18. Custom protocol slave commands

18.1. Overview

18.2. Industrial Bus Protocol Integration for Robot Motion Control

To facilitate PLC-based robot motion control through various industrial bus protocols (CC-Link IEF Basic, Profinet, Ethernet/IP, and EtherCAT), the integrated mini control cabinet has been equipped with FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 cards, FRJ-PCIeN-EIP/CC/PN-RJ-V10 cards, and FRJ-PCIeN-EC-RJ-V10 cards.

18.3. Environment Configuration

The required card models and software versions are as follows:

18.3.1. FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 board hardware environment setup

1. Install the FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 board into the integrated mini control box as shown.

Figure 17.2-1 FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 board installation

Figure 17.2-2 FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 board network port

2. The robot control box and PLC wiring is shown below.

Figure 17.2-3 Control Box & Mitsubishi PLC Wiring Diagrams

Figure 17.2-4 Control Box & Siemens PLC Wiring Diagrams

Figure 17.2-5 Control Box & Omron PLC Wiring Diagrams

Figure 17.2-6 Control Box & Omron PLC Wiring Diagrams

Note

1: Robot control box (board input network port); 2: Switch; 3: PC; 4: Mitsubishi PLC (CC-Link IEF Basic network port); 5: Siemens PLC (Profinet network port); 6: Omron PLC (Ethernet/IP network port); 7: Omron PLC (EtherCAT network port);

Important

When the protocol is switched to EtherCAT bus, the board’s network port needs to be distinguished as EtherCAT_IN and EtherCAT_OUT. At this time, the PLC’s EtherCAT network port is directly connected to the board’s EtherCAT_IN through a network cable.

18.3.2. FRJ-PCIeN Board Hardware Setup

1. Install the board into the integrated mini control box as shown.

Figure 17.2-7 FRJ-PCIeN Board Ethernet Port

2. Wiring between robot control box and PLC is shown below.

Figure 17.2-8 Control Box & Mitsubishi PLC Wiring Diagram

Figure 17.2-9 Control Box & Siemens PLC Wiring Diagram

Figure 17.2-10 Control Box & Inovance PLC Wiring Diagram

Note

1: Robot control box (board Ethernet port); 2: Switch; 3: Laptop PC; 4: Mitsubishi PLC (CC-Link IEF Basic port); 5: Siemens PLC (Profinet port); 6: Inovance PLC (Ethernet/IP port);

3. Firmware upgrade is required when switching protocols on FRJ-PCIeN board. For upgrade: - Set PC IP to “192.168.0.xxx” - Open “Gateway Toolset” software - Select PC network adapter - Click “Start” (bottom right) - Click “Search” (top right) to find board devices

Figure 17.2-11 Connecting Board Device

4. Click “Upgrade” (bottom left) - Select board device - Click “…” (top right) to choose protocol firmware - Click “Upgrade” and wait for completion

Figure 17.2-12 Board Protocol Switching

Note

IP address changes after protocol switching as shown below.

Table 17.2-1 Board IP Addresses

When configured for CC-Link IEF Basic, controller changes board IP to “192.168.0.113”.

When configured for Ethernet/IP, controller changes board IP to “192.168.0.112”.

When switching to Profinet, if slave device name matches master, master will automatically configure slave IP.

5. FRJ-PCIeN-EC-RJ-V10 Board Firmware Upgrade

Enter the URL 192.169.58.2 to access the robot interface. Click “Initial Settings” -> “Peripherals” -> “Board Communication” interface to obtain the firmware version number of the FRJ-PCIeN-EC-RJ-V10 board. Select the bin file to be upgraded, click Upload, wait for the firmware upgrade to succeed, and then restart the control box.

Figure 17.2-13 Board Firmware Upgrade

Note

1. Only V3.9.2 and later versions support EtherCAT protocol firmware upgrade; 2. Upgrading the EtherCAT protocol firmware requires unloading any currently running open protocols.

18.3.3. Software environment setup

1. Browser IP input 192.168.58.2, account for admin, password for 123, click ‘Login’, enter the robot control box Web interface.

Figure 17.2-14 Web Login Interface

2. Click System Settings -> About Interface, click the Software Upgrade button, select the software.tar.gz file, and upload the upgrade package.

Figure 17.2-15 Upgrade software

Note

QX control box web version needs 3.8.0 and above, LA control box web version needs 3.8.0 and above.

3. Click the extension button in the upper right corner and switch from ‘Local Mode’ to ‘Remote Mode’.

Figure 17.2-16 Switch remote mode

4. Select the controller slave protocol and whether the auto-start function is required, then click the “Set” button. Note: To switch between different protocols, you need to click the “Uninstall” button first before configuring other protocols.

Figure 17.2-17 Configure the communication protocol

Note

Switching different protocols requires restarting the control box before configuring the protocols.

18.3.4. PLC Environment construction

The test environment built to implement the slave commands for each protocol is shown in the table below, which includes the PLC model, firmware version and test software used in each protocol.