Profibus RJ2 - PLC

[Raymi]

Hello,

I'm working with a Fanuc s420 i W robot with a RJ2 controller.
The RJ2 has a profibuscard ( A16B 3200 0220/02A600159 ) which I connected to a PLC (slave).
I got a GSD-file from this PLC to set up the connection.

Could someone tell me how I can load the GSD-file to the RJ2 controller?
Or isn't this possible?
And how should I configure the parameters of the profibus in the TP?

I don't have any manual of this profibuscard, so any help/manual about setting up this profibusconnection is helpfull!

Thanks

[krzychugg]

Hello,

Unfortunately You have to manually setup profibus configuration.
What PLC do You want to connect with robot controller?

Krzychu

[Raymi]

Thank you for the info!

And do you know which values and parameters of the gsd-file should be inserted in the RJ2?
Or do you have a manual?

It's a Jetter-plc that I'm trying to connect.

grtz

[joker]

Hi, You don't need to have any gsd file for PLC connection.
You have to only know what is an adress of robot in hardware PLC and how many input and output bytes are reserved for robot<->plc connection. CONSISTENT FLAG switch to OFF. That's all folks  
GSD file You need to setup slave devices parameters.

[Raymi]

Hi,

I know, it isn't difficult to set the robot as slave.

But now the robot should work as master because the profibus of the Jetter-plc only works as slave...
So I need to put the information of the GSD-file into the robot but I don't know how..??

[luetin]

I did this on a R30iA just recently. I never worked with a RJ2 though, so there are probably differences.

You can't load a GSD-file directly to the controller, so you have to manually enter slave-parameters for each unit. For a R30iA system you do this in meny->setup->profibus->other->slave param.

Option 1 is to manually interpret the GSD-file to retrieve the parameters, which is troublesome especially if you have a modular GSD-file.

Option 2 is to use a third-party software. I personally use Siemens com profibus. In this software I can load the GSD-file and configure as desired and then export a GSD-file with only the parameters set in my configuration. From this file it's a lot easier to retrive the parameters.

Hi,

I know, it isn't difficult to set the robot as slave.

But now the robot should work as master because the profibus of the Jetter-plc only works as slave...
So I need to put the information of the GSD-file into the robot but I don't know how..??

[joker]

Hi,

I know, it isn't difficult to set the robot as slave.

But now the robot should work as master because the profibus of the Jetter-plc only works as slave...
So I need to put the information of the GSD-file into the robot but I don't know how..??

You will not load GSD file into robot, 'cause it is not possible. You have to write in the robot software everything what You need from GSD file. Have You got a GSD files for Your devices? Could You eventually send it to me?
Any way.... If I understood right, You want to control PLC from robot side?? If yes, then this is really not standard solution :)

[Raymi]

Yes I got the GSD-file of my devices and I'll mail it to you.

I know it isn't the usual way but I want to try it...
I just need someone who can tell me which values from the gsd-file,
I have to put in the robotsoftware.

Joker: I'll send you an email with the gsd-file, maybe you can help.

Thanks

[Raymi]

I'm not sure it was send right so I post it here..

;============================================================

; Profibus Device Database of :

;   Jetter NANO DP slave

;   Model :       N-PROFI

;   Description : Profibus DP slave for PROCESS-PLC NANO

; Language :  Any

; Date :      11.11.1999

; Author :    vm, Jetter AG

;============================================================

;
;   ! DO NOT EDIT THIS FILE !
;
;============================================================

#Profibus_DP



GSD_Revision        = 1



; Device identification

Vendor_Name         = "Jetter AG"

Model_Name          = "N-PROFI 1"

Revision            = "V 1.0"

Ident_Number        = 0x04F2

Protocol_Ident      = 0              ; DP protocol

Station_Type        = 0              ; Slave device

FMS_supp            = 0              ; FMS not supported

Hardware_Release    = "Revision 01"

Software_Release    = "Version 1.01"



; Supported baudrates

9.6_supp            = 1

19.2_supp           = 1

93.75_supp          = 1

187.5_supp          = 1

500_supp            = 1

1.5M_supp           = 1

3M_supp             = 1

6M_supp             = 1

12M_supp            = 1



; Maximum responder time for supported baudrates

MaxTsdr_9.6         = 60

MaxTsdr_19.2        = 60

MaxTsdr_93.75       = 60

MaxTsdr_187.5       = 60

MaxTsdr_500         = 100

MaxTsdr_1.5M        = 150

MaxTsdr_3M          = 250

MaxTsdr_6M          = 450

MaxTsdr_12M         = 800



; Supported hardware features

Redundancy          = 0       ; not supported

Repeater_Ctrl_Sig   = 2       ; TTL

24V_Pins            = 0       ; not connected

Implementation_Type = "SPC3"

Bitmap_Device="JT04F2_"


; Supported DP features

Freeze_Mode_supp    = 0       ; not supported

Sync_Mode_supp      = 0       ; not supported

Auto_Baud_supp      = 1       ; supported

Set_Slave_Add_supp  = 0       ; not supported



; Maximum polling frequency

Min_Slave_Intervall = 1       ; 100 us



; Maximum supported sizes

Modular_Station     = 1       ; modular

Max_Module          = 24      ;

Max_Input_Len       = 244

Max_Output_Len      = 244

Max_Data_Len        = 416

Max_User_Prm_Data_Len = 25    ; max 32: 7 bytes system + 25 bytes user


; definition of Parameters

PrmText=1
  Text(0)= "disable"
  Text(1)= "enable"
EndPrmText

ExtUserPrmData=1 "DPV1-Mode"
  Bit(7) 1 0-1
  Prm_Text_Ref=1
EndExtUserPrmData

;User_Prm_Data_Len=3
;User_Prm_Data = 0x80,0x00,0x00
Ext_User_Prm_Data_Const(0)= 0x80,0x00,0x00
Ext_User_Prm_Data_Ref(0)=1


Modul_Offset        = 1



Fail_Safe           = 0       ; state CLEAR not accepted



Slave_Family        = 0       ; no special family

Max_Diag_Data_Len   = 32      ; max 26 byte user diag + 6 byte system





; Definition of modules


; Parameter-Modules:

Module = "Parameter: 1 Byte" 0x00

  Ext_Module_Prm_Data_Len=1
EndModule

;
Module = "Parameter: 2 Byte" 0x00

  Ext_Module_Prm_Data_Len=2
EndModule

;
Module = "Parameter: 4 Byte" 0x00

  Ext_Module_Prm_Data_Len=4
EndModule

;
Module = "Parameter: 8 Byte" 0x00

  Ext_Module_Prm_Data_Len=8
EndModule

;
Module = "Parameter: 16 Byte" 0x00

  Ext_Module_Prm_Data_Len=16
EndModule


; Input-Modules:

Module = "INPUT:     1 word" 0x50

EndModule

;

Module = "INPUT:     2 word" 0x51

EndModule

;

Module = "INPUT:     4 word" 0x53

EndModule

;

Module = "INPUT:     8 word" 0x57

EndModule

;

Module = "INPUT:    16 word" 0x5F

EndModule

;

Module = "INPUT:    32 word" 0x40,0x5F

EndModule

;

Module = "INPUT:    64 word" 0x40,0x7F

EndModule


; Output-Modules:

Module = "OUTPUT:    1 word" 0x60

EndModule

;

Module = "OUTPUT:    2 word" 0x61

EndModule

;

Module = "OUTPUT:    4 word" 0x63

EndModule

;

Module = "OUTPUT:    8 word" 0x67

EndModule

;

Module = "OUTPUT:   16 word" 0x6F

EndModule

;

Module = "OUTPUT:   32 word" 0x80,0x5F

EndModule

;

Module = "OUTPUT:   64 word" 0x80,0x7F

EndModule