slave, the DP-Master reads the diagnose data until this bit isreset.

Bit 0: Diag.Prm_ReqThis bit is set by the DP-Slave when the parameters of the DP-Slave need to be setagain. The setting of this bit is held until the parameters are set again.


The state of a DP-Slave is indicated.Bit 7: Diag.Ext_Diag_Overflow

This bit is set by the DP-Slave when diagnose data cannot be stored in the extendeddiagnose data area. The DP-Master of FANUC CNCs can reference up to 26 bytes of theextended diagnose data.

Bits 6 to 0: ReservedMASTER ADDRESS(Size: 1 byte)

The address of the DP-Master that set the parameters of the DP-Slave is set. If theparameters are not set by the DP-Master, 255 is set.

IDENT NUMBER(Size: 2 bytes)

The identification number of a DP-Slave is set.


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For details, refer to the following documents issued by PROFIBUSNutzerorganisation e.V.: PROFIBUS STANDARD DIN 19 245 Part 1



Soft key [INIT] on Screen 1-7 clears the value of each addressassignment parameter (the address specification fields are set toR0000). So, specify valid values.

Example) For explanation, the example shown in Screen 1-7 isused.On Screen 1-7, SLAVE NUMBER is 3. So, addresses areassigned to the DP-Slave at station number 3.DI ADDRESS is R0000, and DI SIZE is 32. So, a 32-byteDI data area is assigned, starting at R0000, to the DP-Slave at station number 3, as indicated below.DO ADDRESS is R0100, and DO SIZE is 16. So, a 16-byte DO data area is assigned, starting at R0100, to theDP-Slave of station number 3, as indicated below.

DI data area assignmentR0000

DI data from DP-Slave #3R0032

DO data area assignmentR0100

DO data to DP-Slave #3R0116

For diagnose data, similarly, DGN ADDRESS is R0200,and DGN DATA SIZE is 6. So, a 6-byte diagnose dataarea is assigned, starting at R0200, to the DP-Slave ofstation number 3, as indicated below.

Diagnose data area assignmentR0200

Diagnose data of DP-Slave #3R0206


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1.2.4 Setting for Operation mode

Pressing soft key [MODE] on Screen 1-2 displays Screen 1-8. On thisscreen, you can set the STOP, CLEAR, or OPERATE mode definedin the PROFIBUS-DP specifications.

Screen 1-8

On this screen, the current communication mode is displayed forCURRENT MODE. Pressing soft key [STOP], [CLEAR], or[OPERA] sets the corresponding communication mode. The settingorder must be [OPERATE], [CLEAR], and [STOP], or [STOP],[CLEAR], and [OPERATE].

The communication status in each mode is explained below:OFFLINE :

Communication with all nodes is disabled.STOP :

Communication with another master station (such as a class-2master station) is enabled.

CLEAR :The output (DO) to all communication enable slave stations iscleared.

OPERATE :DI/DO communication is being performed with allcommunication enable slave stations.


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NOTEFor the operation mode, pay careful attention to thefollowing points:(1) When the power is turned on in the status in which

at least one slave station is ACTIVE, the masterstation automatically starts in the OPERATE mode.An ACTIVE slave station means a slave station forwhich ENABLE and SLAVE TYPE = 192 are set asslave parameters.

(2) In a case other than (1), that is, when the power isturned on in the status in which all slave stationsare not ACTIVE, the master station automaticallystarts in the STOP mode.

(3) A FANUC master station cannot manually be put inthe OFFLINE mode.If a FANUC master station is in the OFFLINE modeimmediately after power-on, an error may occur.See Table 1-1, "Setting Error Message."

A message may be displayed at the lower left of Screen 1-8. In thiscase, take appropriate action, referencing the table below.

Table 1-6 Mode screen messageMessage Caution and action

“MODE SET OK” Mode setting was performed normally.

“INVALID OPERATION”

Mode setting was performed in an invalid order.(For example, the order is [OPERATE] and[STOP].)Perform mode setting in a valid order asdescribed above.

"POWER MUST BE OFF"

This message is displayed if one of thefollowing three operations is performed:1) [STOP] and [OFFLINE] are set in this order.2) The power is turned on in the status in which

no slave stations are ACTIVE, and [STOP]and [CLEAR] are set in this order.

3) After slave parameters are downloaded froma class-2 master station, [STOP] and[CLEAR] are set in this order.

In case 1), the OFFLINE status is equal to thepower-off status.In case 2) or 3), if settings are changed bydownloading from the slave parameter settingscreen or class-2 master station after power-on, the change cannot be made take effectimmediately. For this reason, turn the poweroff, then on again.


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1.2.5 Updating DI/DO Data for the Master Function

When creating a ladder program, fully consider the data refresh timeand data simultaneity described below.

Data refresh time

The data refresh time for the master function means the time requiredfor updating DI/DO data for all slave stations that is allocated in the Rarea of the PMC by address assignment.

NOTEDI/DO data only for the slave stations for whichENABLE is set as a slave parameter is to beupdated.In this section, a slave station for which ENABLE isset is described as a communication slave station.

When only the master function is usedThe data refresh time for the master function is indicated byREFRESH TIME on Screen 1-2. When REFRESH TIME : X MSEC[Y + Z] is assumed, the meaning of each item is as follows:

X: Data refresh time (= Y + Z)Y: One-scan time within the communication board (msec)Z: One-scan time within the CNC (msec)

The one-scan time indicates the DI/DO processing time for allcommunication slave stations.The number of digits that can be displayed is 3 for X, 3 for Y, and 4for Z. If the number of digits is exceeded, OVR or OVER is displayed,and it does not affect communication.

CAUTIONNote that DI/DO data may not be updated within thetime displayed for REFRESH TIME in either of thefollowing cases: - The status of at least one communication slave

station is changing every moment.(In this case, diagnose data must be updated.)

- A service is being received from a class-2 masterstation every moment.

Y: The one-scan time within the communication board dependsgreatly on the bus parameter setting. When the baud rate is 12Mbps and normal communication is performed with all slavestations, however, the value of Y is 8 msec in most cases.


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Z: The one-scan time within the CNC is determined by expression(A) shown below:a1+a2×(N-1)+a3×SIZE≤1000.................................................(A) a1, a2, a3: Constant parameters N : Number of communication slave stations SIZE : DI/DO data size

Table 1.7 Constant Parameters in Expression (A)

CNC 16i/18i/21i-A/B,Power Matei –D/H 16/18-C

a1 294 282a2 50 35Constanta3 1.0 1.2

In expression (A), N and SIZE indicate the number of communicationslave stations and DI/DO data size that can be updated during oneCNC ITP process (8 msec each), respectively.The procedure for determining N and SIZE is shown below:<1> Add the DI/DO data size for each communication slave station in

ascending order of station numbers. Each time the DI/DO datasize for a station is added, substitute the cumulative number ofcommunication slave stations (N) and the DI/DO data size(SIZE) in expression (A) and check whether the condition issatisfied.

<2> Increase the values of N and SIZE and obtain the maximumvalues of N and SIZE (Nmax and SIZEmax) that satisfy thecondition for expression (A). The DI/DO data for one to Nmaxstations is updated during the first ITP process.

<3> When the value of the left-hand side exceeds 1000, clear thevalues of N and SIZE once. Start calculation from step <1> asthe second ITP process.

<4> Perform steps <1> to <3> for all communication slave stationsand count the number of ITP processes (n).

Thus, Z is obtained as follows:Z : one-scan-time-within-CNC = (n-1) × 8 msec

Example of calculating Z: One-scan time within the CNC)[Conditions]• CNC model: 16i/18i/21i-A/B• Communication slave station settings for the master function:

- DI/DO size set for station No. 3 = 122/122- DI/DO size set for station No. 4 = 122/122- DI/DO size set for station No. 5 = 122/122- DI/DO size set for station No. 6 = 122/122

[Calculation]• First ITP process

- Calculation for station Nos. 3 and 4:294+50×(2-1)+1.0×(244+244)=832≤1000→ N and SIZE indicate the maximum values.


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- Calculation for station Nos. 3 to 5:294+50×(3-1)+1.0×(244+244+244)=1126≥1000→ The values of N and SIZE are cleared.

• Second ITP process- Calculation for station Nos. 5 to 6:

294+50×(2-1)+1.0×(244+244)=832≤1000→ The ITP process count (n) is determined to be 2 and

calculation for all communication slave stations iscomplete.

Thus, Z: One-scan time within the CNC is 8 msec for this example.

When both the master and slave functions are used togetherIn this case, the data refresh time is similar to that described in "Whenonly the master function is used" above.However, SIZE: DI/DO data size in expression (A) is as follows:SIZE = SIZEmas + SIZEslv

SIZEmas : DI/DO data size for the master functionSIZEslv : DI/DO data size for the slave function

Example of calculating Z: One-scan time within the CNC)[Conditions]• CNC model: 16i/18i/21i-A/B• Communication slave station settings for the master function :

- DI/DO size set for station No. 3 = 122/122- DI/DO size set for station No. 4 = 122/122- DI/DO size set for station No. 5 = 122/122- DI/DO size set for station No. 6 = 122/122

• Settings for the slave function : DI/DO SIZE = 50/50[Calculation]• First ITP process

- Calculation for station Nos. 3 and 4:294+50×(2-1)+1.0×(244+244+100)=932≤1000→ N and SIZE indicate the maximum values.

- Calculation for station Nos. 3 to 5:294+50×(3-1)+1.0×(244+244+244+100)=1226≥1000→ The values of N and SIZE are cleared.

• Second ITP process- Calculation for station Nos. 5 to 6:

294+50×(2-1)+1.0×(244+244+100)=932≤1000→ The ITP process count (n) is determined to be 2 and

calculation for all communication slave stations iscomplete.

Thus, Z: One-scan time within the CNC is 8 msec for this example.


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Data simultaneity

With the FANUC master function and Slave function, when DI/DOsignals are handled with a ladder program, data simultaneity isguaranteed in each of long data (4-byte data) units and word data (2-byte data) units under the following constraints.

NOTEIf the following constraints are not satisfied,simultaneity of each data length cannot beguaranteed.

Data simultaneity for long data (4-byte data)<1> Use the following commands in the PMC ladder program in 4-

byte units:DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB,SUBB, MULB, DIVB, NUMEB, MOVN, EOR, AND, OR, andNOT

<2> When assigning DI/DO data to R addresses in the PMC area,follow the rules below depending on the PMC type:- For the PMC-SB6

Each R address area must start at a 4-byte boundary.(Example:R0000, R0004, R0008, R0012, . . .)

- For the PMC-SB5, PMC-SA1, or PMC-SA5Each R address area must start at 2 bytes ahead of a 4-byteboundary.(Example: R0002, R0006, R0010, R0014, . . .)

CAUTIONTo guarantee long data simultaneity, Edition 08 orlater of series 6557 of CONTROL SOFTWARE mustbe used.

Data simultaneity for word data (2-byte data)<1> Use the following commands in the PMC ladder program in 2-

byte units:DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB,SUBB, MULB, DIVB, NUMEB, MOVW, MOVN, EOR, AND,OR, and NOT

<2> When assigning DI/DO data to R addresses in the PMC area,each R address area must start at a 2-byte boundary.

Data simultaneity for byte data (1-byte data)There is no constraint.Simultaneity is always guaranteed within 1-byte data.


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1.3 SLAVE FUNCTION SETTING

Addresses must be assigned on a DP-Slave before the slave functioncan be used.By address assignment, a PMC address is set, and the sizes of theDI/DO areas used for the DI/DO signal transfer between the DP-Master and DP-Slave are set. The method of setting each parameter isdescribed below.

NOTEBefore a DP-Slave manufactured by FANUC can beused, data dependent on the FANUC DP-Slave mustbe set in the slave parameters of the DP-Master. So,when setting the slave parameters of the DP-Master,see Section 1.4, "Setting the Slave Parameters forUsing a slave Station Manufactured by FANUC."

Procedure (CRT/MDI)(1) Press function key <SYSTEM>. Then, press soft key [PMC] to


(2) Pressing soft keys [PMCDGN], [IOCHK] , and [PROFI] in thestated order displays Screen 1-9.

Screen 1-9


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CAUTIONOn Screen 1-9, check the following items:(1) CONTROL SOFTWARE is Edition 08 or later of

series 6557.(2) SLAVE SOFTWARE (series 6553 or 6551) is

Edition 07 or later.When CONTROL SOFTWARE is Edition 07 orearlier of series 6557 or 6556, see "SUPPLEMENT."

(3) Pressing soft key [SLAVE] on this screen displays Screen 1-10.

Screen 1-10

Screen 1-10 is displayed when this slave station is the stand-alone type 16i/18i/21i-A, LCD-mounted type 16i/18i/21i-A/B, or16/18-C.When this slave station is the Power Mate i-D/H, IDENT NO. =00A1 is displayed.


- 39 -

NOTEIf either of the following messages is displayed onScreen 1-10, take appropriate action correspondingthe message: - "SET I/O SIZE[MAS+SLV<=256],POWER OFF"

When this node is shared by both master and slavestations, the total of the DI/DO sizes for all slavestations for which ENABLE is set and the DI/DO sizefor the sharing slave station exceeds 256 bytes.Set the DI/DO sizes again so that the total does notexceed 256 bytes, and turn the power off, then onagain. (This message is displayed only when Edition08 of series 6557 of CONTROL SOFTWARE isused.)

- "UPGRADE SLAVE SOFTWARE"Replace SLAVE SOFTWARE (series 6553 or 6551)with Edition 07 or later of SLAVE SOFTWARE.

CAUTIONWhen assigning addresses, pay careful attention to thefollowing points:

1 Ensure that the specified DI and DO areas do notoverlap one another.

2 Ensure that specified addresses do not overlap anarea used for a ladder program.

3 Use the R area only. (When using the PMC-SB5, becareful not to exceed R1499. When using the PMC-SB6 or the PMC-NB6, be careful not to exceedR2999.)


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(4) Each item must be set as described below.STATION NO.

Set the station number of the DP-Slave.DI DATA

Set an area to be used as a DI data buffer. Set the startaddress and size of the buffer.

DO DATASet an area to be used as a DO data buffer. Set the startaddress and size of the buffer.

CAUTIONDI and DO described in Section 1.3 (this section)indicate the input and output viewed from the slavestation, respectively.

Example) For explanation, the example shown in Screen 1-10 isused.On Screen 1-10, the station number of the DP-Slave is 3.A DI data area and DO data area used as buffers forcommunication with the DP-Master are assigned asdescribed below.


DI data from the DP-MasterR0316


DO data to the DP-MasterR0432


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(5) STATUS on Screen 1-10 indicates the state of the DP-Slave.Each item under STATUS has the meaning described below.CONFIG STATUS

This item indicates whether slave parameter CONFIGDATA of the DP-Master matches the configuration datarecognized by the DP-Slave. If there is a mismatch, normalcommunication cannot be performed.FF: Initial state00: State in which normal communication is being

performed (match)03: State in which received configuration data cannot be

acceptedPARAM STATUS

This item indicates whether slave parameter USER PRMDATA of the DP-Master matches the parameter datarecognized by the DP-Slave. If there is a mismatch, normalcommunication cannot be performed.FF: Initial state00: State in which normal communication is being

performed (match)03: State in which received parameter data cannot be

acceptedWATCHDOG STATUS

This item indicates the connection state of thecommunication link with the DP-Master.00: Connected01: Disconnected

LIVELIST STATUSThis item indicates whether the software of the slavefunction is operating normally. During normal operation,this item counts up from 00 to FF. When FF is reached,another count operation starts from 00. This status indicateswhether the software of the slave function is operatingnormally, but does not indicate whether communication isbeing performed normally.

IDENT NO.This item displays the identification number of a DP-Slaveusing a FANUC CNC.00: Stand-alone type 16i/18i/21i-A, LCD-mounted type

16i/18i/21i-A/B, 16/18-C01: Power Mate i-D/H


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Other setting procedure(Supplement for using the slave function for Power Mate i-D/H)

Procedure using the DPL/MDI operation package (PC)

(1) Press <F4/DGN/PRM>the key to switch between display of theparameter screen, diagnose screen, pitch error compensationscreen, and Profibus screen. Select the Profibus screen. Then,Screen 1-11 shown below appears.

Screen 1-11

By displaying Screen 1-11, the parameters (S0001 to S0005) canbe set, and diagnose data (S0101 to S0105) can be displayed.

Table 1-8 Setting parametersParameter No. Item Description

S0001 Station NO. Sets the station number of the DP-Slave.

S0002 Input DataSize Sets the size of DI data.

S0003 Input DataAddress Sets the address of DI data.

S0004 Output DataSize Sets the size of DO data.

S0005 Output DataAddress Sets the address of DO data.

PROFIBUS

S0002 = R300S0003 = 16S0004 = R400S0005 = 32S0101 = 00S0102 = 00S0103 = 00

>

FANUC Power Mate i DPL/MDI Operation PackageFANUC Power Mate i DPL/MDI Operation PackageFANUC Power Mate i DPL/MDI Operation PackageFANUC Power Mate i DPL/MDI Operation Package

File Edit Disp Help

F1POS

F2PRG

F3MENVAR

F4DGNPRM

F5OPRALM

F6&@No.

F7RD

F8WRT

F9HLP

F12F11F10EXT

S0001 = 3


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Table 1-9 Dianosis dataDiagnose No. Item Description

S0101 ConfigurationStatus

Indicates whether slave parameterCONFIG DATA for the DP-Mastermatches the configuration datarecognized by the DP-Slave.

S0102 ParameterStatus

Indicates whether slave parameterUSER PARAM DATA of the DP-Mastermatches the parameter data recognizedby the DP-Slave.

S0103 WatchDogStatus

Indicates the connection state of thecommunication link with the DP-Master.

S0104 Livelist Status Indicates whether the software of theslave function is operating normally.

S0105 IDENT NO.Indicates 00A1 as the identificationnumber of the DP-Slave using a FANUCPower Mate CNC.

Procedure using the DPL/MDI (1) Press the <DGNOS/PARAM> key, then switch the screens, in

order, from Parameter to DIAGNOSE to Pitch Error to Profibus.Then, Screen 1-13 appears. The displayed items are the same asthose with the DPL/MDI operation package, which will bedescribed later. See the corresponding description.

S0001 = 0> S0002 = 0

Screen 1-12


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1.3.1 Status Register

With the DP-Master, DP-Master status is set as diagnose data in the Rarea of the PMC as described in Section 1.2.3, "Setting for AddressAssignment." With a DP-Slave, a status register is used. This isequivalent to the diagnose data used with the DP-Master. The statusregister is set at address R9094 in the R area of the PMC. For detailsof the status register, see Table 1-10.

Table 1-10 Status RegisterItem Description

Status register(Address: R9094)(Size: 1 byte)

The state of a DP-Slave is indicated. (All the bits below are set by the software of the CNC.)Bit 7: No PROFIBUS board is installed.

This bit is set when no PROFIBUS board is inserted into the slot.Bit 6: The DP-Master is not ready for communication.

This bit is set if the DP-Master is not ready for communication when the power to the DP-Slaveis turned on. If communication with the DP-Master is established, but later disabled, this bitremains set to 0.

Bit 5: Reserved.Bit 4 or bit 3: The CPU has stopped.

Bit 4 or bit 3 is set when the CPU on the communication board of the DP-Slave has stoppedduring communication. Whether bit 4 or bit 3 is set depends on the software processing on theCNC being performed when the CPU stopped. In either case, the CPU has stopped.

Bit 2: WATCHDOG STATUS error.This bit is set if a disconnection occurs during communication.

Bit 1: CONFIG STATUS error.This bit is set if the DP-Slave cannot recognize the CONFIG DATA of the slave parameters ofthe DP-Master.

Bit 0: PARAM STATUS error.This bit is set when the DP-Slave cannot recognize USER PRM DATA of the slave parametersof the DP-Master.


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1.3.2 Updating DI/DO Data for the Slave Function

When creating a ladder program, fully consider the data simultaneitydescribed below.

Data simultaneity

With the FANUC master function and slave function, when DI/DOsignals are handled with a ladder program, data simultaneity isguaranteed in each of long data (4-byte data) units and word data (2-byte data) units under the following constraints.

NOTEIf the following constraints are not satisfied,simultaneity of each data length cannot beguaranteed.

Data simultaneity for long data (4-byte data)<1> Use the following commands in the PMC ladder program in 4-

byte units:DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB,SUBB, MULB, DIVB, NUMEB, MOVN, EOR, AND, OR, andNOT

<2> When assigning DI/DO data to R addresses in the PMC area,follow the rules below depending on the PMC type:- For the PMC-SB6

Each R address area must start at a 4-byte boundary.(Example:R0000, R0004, R0008, R0012, . . .)

- For the PMC-SB5, PMC-SA1, or PMC-SA5Each R address area must start at 2 bytes ahead of a 4-byteboundary.(Example: R0002, R0006, R0010, R0014, . . .)

CAUTIONTo guarantee long data simultaneity, Edition 08 orlater of series 6557 of CONTROL SOFTWARE mustbe used.

Data simultaneity for word data (2-byte data)<1> Use the following commands in the PMC ladder program in 2-

byte units:DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB,SUBB, MULB, DIVB, NUMEB, MOVW, MOVN, EOR, AND,OR, and NOT

<2> When assigning DI/DO data to R addresses in the PMC area,each R address area must start at a 2-byte boundary.

Data simultaneity for byte data (1-byte data)There is no constraint.Simultaneity is always guaranteed within 1-byte data.


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1.4 SETTING THE SLAVE PARAMETERS FOR USING A SLAVESTATION MANUFACTURED BY FANUC

Before the slave station manufactured by FANUC can be used, datadependent on the FANUC slave station must be set in the slaveparameters of the master station.Table 1-11 indicates the values to be set in the slave parameters. Notethat if valid values are not set in these parameters, communicationmay not be performed normally. (For the function of each slaveparameter, see Table 1-4 in Section 1.2.2, "Slave Parameter Setting.")

Table 1-11 Settings of the Slave ParametersItem Setting/description

00A0: CNC00A1: Power Mate CNC

IDENT NO.

Identification number of a slave station using a PROFIBUS product manufactured by FANUC.C0SLAVE FLAGSlave specification bit flag.0SLAVE TYPEManufacturer-specified slave type.88STATION

STATUS Bit flag where LOCK_REQ, UNLOCK_REQ, SYNC_REQ, FREEZE_REQ, and WD_REQ areassigned to the bits starting from the higher bit (Bits 2, 1, and 0 are not used).LOCK_REQ and WD_REQ only are set to ON.ArbitraryWD FACT1, 2Set an appropriate value according to a desired disconnection detection time.ArbitraryMIN TSDRSet an appropriate value according to the state of the network.0GROUP IDENTSet an identification group to be used when SYNC_REQ and FREEZE_REQ are used. With theslave function of a FANUC CNC, the SYNC_REQ and FREEZE_REQ functions cannot be used.So, specify 0.Data size : 0Data : None

USER PRMDATA

User parameter data.With the slave function of a FANUC CNC, this data is not used. So, specify 0.Data size : 0Data : None

USER PRMDATA

User parameter data.With the slave function of a FANUC CNC, this data is not used. So, specify 0.Data size : 3Data : C0, Number of output bytes - 1, Number of input bytes - 1

CONFIG DATA

Configuration data.For details of this parameter, see "Explanation of CONFIG DATA" below.Data size : 0Data : None

SLAVE USERDATA

Slave user data.With the slave function of a FANUC CNC, this data is not used. So, specify 0.

NOTEAll settings indicated in Table 1-11 are represented in hexadecimal.


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[Explanation of CONFIG DATA]

CAUTIONInput and output described below indicate the inputand output viewed from the master station,respectively.DI and DO indicate the input and output viewed fromthe FANUC slave station, respectively.

For CONFIG DATA for using a FANUC slave station, usually set thevalue specifying the input/output type with the first data and theinput/output size with the following data.The value specifying the input/output type is set in hexadecimal asfollows:(a) For using both input/output (input/output size > 0) : C0(b) For using only output (input size = 0, output size > 0) : 80(c) For using only input (input size > 0, output size = 0) : 40

For example, for (a) For using both input/output, the format is asfollows:Data length: 3Data: C0 output-size -1 input-size -1

Because the maximum values of input size -1 and output-size -1 are3F, the above format can be used when the input or output size is upto 64 bytes.When the input and output sizes are 65 bytes or more, the aboveformat is repeated as follows:Data length: 6Data: C0 output-size -1 input-size -1 C0 output-size -1 input-size -1

For using only output or input, the same format is used as follows:(b) For using only output

Data length: Multiple of 2Data: 80 output-size -1 ... repeated

(c) For using only inputData length: Multiple of 2Data: 40 input-size -1 ... repeated

The following lists all CONFIG DATA formats.XX indicates output-size -1 and YY indicates input-size -1 (XX andYY are hexadecimal numbers.)

(a) Format for using both input/output<1> When the input size is 1 to 64 and the output size is 1 to 64

Data length: 3Data: C0 XX YY


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<2> When the input size is 65 to 128 and the output size is 65 to128(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 6Data: C0 XX YY C0 XX YY

<3> When the input size is 1 to 64 and the output size is 65 to128Data length: 5Data: C0 XX YY 80 XX

<4> When the input size is 1 to 64 and the output size is 129 to192(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 7Data: C0 XX YY 80 XX 80 XX

<5> When the input size is 1 to 64 and the output size is 193 to244(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 9Data: C0 XX YY 80 XX 80 XX 80 XX

<6> When the input size is 65 to 128 and the output size is 1 to64Data length: 5Data: C0 XX YY 40 YY

<7> When the input size is 129 to 192 and the output size is 1 to64(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 7Data: C0 XX YY 40 YY 40 YY

<8> When the input size is 193 to 244 and the output size is 1 to64(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 9Data: C0 XX YY 40 YY 40 YY 40 YY

<9> When the input size is 65 to 128 and the output size is 129to 192(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 8Data: C0 XX YY C0 XX YY 80 XX

<10>When the input size is 129 to 192 and the output size is 65to 128(DI SIZE + DO SIZE ≤ 244 must be satisfied, however.)Data length: 8Data: C0 XX YY C0 XX YY 40 YY

(b) Format for using output<1> When the input size is 0 and the output size is 1 to 64

Data length: 2Data: 80 XX

<2> When the input size is 0 and the output size is 65 to 128Data length: 4Data: 80 XX 80 XX


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<3> When the input size is 0 and the output size is 129 to 192Data length: 6Data: 80 XX 80 XX 80 XX

<4> When the input size is 0 and the output size is 193 to 244Data length: 8Data: 80 XX 80 XX 80 XX 80 XX 80 XX

(c) Format for using input<1> When the input size is 1 to 64 and the output size is 0

Data length: 2Data: 40 YY

<2> When the input size is 65 to 128 and the output size is 0Data length: 4Data: 40 YY 40 YY

<3> When the input size is 129 to 192 and the output size is 0Data length: 6Data: 40 YY 40 YY 40 YY

<4> When the input size is 193 to 244 and the output size is 0Data length: 8Data: 40 YY 40 YY 40 YY 40 YY 40 YY


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Tables 1-12 to 1-14 list examples of setting CONFIG DATA for amaster station for reference purposes.

Table 1-12 Examples of “(a) Setting CONFIG DATA for Using Both Input/Output”Input/output sizes for the

master stationDI/DO sizes set for aFANUC slave station

CONFIG DATA set for the master station(equivalent to Module in the GSD file)

(a)-<1>Input/output sise = 64 / 64 DI/DO SIZE = 64 / 64 Data length: 3

Data: C0 3F 3F(a)-<2>Input/output sise = 122 / 122 DI/DO SIZE = 122 / 122 Data length: 6

Data: C0 3F 3F C0 39 39(a)-<3>Input/output sise = 64 / 128 DI/DO SIZE = 128 / 64 Data length: 5

Data: C0 3F 3F 80 3F(a)-<4>Input/output sise = 1 / 192 DI/DO SIZE = 192 / 1 Data length: 7

Data: C0 3F 00 80 3F 80 3F(a)-<5>Input/output sise =1 / 243 DI/DO SIZE = 243 / 1 Data length: 9

Data: C0 3F 00 80 3F 80 3F 80 32(a)-<6>Input/output sise =128 / 64 DI/DO SIZE = 64 / 128 Data length: 5

Data: C0 3F 3F 40 3F(a)-<7>Input/output sise = 192 / 1 DI/DO SIZE = 1 / 192 Data length: 7

Data: C0 00 3F 40 3F 40 3F(a)-<8>Input/output sise = 243 / 1 DI/DO SIZE = 1 / 243 Data length: 9

Data: C0 00 3F 40 3F 40 3F 40 32(a)-<9>Input/output sise = 65 / 129 DI/DO SIZE = 129 / 65 Data length: 8

Data: C0 3F 3F C0 3F 00 80 00(a)-<10>Input/output sise =129 / 65 DI/DO SIZE = 65 / 129 Data length: 8

Data: C0 3F 3F C0 00 3F 40 00

Table 1-13 Examples of “(b) Setting CONFIG DATA for Using Only Output”Input/output sizes for the



(b)-<1>Input/output sise = 0 / 64 DI/DO SIZE = 64 / 0 Data length: 2

Data: 80 3F(b)-<2>Input/output sise =0 / 128 DI/DO SIZE = 128 / 0 Data length: 4

Data: 80 3F 80 3F(b)-<3>Input/output sise = 0 / 192 DI/DO SIZE = 192 / 0 Data length: 6

Data: 80 3F 80 3F 80 3F(b)-<4>Input/output sise = 0 / 244 DI/DO SIZE = 244 / 0 Data length: 8

Data: 80 3F 80 3F 80 3F 80 33

Table 1-14 Examples of “(c) Setting CONFIG DATA for Using Only Input”Input/output sizes for the



(c)-<1>Input/output sise =64 / 0 DI/DO SIZE = 0 / 64 Data length: 2

Data: 40 3F(c)-<2>Input/output sise = 128 / 0 DI/DO SIZE = 0 / 128 Data length: 4

Data: 40 3F 40 3F(c)-<3>Input/output sise =192 / 0 DI/DO SIZE = 0 / 192 Data length: 6

Data: 40 3F 40 3F 40 3F(c)-<4>Input/output sise = 244 / 0 DI/DO SIZE = 0 / 244 Data length: 8

Data: 40 3F 40 3F 40 3F 40 33

NOTEFor a FANUC slave station, a total of 244 bytes canbe set for the DI/DO sizes.


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1.5 GSD FILE OF THE FANUC CNCS

A GSD file is attached to all PROFIBUS products that can be used asmaster stations and slave stations. Each GSD file contains product-specific information in a specified format.This section describes three GSD files for a DP-Master and DP-Slaveusing a FANUC CNC, and for a DP-Slave using a FANUC PowerMate CNC. For details of the GSD files, refer to the followingdocument issued by PROFIBUS Nutzerorganisation e.V.:

Draft Standard PROFIBUS-DP DIN 19 245 Part 3


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GSD file for a DP-Master using a FANUC CNC

#Profibus_DPVendor_Name = "FANUC"Model_Name = "FANUC CNC"Revision = "1.0"Ident_Number = 0x00CBProtocol_Ident = 0Station_Type = 1FMS_supp = 0Hardware_Release = "Release 1.0"Software_Release = "Release 3.0"9.6_supp = 119.2_supp = 193.75_supp = 1187.5_supp = 1500_supp = 11.5M_supp = 13M_supp = 16M_supp = 112M_supp = 1MaxTsdr_9.6 = 60MaxTsdr_19.2 = 60MaxTsdr_93.75 = 60MaxTsdr_187.5 = 60MaxTsdr_500 = 100MaxTsdr_1.5M = 150MaxTsdr_3M = 250MaxTsdr_6M = 450MaxTsdr_12M = 800Redundancy = 0Repeater_Ctrl_Sig = 224V_Pins = 0;


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; Master specific parameters;Download_supp = 1Upload_supp = 1Act_Para_Brct_supp = 1Act_Param_supp = 1Max_MPS_Length = 65532Max_Lsdu_MS = 244Max_Lsdu_MM = 244Min_Poll_Timeout = 100;Trdy_9.6 = 11Trdy_19.2 = 11Trdy_93.75 = 11Trdy_187.5 = 11Trdy_500 = 11Trdy_1.5M = 11Trdy_3M = 11Trdy_6M = 11Trdy_12M = 11;Tqui_9.6 = 0Tqui_19.2 = 0Tqui_93.75 = 0Tqui_187.5 = 0Tqui_500 = 0Tqui_1.5M = 0Tqui_3M = 3Tqui_6M = 6Tqui_12M = 9;Tset_9.6 = 1Tset_19.2 = 1Tset_93.75 = 1Tset_187.5 = 1Tset_500 = 1Tset_1.5M = 1Tset_3M = 4Tset_6M = 8Tset_12M = 16;


- 54 -

LAS_Len = 32;Tsdi_9.6 = 70Tsdi_19.2 = 70Tsdi_93.75 = 70Tsdi_187.5 = 70Tsdi_500 = 150Tsdi_1.5M = 200Tsdi_3M = 250Tsdi_6M = 450Tsdi_12M = 800;Max_Slaves_supp = 32;


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GSD file for a DP-Slave using a FANUC CNC

#Profibus_DPVendor_Name = "FANUC"Model_Name = "FANUC CNC"Revision = "1.0"Ident_Number = 0x00A0Protocol_Ident = 0Station_Type = 0FMS_supp = 0Hardware_Release = "Release 1.0"Software_Release = "Release 3.0"9.6_supp = 119.2_supp = 193.75_supp = 1187.5_supp = 1500_supp = 11.5M_supp = 13M_supp = 16M_supp = 112M_supp = 1MaxTsdr_9.6 = 60MaxTsdr_19.2 = 60MaxTsdr_93.75 = 60MaxTsdr_187.5 = 60MaxTsdr_500 = 100MaxTsdr_1.5M = 150MaxTsdr_3M = 250MaxTsdr_6M = 450MaxTsdr_12M = 800Redundancy = 0Repeater_Ctrl_Sig = 224V_Pins = 0;


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; Slave specific parameters;Freeze_Mode_supp = 0Sync_Mode_supp = 0Auto_Baud_supp = 1Set_Slave_Add_supp = 0User_Prm_Data_Len = 0Min_Slave_Intervall = 1Modular_Station = 1Max_Module = 1Max_Input_Len = 244Max_Output_Len = 244Max_Data_Len = 244;Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1FEndModuleModule = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1BEndModuleModule = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17EndModuleModule = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13EndModuleModule = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0FEndModuleModule = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0BEndModuleModule = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07EndModuleModule = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03EndModuleModule = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01EndModuleModule = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00EndModuleModule = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1FEndModule;

NOTEFor a FANUC slave station, the DI/DO sizes can bechanged without restrictions as long as the total ofthe DI/DO sizes does not exceed 244 bytes. Forthis reason, all of the values to be specified forModule cannot be listed.For the values to be specified for Module, seeTables 1-12 to 1-14 in Section 1.4, "Setting theSlave Parameters for Using a Slave StationManufactured by FANUC."


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GSD file for a DP-Slave using a FANUC Power Mate CNC

#Profibus_DPVendor_Name = "FANUC"Model_Name = "FANUC Power Mate CNC"Revision = "1.0"Ident_Number = 0x00A1Protocol_Ident = 0Station_Type = 0FMS_supp = 0Hardware_Release = "Release 1.0"Software_Release = "Release 3.0"9.6_supp = 119.2_supp = 193.75_supp = 1187.5_supp = 1500_supp = 11.5M_supp = 13M_supp = 16M_supp = 112M_supp = 1MaxTsdr_9.6 = 60MaxTsdr_19.2 = 60MaxTsdr_93.75 = 60MaxTsdr_187.5 = 60MaxTsdr_500 = 100MaxTsdr_1.5M = 150MaxTsdr_3M = 250MaxTsdr_6M = 450MaxTsdr_12M = 800Redundancy = 0Repeater_Ctrl_Sig = 224V_Pins = 0;; Slave specific parameters;Freeze_Mode_supp = 0Sync_Mode_supp = 0Auto_Baud_supp = 1Set_Slave_Add_supp = 0User_Prm_Data_Len = 0Min_Slave_Intervall = 1Modular_Station = 1Max_Module = 1Max_Input_Len = 244Max_Output_Len = 244Max_Data_Len = 244;Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1FEndModuleModule = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1B


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EndModuleModule = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17EndModuleModule = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13EndModuleModule = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0FEndModuleModule = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0BEndModuleModule = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07EndModuleModule = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03EndModuleModule = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01EndModuleModule = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00EndModuleModule = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1FEndModule;

NOTEFor a FANUC slave station, the DI/DO sizes can bechanged without restrictions as long as the total ofthe DI/DO sizes does not exceed 244 bytes. Forthis reason, all of the values to be specified forModule cannot be listed.For the values to be specified for Module, seeTables 1-12 to 1-14 in Section 1.4, "Setting theSlave Parameters for Using a Slave StationManufactured by FANUC."

B-62924EN/04 OPERATION 2.Series 15i-A

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2 Series 15i-AThis chapter describes PROFIBUS-DP functions for Series 15i.


2.Series 15i-A OPERATION B-62924EN/04

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2.1 OVERVIEW

In PROFIBUS-DP communication, two types of nodes are involved: amaster station (also referred to as a DP-Master) and a slave station(also referred to as a DP-Slave). DI/DO data is exchanged between aDP-Master and DP-Slave according to a data exchange request fromthe DP-Master.The DP-Master function is referred to as the PROFIBUS-DP Master(class1) function (simply referred to as the master function). The DP-Slave function is referred to as the PROFIBUS-DP Slave function(simply referred to as the slave function).

Two classes of DP-Masters are used in PROFIBUS-DPcommunication: class1 and class2. A DP-Master (class1) is a DP-Master that communicates with DP-Slaves. A DP-Master (class2) is aDP-Master that serves as the management station within aPROFIBUS-DP system, and communicates with the DP-Master(class1).The master function of FANUC CNCs supports only the DP-Master(class1) function, so that the FANUC DP-Master cannot be used as aDP-Master (class2).


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There are two types of screens for setting parameters.1 Bus parameter screen

Used for setting bus parameters.2 Slave parameter screen

Used for setting slave parameters and for address assignment.Two pages are provided for each DP-Slave, and pages for 126stations in total are provided.


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Setting bus parametersSet parameters on the bus parameter screen.

Screen 2-1

Display procedureProcedure 1(1) Press the function key <SYSTEM> several times until the bus

parameter screen, slave parameter screen, or slave functionsetting screen appears.

(2) When the slave parameter screen or slave function setting screenappears, press the soft key [BUS PARAM].

Procedure 2(1) Press the function key <SYSTEM>.(2) Press the soft key [PROFIBUS].(3) When the slave parameter screen or slave function setting screen

appears, press the soft key [BUS PARAM].Cursor/paging

1 Use of the cursor keys moves the cursor.• Pressing the cursor key <↓> in MASTER USER DATA

LENGTH moves the cursor to DISABLE/ENABLE on theslave parameter screen for slave No. 000.

• Pressing the cursor key <↑> in FDL ADD displays theslave function setting screen.

2 Pressing the page key <PAGE ↓> displays the slave parameterscreen for slave No. 000.Pressing the page key <PAGE ↑> displays the slave functionsetting screen.

InitializationUse the soft key [INIT] to initialize the bus parameter values tostandard values used with a transfer rate of 12 Mbps.


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Table 2-1 summarizes the bus parameters. Table 2-2 lists the busparameter values to be set for each transfer rate. For details, refer tothe following documents issued by PROFIBUS Nutzerorganisatione.V.: PROFIBUS STANDARD DIN 19 245 Part 1



Table 2-1 Bus ParametersItem Description



















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Table 2-2 Bus Parameter Settings Corresponding to Each Transfer RateBus parameter Setting








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2.2.2 Slave Parameter Setting

Set slave parameters and address assignment on the slave parameterscreen.

Screen 2-2(a)

Screen 2-2(b)


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Display procedureProcedure 1(1) Press the function key <SYSTEM> several times until the bus


(2) When the bus parameter screen or slave function setting screenappears, enter a slave number, then press the soft key [SLAVEPARAM].

Procedure 2(1) Press the function key <SYSTEM>.(2) Press the soft key [PROFIBUS].(3) When the bus parameter screen or slave function setting screen

appears, enter a slave number, then press the soft key [SLAVEPARAM].

When a slave number is specified by following procedure 1 or 2below, the parameters for the specified slave number can bedisplayed.

Procedure 1(1) Press the soft key [SLAVE PARAM].(2) Enter a desired slave number.(3) Press the soft key [EXEC].Procedure 2(1) Enter a desired slave number.(2) Press the soft key [SLAVE PARAM].

Cursor/paging1 Use of the cursor keys moves the cursor.

• Pressing the cursor key <↓> in the last line of SLAVEUSER DATA moves the cursor to DISABLE/ENABLE forthe next slave number.When this cursor key is pressed in the last line of CONFIGDATA LENGTH for slave No. 125, the cursor moves toSTATION NO. on the slave setting screen.

• Pressing the cursor key <↑> in DISABLE/ENABLE movesthe cursor to CONFIG DATA LENGTH for the precedingslave number.When this cursor key is pressed in DISABLE/ENABLE forslave No. 000, the cursor moves to MASTER USER DATALENGTH on the bus parameter screen.

2 Use of the page keys <PAGE ↓> < PAGE ↑> allows paging.• Pressing the page key <PAGE ↓> on the second page for

slave No. 125 displays the slave setting screen.• Pressing the page key < PAGE ↑> on the first page for

slave No. 000 displays the bus parameter screen.


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InitializationPressing the soft key [INIT] initializes the slave parameter values fora specified station number to the basic settings used for connectingthe DP-Slave of FANUC CNC.

NOTE1 Normally, use of the soft key [INIT] allows

initialization for connecting FANUC's DP-Slave.However, be sure to set CONFIGURATION DATAby referencing Section 2.4, "Setting SlaveParameters When Using FANUC Slave Station."This is because variable data for the DI/DO size indata exchange with the SP-Slave must be set.

2 The soft key [INIT] sets each address assignmentparameter to the minimum value (the addresslocation is set to R0000). So, be sure to set acorrect value.


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Table 2-3 summarizes the slave parameters. For details, refer tothe following documents issued by PROFIBUSNutzerorganisation e.V.: PROFIBUS STANDARD DIN 19 245 Part 1

This document describes data transfer, access methods,protocols, and interfacing with the application layer.

Draft Standard PROFIBUS-DP DIN 19 245 Part 3This document describes an abstract model of thePROFIBUS-DP communication function, and so forth.

Table 2-3 Slave ParametersItem Description



















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2.2.3 Setting for Address Assignment

Set address assignment on the slave parameter screen described above(Screen 2-2 (a)).

Screen 2-2(a)








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Each item must be set as described below.DI/DO ADDRESS AND DI/DO SIZE

Set the area to be used as a DI/DO data buffer.DIAGNOSE ADDRESS AND DGN DATA SIZE

Set an area for storing diagnose data. For details of standarddiagnose data, see Table 2-4.



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Table 2-4 Standard Diagnose dataItem Description




























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Example) For explanation, the example shown in Screen 2-2(a) isused.On Screen 2-2(a), SLAVE NUMBER is 3. So, addressesare assigned to the DP-Slave at station number 3.DI ADDRESS is R0000, and DI SIZE is 32. So, a 32-byteDI data area is assigned, starting at R0000, to the DP-Slave at station number 3, as indicated below.DO ADDRESS is R0100, and DO SIZE is 16. So, a 16-byte DO data area is assigned, starting at R0100, to theDP-Slave of station number 3, as indicated below.









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NOTEBefore a DP-Slave manufactured by FANUC can beused, data dependent on the FANUC DP-Slave mustbe set in the slave parameters of the DP-Master. So,when setting the slave parameters of the DP-Master,see Section 2.4, "Setting the Slave Parameters forUsing a slave Station Manufactured by FANUC."

Screen 2-3

NOTEINPUT DATA SIZE = 0 or OUTPUT DATA SIZE = 0can be set on the screen, but communication isdisabled in this case.


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Display procedureProcedure 1(1) Press the <SYSTEM> function key several times until the bus


(2) When the bus parameter screen or slave parameter screenappears, press the soft key [SLAVE SETTING].

Procedure 2(1) Press the <SYSTEM> function key .(2) Press the soft key [PROFIBUS-DP].(3) When the bus parameter screen or slave parameter screen

appears, press the soft key [SLAVE SETTING].

Cursor/paging1 Use of the cursor keys <↓> <↑> moves the cursor.

• When the cursor key <↓> is pressed in OUTPUT DATASIZE, the cursor moves to FDL ADD on the bus parameterscreen.

• When the cursor key <↓> is pressed in STATION NO., thecursor moves to CONFIG DATA LENGTH on the slaveparameter screen for slave No. 125.

2 Pressing the page key <PAGE ↓> displays the bus parameterscreen.Pressing the page key <PAGE ↑> displays the slave parameterscreen for slave No. 125.

InitializationPressing the soft key [INIT] clears the address assignment parameters.






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Each item must be set as described below.STATION NO.

Set the station number of the DP-Slave.INPUT DATA

Set an area to be used as a DI data buffer. Set the start addressand size of the buffer.

OUTPUT DATASet an area to be used as a DO data buffer. Set the start addressand size of the buffer.

CAUTIONINPUT and OUTPUT on this screen indicate theinput and output viewed from the slave station,respectively.

Example) For explanation, the example shown in Screen 2-3 isused.On Screen 2-3, the station number of the DP-Slave is 3. ADI data area and DO data area used as buffers forcommunication with the DP-Master are assigned asdescribed below.






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STATUS on Screen 2-4 indicates the state of the DP-Slave. Each itemunder STATUS has the meaning described below.

CFG STATUSThis item indicates whether slave parameter CONFIGDATA of the DP-Master matches the configuration datarecognized by the DP-Slave. If there is a mismatch, normalcommunication cannot be performed.FF: Initial state00: State in which normal communication is being








IDENT NO.This item displays 00A0 as the identification number of aDP-Slave using a FANUC CNC.


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2.3.1 Status Register

With the DP-Master, DP-Master status is set as diagnose data in the Rarea of the PMC as described in Section 2.2.3, "Setting for AddressAssignment." With a DP-Slave, a status register is used. This isequivalent to the diagnose data used with the DP-Master. The statusregister is set at address R9094 in the R area of the PMC. For detailsof the status register, see Table 2-5.

Table 2-5 Status RegisterItem Description











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Before the slave station manufactured by FANUC can be used, datadependent on the FANUC slave station must be set in the slaveparameters of the master station.Table 2-6 indicates the values to be set in the slave parameters. Notethat if valid values are not set in these parameters, communicationmay not be performed normally. (For the function of each slaveparameter, see Table 2-3 in Section 2.2.2, "Slave Parameter Setting.")



IDENT NO.



USER PRMDATA


USER PRMDATA


CONFIG DATA

Configuration data.As the data size, specify 3.As data, specify C0 in the first byte, followed by the number of output bytes - 1 and the number ofinput bytes - 1.For the input/output of 32-byte output data (256 points) and 16-byte input data (128 points), forexample, specify C0, 1F, 0F in the data field.Data size : 0Data : None

SLAVE USERDATA




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A GSD file is attached to all PROFIBUS products that can be used asmaster stations and slave stations. Each GSD file contains product-specific information in a specified format.This section describes three GSD files for a DP-Master and DP-Slaveusing a FANUC CNC. For details of the GSD files, refer to thefollowing document issued by PROFIBUS Nutzerorganisation e.V.:



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; Slave specific parameters;Freeze_Mode_supp = 0Sync_Mode_supp = 0Auto_Baud_supp = 1Set_Slave_Add_supp = 0User_Prm_Data_Len = 0Min_Slave_Intervall = 1Modular_Station = 1Max_Module = 1Max_Input_Len = 32Max_Output_Len = 32Max_Data_Len = 64;Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1FEndModule


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Module = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1BEndModuleModule = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17EndModuleModule = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13EndModuleModule = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0FEndModuleModule = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0BEndModuleModule = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07EndModuleModule = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03EndModuleModule = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01EndModuleModule = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00EndModuleModule = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1FEndModule;

NOTEFor a FANUC slave station, Module in the GSD filematches slave parameter CONFIG DATA. TheDI/DO sizes for a FANUC slave station can bechanged without restrictions as long as they do notexceed 32/32 bytes. For this reason, all of thevalues to be specified for Module cannot be listed.For the values to be specified for Module, see theexplanation of CONFIG DATA in Table 2-6 inSection 2.4, "Setting the Slave Parameters forUsing a Slave Station Manufactured by FANUC."

B-62924EN/04 OPERATION 3.Power Mate-D/H

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3 Power Mate-D/HThis chapter describes PROFIBUS-DP functions for Power Mate-D/H.


3.Power Mate-D/H OPERATION B-62924EN/04

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Procedure using the CRT/MDI

(1) Press function key <SYSTEM>, then press soft key[PARAMETER] to display the parameter screen of the PowerMate-D/H.

(2) Set the parameters described below in the same way as forordinary parameters.

(3) With the slave function of the Power Mate-D/H, the PMCaddresses used for DI/DO input are X1032 and up, and the PMCaddresses used for DI/DO output are Y1032 and up at all times.An area of the size specified in each parameter is used.

Parameters0171 DI data size

[Data type] Word[Unit of data] Word

[Valid data range] 1 to 32This parameter specifies the size of DI data to be transferred to andfrom the DP-Master, by using the number of bytes.

0172 DO data size


[Valid data range] 1 to 32This parameter specifies the size of the DO data to be transferred toand from the DP-Master, by using the number of bytes.

0173 Station number of the DP-Slave


[Valid data range] 1 to 125This parameter specifies the station number of the DP-Slave.

Procedure using the DPL/MDI

(1) Press the <DGNOS/PARAM> key to switch to the parameterscreen of the Power Mate-D/H.

(2) Set the parameters described earlier in the same way as forordinary parameters.


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Before the slave station manufactured by FANUC can be used, datadependent on the FANUC slave station must be set in the slaveparameters of the master station.Table 3-1 indicates the values to be set in the slave parameters. Notethat if valid values are not set in these parameters, communicationmay not be performed normally. (For the meaning of each slaveparameter, refer to the manuals for the remote master station.)



IDENT NO.



USER PRMDATA


USER PRMDATA


CONFIG DATA


SLAVE USERDATA




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A GSD file is attached to all PROFIBUS products that can be used asmaster stations and slave stations. Each GSD file contains product-specific information in a specified format.This section describes three GSD files for a DP-Slave using aFANUC Power Mate CNC. For details of the GSD files, refer to thefollowing document issued by PROFIBUS Nutzerorganisation e.V.:



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- 92 -


NOTEFor a FANUC slave station, Module in the GSD filematches slave parameter CONFIG DATA. TheDI/DO sizes for a FANUC slave station can bechanged without restrictions as long as they do notexceed 32/32 bytes. For this reason, all of thevalues to be specified for Module cannot be listed.For the values to be specified for Module, see theexplanation of CONFIG DATA in Table 3-1 inSection 3.2, "Setting the Slave Parameters forUsing a Slave Station Manufactured by FANUC."

B-62924EN/04 OPERATION 4.BUILDING A SAFE SYSTEM

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4 BUILDING A SAFE SYSTEMThis chapter describes how to build a safe system using thePROFIBUS-DP function.

4.BUILDING A SAFE SYSTEM OPERATION B-62924EN/04

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4.1 SYSTEM SAFETY

The PROFIBUS-DP Master function manufactured by FANUC isdesigned so that all DI signals are set to 0 when communication is notperformed normally. For this reason, to enable or disable a functionwith a DI signal, build the system so that the system continues tooperate safely when the signal is set to 0.PROFIBUS-DP communication employs a master-slavecommunication mode. For this reason, ensure that the master stationalways monitors the status of each slave to ensure safe systemoperation.

For example, the master station can read and check the diagnose datafor each slave station to determine whether communication with theslave station is being performed normally. A check method with usingno diagnose data is also supported. A signal for indicating normalcommunication is provided in DI/DO data to be exchanged, and ismonitored to determine whether communication between the masterstation and a slave station is performed normally.As described above, for the master station, provide safety provisionsto ensure that the system is not started or is stopped safely if thesystem is not ready for execution or if an error occurs in the system.

CAUTIONI/O data is not transferred in sync with ladderexecution, so that the concurrency of I/O data is notguaranteed.

Table 4-1 indicates information about the processing to be performedfor the major communication states in the FANUC master station. Byreferring to Table 4-1, build a safe system.

B-62924EN/04 OPERATION 4.BUILDING A SAFE SYSTEM

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Table 4-1 Processing Related to Building a Safe System (1/2)Processing performed by the FANUC master function

Communication state Diagnose data for therelevant slave station

DI/DO data exchanged withthe relevant slave station

Processing to be performedby the user on the FANUC

master station

The power to the relevantslave station is not on orthe slave station isdisconnected.

Station_Non_Existent : ON(STATION STATUS 1.0)

DI data:The DI signals from therelevant slave station arenot input to the PMC area.

DO data:The DO signals in thePMC area are not outputto the relevant slavestation.

Set the system executionsignal (see NOTE below) to besent to other slave stations to1 to notify them of the start ofsystem operation whensystem operation isdetermined to be possiblefrom the establishment statusof communication with theslave stations.

An attempt is made to startcommunication with therelevant slave station, butDI/DO data cannot beexchanged.

Station_Not_Ready : ON(STATION STATUS 1.1)

DI data:The DI signals from therelevant slave station arenot input to the PMC area.

DO data:The DO signals in thePMC area are not outputto the relevant slavestation.


Communication with therelevant slave station hasbeen established, butcommunication with otherslave stations has notbeen established.

Station_Non_Existent : OFF(STATION STATUS 1.0)andStation_Not_Ready : OFF(STATION STATUS 1.1)

DI data:The DI signals from therelevant slave station areinput to the PMC area.

DO data:The DO signals in thePMC area are output tothe relevant slave station.


Communication with therelevant slave station andother slave stations hasbeen established.



DO data:The DO signals in thePMC area are output tothe relevant slave station.

Set the system executionsignal (see NOTE below) to besent to all slave stations to 1 tonotify them of the start ofsystem operation. The systemshould be operated normally.Continue monitoring systemoperation.

NOTEThe system execution signal in Table 4-1 means to provide a signal for startingsystem operation in the DO data to be sent from the master station to all slavestations. Ensure that this signal disables system operation when set to 0, andenables system operation when set to 1, as with the emergency stop signal.

4.BUILDING A SAFE SYSTEM OPERATION B-62924EN/04

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Table 4-1 Processing Related to Building a Safe System (2/2)Processing performed by the FANUC master function

Communication state Diagnose data for therelevant slave station

DI/DO data exchanged withthe relevant slave station

Processing to be performedby the user on the FANUC

master station

After system operationstarts, the power to therelevant slave station isturned off or the slavestation is disconnected.

Station_Non_Existent : ON(STATION STATUS 1.0)

DI data:The DI signals from therelevant slave station arecleared to 0.

DO data:The DO signals in the PMCarea are not output to therelevant slave station.

When stopping of the systemis determined to be necessaryfrom the establishment statusof communication with otherslave stations, set the systemexecution signal to be sent tothe slave stations to 0 to notifythem of the stop of systemoperation.

After system operationstarts, communication withthe relevant slave station isestablished, but the powerto another slave station isoff or the station isdisconnected.



DO data:The DO signals in the PMCarea are output to therelevant slave station.


After system operationstarts, the relevant slavestation sends back aninvalid response (such as adamaged packet).

Invalid_Slave_Response : ON(STATION STATUS 1.5)

DI data:The DI signals from therelevant slave station arecleared to 0.

DO data:The DO signals in the PMCarea are not output to therelevant slave station.


After system operationstarts, communication withthe relevant slave station isestablished, but anotherslave station sends backan invalid response (suchas a damaged packet).



DO data:The DO signals in the PMCarea are output to therelevant slave station.


B-62924EN/04 OPERATION 5.EXAMPLE OF CONNECTION

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5 EXAMPLE OF CONNECTIONThis chapter describes an example of connecting the PROFIBUS-DPfunction of the FANUC CNCs.

5.EXAMPLE OF CONNECTION OPERATION B-62924EN/04

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5.1 EXAMPLE OF CONFIGURATION

Using the example configuration shown below, the setting of eachparameter is explained.

Fig. 5-1 Example of PROFIBUS-DP Configuration

In the example configuration shown in Fig.5-1, a Series 16i-A stationserving as a DP-Master is connected to a Series 18i-A station, Series18-C station, and Power Mate-H station acting as DP-Slaves. Dataconsisting of 16 bytes (128 points) is transferred from the DP-Masterto each of the DP-Slaves, and data consisting of 4 bytes (32 points) istransferred from each of the DP-Slaves to the DP-Master.The transfer rate is 12 Mbps. Station number 1 is assigned to the DP-Master, and station numbers 3, 4, and 5 are assigned to the DP-Slaves,from left to right.

Series 16i-A

DP-Master (class1) #1

16 bytes 16 bytes 16 bytes PROFIBUS (12 Mbps)

4 bytes 4 bytes 4 bytes

Series 18i-A Series 18-C Power Mate-H

DP-Slave #3 DP-Slave #4 DP-Slave #5


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5.1.1 Master Station Setting

Bus parameter settingWhen a transfer rate of 12 Mbps is used, press soft key [INIT] on thebus parameter screen. Then, the bus parameters are set as indicated inTable 5-1.To change the transfer rate from 12 Mbps to another value, see thetable titled "Bus Parameter Settings Corresponding to Each TransferRate" at the end of the section for each model that is titled "BusParameter Setting."

Table 5-1 Bus Parameter SettingsItem Setting

FDL ADD 1BAUDRATE 9T SL 1000MIN T SDR 11MAX T SDR 800T QUI 9T SET 16TTR 65000G 10HSA 126MAX RETRY 4BP FLAG 00000000MIN SLAVE INT 1POLL TIME OUT 1000DATA CONTROL 100CLASS2 NAME NonMASTER USER DATA 0


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Slave parameter settingOnly FANUC CNCs are connected as the DP-Slaves. So, the valuesset by pressing soft key [INIT] on the slave parameter setting screenare used for each DP-Slave.However, IDENT NO. and CONFIG DATA must be set. Set theseslave parameters in the same way for each of DP-Slave #3 throughDP-Slave #5. For details of the settings, see Table 5-2.

Table 5-2 Slave Parameter SettingsItem Setting

DIS/ENB ENABLEIDENT NO. #3: 00A0 (Series 18i-A)

#4: 00A0 (Series 18-C)#5: 00A1 (Power Mate-H)

SLAVE FLAG 192SLAVE TYPE 0LOCK REQ ONUNLOCK REQ OFFSYNC REQ OFFFREEZE REQ OFFWD REQ ONWD FACT1 10WD FACT2 10MIN TSDR 55GROUP IDENT 0USER PRM DATA 0CONFIG DATA 3 (C0, 03, 0F)SLAVE USER DATA 0


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Settings for address assignmentWhen the address map shown in Fig.5-2 is assumed, the settingsindicated in Table 5-3 are required.

Table 5-3 Settings for Address AssignmentSlave No. Item Setting

DI ADDRESS R0000DI SIZE 4DO ADDRESS R0020DO SIZE 16DGN ADDRESS R0070

3

DGN SIZE 6DI ADDRESS R0004DI SIZE 4DO ADDRESS R0036DO SIZE 16DGN ADDRESS R0076

4

DGN SIZE 6DI ADDRESS R0008DI SIZE 4DO ADDRESS R0052DO SIZE 16DGN ADDRESS R0082

5

DGN SIZE 6


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Fig.5-2 DP-Master Address Map

R0000DI data from DP-Slave #3



R0012Not used

R0020DO data to DP-Slave #3



R0068Not used

R0070Diagnose data of DP-Slave #3



R0088


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5.1.2 Slave Station Setting

When the address map shown in Fig.5-3 is assumed for each DP-Slave, the settings indicated in Table 5-4 to Table 5-6 are required.

Table 5-4 Settings for DP-Slave #3Item Setting

STATION NO. 3DI ADDRESS R0000DI SIZE 16DO ADDRESS R0020DO SIZE 4


STATION NO. 4DI ADDRESS R0000DI SIZE 16DO ADDRESS R0020DO SIZE 4


Parameter No. 0171 16Parameter No. 0172 4Parameter No. 0173 5


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Fig.5-3 DP-Slave Address Map

DP-Slave #3, #4R0000

DI areaR0016

Not usedR0020

DO areaR0024

DP-Slave #5X1032

DI areaX1048

Y1032DO area

Y1036

III. CONNECTION

B-62924EN/04 CONNECTION 1.CONNECTING THE PROFIBUS FUNCTIONS

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1 CONNECTING THE PROFIBUSFUNCTIONS

This chapter provides an explanation of how to connect thePROFIBUS-DP.

CAUTIONIsolating the PROFIBUS cables from noise sources.The PROFIBUS cables are of the group Cclassification.Refer to the Section “Action against noise” in the"Connection Manual (Hardware) " for an explanationof how to isolate the PROFIBUS cables from cablesof the group A and B classifications.


1.CONNECTING THE PROFIBUS FUNCTIONS COONECTION B-62924EN/04

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1.1 PROFIBUS CONNECTION

• Example of a PROFIBUS-DP system with a single DP-Master

Up to 30 DP-Slaves can be connected to a single DP-Master(Class1).

DP-Master(Class1) #1

#N#6#5#4#3

DP-Slaves


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1.2 PROFIBUS CABLE PARAMETERS

PROFIBUS communication uses shielded twisted-pair cable.The cable must satisfy the requirements listed below.

Item RatingCharacteristic impedance 150 Ω (f < 2 MHz)Capacitance < 30 nF/KmResistance < 110 Ω/KmWire gauge > 0.64 mmConductor cross-sectional area > 0.34 mm2

Recommended cable:SINEC L2 bus cable 6XV1 830-0AH10, manufactured bySiemens


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1.3 CABLE LENGTH AND TRANSFER RATE

The maximum allowable bus cable length varies depending on thetransfer rate for which the cable is used. Determine the length fromthe following table.

Baud rate (kbps) 9.6 to 93.75 187.5 500 1500 3000 to 12000Maximum allowableoverall cable length (m) 1200 1000 400 200 100


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1.4 CONNECTOR

Nine-pin D-Sub female connector

CAUTIONThe VP and CNTR-P pins are used for controlling arepeater. Do not connect these pins to anythingunless a repeater is used. Otherwise, damage to thedevice is likely. If you want to use these pins, consultwith FANUC beforehand.

You can use the following cable-end connector to perform wiring andterminate the cable easily.Cable-end connector:

S7 SINEC L2 bus connector 6ES7 972-0BA11-0XA0,manufactured by Siemens, or equivalent

35.6 15.8

28.4

64.0

35.0

Outside Dimensions of the S7 SINEC L2 Bus Connector

There is a 4-pin terminal block (A1, B1, A2, and B2) in thisconnector.

NOTE1 The shape, dimensions, and other characteristics of

the connector are subject to change without notice.2 This bus connector may not be able to be used

depending on the position of the PROFIBUS board.

6 VP

7

8 RxD/TxD (-)

9

1 PE

2

3 RxD/TxD (+)

4

5 CNTR-P

PE : ShieldingRxD/TxD (+) : Transmission/reception

data (+)CNTR-P : Not used (repeater control)DGND : Signal groundVP : Not used (+5V output)RxD/TxD (-) : Transmission/reception

data (-)


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1.5 CABLE CONNECTION

Connect the PROFIBUS cable as shown in the following diagram.PROFIBUS

A Station at theprevious stage

B

CNC Shield

Shield

(03)

(08)

A

B

D-sub connector

PROFIBUS

A Station at thenext stage

B

Connect two wires to each of the pins Nos. 3 and 8 of the D-Subconnector.A: RxD/TxD (+)B: RxD/TxD (-)

For a bus connector manufactured by SiemensCNC Shield

Shield

(A1)A

B

Bus connector

(B1)(A2)(B2)

PROFIBUS

A Station at theprevious stage

B

PROFIBUS

A Station at thenext stage

B

The bus connector has an internal mechanism to connect two wires.A: RxD/TxD (+)B: RxD/TxD (-)

Shielding treatmentClamp both the cable drawn from the station at the previous stage andthat leading to the station at the next stage on the CNC side.For an explanation of how to treat the cable at each station, refer tothe respective manuals for the stations.


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1.6 TERMINATING RESISTOR

Each end of the bus cable must be terminated with a resistor as shownbelow.

The numbers in parentheses are the connector pin numbers. TheSiemens S7 SINEC L2 bus connector incorporates terminatingresistors. A switch can be used to determine whether the terminatingresistors are to be used.

Ru = 390 Ω, 1/4 W

Rt = 220 Ω, 1/4 W

Rd = 390 Ω, 1/4 W

VP (6)

RxD/TxD (+) (3)

RxD/TxD (-) (8)

DGND (5)


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1.7 CABLE SHIELDING

Clamp the PROFIBUS bus cable as shown in the following diagram.The clamping method shown below has two purposes: Cablefastening and shielding. It is very important to clamp the cable tomaintain stable system operation; do not forget to clamp the cable.As shown below, remove part of the cable sheath to expose theshielding conductor, and clamp the exposed shielding portion againstthe grounding plate with the clamping fixture.

Grounding plate

Cable

Cable clamp

Groundingplate

Cable sheath

Shielding

B-62924EN/04 CONNECTION 2.PROFIBUS FOR THE Series 16/18-C

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2 PROFIBUS FOR THE Series 16/18-CThis chapter provides information about the connection of thePROFIBUS board for the Series 16/18-C.

2.PROFIBUS FOR THE Series 16/18-C CONNECTION B-62924EN/04

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2.1 CONFIGURATION

A single PROFIBUS board for the Series 16/18-C has both the masterfunction and the slave function.

Slave function

Master function


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2.2 INSTALLATION

2.2.1 Environmental Conditions

When installing the PROFIBUS board in the CNC control unit,observe the installation conditions for the CNC control unit(environmental conditions in the cabinet).

2.2.2 Cable Installation

In the same way as for a regular CNC control unit, the PROFIBUScable is drawn out only from the front of the unit. The connectorlayout of the PROFIBUS board is shown below for reference.

The actual location of the board and the actual connector layout ofother boards may differ from the above figure, however. For anexplanation of the actual connection layout of each individual board,refer to the Connection Manual (Hardware) (B-62753EN).


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NOTE6ES7 972-0BA11-0XA0 is a right-angled connector.When it is used with this board, its cable is drawnup, as shown in the figure.When using this connector, always pay carefulattention to its orientation.


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2.2.3 PROFIBUS Board Connector Layout

Function Connector name and othermarkings

PROFIBUS

MASTER

DP-Master interface JN1

Frame ground pin FG1 (not used)

LED indicator LED1LED2

SLAVE

DP-Slave interface JN2

Frame ground pin FG2 (not used)

LED1LED indicator LED2

LED3


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2.3 CONNECTION DIAGRAM

An overview of the complete connection is shown below. Forconnections that are not shown in the figure below, refer to theConnection Manual (Hardware) (B-62753EN) of the CNC main unit.

Networks 1 and 2 are mutually independent.

Option slot

CNC main board

PROFIBUS board

Slave function

JN1

JN2

CNC system

DP-Slave#3

DP-Slave#2

DP-Master#1

DP-Slave#4

DP-Slave#4

DP-Slave#3

DP-Slave#2

DP-Master#1

Network 2 (PROFIBUS)


Master function

B-62924EN/04 CONNECTION 3.PROFIBUS FOR THE LCD-MOUNTED TYPE Series 16i/18i/21i

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3 PROFIBUS FOR THE LCD-MOUNTEDTYPE Series 16i/18i/21i

This chapter describes the connection of the PROFIBUS board for theLCD-mounted type Series 16i/18i/21i.

3.PROFIBUS FOR THE LCD-MOUNTED TYPE Series 16i/18i/21i CONNECTION B-62924EN/04

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3.1 CONFIGURATION

The hardware of the PROFIBUS function comprises a PROFIBUSboard and a PROFIBUS adapter unit (hereafter simply referred to asan adapter unit).

[PROFIBUS board]The PROFIBUS board consists of two printed circuit boards:

a master function board and a slave function board.

The figure above shows the two boards joined together.

Slave function board Master function board


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[Adapter unit]The CNC control unit is usually mounted on the machine operator'spanel (pendant). The adapter unit allows the PROFIBUS cable to beextended and connected in the power magnetics cabinet. This makes iteasy to lay the PROFIBUS bus cable after the machine is installed.

The PROFIBUS board and adapter unit are connected by an internalcable. Two separate adapter units must be provided for the masterfunction and the slave function.

Ordering informationName Code Remarks

PROFIBUS board A02B-0236-J311 Master + SlaveAdapter unit A02B-0236-C221

Adapter unit

DIN rail


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[Connection between the PROFIBUS board and adapter unit]

The figure above shows a connection of the master function board.The slave function board is connected in the same way.

PROFIBUS board

Adapter unit

Internal cable


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3.2 INSTALLATION


When using the PROFIBUS board, the installation conditions for theCNC control unit in which the board is installed (environmentalconditions in the cabinet) must be observed. This also applies to theadapter unit.

3.2.2 Mounting the Board

The PROFIBUS board is mounted in an option slot of the control unit.The board occupies a single slot. Some control units have slots thatcannot be used for this board.

Rack type Slot-1 Slot-2 Slot-3 Slot-44-slot rack × ×3-slot rack × ×

2-slot rack ×

: Can be used ×: Cannot be used

PROFIBUS board

Slot-1

Slot-2

Slot-3

Slot-4


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3.2.3 Mounting the Adapter Unit

The adapter unit is mounted in the power magnetics cabinet, using theDIN rail. For the procedure for mounting and removing the adapterunit on and from the DIN rail, refer to "Connection of connector panelI/O module" in "Connection Manual (Hardware)" of thecorresponding CNC.

3.2.4 Connection between the PROFIBUS Board and Adapter Units

The PROFIBUS board and adapter units are connected by internalcables, as shown below:

The internal cable as described below is used to connect thePROFIBUS board and adapter unit:

Name Code RemarksConnector PCR-E20FS Honda Tsushin Kogyo Co., Ltd.Housing PCR-V2-LA Honda Tsushin Kogyo Co., Ltd.Wire A66L-0001-0286

Adapter unit

JN1 CN1

JN1(Master)

JN2(Slave)

PROFIBUS board

Adapter unit

JN1 CN1

CNC control unit

MAX. 6 m

L < 6 m


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[Connector pins]

[Cable wires]


Internal cable A02B-0236-K151 Two 6-m internal cables

TXD+ (1)TXD- (2)RXD+ (3)RXD- (4)RTS+ (5)RTS- (6)

+5V (9)+5V (18)+5V (20)0V (12)0V (14)0V (16)

(1) TXD+(2) TXD-(3) RXD+(4) RXD-(5) RTS+(6) RTS-

(9) +5V(18) +5V(20) +5V(12) 0V(14) 0V(16) 0V

Shielding

PROFIBUS boardJN1/JN2

Adapter unit JN1

PROFIBUS board JN1/JN21 TXD+ 112 TXD- 12 0V3 RXD+ 134 RXD- 14 0V5 RTS+ 156 RTS- 16 0V7 178 18 +5V9 +5V 19

10 20 +5V

JN2 Adapter unit1 TXD+ 112 TXD- 12 0V3 RXD+ 134 RXD- 14 0V5 RTS+ 156 RTS- 16 0V7 178 18 +5V9 +5V 19

10 20 +5V


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3.2.5 Connector Layout

[PROFIBUS board]

JN1 (master function)for connection with anadapter unit

JN2 (slave function)for connection withan adapter unit

Master function board

Slave function board


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[Adapter unit]The outside dimensions are the same as those of the connector panelI/O module. For details, refer to "Connection Manual (Hardware)" ofthe corresponding CNC.

CN1: Nine-pin D-Sub female connectorPROFIBUS bus interface

JN2: PCR-EV20MDTInterface with PROFIBUS board

Internal cable

PROFIBUSbus cable


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3.3 COMPLETE CONNECTION DIAGRAM

An overview of the complete connection is shown below. Forconnections that are not shown in the figure below, refer to the"Connection Manual (Hardware)" of the CNC main unit.

Networks 1 and 2 are independent of each other.

Option slot

CNC main board

PROFIBUS masterfunction board

PROFIBUS slavefunction board

Adapterunit

Adapterunit

CN1

CN1

JN1

JN2

CNC system

JN2

JN2

DP-Slave#3

DP-Slave#2

DP-Master#1

DP-Slave#4

DP-Slave#4

DP-Slave#3

DP-Slave#2

DP-Master#1



B-62924EN/04 CONNECTION 4.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, and Power Mate i

- 131 -

4 PROFIBUS FOR THE STAND-ALONETYPE Series 16i/18i/21i, Series 15i, andPower Mate i

This chapter describes the connection of the PROFIBUS board for thestand-alone type Series 16i/18i/21i, Series 15i, and Power Mate i.

4.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, and Power Mate i CONNECTION B-62924EN/04

- 132 -

4.1 CONFIGURATION

The PROFIBUS hardware for the stand-alone type Series 16i/18i/21iis a set of two printed circuit boards of the minislot size. One board isfor the master function, and the other is for the slave function.

1) PROFIBUS master board

2) PROFIBUS slave board


PROFIBUS master board A02B-0265-J311 Master function onlyPROFIBUS slave board A02B-0265-J310 Slave function only


- 133 -

4.2 INSTALLATION


When using the PROFIBUS board, the installation conditions for theCNC control unit in which the board is installed (environmentalconditions in the cabinet) must be observed.

4.2.2 Mounting the Board

The PROFIBUS board is mounted in minislots of the control unit.The master board and the slave board occupy a single slot each. Theboard can be inserted into any minislot.


- 134 -

4.2.3 Connector Layout

[PROFIBUS master board]

CN1: Nine-pin D-Sub female connectorPROFIBUS bus interface (master function)

CN1

[PROFIBUS slave board]

CN2: Nine-pin D-Sub female connectorPROFIBUS bus interface (slave function)

CN2


- 135 -

4.3 COMPLETE CONNECTION DIAGRAM

An overview of the complete connection is shown below. Forconnections that are not shown in the figure below, refer to theConnection Manual (Hardware) of the CNC main unit.

Networks 1 and 2 are independent of each other.

Option slot

CNC main board

PROFIBUS masterfunction board

PROFIBUS slavefunction board

JN1

JN2

CNC system

DP-Slave#3

DP-Slave#2

DP-Master#1

DP-Slave#4

DP-Slave#4

DP-Slave#3

DP-Slave#2

DP-Master#1




- 136 -

4.4 NOTES ON CONNECTING PROFIBUS BOARDS FOR THEPower Mate i

When axis control card C is specified for the Power Mate i, there arerestrictions on connection of FANUC PROFIBUS-DP boards.1) When the FANUC PROFIBUS-DP Master or Slave board is

usedConnect the FANUC PROFIBUS-DP board to slot 2 (upper slot)of the Power Mate i to use the board.

2) When the FANUC PROFIBUS-DP Master and Slave boards areused togetherConnect the FANUC PROFIBUS-DP Master board to slot 2(upper slot) of the Power Mate i and the Slave board to slot 1(lower slot).For this Slave board, the bus connector manufactured bySiemens cannot be used as the cable-end connector. Use a 9-pinD-Sub male connector up to 13.1 mm high as the cable-end 9-pinD-Sub connector. (See Section 1.4.) When the connector is notlocated at the end of the line, connect two wires, referencingSection 1.5. When it is located at the end of the line, connect aterminating resistor, referencing Section 1.6.

NOTE1 If a PROFIBUS-DP board is connected to slot 1

(lower slot), a bus connector manufactured bySiemens interferes with the optical connector of axiscontrol card C.

2 The specifications of axis control card C for thePower Mate i are A02B-0259-H021 to A02B-0259-H024. With an axis control card for the Power Mate iadded following axis control card C, the samerestrictions as with axis control card C are put onconnection of FANUC PROFIBUS-DP boards.

B-62924EN/04 CONNECTION 5.PROFIBUS FOR THE Power Mate-D/H

- 137 -

5 PROFIBUS FOR THE Power Mate-D/HThis chapter describes information about the connection of thePROFIBUS card for the Power Mate-D/H.

5.PROFIBUS FOR THE Power Mate-D/H CONNECTION B-62924EN/04

- 138 -

5.1 CONNECTION DIAGRAM

PROFIBUSat nextstage

PROFIBUSat previous

stagePower Mate-D/H

PROFIBUS card

CN2

CE49Machine

J141

J139

The meaning of each abbreviation used in the above diagram is asfollows:

CN2 : PROFIBUS connectorCE49 : Connector for built-in I/O machine interfaceJ141 : Cable specification for the PROFIBUS (see Section III-

1.2 of this volume.)J139 : Cable specification for built-in I/O machine interface

(see Section III-6.4 of this chapter.)

NOTEThe PROFIBUS card is incorporated in the PowerMate-D/H. CN2 and CE49 are in the lower section ofthe unit.


PROFIBUS card A02B-0166-H100 Power Mate-DPROFIBUS card A02B-0211-J100 Power Mate-H


- 139 -

5.2 ENVIRONMENTAL CONDITIONS

When using the PROFIBUS card in the Power Mate-D/H, observe theinstallation conditions for the Power Mate-D/H.


- 140 -

5.3 SIGNALS

5.3.1 PROFIBUS Interface

<1> DI signals: X1032 to X1063 (up to 256 points)<2> DO signals: Y1032 to Y1063 (up to 256 points)

5.3.2 Built-in I/O Machine Interface

<1> DI signal (DC input signal B: 16 points)7 6 5 4 3 2 1 0

X1000 SKIP *RILK *ESP SKIP4 SKIP3 SKIP2CE49- B05 A06 B04 A04 B03 A03 B02 A02

7 6 5 4 3 2 1 0X1002 *DEC6 *DEC5 *DEC4 *DEC3 *DEC2 *DEC1CE49- B10 A10 B09 A09 B08 A08 B07 A07

X1000.0, X1000.1, X1000.2, and X1000.7 are common-switchableDC input signals B.X1002.0, X1002.1, X1002.2, and X1002.7 are common-switchableDC input signals B.X1000.3 to X1000.6 and X1002.3 to X1002.6 are DC inputsignals B.

NOTETo use the above functions (*ESP, *RILK, SKIPn,*DECn), set bit 3 (BIO) of parameter No. 3001 andparameter No. 3005.X1001, X1003 to X1031, X1064, and above cannotbe used.

<2> DO signals (source type output signals: 2 points)7 6 5 4 3 2 1 0

Y1000CE49- B11 A11

NOTE1 Y1000.2 to Y1000.7, Y1001 to Y1031, Y1064, and

above cannot be used.2 Refer to Item for "Input/Output Signal Specifications"

in the "FANUC Power Mate-Model H ConnectionManual" for an explanation of the rules governinginput/output signals.

3 The maximum load current for the source-typeoutput signal is 1.4 A.


- 141 -

5.4 BUILT-IN I/O MACHINE INTERFACE

5.4.1 Overview

Hirose HIF3BA-34D-2.564R

PROFIBUS cardCE49

34-pin ribbon cable connectorA B

01 +24E +24E02 X1000.0 X1000.103 X1000.2 X1000.304 X1000.4 X1000.505 DIC1 X1000.706 X1000.6 DOC07 X1002.0 X1002.108 X1002.2 X1002.309 X1002.4 X1002.510 X1002.6 X1002.711 Y1000.0 Y1000.112131415 DOC16 DIC217 0 V 0 V

Machine-side power

magnetics cabinet and

machine panel

J139Fe

mal

e

Mal

e

1. +24E (output)24VDC supplied to the Power Mate main unit is sent as a DI signal via a fuse.Do not connect any 24V output from an external power supply to this pin. Also, do not connect it toDOC.

2. DOC (external 24V input)The two DOC pins need to be connected to receive the 24V for DO from an external power supply.

3. DIC1 and DIC2 (input)These pins are DI common switchover pins. Usually, they must be connected to 0 V.

Clamp the shielding of cable J139 tothe grounding plate of the cabinet onthe PROFIBUS card side using ametal cable clamping fixture.


- 142 -

<1> Connector specificationMIL-C-83503 standard-compliant (with center key to preventreverse insertion)The cable-end connector must also comply with this standard.FANUC specification: A02B-0124-K300 (Hirose HIF3BA-34D-2.564R)Refer to the Item for “Connection to the Built-in I/O Card” of the"FANUC Power Mate-MODEL D Connection Manual" or"FANUC Power Mate-MODEL H Connection Manual" for anexplanation of the connector pin arrangement.

<2> Recommended cable specificationUse a common-shield cable.Shielded 34-conductor cable (soldering type)FANUC specification: A66L-0001-0308#S34S(Oki Electric Cable SFX-S 34-7/0.127 3030-SV(20266)(Taiyu)K)


- 143 -

5.4.2 Details of DI Connection

+24EPin number

Example of connection Bit number

Address numberCE49(A01, B01)

Power Mate

X1000.0

CE49(A02)

CE49(B02) X1000.1

CE49(A03) X1000.2

CE49(B03) X1000.3

CE49(A04) X1000.4

CE49(B04) X1000.5

CE49(A17, B17)0 V

+24E

DIC1 CE49(A05)

CE49(B05) X1000.7

CE49(A06) X1000.6

Fig. 6-1 PROFIBUS Card Machine Interface (1)

X1000 is DC input signal B (for high-speed signal input).X1000.0 to X1000.2 and X1000.7 are common-switchable.The example configuration shown above uses a sink-type input.


- 144 -

+24EExample of connection Pin number Bit number

Address numberCE49(A01, B01)

Power Mate

X1002.0

CE49(A07)

CE49(B07) X1002.1

CE49(A08) X1002.2

CE49(B08) X1002.3

CE49(A09) X1002.4

CE49(B09) X1002.5

CE49(A17, B17)0 V

+24E

DIC2 CE49(A16)

CE49(B10) X1002.7

CE49(A10) X1002.6


X1002 is a DC input signal B (for high-speed signal input).X1002.0 to X1002.2 and X1002.7 are common-switchable.The example configuration shown above uses a sink-type input.


- 145 -

5.4.3 Details of DO Connection

Pin number Example ofconnectionBit number

Addressnumber

Power Mate

Y1000.0

CE49(B06, B15) DOC

0 V

CE49(B11)

CE49(A11)

Y1000.1

CE49(A17, B17)

Voltage

regulator


IV. MAINTENANCE

B-62924EN/04 MAINTENANCE 1.PROFIBUS FOR THE Series 16/18-C

- 149 -

1 PROFIBUS FOR THE Series 16/18-CThis chapter provides information about the maintenance of thePROFIBUS board for the Series 16/18-C.

1.PROFIBUS FOR THE Series 16/18-C MAINTENANCE B-62924EN/04

- 150 -

1.1 COMPONENT LAYOUT


PROFIBUS board A16B-3200-0220 Master + Slave

DC/DC

DC/DC

CPU

CPU

ROM

ROM

LSI chipfor

communi-cation

LSI chipfor

communi-cation

Connector nameand other markings

PROFIBUS

MASTER

JN1

FG1

LED1LED2

SLAVE

JN2

FG2

LED1LED2LED3

B-62924EN/04 MAINTENANCE 1.PROFIBUS FOR THE Series 16/18-C

- 151 -

1.2 LED INDICATORS AND THEIR MEANINGS

The PROFIBUS interface board for the Series 16/18-C has twofunctions (DP-Master and DP-Slave functions). Each function usesseparate LED indicators.

1.2.1 DP-Master Function LED Indicators

Name Color DescriptionSYSFAIL Red Indicates the state of the SYSFAIL signal on the PROFIBUS

interface board. It is turned on when the power is switched on.ALARM Red Software-controlled alarm LED. It is turned on when the power is

switched on. When the DP-Master function is started normally,the LED is turned off and remains off thereafter.

P-WKR Red Turned on if an SRAM parity error occurs in the DP-Master.Lit if a parity error has occurred.The LED does not go on when the power is turned on. Once lit,the LED continues illuminating until the power is turned off.

P-DPR Red Turned on if a DPRAM parity error occurs in the DP-Master.Lit if a parity error has occurred.The LED does not go on when the power is turned on. Once lit,the LED continues illuminating until the power is turned off.

Name Color DescriptionTOKEN Green Indicates whether normal communication is performed.

Lit if normal communication is performed.The LED does not go on when the power is turned on.

P-WKRSYSFAILLED1

P-DPRALARM

LED2 TOKEN

During normaloperation(communication)

When the power isswitched on

: On: Off

1.PROFIBUS FOR THE Series 16/18-C MAINTENANCE B-62924EN/04

- 152 -

1.2.2 DP-Slave Function LED Indicators

Name Color DescriptionSYSFAIL Red Indicates the state of the SYSFAIL signal on the PROFIBUS

interface board. It is turned on when the power is switched on.ALARM Red Software-controlled alarm LED. It is turned on when the power is

switched on. When the DP-Slave function is started normally, theLED is turned off and remains off thereafter.

P-C32 Red Indicates whether a parity error occurred when CPU 80C32 of theDP-Slave accessed SRAM or DPRAM.Lit if a parity error has occurred.The LED does not go on when the power is turned on. Once lit, theLED continues illuminating until the power is turned off.

P-WIN Red Indicates whether a parity error occurred when another F-BUSmodule accessed DPRAM of the DP-Slave via Window.Lit if a parity error has occurred.The LED does not go on when the power is turned on. Once lit, theLED continues illuminating until the power is turned off.

Name Color DescriptionRUN Green Remains on while communication is being performed normally.BUS

FAULTRed Is turned on if:

• Parameters and configuration data are not received from theDP-Master after the power is switched on.

• An invalid parameter or configuration data is received.• It becomes impossible to perform communication with the DP-

Master.

: On: Off

P-C32SYSFAILLED1

P-WINALARM

LED2

LED3

RUN

BUS FAULT

During normaloperation(communication)

When the poweris switched on

B-62924EN/04 MAINTENANCE 2.LCD-MOUNTED TYPE PROFIBUS FOR THE Series 16i/18i/21i

- 153 -

2 LCD-MOUNTED TYPE PROFIBUS FORTHE Series 16i/18i/21i

This chapter describes the maintenance information of the LCD-mounted type PROFIBUS board for the Series 16i/18i/21i.

2.LCD-MOUNTED TYPE PROFIBUS FOR THE Series 16i/18i/21i MAINTENANCE B-62924EN/04

- 154 -




The master board and slave board are connected by the ADD1connectors.


PROFIBUS master board A20B-8100-0430PROFIBUS slave board A20B-2100-0430 Daughterboard

CPU

LSI chip forcommuni-

cation

JN1JN2

ADD1

LED

CPU

ADD1

LSI chip forcommunication

LED

B-62924EN/04 MAINTENANCE 2.LCD-MOUNTED TYPE PROFIBUS FOR THE Series 16i/18i/21i

- 155 -


The integral-type PROFIBUS interface board for the Series16i/18i/21i comprises two boards. Each board uses separate LEDindicators.

2.2.1 LED Indicators of the DP-Master Function

Name Color DescriptionLED1 Green Indicates whether the CPU of this board has been

activated.Lit if the CPU has been released from the reset state andactivated.The LED does not go on when the power is turned on.

LED2 Green Indicates whether the current communication is normallyperformed.Lit if the current communication is normally performed.Not lit if communication is not performed.The LED does not go on when the power is turned on.

LEDB Red Indicates if a RAM parity error has occurred on this board.Lit if a parity error has occurred.The LED does not go on when the power is turned on.Once lit, the LED continues illuminating until the power isturned off.

LED1 LED2 LEDB

2.LCD-MOUNTED TYPE PROFIBUS FOR THE Series 16i/18i/21i MAINTENANCE B-62924EN/04

- 156 -

2.2.2 LED Indicators of the DP-Slave Function

The LED indicators of the DP-Slave function are mounted on thePROFIBUS slave board (daughter board).


released from the reset state and activated.Lit if the CPU has been released from the reset state andactivated.The LED does not go on when the power is turned on.

LED2 Green Indicates whether communication has started.Lit if communication has started.The LED is not lit when the power is turned on and in thefollowing cases:1) When parameter configuration data has not been

received2) When illegal parameter configuration data has been

receivedLED3 Green Indicates whether the current communication is normally

performed.Lit if the current communication is normally performed.Not lit if the current communication is not normallyperformed.The LED does not go on when the power is turned on.

LEDB Red Indicates if a RAM parity error has occurred on this board.Lit if a RAM parity error has occurred.The LED does not go on when the power is turned on.Once lit, the LED continues illuminating until the power isturned off.

LED1 LED2 LED3 LEDB

B-62924EN/04 MAINTENANCE 3.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, AND Power Mate i

- 157 -

3 PROFIBUS FOR THE STAND-ALONETYPE Series 16i/18i/21i, Series 15i, ANDPower Mate i

This chapter describes the maintenance information of thePROFIBUS board for the stand-alone type Series 16i/18i/21i.

3.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, AND Power Mate i MAINTENANCE B-62924EN/04

- 158 -





PROFIBUS master board A20B-8100-0470PROFIBUS slave board A20B-8100-0440

CPU

DC/DC

LSI chipfor

communi-cation

CN1

DC/DC

CPU

LSI chip forcommunication

CN1

B-62924EN/04 MAINTENANCE 3.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, AND Power Mate i

- 159 -


3.2.1 LED Indicators of the DP-Master Function

NOTEThe face plate is indicated by the broken line.


activated.Lit if the CPU has been released from the reset state andactivated.The LED does not go on when the power is turned on.

LED2 Green Indicates whether normal communication is performed.Lit if normal communication is performed.Not lit if communication is not performed.The LED does not go on when the power is turned on.

LED1LED2

CN1

3.PROFIBUS FOR THE STAND-ALONE TYPE Series 16i/18i/21i, Series 15i, AND Power Mate i MAINTENANCE B-62924EN/04

- 160 -

3.2.2 LED Indicators of the DP-Slave Function

NOTEThe face plate is indicated by the broken line.


released from the reset state and activated.Lit if the CPU has been released from the reset state andactivated.The LED does not go on immediately after power-up.

LED2 Green Indicates whether communication has started.Lit if communication has started.The LED is not lit when the power is turned on and in thefollowing cases:1) When parameter configuration data has not been

received2) When illegal parameter configuration data has been

receivedLED3 Green Indicates whether the current communication is normally

performed.Lit if the current communication is normally performed.Not lit if the current communication is not normallyperformed.The LED does not go on when the power is turned on.

LEDB Red Indicates if a RAM parity error has occurred on this board.Lit if a RAM parity error has occurred.The LED does not go on when the power is turned on.Once lit, the LED continues illuminating until the power isturned off.

CN2

LED1LED2LED3LEDB

B-62924EN/04 MAINTENANCE 4.PROFIBUS FOR THE Power Mate-D/H

- 161 -

4 PROFIBUS FOR THE Power Mate-D/HThis chapter provides information about the maintenance of thePROFIBUS card for the Power Mate-D/H.

4.PROFIBUS FOR THE Power Mate-D/H MAINTENANCE B-62924EN/04

- 162 -

4.1 PROFIBUS DRAWING NUMBER

Name Drawing number RemarkPROFIBUS card A20B-2100-0120 SUB BOARD 1

A20B-8001-0500 SUB BOARD 2

NOTEThe PROFIBUS card for the Power Mate consistsof two boards, SUB BOARD 1 and SUB BOARD 2.

B-62924EN/04 MAINTENANCE 4.PROFIBUS FOR THE Power Mate-D/H

- 163 -

4.2 ALARM MESSAGES AND MEANINGS

(1) P/S alarmsIf an error occurs in the PROFIBUS function, the alarm listedbelow is displayed on the CRT screen, and the machine isbrought to an emergency stop.

P/S alarm Alarm message and meaningThere is the difference between local parameters and theones which were received from Master.

5126 A parameter value specified for the DP-Master does notmatch that specified for the DP-Slave.Check that both parameter values match.A PROFIBUS communication error has occurred.

5127 This message is displayed if a communication line isdisconnected (that is, if the cable is removed, or the DP-Master becomes faulty).A PROFIBUS unrecoverable error has occurred.

5128 This message is displayed if the PROFIBUS boardbecomes faulty.

(2) System alarmsIf a system error related to the PROFIBUS function occurs, analarm listed below is displayed on the CRT screen, and themachine is brought to an emergency stop.(The RESET key cannot be used to reset this alarm.)

System alarm Alarm message and meaningNMI OCCURRED IN OTHER MODULE

972An SRAM or DPRAM parity error has occurred on thePROFIBUS card.Check the connection between the main CPU board andPROFIBUS card.

NOTEIf an alarm is issued when the DPL/MDI is in use,only the alarm code is displayed on the DPL/MDI.

SUPPLEMENT

B-62924EN/04 SUPPLEMENT A.SETTING WHEN EDITION 07 OR EARLIER OF SERIES 6557 IS USED

- 167 -

A SETTING WHEN EDITION 07 OREARLIER OF SERIES 6557 IS USED

This chapter described the setting methods when Edition 07 or earlierof series 6557 of CONTROL SOFTWARE is used.

A.SETTING WHEN EDITION 07 OR EARLIER OF SERIES 6557 IS USED SUPPLEMENT B-62924EN/04

- 168 -

A.1 MASTER FUNCTION SETTING




(2) Pressing soft keys [PMCDGN], [IOCHK], and [PROFI] in thestated order displays Screen A-1.

Screen A-1


- 169 -

(3) Pressing soft key [MASTER] displays Screen A-2.

Screen A-2

(4) The following parameters can be set by pressing thecorresponding soft keys on the Screen A-2:<1> Bus parameters [BUS]<2> Slave parameters [SLAVE]

Pressing soft key [INI.AL] has the same effect as performinginitialization by pressing soft key [INIT] on the bus parameter settingscreen, slave parameter setting screen, or address assignment screen.For the initialized values on these screens, see the descriptions of therelevant sections.


- 170 -

A.1.1 Bus Parameter Setting

Pressing soft key [BUS] on Screen A-2 displays Screen A-3 to enablebus parameter setting. The bus parameters consist of two pages. Usethe page keys to switch between the pages.

Screen A-3

Switch between pages by pressingpage keys <↑> and <↓>.


- 171 -


Soft key [INIT] on Screen A-3 initializes the bus parameters to thestandard values used when the transfer rate is 12 Mbps.

CAUTIONTo change the transfer rate from 12 Mbps to adifferent value, set the bus parameters againaccording to Table A-2, "Bus Parameter SettingsCorresponding to Each Transfer Rate" in thissection.

Soft key [DETAIL], shown at the bottom of Screen A-3, is displayedwhen the cursor is moved to 17 MASTER USER DATA. Pressingthis soft key displays Screen A-4 to enable the setting of detailed dataas long as the number of bytes is specified in 17 MASTER USERDATA.

Screen A-4


- 172 -

Table A-1 summarizes the bus parameters. Table A-2 lists the busparameter values to be set for each transfer rate. For details, refer tothe following documents issued by PROFIBUS Nutzerorganisatione.V.: PROFIBUS STANDARD DIN 19 245 Part 1



Table A-1 Bus ParametersItem Description



















- 173 -












- 174 -

Table A-2 Bus Parameter Settings Corresponding to Each Transfer RateBus parameter Setting








- 175 -

A.1.2 Slave Parameter Setting

Pressing soft key [SLAVE] on Screen A-2 displays Screen A-5 toenable slave parameter setting.By pressing soft keys [PRV.NO] and [NXT.NO], the station numberof a DP-Slave to be set can be changed. To move to the screen of adesired station number directly, enter the station number, then presssoft key [PRV.NO] or [NXT.NO].





Screen A-5

Soft key [INIT] on Screen A-5 initializes the slave parameters of aspecified station number to the standard values used for connecting aDP-Slave using a FANUC CNC. For details of the settings required toconnect a DP-Slave manufactured by FANUC, see Section A.3,"Setting the Slave Parameters for Using a Slave Station Manufacturedby FANUC." Soft key [DETAIL] shown at the bottom of Screen A-5is displayed when the cursor is moved to an item from 14 USER PRMDATA to 16 SLAVE USER DATA. Pressing this soft key displays ascreen such as Screen A-6. (Screen A-6 shows the screen displayed by


- 176 -


NOTEBefore a DP-Slave manufactured by FANUC can beconnected, data dependent on the FANUC DP-Slavemust be set in the slave parameters. Usually, softkey [INIT] can be used for initialization to enable aFANUC DP-Slave to be connected. In 15 CONFIGDATA, however, variable data dependent on the sizeof DI/DO data exchanged with the DP-Slave must beset. So, when setting 15 CONFIG DATA, seeSection A.3, "Setting the Slave Parameters for Usinga Slave Station Manufactured by FANUC."

Screen A-6


- 177 -

Table A-3 summarizes the slave parameters. For details, refer to thefollowing documents issued by PROFIBUS Nutzerorganisation e.V.: PROFIBUS STANDARD DIN 19 245 Part 1



Table A-3 Slave ParametersItem Description



















- 178 -









- 179 -

A.1.3 Setting for Address Assignment

Pressing soft key [ADDR] on Screen A-5 displays Screen A-7.By pressing soft keys [PRV.NO] and [NXT.NO], the station numberof a DP-Slave to be set can be changed. To move to the screen of adesired station number directly, enter the station number, then presssoft key [PRV.NO] or [NXT.NO].

Screen A-7








- 180 -

Each item must be set as described below.DI/DO SETTING

Set the area to be used as a DI/DO data buffer.

DIAGNOSE DATA SETTINGSet an area for storing diagnose data. For details of standarddiagnose data, see Table A-4.



- 181 -

Table A-4 Standard Diagnose dataItem Description




























- 182 -




Soft key [INIT] on Screen A-7 clears the value of each addressassignment parameter (the address specification fields are set toR0000). So, specify valid values.

Example) For explanation, the example shown in Screen A-7 isused.On Screen A-7, SLAVE NUMBER is 3. So, addresses areassigned to the DP-Slave at station number 3.DI ADDRESS is R0000, and DI SIZE is 32. So, a 32-byteDI data area is assigned, starting at R0000, to the DP-Slave at station number 3, as indicated below.DO ADDRESS is R0100, and DO SIZE is 16. So, a 16-byte DO data area is assigned, starting at R0100, to theDP-Slave of station number 3, as indicated below.









- 183 -

A.2 SLAVE FUNCTION SETTING


NOTEBefore a DP-Slave manufactured by FANUC can beused, data dependent on the FANUC DP-Slave mustbe set in the slave parameters of the DP-Master. So,when setting the slave parameters of the DP-Master,see Section A.3, "Setting the Slave Parameters forUsing a slave Station Manufactured by FANUC."

Procedure (CRT/MDI)(1) Press function key <SYSTEM>. Then, press soft key [PMC] to


(2) Pressing soft keys [PMCDGN], [IOCHK] , and [PROFI] in thestated order displays Screen A-8.

Screen A-8


- 184 -

(3) Pressing soft key [SLAVE] on this screen displays Screen A-9.

Screen A-9






- 185 -

(4) Each item must be set as described below.STATION NO.

Set the station number of the DP-Slave.INPUT DATA

Set an area to be used as a DI data buffer. Set the startaddress and size of the buffer.

OUTPUT DATASet an area to be used as a DO data buffer. Set the startaddress and size of the buffer.

CAUTIONInput and output described below indicate the inputand output viewed from the slave station,respectively.

Example) For explanation, the example shown in Screen A-9 isused.On Screen A-9, the station number of the DP-Slave is 3.A DI data area and DO data area used as buffers forcommunication with the DP-Master are assigned asdescribed below.






- 186 -

(5) STATUS on Screen A-9 indicates the state of the DP-Slave.Each item under STATUS has the meaning described below.CONFIG STATUS

This item indicates whether slave parameter CONFIGDATA of the DP-Master matches the configuration datarecognized by the DP-Slave. If there is a mismatch, normalcommunication cannot be performed.FF: Initial state00: State in which normal communication is being








IDENT NO.This item displays the identification number of a DP-Slaveusing a FANUC CNC.00: Stand-alone type 16i/18i/21i-A, LCD-mounted type

16i/18i/21i-A/B, 16/18-C01: Power Mate i-D/H


- 187 -

A.2.1 Status Register

With the DP-Master, DP-Master status is set as diagnose data in the Rarea of the PMC as described in Section A.1.3, "Setting for AddressAssignment." With a DP-Slave, a status register is used. This isequivalent to the diagnose data used with the DP-Master. The statusregister is set at address R9094 in the R area of the PMC. For detailsof the status register, see Table A-5.

Table A-5 Status RegisterItem Description











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A.3 SETTING THE SLAVE PARAMETERS FOR USING A SLAVESTATION MANUFACTURED BY FANUC

Before the slave station manufactured by FANUC can be used, datadependent on the FANUC slave station must be set in the slaveparameters of the master station.Table A-6 indicates the values to beset in the slave parameters. Note that if valid values are not set inthese parameters, communication may not be performed normally.(For the function of each slave parameter, see Table A-3 in SectionA.1.2, "Slave Parameter Setting.")

Table A-6 Settings of the Slave ParametersItem Setting/description


IDENT NO.



USER PRMDATA


USER PRMDATA


CONFIG DATA


SLAVE USERDATA


NOTEAll settings indicated in Table A-6 are represented in hexadecimal.


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A.4 GSD FILE OF THE FANUC CNCS

A GSD file is attached to all PROFIBUS products that can be used asmaster stations and slave stations. Each GSD file contains product-specific information in a specified format.This section describes three GSD files for a DP-Master and DP-Slaveusing a FANUC CNC, and for a DP-Slave using a FANUC PowerMate CNC. For details of the GSD files, refer to the followingdocument issued by PROFIBUS Nutzerorganisation e.V.:



- 190 -




- 191 -



- 192 -



- 193 -




- 194 -

; Slave specific parameters;Freeze_Mode_supp = 0Sync_Mode_supp = 0Auto_Baud_supp = 1Set_Slave_Add_supp = 0User_Prm_Data_Len = 0Min_Slave_Intervall = 1Modular_Station = 1Max_Module = 1Max_Input_Len = 32Max_Output_Len = 32Max_Data_Len = 64;Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1FEndModuleModule = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1BEndModuleModule = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17EndModuleModule = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13EndModuleModule = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0FEndModuleModule = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0BEndModuleModule = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07EndModuleModule = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03EndModuleModule = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01EndModuleModule = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00EndModuleModule = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1FEndModule;

NOTEFor a FANUC slave station, Module in the GSD filematches slave parameter CONFIG DATA. TheDI/DO sizes for a FANUC slave station can bechanged without restrictions as long as they do notexceed 32/32 bytes. For this reason, all of thevalues to be specified for Module cannot be listed.For the values to be specified for Module, see theexplanation of CONFIG DATA in Table A-6 inSupplement A.3, "Setting the Slave Parameters forUsing a Slave Station Manufactured by FANUC."


- 195 -




- 196 -


NOTEFor a FANUC slave station, Module in the GSD filematches slave parameter CONFIG DATA. TheDI/DO sizes for a FANUC slave station can bechanged without restrictions as long as they do notexceed 32/32 bytes. For this reason, all of thevalues to be specified for Module cannot be listed.For the values to be specified for Module, see theexplanation of CONFIG DATA in Table A-6 inSupplement A.3, "Setting the Slave Parameters forUsing a Slave Station Manufactured by FANUC."

B-62924EN/04 SUPPLEMENT B.SETTING WHEN SERIES 6556 IS USED

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B SETTING WHEN SERIES 6556 IS USEDThis chapter described the setting methods when series 6556 ofCONTROL SOFTWARE is used.

B.SETTING WHEN SERIES 6556 IS USED SUPPLEMENT B-62924EN/04

- 198 -

B.1 MASTER FUNCTION SETTING




(2) Pressing soft keys [PMCDGN], [IOCHK], and [PROFI] in thestated order displays Screen B-1.

Screen B-1


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(3) Pressing soft key [MASTER] displays Screen B-2.

Screen B-2

(4) The following parameters can be set by pressing thecorresponding soft keys on the Screen B-2:<1> Bus parameters [BUS]<2> Slave parameters [SLAVE]<3> Address assignment [ADDR]

Pressing soft key [INI.AL] has the same effect as performinginitialization by pressing spoft key [INIT] on the bus parameter setting screen, slave parametersetting screen, or address assignment screen.For the initialized values on these screens, see the descriptions of therelevant sections.


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B.1.1 Bus Parameter Setting

Pressing soft key [BUS] on Screen B-2 displays Screen B-3 to enablebus parameter setting. The bus parameters consist of two pages. Usethe page keys to switch between the pages.

Screen B-3

Switch between pages by pressingpage keys <↑> and <↓> .


- 201 -


CAUTIONTo change the transfer rate from 12 Mbps to adifferent value, set the bus parameters againaccording to Table B-2, "Bus Parameter SettingsCorresponding to Each Transfer Rate" in thissection.

Soft key [DETAIL], shown at the bottom of Screen B-3, is displayedwhen the cursor is moved to 17 MASTER USER DATA. Pressingthis soft key displays Screen B-4 to enable the setting of detailed dataas long as the number of bytes is specified in 17 MASTER USERDATA.

Screen B-4

For details of the bus parameters, see Table A-1, "Bus Parameters," inthe previous chapter.


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B.1.2 Slave Parameter Setting

Pressing soft key [SLAVE] on Screen B-2 displays Screen B-5 toenable slave parameter setting.By pressing soft keys [PRV.NO] and [NXT.NO], the station numberof a DP-Slave to be set can be changed. To move to the screen of adesired station number directly, enter the station number, then presssoft key [PRV.NO] or [NXT.NO].





Screen B-5

Soft key [INIT] on Screen B-5 initializes the slave parameters of aspecified station number to the standard values used for connecting aDP-Slave using a FANUC CNC. For details of the settings required toconnect a DP-Slave manufactured by FANUC, see Section B.3,"Setting the Slave Parameters for Using a Slave Station Manufacturedby FANUC." Soft key [DETAIL] shown at the bottom of Screen B-5is displayed when the cursor is moved to an item from 14 USER PRMDATA to 16 SLAVE USER DATA. Pressing this soft key displays ascreen such as Screen B-6. (Screen B-6 shows the screen displayed by


- 203 -


NOTEBefore a DP-Slave manufactured by FANUC can beconnected, data dependent on the FANUC DP-Slavemust be set in the slave parameters. Usually, softkey [INIT] can be used for initialization to enable aFANUC DP-Slave to be connected. In 15 CONFIGDATA, however, variable data dependent on the sizeof DI/DO data exchanged with the DP-Slave must beset. So, when setting 15 CONFIG DATA, seeSection A.3, "Setting the Slave Parameters for Usinga Slave Station Manufactured by FANUC."

Screen B-6

For details of the slave parameters, see Table A-3, "SlaveParameters," in the previous chapter.


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B.1.3 Setting for Address Assignment

Pressing soft key [ADDR] on Screen B-2 displays Screen B-7.

Screen B-7

CAUTIONWhen assigning addresses, pay careful attention to thefollowing points:1 Ensure that a specified DI data area, DO data area,



careful not to exceed R1499. When using PMC-SB6,be careful not to exceed R2999.)


- 205 -

Each item must be set as described below.MAX SLAVE NO.

This parameter specifies the maximum DP-Slave stationnumber currently being used.The maximum DP-Slave station number with which theFANUC CNC master function can communicate is 32. Thisrestriction stems from the size of the data area that can beused with the FANUC CNC. The station numberassignment for the DP-Slaves connected to this DP-Mastermust be sequential and begin from 3.

DI/DO SETTINGThis parameter specifies the areas to be used as DI/DO databuffers.The one and only restriction imposed on the PMC addressesthat can be used for these buffers is related to input- andoutput-only types.It is necessary to allocate as many sets of DI/DO data areasas the number of stations specified in "MAX SLAVE NO."

CAUTIONAlways set even-numbered bytes for DI SIZE andDO SIZE.

DIAGNOSE DATA SETTINGThis parameter specifies the area for saving standarddiagnostic data.See Table A-4,"Standard Diagnose Data" in Appendix Afor a detailed description of the standard diagnostic data.

NOTEDiagnose data is classified as standard diagnosedata and extended diagnose data. When series6556 of CONTROL SOFTWARE is used, onlystandard diagnose data (6 bytes) can be detected.


- 206 -

Soft key [INIT] on Screen B-7 clears the value of each addressassignment parameter (the address specification fields are set toR0000). So, specify valid values.

Example) On Screen B-7, MAX SLAVE NO. is 5. This indicates thatthree DP-Slaves having station numbers 3 to 5 areconnected.DI ADDRESS is R0000, and DI SIZE is 32. So, a DI dataarea is allocated for each of the DP-Slaves in 32-byte units,starting at R0000, as shown below. DO ADDRESS isR0100, and DO SIZE is 16. So, a DO data area is allocatedfor each of the DP-Slaves in 16-byte units, starting atR0100, as shown below.


DI data from DP-Slave #3

R0032


R0064


R0096


DO data from DP-Slave #3

R0116


R0132


R0148

For standard diagnosis data, similarly, DGN ADDRESSis R0200, and DGN DATA SIZE is 6. So, a 6-bytediagnose data area is assigned, starting at R0200, to theall DP-Slave stations, as indicated below.

Standard diagnosis data area assignmentR0200

Standard diagnosis data from DP-Slave #3

R0206


R0212


R0218


- 207 -

B.2 SLAVE FUNCTION SETTING

The contents of this section are the same as those of Section A.2,"SLAVE FUNCTION SETTING." See Section A.2.

CAUTIONWhen 6556 series of CONTROL SOFTWARE isused, INPUT DATA SIZE = 0 or OUTPUT DATASIZE = 0 can be set on the slave function settingscreen, but communication is disabled in this case.


- 208 -

B.3 SETTING THE SLAVE PARAMETERS FOR USING A SLAVESTATION MANUFACTURED BY FANUC

The contents of this section are the same as those of Section A.3, "SETTING THE SLAVE PARAMETERS FOR USING A SLAVESTATION MANUFACTURED BY FANUC." See Section A.3.


- 209 -

B.4 GSD FILE OF THE FANUC CNCS

The contents of this section are the same as those of Section A.4, "GSD FILE OF THE FANUC CNCS." See Section A.4.

C.SETTING USING A PERSONAL COMPUTER SUPPLEMENT B-62924EN/04

- 210 -

C SETTING USING A PERSONALCOMPUTER

To set the communication parameters for a FANUC master station,you can use PROFIBUS DP-Configurator (tool running on a PC)manufactured by Softing as well as the local station.This chapter explains how to set the communication parameters usingPROFIBUS DP-Configurator. For details, refer to the PROFIBUS-DPConfigurator manual.

B-62924EN/04 SUPPLEMENT C.SETTING USING A PERSONAL COMPUTER

- 211 -

C.1 SETTING USING DP-Configurator MANUFACTURED BYSofting

For a FANUC master station, you can use PROFIBUS-DPConfigurator manufactured by Softing to remotely download bus andslave parameters.Softing PROFIBUS-DP Configurator is currently supported by thefollowing two I/F board products:

- PROFIboard (Board for ISA/PCI slot)- PROFIcard (Board for PCMCIA)

CAUTIONOn Windows NT 4.0, the remote communicationparameter download function cannot be used, whichis also described in the Softing PROFIBUS-DPConfigurator manual. Use Softing PROFIBUS-DPConfigurator on Windows 3.1, Windows 95, orWindows 98.


- 212 -

Initial setting of PROFIBUS-DP Configurator(1) Mount a PROFIboard or PROFIcard on your personal computer

according to the instructions described in the correspondingmanual.

(2) Install PROFIBUS/DP DMK package, which is an I/F boarddriver provided by Softing.

(3) Install PROFI-KON-DP, which is PROFIBUS-DP Configuratorsoftware provided by Softing.

NOTEDp_Konf.exe, execution file installed in step (3),uses papi_l.dll (.../Win95sdk/papi/lib16), dll fileinstalled in step (2). For this reason, remember tocopy papi_l.dll into the directory containingDp_Konf.exe or set an environment variable.

(4) Open PROFIBUS on the Control Panel. Screen C-1 is displayed.Select PROFIboard or PROFIcard in the tree and click Add, thenmake settings for the I/F board.When PROFIcard is selected and setting terminates normally,Screen C-1 below is displayed.

Screen C-1

NOTECheck that a green check mark is displayed for theset I/F board as shown in Screen C-1. If a red crossis displayed for the set I/F board, proper remotedownloading cannot be performed. In this case,check the installed software again.


- 213 -

(5) Start PROFIBUS-DP Configurator and open Options, then PCInterface. Screen C-2 is displayed.On Screen C-2, select an I/F board type for PROFIBUS Interfaceunder Type.When PROFIcard is selected, Screen C-2 below is displayed.

Screen C-2

NOTEWhen the I/F board type is PROFIcard, set a file forLoadcard INI under Hardware Setup Files. The file isstored on cardinst (dos/loadcard.ini) which is afloppy disk provided by Softing. Specify the file.

A general initial setting procedure for using PROFIBUS-DPConfiguration is shown above. A general operation procedure forremote downloading is shown below.


- 214 -

Operation procedure on a FANUC master station

(1) Press function key <SYSTEM>, then press soft key [PMC] toswitch to the PMC screen.

(2) Pressing soft keys [PMCDGN], [IOCHK], and [PROFI] in thestated order displays Screen C-3.

Screen C-3

CAUTIONCheck that CONTROL SOFTWARE is Edition 08 orlater of series 6557 on Screen C-3.For remote downloading, MASTER SOFTWARE isrequired.

(3) Pressing soft key [MASTER] on this screen displays Screen C-4.

Screen C-4


- 215 -

(4) On Screen C-4, press soft key [INI.AL].All of bus parameters, slave parameters, and address assignmentare initialized.

(5) Turn the power to the FANUC master station, then on again.Screen C-4 is displayed again. Press soft key [MODE].Screen C-5 is displayed. On this screen, check that CURRENTMODE is STOP.

Screen C-5

Preparations for remote downloading on the FANUC master stationare now complete.


- 216 -

PROFIBUS-DP Configurator operation procedure(1) Start PROFIBUS-DP Configurator. Screen C-6 is displayed.

Screen C-6

(2) Open DDB, then Import. Screen C-7 is displayed.

Screen C-7

On this screen, click Add to select the GSD file for each device(master or slave station) to be used for PROFIBUS-DPConfigurator.When the GSD file for each device is read correctly, it is addedto Import DDB list on Screen C-7.


- 217 -

(3) Open Project, then New Project. Screen C-8 is displayed.

Screen C-8

(4) Select a master station for remote downloading from MasterSelection List under DDB Selection List on Screen C-8. ScreenC-9 is displayed.These parameters are used as the bus parameters to be remotelydownloaded.

Screen C-9

On Screen C-9, set values for Station Address and Baudrate.

CAUTIONFor Softing PROFIBUS-DP Configurator, the defaultTTR value is 50000. Click Edit and change the TTRvalue to 65000.


- 218 -

(5) Select a slave station for remote downloading from SlaveSelection List under DDB Selection List on Screen C-8. ScreenC-10 is displayed.These parameters are used as the slave parameters to be remotelydownloaded.

Screen C-10

On Screen C-10, set a value for Station Address. CAUTIONOn Screen C-10, there are an item for settingConfiguration Data on the Modules tab and an itemfor setting User Param Data on the Settings tab.Note that there is the following restriction on settingof these two parameters for a FANUC masterstation:configuration-data-length + user-param-data-length≤ 204 bytesThese parameter lengths are described in the GSDfile for each slave station. See the GSD file.

(6) Select the Modules tab on Screen C-10. Screen C-11 isdisplayed.

Screen C-11

On this screen, select a module name from Available Modulesand click Add. The selected module is added to Current Slots.This parameter is equivalent to slave parameter CONFIG DATAfor a FANUC master station.


- 219 -

The format for the FANUC slave stations is used for the modulenames in Available Modules on Screen C-11.

CAUTIONFor a FANUC slave station, set only one item forCurrent Slots.

(7) Select the Settings tab on Screen C-11. Screen C-12 is displayed.

Screen C-12

Set each parameter on Screen C-12 when required.

CAUTIONFor setting for a FANUC slave station, change thevalues for the following two parameters:- Set 55 for Min. Station Delay Responder on Screen

C-12.- With PROFIBUS-DP Configurator, the value set for

Watchdog Time cannot be changed. After remotedownloading, set WD FACT1 = WD FACT2 = 10directly on the slave parameter setting screen of theFANUC master station.

(8) Then, set the bus parameters to be used when PROFIBUS-DPConfigurator is used as a class-2 master station.Open Options, then Busparameter Master Class2 on Screen C-8.Screen C-13 is displayed.


- 220 -

Screen C-13

CAUTIONPay careful attention to the following points:- The station number specified for Station Address on

Screen C-13 is used when PROFIBUS-DPConfigurator is attached to the network. For thisreason, do not specify the station numbers of theFANUC master station and other master and slavestations on the network.

- Set the same baud rate as for the FANUC masterstation or another master station on the network.

- When the baud rate is 19.2 or 9.6 kbps, set 10000[msec] for Poll Timeout of PROFIBUS-DPConfigurator. At this time, the values set for PollTimeout for the FANUC master station or anothermaster station on the network need not be changed.

(9) Then, click Edit on Screen C-13. Screen C-14 is displayed.

Screen C-14


- 221 -

CAUTIONPay careful attention to the following two points:<1> For Softing PROFIBUS-DP Configurator, the

default TTR value is 50000. Change the TTRvalue to 65000.

<2> Change the values of the following threeparameters on Screen C-14 only when the baudrate is 12 Mbps:- Min. St. Delay Resp. : 11 → 13- Max. St. Delay : 800 → 802- Quiet Time : 9 → 12At this time, the values set for these threeparameters for the FANUC master station oranother master station on the network need notbe changed.

(10) Select Download, then Remote. Remote downloading starts.The bus parameters and slave parameters are automaticallydownloaded in this order.

CAUTIONRemote downloading overwrites the bus parametersand slave parameters set on the FANUC masterstation.Setting for address assignment cannot beperformed with PROFIBUS-DP Configurator. Aftercompletion of remote downloading, perform settingfor address assignment and turn the power off, thenon again.

General remote downloading operation is now complete.

B-62924EN/04 INDEX

i-1

INDEX<Number>

16i/18i/21i-A/B, Power Mate i-D/H, AND 16/18-C....... 13

<A>ALARM MESSAGES AND MEANINGS................... 163

APPLICABLE MODELS................................................. 5

<B>BUILDING A SAFE SYSTEM...................................... 93

Built-in I/O Machine Interface ..................................... 140

BUILT-IN I/O MACHINE INTERFACE..................... 141

Bus Parameter Setting............................... 18, 62, 170, 200

<C>CABLE CONNECTION .............................................. 112

Cable Installation.......................................................... 117

CABLE LENGTH AND TRANSFER RATE............... 110

CABLE SHIELDING................................................... 114

COMPLETE CONNECTION DIAGRAM........... 130, 135

COMPONENT LAYOUT ............................ 150, 154, 158

CONFIGURATION...................................... 116, 122, 132

CONNECTING THE PROFIBUS FUNCTIONS......... 107

Connection between the PROFIBUS Board and Adapter

Units ....................................................................... 126

CONNECTION DIAGRAM................................. 120, 138

CONNECTOR.............................................................. 111

Connector Layout ................................................. 128, 134

<D>Details of DI Connection .............................................. 143

Details of DO Connection ............................................ 145

DP-Master Function LED Indicators............................ 151

DP-Slave Function LED Indicators .............................. 152

Environmental Conditions............................ 117, 125, 133

ENVIRONMENTAL CONDITIONS........................... 139

EXAMPLE OF CONFIGURATION.............................. 98

EXAMPLE OF CONNECTION..................................... 97

<G>GSD FILE OF THE FANUC CNCS .. 51, 81, 90, 189, 209

<I>INSTALLATION ......................................... 117, 125, 133

<L>LCD-MOUNTED TYPE PROFIBUS FOR THE Series

16i/18i/21i .............................................................. 153

LED INDICATORS AND THEIR MEANINGS

................................................................ 151, 155, 159

LED Indicators of the DP-Master Function.......... 155, 159

LED Indicators of the DP-Slave Function ............ 156, 160

<M>MASTER FUNCTION SETTING............ 15, 61, 168, 198

MASTER FUNCTIONS................................................... 8

Master Station Setting..................................................... 99

Mounting the Adapter Unit........................................... 126

Mounting the Board.............................................. 125, 133

<N>NOTES ON CONNECTING PROFIBUS BOARDS FOR

THE Power Mate i.................................................. 136

<O>ORGANIZATION ............................................................ 4

OVERVIEW OF PROFIBUS-DP FUNCTIONS ............. 6

<P>Power Mate-D/H............................................................. 87

PROFIBUS Board Connector Layout........................... 119

PROFIBUS CABLE PARAMETERS .......................... 109

PROFIBUS CONNECTION ........................................ 108

PROFIBUS DRAWING NUMBER ............................. 162

PROFIBUS FOR THE LCD-MOUNTED TYPE Series

16i/18i/21i .............................................................. 121

PROFIBUS FOR THE Power Mate-D/H ............. 137, 161

PROFIBUS FOR THE Series 16/18-C ................. 115, 149

PROFIBUS FOR THE STAND-ALONE TYPE Series

16i/18i/21i, Series 15i, and Power Mate i ...... 131, 157

PROFIBUS Interface .................................................... 140

<S>SAFETY PRECAUTIONS.............................................s-1

Series 15i-A .................................................................... 59

Setting for Address Assignment................ 27, 71, 179, 204

Setting for Operation mode............................................. 31

INDEX B-62924EN/04

i-2

SETTING THE SLAVE PARAMETERS FOR USING A

SLAVE STATION MANUFACTURED BY FANUC

46, 80, 89, 188, 208

SETTING USING A PERSONAL COMPUTER......... 210

SETTING USING DP-Configurator MANUFACTURED

BY Softing ............................................................. 211

SETTING WHEN EDITION 07 OR EARLIER OF

SERIES 6557 IS USED.......................................... 167

SETTING WHEN SERIES 6556 IS USED.................. 197

SIGNALS ..................................................................... 140

SLAVE FUNCTION SETTING......... 37, 75, 88, 183, 207

SLAVE FUNCTIONS ...................................................... 9

Slave Parameter Setting............................ 23, 66, 175, 202

Slave Station Setting..................................................... 103

SOFTWARE FOR PROFIBUS-DP FUNCTIONS........... 7

Status Register .................................................. 44, 79, 187

SYSTEM SAFETY ........................................................ 94

<T>TERMINATING RESISTOR....................................... 113

<U>Updating DI/DO Data for the Master Function .............. 33

Updating DI/DO Data for the Slave Function ................ 45

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TECHNICAL REPORT (MANUAL) NO. TMN 02/084E

Date 08. October. 2002 General Manager of Software Laboratory

FANUC PROFIBUS-DP Board OPERATOR’S MANUAL

(Additional explanation of PROFIBUS-DP Master functions)

1. Communicate this report to:

Your information only O GE Fanuc-N, GE Fanuc-E FANUC Robotics CINCINNATI MILACRON

O Machine tool builder O Sales agency O End user

2. Summary for Sales Documents

Please order A02B-0222-J535#6558 for the following situations. -When new features described at the attached document are needed. -When PROFIBUS is adopted to a new system. Please order A02B-0222-J535#6557 for the following situation. -When a operator wants to use the existing PROFIBUS setting parameters without re-configuration.

3. Notice 4. Attached Document

DrawingNo.

B-62924EN/04-1 (1/42～42/42)

NO. FL4G-02/A002 Original section of issue

Senior Manager

Super Visor

Person in Charge

EAO

1/42

SHEETDESCRIPTIONDESIGN DATE EDIT

01 Mutai Newly registered

TITLE: Additional explanation of PROFIBUS-DP Master function

(I/O Module Assignment function)

B-62924EN/04-1

FANUC LTD.

02.10.7 DRAW.NO.

Additional explanation of PROFIBUS-DP Master function

I/O Module Assignment function

1.Type of applied technical documents

Name FANUC PROFIBUS-DP Board OPERATOR'S MANUAL

Spec.No./Ed. B-62924EN/04

2.Summary of Change

Group Name/Outline New Add Correct Delete

ApplicableDate

Basic Function

I/O Module Assignment function is added to PROFIBUS-DP master function

Add Sept, 2002

Optional Function

Unit

Maintenance Parts

Notice

This additional manual is explained about PROFIBUS software #6558 series.

Correction

Another

2/42





B-62924EN/04-1

FANUC LTD.

02.10.7 DRAW.NO.

Additional explanation of PROFIBUS-DP Master function

I/O Module Assignment function

When using the I/O Module Assignment function with the PROFIBUS application software 6558,

please refer to this additional explanation, instead of Section 1.2.2, 1.2.3 and 1.2.4 of FANUC

PROFIBUS-DP board OPERATOR’S manual.

CAUTION

After configuring DI/DO signals, please confirm that the signals behave correctly with the conditions of ensuring the safety.

The operation without the above confirmation may cause critical accidents.

Outline of Master function

CNC type

LCD-mounted type Series 16i/18i/21i-A/B, Stand-alone type Series 16i/18i/21i-A,

Power Mate i-D/H,

Series 16/18-C

CONTROL SOFTWARE 6558 Series

Range of valid master station numbers

0 to125

Range of valid slave station numbers for which communication can be performed

0 to125

The maximum number of the slaves which can be connected

48 slaves

The maximum number of the I/O modules per every slave

24 modules per a slave (The sum of slaves and modules is limited to 48 unit in the whole of network. When using both Master and Slave, the number of modules is limited until 8 units per a slave.)

Maximum DI/DO data size per slave station

244 bytes (Total of DI/DO)

Maximum user parameter data size per slave station

206 bytes

Maximum diagnose data size per slave station

242 bytes

3/42





B-62924EN/04-1

FANUC LTD.

02.10.7 DRAW.NO.


To use the master function, bus parameters and slave parameters must be set, and

addresses must be assigned.

The bus parameters and slave parameters are referenced by the PROFIBUS network. As

for address assignment, PMC addresses used by the DP-Master to transfer DI/DO signals

to and from each DP-Slave are set.

The slave parameters and the address assignment are set for each slave.

The methods of setting the parameters are described below.

NOTE To set the bus parameters and slave parameters, you can also use

DP-Configurator (tool running on a PC) manufactured by Softing. For details of this setting, see Section C.1, "Setting Using DP-Configurator Manufactured BY Softing," in "SUPPLEMENT." of B-62924EN.

Procedure (CRT/MDI)

(1) Press function key <SYSTEM>, then press soft key [PMC] to switch to the PMC

screen.

(2) Pressing the soft keys [PMCDGN], [IOCHK], and [PROFI] in the stated order

displays Screen 1-1.

Screen 1-1

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(3) Pressing the soft key [MASTER] displays Screen 1-2.

After installing the PROFIBUS software 6558 into CNC, if PROFIBUS parameter

settings are set for the first time, the soft key [INI.AL] should be pressed. By

pressing [INI.AL], all of PROFIBUS master parameters are initialized.

Screen 1-2

(4) The following parameters can be set by pressing the corresponding soft keys on the

screen 1-2:

[BUS] : Bus parameter setting Please refer to “1.2.1. Bus Parameter Setting” [SLAVE] : Slave parameter setting and address assignment Please refer to “1.2.2. Slave Index Setting” [MODE] : Operation mode setting Please refer to “1.2.5. Setting for Operation Mode”

“REFRESH TIME” indicates the time required for updating DI/DO data for the master

function. For details, see Section 1.2.6, "Updating DI/DO Data for the Master

Function."

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A error message may be displayed at the lower left of Screen 1-2. In this case, take

appropriate action, referencing the table below.

Table 1-1 Error messages of Screen 1-2

Message Caution and action “INVALID MASTER PARAMETERS”

When CONTROL SOFTWARE is changed from 6557 Series to 6558, this message will appear. In this case, please enter the soft key [INI.AL], and turn the power off, then on again.

“INVALID SLAVE EXISTS”

One or several invalid slaves exist. The following reasons can be guessed. -DI/DO size of a slave exceeds 244

bytes. -An available slave does not exist. -An invalid slave parameter is being

configured at a slave.

“ INVALID MODULE EXISTS”

One or several invalid modules exist. Configure valid parameter referring to “1.2.4 DI/DO Parameter Setting”, and turn the power off, then on again.

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(1) Pressing soft key [BUS] on Screen 1-2 displays Screen 1-3 to enable bus parameter

setting.

Screen 1-3

(2) By pressing the soft key [MS.USR] on Screen 1-3, the detail parameter screen

[MASTER USER DATA] will appear. Please refer to “Detail parameter setting” of

this section.

(3) The soft key [INIT] on Screen 1-3 initializes the bus parameters to the standard

values used when the transfer rate is 12 Mbps.

CAUTION

To change the transfer rate from 12 Mbps to a different value, set the bus parameters again according to Table 1-3, "Bus Parameter Settings Corresponding to Each Transfer Rate" in this section.

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Table 1-2 summarizes the bus parameters. Table 1-3 lists the bus parameter values to be

set for each transfer rate. For details, refer to the following documents issued by

PROFIBUS Nutzerorganisation e.V.:

PROFIBUS STANDARD DIN 19 245 Part 1

This document describes data transfer, access methods, protocols, and interfacing

with the application layer.


This document describes an abstract model of the PROFIBUS-DP communication

function, and so forth.

Detail parameter setting

The detail data of [MASTER USER DATA] can be configured as follows.

(1) By pressing the soft key [MS.USR] on Screen 1-3, Screen 1-4 will appear.

Screen 1-4

(2) By pressing the soft key [LENGTH], the message [MASTER USER DATA

LENGTH] appears, and a data length can be entered.

(3) Input values into [MASTER USER DATA=], shifting the cursor.

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Table 1-2 Bus Parameters

Item Description

FDL ADD Fieldbus data link address. Station number of the DP-Master.

BAUDRATE Transfer rate code number. (0:9.6 kbps, 1:19.2 kbps, 2:93.75 kbps, 3:187.5 kbps, 4:500 kbps, 6:1.5 Mbps, 7:3 Mbps, 8:6 Mbps, 9:12 Mbps)

T SL Slot time. Maximum time from token frame transmission until the first character of a response frame is read. (Unit: Bit time)

MIN T SDR Minimum station delay time of responders. Minimum elapsed time from the last bit of send or receive data to the first bit of the next send or receive data. (Unit: Bit time)

MAX T SDR Maximum station delay time of responders. Maximum elapsed time from the last bit of send or receive data to the first bit of the next send or receive data. (Unit: Bit time)

T QUI Transmitter fall/repeater switch time. Wait time after data transmission until the receiver can be operated again. (Unit: Bit time)

T SET Setup time. Time after the occurrence of an event until the execution of the corresponding action is started. (Unit: Bit time)

T TR Target rotation time. Estimated time required for a PROFIBUS token to make one rotation. (Unit: Bit time)

G Gap update factor. Number of tokens that rotate during a gap maintenance period.

HSA Highest station address. Maximum node number set on the PROFIBUS.

MAX RETRY Maximum number of retries.

BP FLAG User interface flag. Bit 7: Error_Action_Flag

0: Does not change the operation mode if an error occurs. 1: Changes the operation mode from Operate mode to the Clear mode if an error occurs.

Bits 6 to 0: Reserved (to be set to 0)

MIN SLAVE INT Minimum slave interval between two slave poll cycles. Minimum polling interval between slaves. (Unit: 100 µs)

POLL TIME OUT Poll timeout for master-master communication. Maximum wait time after the issue of a request for communication between master stations until a response is received. (Unit: 1 ms)

DATA CONTROL Time until the data transfer list is updated at least once. (Unit: 10 ms)

CLASS2 NAME Master who created this parameter sets. Name of the DP-Master (class2) that created the bus parameters.

MASTER USER DATA Data necessary for the bus parameters and specified by the manufacturer.

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Remarks) Explanation of terms used in the above table

Bit time : Time (sec) required to send one bit of data at a

specified transfer rate. This is equivalent to the

reciprocal of a transfer rate (bps).

Gap maintenance

period

: Period during which the list for managing the

address of the connected DP-Master is updated.

(Unit: Bit time)

Operation mode : Operation mode of a DP-Master (class1).

Offline : Mode that disables communication with

all nodes

Stop : Mode that enables communication with

the DP-Master (class2)

Clear : Mode in which the output to the

DP-Slave is set to 0

Operate : Mode that enables DI/DO

communication with DP-Slaves

Data transfer list : List with a 16-byte area. This list is held in the

DP-Master so that each bit indicates whether data

transfer to and from each of the nodes of station

numbers 0 to 125 has been performed (1) or not (0)

(bits 6 and 7 of the 16th byte are not used).

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Table 1-3 Bus Parameter Settings Corresponding to Each Transfer Rate

Bus parameter Setting 1: FDL ADD 0 to 125

2: BAUDRATE (Kbps) ≤187.5 500 1500 3000 6000 12000

3: T SL 100 200 300 400 600 1000

4: MIN T SDR 11 11 11 11 11 11

5: MAX T SDR 60 100 150 250 450 800

6: T QUI 0 0 0 3 6 9

7: T SET 1 1 1 4 8 16

8: TTR 65000 65000 65000 65000 65000 65000

9: G 10 10 10 10 10 10

10: HSA 126 126 126 126 126 126

11: MAX RETRY 1 1 1 2 3 4

12: BP FLAG 0 0 0 0 0 0

13: MIN SLAVE INT 1 1 1 1 1 1

14: POLL TIME OUT 1000 1000 1000 1000 1000 1000

15: DATA CONTROL 100 100 100 100 100 100

16: CLASS2 NAME This parameter need not be set.

17: MASTER USER DATA 0 0 0 0 0 0

Viewing this table for parameter setting:

First, determine the value of 2: BAUDRATE. Then, set the other parameters according to the set baud rate.

NOTE For multiple master communication, satisfy the following conditions:

- The value set for 1:FDL ADD for a master station is not used as another master station number.

- The same values are set for bus parameters 2 to 11 for all master stations.

- When a larger value is set for T SET, T SL is larger than T ID1. (T ID1 = 33 + 2 + 2 × T SET + T QUI)

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The following error message may be displayed at the lower left of Screen 1-3 and 1-4. In

this case, take appropriate action, referencing the table below.

Table 1-4 Error messages of Screen 1-3 and 1-4

Message Caution and action “INVALID INPUT” Invalid value was inputted.

(For example, in the case of attempting to input a letter into the parameter of a numerical attribution.)

“ INVALID RANGE” The inputted value is exceeding the range.

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1.2.2. Slave Index Setting

(1) By pressing the soft key [SLAVE] on Screen 1-2, Screen 1-5 will appear.

According to Table 1-5, please configure “NO”, “NSL”, “DGN ADDR” and “SIZ”

per every slave.

If Power-OFF and ON is done once, the configured entries are sorted in the order of

“NO” (Slave number) automatically.

NOTE The slave station which sends the diagnosis data of more than 243 bytes to a master can not be connected.

Screen 1-5

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Table 1-5 Parameters of Slave Index setting screen

Parameters Explanation

IDX Index number of slaves Max.48 slaves can be configured.

Slave number Available slaves are marked with “*” at the slave number “NO” on the screen.

NO

Range : 0 to 125

Slot number. The number of I/O module units which are installed in the corresponding slave station. As for the detail of “Slot”, please refer to “Explanation of Slot” below.

NSL

Range : 1 to 24 Note) If both Master and Slave functions are

used at the same time, the range is limited until 8 units.

Start address of Diagnostic data. As for the contents of Diagnostic data, please refer to “Diagnostic data” at the end of this section.

ADDR

Range : Please refer to “CAUTION” of this section.

Size of Diagnostic data

DGN

SIZ

Range : 0 to 244 (byte)

[Explanation of Slot]

When a slave station consists of multiple I/O module units, the location which each I/O

module is installed in is called “Slot”.

Basic module

(Power supply

unit etc.)

I/O module I/O module

I/O module

Slot number 0 Slot No. 1 Slot No. 2 Slot No. n

In the above figure, NSL (Slot number) becomes equal to “n+1”.

Some of module units may not have an input/output interface. Even if so, this module

must be counted as one slot.

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CAUTION

When assigning PROFIBUS data to PMC address, please note the following. (1) Only PMC R address area is available.

(When using PMC-SB5, PMC-SB6 or PMC-NB6, more than R2999 can not be configured.

(2) Ensure that a specified DI data area, DO data area, and Diagnostic data area do not overlap one another.

(3) Ensure that the specified addresses do not overlap a work area used for a ladder program.

NOTE The slot number “NSL” should be inputted by manual even when the Profibus parameters are configured automatically by using Softing’s Configurator.

(2)The following soft keys are available.

[ENABLE]:

This key makes the selected slave available. An available slave is marked with “*” at

the position of the slave number “NO” on the screen.

[DISBLE] :

This key annuls the selected slave.

[ NO.AT ] :

This key assigns slave numbers with a serial to the slave which the cursor is located

on and the following slaves.

[ ADR.AT ] :

This key assigns addresses to the selected slave and the following available slaves.

For example, with the situation that the values are inputted like Screen 1-5, when

this key is pushed at the position of IDX 7, DGN_ADDRs of IDX08-10 will be

configured automatically as R1506, R1512, R1518 respectively.

[ INIT ] :

This key initializes the parameter values of the selected slave, including the slave

parameter and DI/DO address assignment.

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[ INIT.AL ] :

This key initializes the parameter values of the selected slave and the following

slaves , including the slave parameter and DI/DO address assignment.

(3) With the following keys, the sub-setting screens appear.

[ SLV.PR ] : Slave Parameter Setting

-> Please refer to “1.2.3. Slave Parameter Setting”.

[ DI/DO ] : Setting for Address Assignment

-> Please refer to “1.2.4. DI/DO Parameter Setting”.

Diagnostic data

Diagnostic data is classified as standard Diagnostic data (6 bytes) and extended

Diagnostic data (7th byte and later). DP-Slaves supplied by other manufacturers may use

extended Diagnostic data of more than six bytes. When using DP-Slaves supplied by

other manufacturers, determine the size of the Diagnostic data by referencing the GSD

file of each DP-Slave.

For details, refer to the following documents issued by PROFIBUS Nutzerorganisation

e.V.

- PROFIBUS STANDARD DIN 19 245 Part 1

- Draft Standard PROFIBUS-DP DIN 19 245 Part 3

For details of standard Diagnostic data, see Table 1-6.

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Table 1-6 Standard Diagnostic data

Item Description

STATION STATUS 1 (Size: 1 byte)

The state of a DP-Slave is indicated. Bit 7: Diag.Master_Lock

This bit indicates that the parameters of the DP-Slave are set by another DP-Master. When the value of MASTER_ADDRESS is neither 255 nor the address of the DP-Master, this bit is set by the DP-Master.

Bit 6: Diag.Prm_Fault This bit is set by the DP-Slave when the latest parameter data contains an error.

Bit 5: Diag.Invalid_Slave_Response This bit is set by the DP-Master when incorrect data is received from the DP-Slave.

Bit 4: Diag.Not_Supported This bit is set by the DP-Slave when the DP-Slave receives an instruction that is not supported by the DP-Slave.

Bit 3: Diag.Ext_Diag This bit is set by the DP-Slave when extended Diagnostic data can be used. The DP-Master of FANUC CNCs can reference up to 26 bytes of the extended Diagnostic data.

Bit 2: Diag.Cfg_Fault This bit is set by the DP-Slave when the latest configuration data differs from the data held by the DP-Slave.

Bit 1: Diag.Station_Not_Ready This bit is set by the DP-Slave when the DP-Slave is not ready for data transfer.

Bit 0: Diag.Station_Non_Existent This bit is set by the DP-Slave when communication with the DP-Slave is impossible.

STATION STATUS 2 (Size: 1 byte)

The state of a DP-Slave is indicated. Bit 7: Diag.Deactivated

This bit is set by the DP-Master when communication with the DP-Slave is disabled during slave parameter setting.

Bit 6: Reserved (undefined) Bit 5: Diag.Sync_Mode

This bit is set by the DP-Slave when the Sync control command is received. Bit 4: Diag.Freeze_Mode

This bit is set by the DP-Slave when the Freeze control command is received. Bit 3: Diag.WD_On

This bit is set by the DP-Slave when the disconnection detection function is operating. Bit 2: Reserved (set to 1 at all times) Bit 1: Diag.Stat_Diag

If this bit is set by the DP-Slave, the DP-Master reads the Diagnostic data until this bit is reset.

Bit 0: Diag.Prm_Req This bit is set by the DP-Slave when the parameters of the DP-Slave need to be set again. The setting of this bit is held until the parameters are set again.

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Table 1-6 Standard Diagnostic data

Item Description

STATION STATUS 3 The state of a DP-Slave is indicated.

MASTER ADDRESS (Size: 1 byte)

The address of the DP-Master that set the parameters of the DP-Slave is set. If the parameters are not set by the DP-Master, 255 is set.

IDENT NUMBER (Size: 2 bytes)


The following error message may be displayed at the lower left of Screen 1-5. In this

case, take appropriate action, referencing the table below.





“ ’NO’ OVERLAP” The inputted slave number ‘NO’ is overlapping with the other.

“ ’NSL’ SUM OVER” The total of slot number “NSL” is exceeding the limit of 48 slots.

“SET ‘NO’ AND ‘NSL’ OF CURRENT IDX”

The ‘NO’ or ‘NSL’ of the slave indicated by the cursor is not being configured. Both ‘NO’ and ‘NSL’ should be set.

“INVALID IDX EXISTS” In slave index table, there is the invalid slave which the ‘NO’ or ‘NSL’ is not configured in.

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1.2.3. Slave Parameter Setting

(1) By pressing the soft key [SLV.PR] on Screen 1-5, Screen 1-6 will appear.

According to Table 1-8, please configure the slave parameters.

Screen 1-6

(2) By pressing the soft key [USR.PR], the detail parameter setting screen appears and

“USER PARAM DATA” can be configured.

By pressing the soft key [SL.USR], another detail parameter setting screen appears

and “SLAVE USER DATA” can be configured.

For details, please refer to “Detail parameter setting” of this section.

(3) Additionally, the following keys are available.

[PR.SLV], [NX.SLV] :

By pressing soft keys [PRV.SLV] and [NXT.SLV], the slave number of a DP-Slave

to be set can be changed. To move to the screen of a desired slave number directly,

input the slave number, then press soft key [PRV.SLV] or [NXT.SLV].

[ INIT ] :

The soft key [INIT] can initialize the slave parameters of a specified slave number as

the default values for a DP-Slave of a FANUC CNC.

(4) By pressing the soft key [DI/DO], the DI/DO parameter setting screen appears.

-> Please refer to “1.2.4. DI/DO Parameter Setting”.

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Table 1-8 shows the explanations of the slave parameters

For details, refer to the documents issued by PROFIBUS Nutzerorganisation e.V.

Table 1-8 Slave Parameters

Item Description

IDENT NO. DP-Slave identification number. This parameter specifies the identification number of a DP-Slave to be connected.

SLAVE FLAG Slave specification bit flag. Bit 7: Active

0: Does not perform communication with the DP-Slave. 1: Performs communication with the DP-Slave.

Bit 6: New_Prm 0: Does not send new parameter data to the DP-Slave. 1: Sends new parameter data to the DP-Slave.

Bits 5 to 0: Reserved (to be service to 0)

SLAVE TYPE Manufacturer-specified type indication for the DP-Slave.

LOCK REQ, UNLOCK REQ

When LOCK_REQ=ON and UNLOCK_REQ=OFF are set, the DP-Slave disables the DP-Master from modifying the parameters. When LOCK_REQ=OFF and UNLOCK_REQ=ON are set, the DP-Slave allows the DP-Master to modify the parameters.

SYNC REQ When ON is set, the Sync control command can be used.

FREEZE REQ When ON is set, the Freeze control command can be used.

WD REQ When On is set, disconnection detection is performed.

WD FACT1, WD FACT2


MIN TSDR Minimum wait time until a response is returned to the DP-Master. (Unit: Bit time)

GROUP IDENT This parameter specifies groups for the DDLM_Global_Control instruction. Each bit represents a group. Up to eight groups can be specified.

USER PRM DATA User parameter data. Data necessary for the slave parameters and specified by the manufacturer.

CONFIG DATA Configuration data. Data for specifying information such as the size of I/O data to be exchanged between the DP-Master and DP-Slave.

SLAVE USER DATA Slave user data. Data specified by the manufacturer to indicate the characteristics of the DP-Slave.

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Remarks) Explanation of terms used in the table

Sync control

command

: Command for specifying operation in Sync mode. When

operation is performed in Sync mode, the DP-Slave

updates the output signals only when the Sync control

command is received.

Freeze control

command

: Command for specifying operation in Freeze mode. When

operation is performed in Freeze mode, the DP-Slave

updates input signals only when the Freeze control

command is received.

Disconnection

detection

: Function for checking if data is exchanged normally

between the DP-Master and DP-Slave. If data is not

exchanged after the disconnection detection time

determined by WD FACT1 and WD FACT2 has elapsed,

an error is assumed.

Bit time : Time (sec) required to send one bit of data at a specified

transfer rate. This is equivalent to the reciprocal of a

transfer rate (bps).

NOTE When using DP-Slaves provided by other manufacturers, set the slave parameters according to the GSD file attached to each DP-Slave.

When a DP-Slave manufactured by FANUC is connected, see Section 1.4, "Setting the Slave Parameters for Using a Slave Station Manufactured by FANUC" of B-62924EN.

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Detail parameter setting

The detail data of [USER PARAM DATA] and [SLAVE USER DATA] can be

configured as follows.

As a example, the way of inputting values is explained with the screen of [USER

PARAM DATA].

(1) By pressing the soft key [USR.PR] on Screen 1-6, Screen 1-7 will appear.

Screen 1-7

(2) By pressing the soft key [LENGTH], the message [USER PARAM LENGTH]

appears, and a data length can be entered.

(3) Input values into [USER PARAM DATA=], shifting the cursor.

As for the data contents of [USER PARAM DATA], please refer to GSD file of the

corresponding slave station too.

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The following error message may be displayed at the lower left of Screen 1-6. In this

case, take appropriate action, referencing the table below.





“INVALID IDX EXISTS” In slave index table, there is the invalid line that the ‘NO’ and ‘NSL’ is not being configured.

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1.2.4. DI/DO Parameter Setting

(1) By pressing the soft key [DI/DO] of Screen 1-5 or Screen 1-6, the Screen 1-8 will

appear.

Screen 1-8

Table 1-10 Parameters of DI/DO Parameter Setting screen

Paramter Explanation

NO Slave number “RSV” means its column and later are not configured yet.

SLT Slot number

Start address of DI and DO data DI/DO ADDR

Range : Refer to “CAUTION”

Size of DI and DO data DI/DO SIZ

Range : 0 to 244 (byte)

MOD State of I/O module As for the detail, refer to [Explanation of MOD].

CONNECT SLOT The total number of slots

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CAUTION





NOTE Max 244 bytes are configurable for DI/DO size per each slave.

(2) By pressing the soft key [MOD.PR], the Module Setting screen (such as Screen 1-9)

corresponding to the I/O module unit will appear.

For example, Screen 1-9 shows the Module Setting screen of Slot number 1 of Slave

number 3.

Screen 1-9

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Table 1-11 Parameters of Module Setting screen

Parameter Explanation

Set the byte-size of a [MODULE] data of the GSD file.

MODULE LENGTH

Range : 0 to 128 (byte) NOTE : Further, as for one slave, the total of

every module size should be within 128 bytes.

MODULE(HEX) Set byte-data of [Module] according to the GSD file.

SHIFT ON : A new module data area is inserted by the size of inputted [MODULE LENGTH]. And the inserted module data area is filled with “00”. When the above [MODULE] data is configured by manual, “ON” should be selected.

OFF:A new module data area is not inserted . Please refer to the following note.

NOTE Even if module data of slaves is downloaded by using Softing Configurator, [MODULE LENGTH] should be configured by manual. But in this case, please select “OFF” with [SHIFT]. Because the whole of slave’s module data is downloaded by the Configurator. The module data will be separated according to the size of [MODULE LENGTH] in the order of slave number, and the separated module data will be shown at the position of [MODULE] on the screen.

(3) By pressing the soft key [LENGTH], the message [MODULE LENGTH] appears,

and a data length can be entered.

(4) According to the size of [LENGTH], the module data per I/O module unit can be

inputted at [MODULE=].

For details, please refer to “Module data setting” of this section.

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(5) After inputting module data, by pressing the return key [<], the display returns to

Screen 1-8. Please confirm that “MOD” indicates either of the following conditions;

(a) through (e).

[Explanation of MOD]

(a)” - - - ” : The module is not configured yet.

(This module is regarded as “MODULE LENGH = 0”)

(b)" I / - " : The module has the input interface only.

(c)" - / 0 " : The module has the output interface only.

(d)" I / 0 " : The module has the input and output interface.

(e)" - / - " : The module has neither input/output interface.

(This module is regarded as “MODULE LENGTH = 1 and

MODULE(HEX) = 00”)

(f)"OVR" : At one slave station, the total of DI/DO size is over 244 bytes.

(g)"ERR" : the module data is not correct.

(6)And then please move the cursor at the first slot of the slave, and press the soft key

[SIZ.AT]. The DI/DO size of every slot will be configured automatically according to

the contents of the module data.

CAUTION

DI/DO size of every slot should be configured by using the soft key [SIZ.AT].

(7)Please configure DI/DO address of every slot.

(8)About every slave station, please repeat the operation (1)- (7).

(9)To do the above operation, the following keys will be convenient.

[PR.SLV], [NX.SLV] :

By pressing the soft keys [PRV.SLV] and [NXT.SLV], the slave number of a

DP-Slave to be set can be changed. To move to the screen of a desired slave number

directly, enter a slave number, then press the soft key [PRV.SLV] or [NXT.SLV].

[ ADD ] :

A new slot index can be added.

[ DELETE ] :

The selected slot index can be deleted.

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[ ADR.AT ] :

This key assigns the serial address to the slave which the cursor is located on and the

following slaves.

For example, in Screen 1-8, when this key is pushed at the position of SLT 00 of NO

7 (Slave number 7), each DI/DO_ADDR of SLT01-03 will be configured

automatically as R0204/R0704, R0208/R0708 and R0212/R0712.

Module data setting

In general, the selectable modules are listed in the GSD file of a slave. Please select the

appropriate data from the [Module] list of the GSD file, corresponding to the I/O module

unit you use, and configure the parameter to Screen 1-9 as a module data.

A module data of Screen 1-9 can be inputted as follows.

Example)

This example explains the way of configuring the following I/O module units like NO 3

(Slave number 3) of Screen 1-8.

[ Types of the installed I/O modules into the slave station (NO.3) ]

Basic Module No input/output interface

I/O Module (Type A) Input : one byte , Output : one byte

I/O Module (Type B) Input only : one byte

[Position of Modules on Slave station 3]

Basic module

I/O Module

(TYPE A)

I/O Module

(TYPE B)

I/O Module

(TYPE A)

Slot number 0 Slot number 1 Slot number 2 Slot number 3

Here, the GSD file is assumed to be described as follows.

・

・

Module = ” NO I/O ” 0x00

EndModule

Module = ” TYPE A” 0x10, 0x20

EndModule

Module = ” TYPE B ”

EndModule ・

・

The contents (a part) of GSD file

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Thus, each module parameter should be configured as follows.

SLAVE NO/ SLOT NO Example of Parameter setting

SLAVE NO. = 3 SLOT NO. = 0

MODULE LENGTH = 1 MODULE(HEX) = 00


MODULE LENGTH = 2 MODULE(HEX) = 10 20


MODULE LENGTH = 1 MODULE(HEX) = 20


MODULE LENGTH = 2 MODULE(HEX) = 10 20

Additionally, the following soft keys are available.

[PR.SLT], [NX.SLT] :

A slot number can be moved to the previous or next.

As for the format of GSD file, refer to the documents issued by PROFIBUS

Nutzerorganisation e.V.

The following error message may be displayed at the lower left of Screen 1-8 and 1-9. In

this case, take appropriate action, referencing the table below.

Table 1-12 Error messages of Screen 1-8 and 1-9





The soft key was pressed when the cursor is being located at an inappropriate position. For example, When the cursor is located at ‘RSV’ of Screen 1-8, the soft key is pressed.

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1.2.5 Setting for Operation mode

(1) By pressing the soft key [MODE] on Screen 1-2, Screen 1-10 will appear.

The current operation mode is displayed at [CURRENT MODE].

Screen 1-10

(2) By pressing the soft key [STOP], [CLEAR], or [OPERA], the operation mode will be

changed to the corresponding one. The transition must be done in the order of

[OPERATE]->[CLEAR]->[STOP], or [STOP]->[CLEAR]->[OPERATE].

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(3) The current operation mode can also be indicated at the PMC R address which is

configured with [INDICATION ADDRESS].

The following table shows the explanation of each mode and its value.

Table 1-13 Explanation of Operation mode

Mode status Explanation

Communication with all nodes is disabled. OFFLINE

0x00

Communication with another master station (such as a class-2 master station) is enabled. On the other hand, this master can not communicate with any slave.

STOP

0x40

The outputs of all slaves are cleared. CLEAR

0x80

This master is exchanging DI/DO data with slaves

OPEARTE

0xC0

CAUTION





(4) The following soft key is available.

[DISABLE] :

[INDICATION ADDRESS] is cleared. The operation mode is not notified to PMC.

In that case, the [INDICATION ADDRESS] indication becomes ” ----- ”.

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NOTE For the operation mode, pay careful attention to the following points:

(1) When the power is turned on in the status in which at least one slave station is ACTIVE, the master station automatically becomes to the OPERATE mode.

(2) In a case other than (1), that is, when the power is turned on in the status in which all slave stations are not ACTIVE, the master station automatically becomes to the STOP mode.

(3) A FANUC master station cannot manually be put in the OFFLINE mode.

If a FANUC master station is in the OFFLINE mode immediately after power-on, an error may occur. See Table 1-1, "Setting Error Message."

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A message may be displayed at the lower left of Screen 1-10. In this case, take


Table 1-14 Messages of Screen 1-10

Message Caution and action

“MODE SET OK” Mode setting was performed normally.


Mode setting was performed in an invalid order. (For example, a correct order is from [OPERATE] to [STOP].) Change the mode with a correct order.

"POWER MUST BE OFF"

This message is displayed if one of the following three operations is performed: 1) [STOP] and [OFFLINE] are set in this order.2) The power is turned on in the status in

which no slave stations are ACTIVE, and [STOP] and [CLEAR] are set in this order.

3) After slave parameters are downloaded from a class-2 master station, [STOP] and [CLEAR] are set in this order.

In case 1), the OFFLINE status is equal to the power-off status. In case 2) or 3), if settings are changed by downloading from the slave parameter setting screen or class-2 master station after power-on, the change cannot be made take effect immediately. For this reason, turn the power off, then on again.

“INVALID INPUT” Invalid value was inputted. (For example, in the case of attempting to input a letter into the parameter of a numerical attribution.)


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1.2.6 Updating DI/DO Data for the Master Function

When making a ladder program, fully consider “Data refresh time”, “Data simultaneity”

and “Relation with ladder program” described below.

Data refresh time

The data refresh time for the master function means the time required for updating DI/DO

data for all slave stations that is allocated in the R area of the PMC by address

assignment.

NOTE -The processing time of a ladder program is not included in the data

refresh time. -It should be considered that the reaction time is twice data refresh

time at the best. (The reaction time is until receiving the response as DI data after sending request as DO data.)

-DI/DO data means all DI/DO data of the available slots which are included in available slaves.

Available slaves are marked with “*” at the position [NO] of the Slave index screen. Available slots are marked with either of “---“, “I/O”,”I/-“,”-/O” or “-/-“ at the position [MOD] of the DI/DO address screen.

When only the master function is used

The data refresh time for the master function is indicated at REFRESH TIME on Screen

1-2.

REFRESH TIME : XXX MSEC ([XXX + XXX] is for maintenance data.)

It is displayed with three digits. If the number of digits is exceeded, OVR or OVER is

displayed, but it does not affect communication.

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The data refresh time can be estimated roughly by using the following expression.

CAUTION

-The answer led from this expression can not be guaranteed as the actual refresh time. Please use an estimated value for a reference.

As for the actual refresh time, please see REFRESH TIME of Screen 1-2.

The actual refresh time may increase/decrease by 8msec unit, against the estimated value.

Especially in the case that the number of slaves or DI/DO data increases , and if the number of slaves becomes more than ten and if its total size of DI/DO data becomes more than 150 bytes, the actual refresh time possibly becomes longer than the estimated time.

-Note that DI/DO data may not be updated within the time displayed for

REFRESH TIME in either of the following cases: The status of at least one communication slave station is changing every moment. (For example, when diagnostic data is being updated.) A service is being received from a class-2 master station every moment.

By using the expression(A), please divide slaves into several groups in the order of the

slave number.

a1×N_slave + a2×N_slot + a3×SIZE ≤ C ....................................................(A)

a1, a2, a3,C : Constant parameters N_slave : Number of communication slave stations N_slot : Number of slots SIZE : DI/DO data size

Table 1-15 Constant Parameters in Expression (A)

CNC 16i/18i/21i-A/B,

Power Matei –D/H 16/18-C

a1 37 33

a2 8.6 8.2

a3 1.3 1.5 Constant

C 750 831

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With the following procedure, the slaves are divided into several groups.

<1> Add N_slot and SIZE respectively for each communication slave station in

ascending order of slave numbers. Each time N_slave, N_slot and SIZE for a slave is

added, substitute the cumulative number of communication slave stations (N_slave),

the number of slots (N_slot) and the DI/DO data size (SIZE) in expression (A) and

check whether the condition is satisfied.

<2> Increase the values of N_slave, N_slot and SIZE and obtain the maximum values of

N_slavemax, N_slotmax and SIZEmax that satisfy the condition for expression (A).

<3> When the value of the left-hand side exceeds C, clear the values of N_slave, N_slot

and SIZE once. Start calculation from step <1> as the second group.

<4> Perform steps <1> to <3> for all communication slave stations and count the number

of slave group (n).

Thus, the data refresh time is obtained roughly as follows:

n × 8 msec

Example of calculating the data refresh time

[Conditions] • CNC model: 16i/18i/21i-A/B

• Communication slave station settings for the master function:

- Slave No. 3: N_slot=1, SIZE = 122/122 - Slave No. 4: N_slot=1, SIZE = 122/122 - Slave No. 5: N_slot=1, SIZE = 122/122 - Slave No. 6: N_slot=1, SIZE = 122/122

[Calculation]

• First group

- Calculation for slave No. 3 and 4: 37×2 + 8.6×(1+1) + 1.3×(244+244)=726 <750

→ N_slave, N_slot and SIZE indicate the maximum values. Slave No3 and 4 are first group.

- Calculation for slave No. 3 to 5: 37×3 + 8.6×(1+1+1) + 1.3×(244+244+244)=1088 >750

→ The values of N_slave, N_slot and SIZE should be cleared. • Second group

- Calculation for slave No. 5 to 6: 37×2 + 8.6×(1+1) + 1.3×(244+244)=726 <750

→ Slave No 5 and 6 are second group. and calculation for all communication slave stations is complete. Thus, the slave group (n) is determined to be 2.

Thus, the data refresh time is 16 msec for this example.

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When both the master and slave functions are used together

In this case, the data refresh time is similar to that described in "When only the master

function is used" above.

However, SIZE: DI/DO data size in expression (A) is as follows:

SIZE = SIZEmas + SIZEslv

SIZEmas : DI/DO data size for the master function SIZEslv : DI/DO data size for the slave function

Example of calculating the data refresh time

[Conditions] • CNC model: 16i/18i/21i-A/B

• Communication slave station settings for the master function :

- Slave No. 3: N_slot=1, SIZE = 122/122 - Slave No. 4: N_slot=1, SIZE = 122/122 - Slave No. 5: N_slot=1, SIZE = 122/122 - Slave No. 6: N_slot=1, SIZE = 122/122

• Settings for the slave function : DI/DO SIZE = 8/8

[Calculation]

• First group

- Calculation for slave No. 3 and 4: 37×2 + 8.6×(1+1) + 1.3×(244+244+16)=746 <750

→ N_slave, N_slot and SIZE indicate the maximum values. Slave No 3 and 4 are first group.

- Calculation for slave No. 3 to 5: 37×3 + 8.6×(1+1+1) + 1.3×(244+244+244+16)=1109 >750

→ The values of N_slave, N_slot and SIZE should be cleared. • Second group

- Calculation for slave No. 5 to 6: 37×2 + 8.6×(1+1) + 1.3×(244+244+16)=746 <750

→ Slave No 5 and 6 are second group and calculation for all communication slave stations is complete. Thus slave group (n) is determined to be 2.

Thus, the data refresh time is 16 msec for this example.

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Data simultaneity

With the master function and Slave function, when DI/DO signals are handled with a

ladder program, data simultaneity is guaranteed in each of long data (4-byte data) units

and word data (2-byte data) units under the following constraints.

NOTE If the following constraints are not satisfied, simultaneity of each data

length cannot be guaranteed.

Data simultaneity for long data (4-byte data)

<1> Use the following commands in the PMC ladder program in 4-byte units:

DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB, SUBB, MULB,

DIVB, NUMEB, MOVN, EOR, AND, OR, and NOT

<2> When assigning DI/DO data to R addresses in the PMC area, follow the rules below

depending on the PMC type:

- For the PMC-SB6 Each R address area must start at a 4-byte boundary. (Example:R0000, R0004, R0008, R0012, . . .) - For the PMC-SB5, PMC-SA1, or PMC-SA5 Each R address area must start at 2 bytes ahead of a 4-byte

boundary. (Example: R0002, R0006, R0010, R0014, . . .)

Data simultaneity for word data (2-byte data) <1> Use the following commands in the PMC ladder program in 2-byte units:

DECB, CODEB, DCNVB, COMPB, DSCHB, XMOVB, ADDB, SUBB, MULB,

DIVB, NUMEB, MOVW, MOVN, EOR, AND, OR, and NOT

<2> When assigning DI/DO data to R addresses in the PMC area, each R address area

must start at a 2-byte boundary.

Data simultaneity for byte data (1-byte data)

There is no constraint.

Simultaneity is always guaranteed within 1-byte data.

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Relation with ladder program

The refresh processing of PROFIBUS DI/DO data does not synchronize with the

processing of a ladder program. (Without relation to the processing of a ladder program,

the refresh processing of PROFIBUS DI/DO data is executed.)

Thus, the following cautions should be considered for the development of a ladder

program.

CAUTION

Data simultaneity within one command of a ladder program is guaranteed on the conditions of the previous section. But even while a ladder program works, the DI/DO data updating of PROFIBUS is executed regardless of a ladder program running. Thus, a ladder programmer should consider the following points.

- When a certain PROFIBUS input signal which is set to the specified R address is read by the two position of a ladder program, and even if the ladder program can run within one scan time, it is not guaranteed that the same value can be read.

The second ladder command may read the different value from the one of the first.

- When a ladder program writes the data of PRFIBUS output signal

into the specified R address, its signal may be transferred to the slave before a ladder program runs until the end.

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Addresses must be assigned on a DP-Slave before the slave function can be used.

By address assignment, a PMC address is set, and the sizes of the DI/DO areas used for

the DI/DO signal transfer between the DP-Master and DP-Slave are set. The method of

setting each parameter is described below.

NOTE Before a DP-Slave manufactured by FANUC can be used, data

dependent on the FANUC DP-Slave must be set in the slave parameters of the DP-Master. So, when setting the slave parameters of the DP-Master, see Section 1.4, "Setting the Slave Parameters for Using a slave Station Manufactured by FANUC" of B-62924EN

Procedure (CRT/MDI)

(1) Press function key <SYSTEM>. Then, press soft key [PMC] to switch to the PMC

screen.

(2) Pressing soft keys [PMCDGN], [IOCHK] , and [PROFI] in the stated order displays

Screen 1-11.

Screen 1-11

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(3) Pressing the soft key [SLAVE] on this screen displays Screen 1-16.

If PROFIBUS parameter settings are set for the first time, the soft key [INI.AL]

should be pressed. By pressing [INI.AL], all of PROFIBUS master parameters are

initialized.

Screen 1-12

Table 1-16 Parameters for Slave function

Item Description

NO Slave number

Start address of DI/DO data DI/DO ADDR

Range: Please refer to “CAUTION”.

Size of DI/DO data DI/DO SIZ

Range: 0 to 244 bytes

Ident number IDENT NO

00A0:Stand-alone type 16i/18i/21i-A/B, LCD-mounted type16i/18i/21i-A/B, 16/18-C 00A1:Power Matei –D/H

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CAUTION

When assigning addresses, pay careful attention to the following points: 1 Ensure that the specified DI and DO areas do not overlap one another. 2 Ensure that specified addresses do not overlap a work area used for a

ladder program. 3 Use the R area only. (When using the PMC-SB5, be careful not to

exceed R1499. When using the PMC-SB6 or the PMC-NB6, be careful not to exceed R2999.)

(4) STATUS on Screen 1-12 indicates the state of the DP-Slave. Each item under

STATUS has the meaning described below.

CONFIG STATUS

This item indicates whether slave parameter CONFIG DATA of the DP-Master matches the configuration data recognized by the DP-Slave. If there is a mismatch, normal communication cannot be performed.

FF: Initial state 00: State in which normal communication is being performed

(match) 03: State in which received configuration data cannot be accepted

PARAM STATUS

This item indicates whether slave parameter USER PRM DATA of the DP-Master matches the parameter data recognized by the DP-Slave. If there is a mismatch, normal communication cannot be performed.

FF: Initial state 00: State in which normal communication is being performed

(match) 03: State in which received parameter data cannot be accepted

WATCHDOG STATUS

This item indicates the connection state of the communication link with the DP-Master.

00: Connected 01: Disconnected

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LIVELIST STATUS

This item indicates whether the software of the slave function is operating normally. During normal operation, this item counts up from 00 to FF. When FF is reached, another count operation starts from 00. This status indicates whether the software of the slave function is operating normally, but does not indicate whether communication is being performed normally.

A message may be displayed at the lower left of Screen 1-12. In this case, take



Message Caution and action

“INVALID INPUT” Invalid value was inputted. (For example, in the case of attempting to input a letter into the parameter of a numerical attribution.)
