CS9 FIELDBUS

Technical documentation

TSS.0000.001.04-A - 14 /06/2018
CS9 FIELDBUS
© Stäubli 2018
A "readme.pdf" document may be delivered on the robot's DVD. It contains the documentation addenda
and errata.

Stäubli is a trademark of Stäubli International AG, registered in Switzerland and other countries. We reserve the
right to modify product specifications without prior notice.

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1 - Preliminary

Table of Contents
1 Preliminary ....................................................................................................................................................... 6
1.1 Foreword .................................................................................................................................................. 6
1.2 Special messages concerning safety, dangers, cautions and information ..............................................6
1.3 Prerequisite ..............................................................................................................................................8
2 Sycon.net ......................................................................................................................................................... 9
2.1 Sycon.net build version............................................................................................................................ 9
2.2 Install Sycon.net ....................................................................................................................................10
2.3 Uninstall Sycon.net ................................................................................................................................12
3 Configure the IO board ..................................................................................................................................13
3.1 Select your fieldbus ...............................................................................................................................13
3.2 Fieldbus configuration ............................................................................................................................14
3.2.1 EtherCAT Master ...........................................................................................................................14
3.2.2 EtherCAT Slave .............................................................................................................................15
3.2.3 Modbus TCP Server or Client ........................................................................................................16
3.2.4 Ethernet IP Adapter .......................................................................................................................17
3.2.5 Ethernet IP Scanner ......................................................................................................................18
3.2.6 Profinet Controller ..........................................................................................................................19
3.2.7 Profinet Device...............................................................................................................................19
3.2.8 Profibus Master ..............................................................................................................................19
3.2.9 Profibus Slave ................................................................................................................................19
3.2.10 Powerlink Node ..............................................................................................................................19
3.2.11 Serco III Slave................................................................................................................................19
3.2.12 ASI Master .....................................................................................................................................19
3.2.13 CClink Slave ..................................................................................................................................19
3.3 Signal configuration ...............................................................................................................................20
3.4 Save configuration .................................................................................................................................21
4 Transfer the configuration ..............................................................................................................................22
4.1 Transfer the configuration to CS9 controller ..........................................................................................22
4.2 Configuration back up ............................................................................................................................22
4.2.1 EtherCAT Master on J206 .............................................................................................................22
4.2.2 Fieldbus on other ports ..................................................................................................................23
5 Delete a fieldbus board in SRS......................................................................................................................24
5.1 Delete the board in I/O panel .................................................................................................................24
5.2 Delete the controller files .......................................................................................................................24
5.2.1 EtherCAT Master on J206 .............................................................................................................24
5.2.2 Fieldbus on other ports ..................................................................................................................25
5.3 Refresh the IO panel ..............................................................................................................................26

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1 - Preliminary

History

Date
Revision Modification By
(yyyy-mm-dd)

A Initial release 2018-06-14 C.POZZOBON

B
C

Version
That document has been tested with :

 SRC : s8.5.4
 SRS: 2016 v6.3
 Sycon.net : 1.500 Build 180125

Keyword
CS9, fieldbus, EtherCAT Master, EtherCAT Slave, Modbus TCP Server, Modbus TCP Client

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1 - Preliminary

1 Preliminary

1.1 Foreword
The information contained in the present document is the property of STÄUBLI and it cannot be reproduced, in
full or in part, without our prior written approval.

The specifications contained in the present document can be modified without notice. Although all necessary
precautions have been taken to ensure that the information contained in this document is correct, STÄUBLI
cannot be held responsible for any errors or omissions found in the illustrations, drawings and specifications
contained in the said document. The photos are used to make the document easier to understand, they cannot
be construed as being of a contractual nature.

Please request missing information, and report errors and omissions to the STÄUBLI Robotics Customer
Support contact for your country, that can be found at:

■ http://www.staubli.com/en/robotics/contacts

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff

Automation GmbH, Germany.

1.2 Special messages concerning safety, dangers, cautions and information

In this document, there are several formats for important warnings.

These warnings are as follows (by decreasing order of importance):

DANGER
Instructions drawing the reader's attention to the risks of accidents that could lead to serious
bodily harm if the steps shown are not complied with. In general, this type of indication
describes the potential danger, its possible effects and the necessary steps to reduce the
danger.
It is essential to comply with the instructions to ensure personal safety..

SAFETY
Instructions drawing the reader's attention that its responsibility is engaged if the steps shown
are not complied with.
It is essential to comply with the instructions to maintain the robot safety level.

Caution
Instructions directing the reader's attention to the risks of material damage or failure if the
steps shown are not complied with. It is essential to comply with these instructions to ensure
equipment reliability and performance levels.

ELECTRICAL risk
Instructions drawing the reader's attention to the risks of electrical shock.
It is essential to comply with the instructions to ensure personal safety..

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1 - Preliminary

Information
Supplies further information, or underlines a point or an important procedure. This information
must be memorized to make it easier to apply and ensure correct sequencing of the
operations described.

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1 - Preliminary

1.3 Prerequisite

The fieldbus have to be connected to the CS9 logic drawer.

Additional board (option) J208/J207 J206 J205/J204

J206 EtherCAT Master

Real time Ethernet Slaves, one choice among:

 Profinet Device
 Ethernet/IP adapter
 EtherCAT Slave
J207/J208  Powerlink controlled node
 FSoE Slave
(1)
 Profisafe
 Modbus TCP client and server
 Sercos III Slave
PCI express board. One choice among: Stäubli reference:
 ASI Master D244 048 xx

 CCLink Client D244 046 xx

 PROFIBUS Master D244 047 xx
 PROFIBUS Slave D244 083 xx
 EtherCAT Master
Additional  Ethernet/IP Scanner
D244 049 xx
board (option)  PROFINET Controller
 Sercos III Master
 EtherCAT Slave
 Ethernet/IP Adapter
 Modbus Client
 Modbus Server D244 088 xx
 Powerlink Controlled Node
 Profinet Device
 Sercos III Slave

J204/J205 Standard Ethernet TCP/IP ports for TCP or UDP sockets

(1)
Not yet available

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2 - Sycon.net

2 Sycon.net
2.1 Sycon.net build version

If Sycon.net is not installed, go to step 2.2 Install Sycon.net.

If Sycon.net is already installed, check the build version:

☐ If Build version is 180125 or upper, go to 3 Configure the IO board.

☐If Build version is lower than 180125, go to 0

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2 - Sycon.net

Uninstall Sycon.net.

2.2 Install Sycon.net

Go to the Sycon.net setup located on the SRS installation CD-ROM: Cdrom\Third Party Software\Sycon.net

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Do not change the file’s name or the file might not be running properly.

 Install Sycon.net by running the .exe with administrator rights.

 During the installation steps, do not set a password.

 After installation, check the build version: Build version must be 180125 or higher.

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2 - Sycon.net

2.3 Uninstall Sycon.net

To uninstall Sycon.net on Windows 7, use the uninstall program:

- Start by clicking on the Windows icon.

- In the right pane, click on Control Panel.
- Under Programs click on the item Uninstall a program.
- Windows then lists all programs that were installed using Windows Installer. Select the program you
want to uninstall by clicking on it.
- Click at the top on Uninstall/Change.
- In the next message box, confirm the uninstall process by clicking on Yes.
- Windows now starts the uninstall process. After completion you'll receive a status message, which you
confirm by selecting OK.

To uninstall Sycon.net on Windows 10:

- Select the Start button, then select Settings > Apps.

- Choose Sycon.net and then select Uninstall.

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3 - Configure the IO board

3 Configure the IO board

3.1 Select your fieldbus

 In a SRS cell, Home menu, open the Physical IO panel.

 Click OK to open Sycon.net automatically.

A password is asked to start Sycon.net. If did not set a password during the installation (as instructed),
leave blank. If not, enter your password to use Sycon.net.

 During the Sycon.net launch, the catalog of known devices will be loaded.

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3 - Configure the IO board

3.2 Fieldbus configuration

3.2.1 EtherCAT Master

Build your personal configuration using the different available modules on the right panel. Just drag and drop it
into the Network View.

Note: If you use the BECKHOFF module directly, the device description XML file is added in the same way.

There are different versions for each Beckhoff module. In our example there is version EL2008 V0.16 or
V0.17. If the chosen version in the configuration does not match the version of your module, the
communication may function (without guarantee) but the SP2 event log will report an error: bad
correspondence of the module.

If there is no match, you can restart the configuration with another version of the module. To know the version of
your module directly, you can use TwinCAT software: select the module, in the EtherCAT tab, see the
“Product/Revision” field.

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3 - Configure the IO board

3.2.2 EtherCAT Slave

 Right-click and select  Configuration...

 In Configuration tab, select “General Settings” and set the input and output sizes.

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3.2.3 Modbus TCP Server or Client

 Right-click and select  Configuration...

In Configuration tab, select Configuration:

Select CS9 as a
Modbus TCP Server or Client

High and low

byte exchange

Connections number
to the Modbus Server

J207 or J208 IP address et

sub network mask

Uncheck

Input / output dimension :

dimension Register =
dimension Word

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3.2.4 Ethernet IP Adapter

 Right-click and select  Configuration...

In Configuration tab, select Network Settings:

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3 - Configure the IO board

3.2.5 Ethernet IP Scanner

 Right-click and select  Configuration...

In Configuration tab, select Network Settings:

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3.2.6 Profinet Controller

No description available yet.

3.2.7 Profinet Device

No description available yet.

3.2.8 Profibus Master

No description available yet.

3.2.9 Profibus Slave

No description available yet.

3.2.10 Powerlink Node

No description available yet.

3.2.11 Serco III Slave

No description available yet.

3.2.12 ASI Master

No description available yet.

3.2.13 CClink Slave

No description available yet.

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3 - Configure the IO board

3.3 Signal configuration

In Configuration tab, select « Signal Configuration » in order to make the configuration according to your project:
- The input and output are shown separately. Click on the title bar to expand the list.
- You can edit, split or merge signal.
- After each change, click Apply to validate modifications.
- You can chose different type for signal: Bit, Byte, Signed8, Unsigned8, Word, Signed16, Unsigned16,
Dword, Signed32, Unsigned32 et Real32.

Original signal : unsigned8

New type : bit (8)

The old type (grey) and the new one type (yellow) are shown.

Click Apply to validate changes :

The old type disappear, the new one stay (white).

Note: In this example, we have configured 16 Digital inputs, 2 Analog inputs (Real32), 16 Digital outputs and 2
Analog outputs (Real32).

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3.4 Save configuration

 Save and exit from Sycon.net.

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4 - Transfer the configuration

4 Transfer the configuration

4.1 Transfer the configuration to CS9 controller

 Open Transfer Manager

 Connect to a CS9 controller with IP and password
 In the IO section, select the fieldbus items by checking the corresponding box(es)
 Transfer the configuration from SRS to CS9.
 Reboot the CS9 controller

4.2 Configuration back up

If you want to save properly your configuration for maintenance, cell duplication, etc. you must save the fieldbus
configuration files of your SRS cell.

There is two different folders, depending if the fieldbus is on J206 or on another port.

4.2.1 EtherCAT Master on J206

 Explore the cell controller and open the following folder usr / fieldbus / hilscher
 Save all the files (Sycon.net configuration files)

 Explore the cell controller and open the following folder usr / configs / J206_EtherCAT.
 Save all the files (physical IO controller files) to your back up folder.

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4.2.2 Fieldbus on other ports

 Explore the cell controller and open the following folder usr / fieldbus / hilscher
 Save all the files (Sycon.net configuration files) to your back up folder.

 Explore the cell controller and open the following folder usr / configs / hilscher
 Save all the files (physical IO controller files).

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5 - Delete a fieldbus board in SRS

5 Delete a fieldbus board in SRS

5.1 Delete the board in I/O panel

 In a SRS cell, Home menu, open the Physical IO panel.

 Right click on the board and select Delete.

5.2 Delete the controller files

There is two different folders, depending if the fieldbus is on J206 or on another one.

5.2.1 EtherCAT Master on J206

 Explore the cell controller and open the following folder usr / fieldbus / hilscher
 Delete all the files (Sycon.net configuration files)

 Explore the cell controller and open the following folder usr / configs / J206_EtherCAT.
 Delete all the files (physical IO controller files).

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5.2.2 Fieldbus on other ports

 Explore the cell controller and open the following folder usr / fieldbus / hilscher
 Delete all the files (Sycon.net configuration files)

 Explore the cell controller and open the following folder usr / configs / hilscher
 Delete all the files (physical IO controller files).

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5 - Delete a fieldbus board in SRS

5.3 Refresh the IO panel

 In Home menu, open the Physical IO panel and click the Refresh button.

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