Bus devices | 珞石

10.5 Bus devices

10.5.1 Overview of bus devices

CC-Link, Modbus, EtherCAT, and PROFINET are supported.
CC-Link includes CC-Link devices (connected via EtherCAT) and CC-Link IE Field Basic.
EtherCAT can be used to expand bus modules such as IO modules, PROFINET, and EtherNet/IP.

Supported Bus

Protocol

Supported method

Remarks

Modbus

TCP

Master and slave

UDP

Not supported

RTU

Master and slave

Industrial robots only

CC-Link

485

Remove device station (slave)

Industrial robots only

IE Field Basic

Remove device station (slave)

The following function codes are supported in Modbus:

Function code

Meaning

Supported

0x01

Read coil

Supported

0x05

Write a single coil

Supported

0x0F

Write multiple coils

Supported

0x02

Read discrete input

Supported

0x04

Read input register

Not supported

0x03

Read holding register

Supported

0x06

Write a single holding register

Supported

0x10

Write multiple holding registers

Supported

10.5.2 Bus devices parameter configuration

The page is at: "Communications" -> "Fieldbus Devices". The page is divided into two parts. The upper part manages all bus connections and allows for individual opening and closing operations for each bus connection. When the bus connection is closed, the IO configured for this connection will not be displayed in "Status Monitoring" -> "IO Signal". The lower part is the attribute parameters of the currently selected bus device.

①

List of bus devices.

②

The parameters of the currently selected bus device.

③

The bus device operation buttons, from left to right, are Create, Edit, and Delete.

Parameter Name

Parameter Explanation

Name

The name is used when configuring "IO Device" and "Register."
For example, the names in the following figure are modbus_0, modbus_1, modbus_2, and cclink_3.

As shown in the figure below:

"IO device config" name field is used in IO device configuration to indicate which bus the IO device is related to;
"Register" name field is used in Register to indicate which bus the register is related to;

Type

It can be selected when adding/editing a bus device. Only CC-Link, Modbus, EtherCAT, and PROFINET are supported. Note:

CC-Link includes CC-Link devices (connected via EtherCAT) and CC-Link IE Field Basic.
EtherCAT can be used to expand bus modules such as IO modules, Profinet, and EtherNet/IP.

Type

It indicates whether the current robot is acting as a master or slave on the bus.

Endian

It is mainly for registers. Since each register occupies 2 bytes, there are many hexadecimal sequences of the two bytes. This attribute needs to correspond to the master and the slave, otherwise, the data will not meet the expectations. Four types of endianness are supported: ABCD, CDAB (default), BADC, and DCBA.

Enabling button

The bus function can be enabled or disabled through this button. Each bus device to be enabled or disabled individually is supported.
Note: After a bus device is disabled, the IOs configured on the bus device will not be displayed in "Status Monitoring" -> "IO Signal".

10.5.2.1 Modbus communication

On the bus device page, click on the bottom right corner to enter the new communication bus device page, and select the device type as "MODBUS". It supports the TCP and RTU protocol, and the device can be configured as a master or slave.

10.5.2.2 Modbus TCP configuration

Parameter	Introduction
Type	"master", the robot serves as a master; "slave", the robot acts as a slave;
Slave ID	When the robot serves as a slave, ensure that the overall configuration of the bus does not conflict with other slaves. When the robot serves as a master, it indicates the target slave ID that the robot expects to communicate with. Note: When the robot serves as a master, it only supports single-slave communication with external devices;
TCP/IP	When the robot serves as a slave, fill in 0.0.0.0, which means all network cards are monitored. When the robot serves as a master, fill in the IP address of the target slave ID that the robot communicates with;
TCP port	The port number when the slave uses the TCP protocol.
Holding register start address	The start address of the register affected by the function codes 0x03, 0x06, and 0x10. Each register occupies 2 bytes. For write-only registers, when the robot acts as a slave, the holding register function code is 0x03, and when the robot acts as a master, the holding register is 0x06 or 0x10. For read-only registers, when the robot acts as a slave, the holding register function code is 0x06 or 0x10, and when the robot acts as a master, the holding register function code is 0x03.
Holding Registers Number	The number of holding registers from the holding register start address.
Coil start address	The start address of the register affected by the function codes 0x01, 0x05, and 0x0F.
Coils Number	The number of coil registers from the coil start address.
Discrete Input Start Address	The start address of the register affected by the function code 0x02.
Discrete Input Number	The number of discrete input registers from the discrete input start address.

Parameter

Introduction

Type

"master", the robot serves as a master; "slave", the robot acts as a slave;

Slave ID

When the robot serves as a slave, ensure that the overall configuration of the bus does not conflict with other slaves.
When the robot serves as a master, it indicates the target slave ID that the robot expects to communicate with.
Note: When the robot serves as a master, it only supports single-slave communication with external devices;

TCP/IP

When the robot serves as a slave, fill in 0.0.0.0, which means all network cards are monitored.
When the robot serves as a master, fill in the IP address of the target slave ID that the robot communicates with;

TCP port

The port number when the slave uses the TCP protocol.

Holding register start address

The start address of the register affected by the function codes 0x03, 0x06, and 0x10. Each register occupies 2 bytes.
For write-only registers, when the robot acts as a slave, the holding register function code is 0x03, and when the robot acts as a master, the holding register is 0x06 or 0x10.
For read-only registers, when the robot acts as a slave, the holding register function code is 0x06 or 0x10, and when the robot acts as a master, the holding register function code is 0x03.

Holding Registers Number

The number of holding registers from the holding register start address.

Coil start address

The start address of the register affected by the function codes 0x01, 0x05, and 0x0F.

Coils Number

The number of coil registers from the coil start address.

Discrete Input Start Address

The start address of the register affected by the function code 0x02.

Discrete Input Number

The number of discrete input registers from the discrete input start address.

10.5.2.3 Modbus RTU configuration

The Modbus RTU conception is partly the same as the Modbus TCP conception, which will not be repeated here. Only the differences are described as follows:
RTU serial port name: Indicates the serial port medium used for bus communication. Configure it in "Communication" -> "Serial Port Configuration", including the parameters for communication.

10.5.2.4 CC-Link communication

On the bus device page, click on the bottom right corner to enter the new communication bus device page, and select the device type as "CCLINK". It supports the CC-Link and CC-Link IE Field Basic protocol, and the device can be configured as slave only.

10.5.2.5 CC-Link configuration

Parameter	Introduction
Protol type	cclink_ie means the CC-Link IE Field Basic communication protol that directly uses the robot’s Ethernet port.
cclink_ie NetCard	Configure which Ethernet card is used for communication.
cclink_ie Occupied Station Number	1 to 16 occupied stations can be configured. The default number is 4. Default values are recommended.
cclink_ie Protol Version	Ver1 or Ver2 is optional. Please ensure that it is consistent with that of the master.

Parameter

Introduction

Protol type

cclink_ie means the CC-Link IE Field Basic communication protol that directly uses the robot’s Ethernet port.

cclink_ie NetCard

Configure which Ethernet card is used for communication.

cclink_ie Occupied Station Number

1 to 16 occupied stations can be configured. The default number is 4. Default values are recommended.

cclink_ie Protol Version

Ver1 or Ver2 is optional. Please ensure that it is consistent with that of the master.

10.5.2.6 EtherCAT communication

On the bus device page, click on the bottom right corner to enter the new communication bus device page, and select the device type as "ETHERCAT". EtherCAT can be used to access PROFINET and EtherNet/IP gateway modules.

Slaver Address: The slave address number in the EtherCAT bus topology.
Note: Since the EtherCAT slave address number 1000-4000 is occupied by the robot internal devices, to avoid device address conflict, the EtherCAT slave address number of extended devices should not be less than 5000.

10.5.2.7 PROFINET communication

10.5.2.7.1 PROFINET slave

On the bus device page, click on the bottom right corner to enter the new communication bus device page, and select the device type as "PROFINET". The device can be configured as a slave only. One PROFINET slave can be configured for one robot, and multiple robots can join the same PROFINET network by modifying the PROFINET slave name to enable multiple slaves. The model selected for Slots 1-6 should be consistent with the correspondent-side configuration.

Parameter explanation:

Parameter	Explanation
Device type	Select PROFINET.
Name	Equipment code.
Type	Only slaver is supported.
Endian	Select DCBA generally, depending on the agreement between the communicating parties.
Station name	PROFINET slave name. It should be consistent with the correspondent-side configuration. Chinese characters, uppercase letters, and underlines are not allowed.
NetCard	Select the network port to connect to the correspondent; includes the network card IP and name.
Update period	Default to 10ms, minimum 2ms.
Slot 1 type	Only DO_256 model can be selected, indicating that 256 digital quantities are output from the robot to the correspondent via slot 1.
Slot 2 type	Only DI_256 model can be selected, indicating that there are 256 digital inputs from the correspondent to the robot via slot 2.
Slot 3 type	The option models include AO_Int16_8/ AO_Int16_16/ AO_Int16_32/ AO_Int16_64/ AO_Int16_128/ AO_Int16_256. AO_Int16_8 means that there are 8 int16 analog outputs from the robot to the correspondent via slot 3, and so forth.
Slot 4 type	The option models include AI_Int16_8/ AI_Int16_16/ AI_Int16_32/ AI_Int16_64/ AI_Int16_128/ AI_Int16_256. AI_Int16_8 means that there are 8 int16 analog inputs from the correspondent to the robot via slot 4, and so forth.
Slot 5 type	The option models include AO_Float32_8/ AO_Float32_16/ AO_Float32_32/ AO_Float32_64/ AO_Float32_128/ AO_Float32_256. AO_Float32_8 means that there are 8 float32 analog outputs from the robot to the correspondent via slot 5, and so forth.
Slot 6 type	The option models include AI_Float32_8/ AI_Float32_16/ AI_Float32_32/ AI_Float32_64/ AI_Float32_128/ AI_Float32_256. AI_Float32_8 means that there are 8 flaot32 analog inputs from the correspondent to the robot via slot 6, and so forth.

Parameter

Explanation

Device type

Select PROFINET.

Name

Equipment code.

Type

Only slaver is supported.

Endian

Select DCBA generally, depending on the agreement between the communicating parties.

Station name

PROFINET slave name. It should be consistent with the correspondent-side configuration. Chinese characters, uppercase letters, and underlines are not allowed.

NetCard

Select the network port to connect to the correspondent; includes the network card IP and name.

Update period

Default to 10ms, minimum 2ms.

Slot 1 type

Only DO_256 model can be selected, indicating that 256 digital quantities are output from the robot to the correspondent via slot 1.

Slot 2 type

Only DI_256 model can be selected, indicating that there are 256 digital inputs from the correspondent to the robot via slot 2.

Slot 3 type

The option models include AO_Int16_8/ AO_Int16_16/ AO_Int16_32/ AO_Int16_64/ AO_Int16_128/ AO_Int16_256.
AO_Int16_8 means that there are 8 int16 analog outputs from the robot to the correspondent via slot 3, and so forth.

Slot 4 type

The option models include AI_Int16_8/ AI_Int16_16/ AI_Int16_32/ AI_Int16_64/ AI_Int16_128/ AI_Int16_256.
AI_Int16_8 means that there are 8 int16 analog inputs from the correspondent to the robot via slot 4, and so forth.

Slot 5 type

The option models include AO_Float32_8/ AO_Float32_16/ AO_Float32_32/ AO_Float32_64/ AO_Float32_128/ AO_Float32_256.
AO_Float32_8 means that there are 8 float32 analog outputs from the robot to the correspondent via slot 5, and so forth.

Slot 6 type

The option models include AI_Float32_8/ AI_Float32_16/ AI_Float32_32/ AI_Float32_64/ AI_Float32_128/ AI_Float32_256.
AI_Float32_8 means that there are 8 flaot32 analog inputs from the correspondent to the robot via slot 6, and so forth.

10.5.2.7.2 PROFINET master

On the bus device page, click on the bottom right corner to enter the new communication bus device page, select the device type as "PROFINET", and select the mode as "master". A robot supports setting up a PROFINET master.

Parameter explanation:

Parameter	Explanation
Device type	Select PROFINET.
Name	Equipment code.
Type	master
Endian	The master only supports CDAB.
Station name	PROFINET master name
NetCard	Select the network port to connect with the communication partner.
Configuration files	Select the configuration file for connecting with the communication partner.
Manage configuration files	Import and edit configuration files.
On	Open the system directory to select the files to import.
Import	Import configuration files.
File list	Display existing configuration files.
File name	Name of the currently selected file.
Rename	Rename the selected file
Delete	Delete the currently selected file

Parameter

Explanation

Device type

Select PROFINET.

Name

Equipment code.

Type

master

Endian

The master only supports CDAB.

Station name

PROFINET master name

NetCard

Select the network port to connect with the communication partner.

Configuration files

Select the configuration file for connecting with the communication partner.

Manage configuration files

Import and edit configuration files.

Open the system directory to select the files to import.

Import

Import configuration files.

File list

Display existing configuration files.

File name

Name of the currently selected file.

Rename

Rename the selected file

Delete

Delete the currently selected file

10.5.2.8 Ethernet/IP communication

On the bus device page, click on the bottom right corner to enter the new communication bus device page, and select the device type as "EtherNetIP". The device can be configured as a slave only. A single robot supports the configuration of one EtherNet/IP slave station.

Parameter explanation:

Parameter	Explanation
Device type	That is, EtherNetIP.
Name	Bus device name, cannot be the same as the names of other bus devices.
Type	Only slaver is supported.
Endian	Select CDAB generally, depending on the agreement between the communicating parties.
NetCard	Select the name of the network card connecting to the EtherNet/IP master station. The dropdown box will display the IP address and name of the network card.
Read-only Registers Number	Number of read-only registers for the EtherNet/IP slave station: Each register represents 2 bytes. Options are 32, 64, 128, and 248 registers.
Write-only Registers Number	Number of write-only registers for the EtherNet/IP slave station: Each register represents 2 bytes. Options are 32, 64, 128, and 248 registers.

Parameter

Explanation

Device type

That is, EtherNetIP.

Name

Bus device name, cannot be the same as the names of other bus devices.

Type

Only slaver is supported.

Endian

Select CDAB generally, depending on the agreement between the communicating parties.

NetCard

Select the name of the network card connecting to the EtherNet/IP master station. The dropdown box will display the IP address and name of the network card.

Read-only Registers Number

Number of read-only registers for the EtherNet/IP slave station: Each register represents 2 bytes. Options are 32, 64, 128, and 248 registers.

Write-only Registers Number

Number of write-only registers for the EtherNet/IP slave station: Each register represents 2 bytes. Options are 32, 64, 128, and 248 registers.

Notes:

Only one EtherNet/IP bus device is supported. Attempting to create more will result in an error message.
Register addresses start from 0. If 32 is selected, it indicates that the device has registers with addresses from 0 to 31. When configuring register mappings in the "Registers" interface, pay attention to the address range.
Read-only and write-only are defined from the perspective of the xCore control system: Read-only registers correspond to EtherNet/IP master Output data; write-only registers correspond to EtherNet/IP master Input data.
The number of read-only and write-only registers also represents the amount of communication data. The more data, the greater the communication load. Therefore, it is recommended to select the smallest number of registers that meets the requirements.
The number of bytes for Input and Output data configured in the master station should match the number of bytes contained in the write-only and read-only registers of the slave station, respectively. Otherwise, communication may fail.
The read-only and write-only registers of the EtherNet/IP bus device are two separate data areas. The addresses for configured read-only and write-only registers can overlap.
The EtherNet/IP slave station of the xCore control system does not provide an EDS file by default. Its Input Assembly Instance ID is 1, and its Output Assembly Instance ID is 2. The master station must match these settings during configuration; otherwise, communication may fail.