2.3. DeviceNet setting

DeviceNet is used to send and receive data between the robot controller and the laser controller. The basic communication cycle provided by Hi5a controller is 20msec. In order to improve the quality of laser welding, the speed of the relevant node has been enhanced to 10msec. The number of the node for which the speed can be enhanced will be read from the value inputted in 2.2 (6) DeviceNet node #. The user must input the node number first and then press the ‘Search node’ to update the scan list and then select ‘Apply’ and ‘Complete’. Users can refer to the manual related to the DeviceNet function for the contents for the setting.

『[F2]: System』 → 『2: Control parameter』 → 『2: Input and output signals setting』 → 『12: Built-in DeviceNet master information and setting』

Figure 4 DeviceNet setting

(1) Whether to use

This should be set to ‘On’ for DeviceNet communication with the BlackBird laser controller

(2) Communication speed

500Kbps should be selected to secure the communication speed of 10msec.

(3) CAN port

CAN2 should be selected when using DeviceNet by adding the DB574 board.

(4) Scan list

When Search node is performed after the above settings are completed, the laser controller will be searched as a DeviceNet slave node. The node information includes the product name, sizes of sent and received data (bytes), communication speed (msec), etc. The node number can be set in the DeviceNet slave (the BlackBird laser controller), and the relevant node number will be scanned and shown in the robot controller.

(5) Definition of sent data

Type	Address	Name
1 Byte	FNx.Y1	Selection Program
	FNx.Y2	Deselection Program
	FNx.Y3	Start Program
	FNx.Y4	Stop Program
	FNx.Y5	OTF-Trigger
	FNx.Y6	Ignore Scanner Temp
	FNx.Y7	Reset Interlock by extern
	FNx.Y8	Not Used
3 Byte	FNx.YB2 ~ FNx.YB4	Not Used
1 Byte	FNx.YB5	Program number
2 Byte	FNx.YB6 ~ FNx.YB7	Robot Position X
2 Byte	FNx.YB8 ~ FNx.YB9	Not Used
2 Byte	FNx.YB10 ~ FNx.YB11	Robot Position Y
2 Byte	FNx.YB12 ~ FNx.YB13	Not Used
2 Byte	FNx.YB14 ~ FNx.YB15	Robot Position Z
2 Byte	FNx.YB16 ~ FNx.YB17	Not Used
2 Byte	FNx.YB18 ~ FNx.YB19	Robot Position RZ
2 Byte	FNx.YB20 ~ FNx.YB21	Robot Position RY
2 Byte	FNx.YB22 ~ FNx.YB23	Robot Position RX

(6) Definition of sent data

Type	Address	Name
1 Word	FNx.X1	Interlock Closed
	FNx.X2	Mode Auto
	FNx.X3	Request Scanner Position
	FNx.X4	Program Selected
	FNx.X5	Program Started
	FNx.X6	Program Finished
	FNx.X7	Program Stopped
	FNx.X8	Scanner Temp OK
	FNx.X9	Pilot Laser
	FNx.X10	OTF Sequence Ready
	FNx.X11	Step Finished
	FNx.X12	Program Mode OTF

2.3. DeviceNet setting​

2.3. DeviceNet setting