YASKAWA

DX100 OPTIONS
JARCR-XFB01B BOARD
INSTRUCTIONS
FOR DeviceNet

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN-……… INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number: 156529-1CD

Revision: 0

YASKAWA MANUAL NO.

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DX100

MANDATORY
• This manual explains the JARCR-XFB01B board of the DX100
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the DX100.

• General items related to safety are listed in Chapter 1: Safety of the

DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instruction before reading this manual.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the
delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product’s warranty.

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DX100

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as “WARNING,”
“CAUTION,” “MANDATORY,” or ”PROHIBITED.”

Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.

Always be sure to follow explicitly the

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as “CAU-
TION” and “WARNING.”

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DX100

PROHIBITED
• Do not use or keep the board in the following environmental
conditions.
– Where exposed to direct sunshine
– Where vibration or impact occurs
– Where high humidity exists
– Where a strong magnetic field exists
– Where much dust exists
– Where a sudden change in the temperature occurs
– Where corrosive gases occur
– Where condensation occurs

Improper usage of the board may damage the board.

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DX100

WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the manipulator
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum
envelope of the manipulator and that you are in a safe location
before:
– Turning ON the DX100 power
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
• Injury may result if anyone enters the P-point maximum envelope of
the manipulator during operation. Always press an emergency stop
button immediately if there are problems.The emergency stop
buttons are located on the right of the front door of the DX100 and
the programming pendant.

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DX100

WARNING
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.

• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.

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DX100

CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX100
Instructions before operating the manipulator:
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.

• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.

• Make sure that there is no damage or deflection of parts on the

board.
In case of malfunction, etc. it may result in an injury or damage the
board.

• Correctly connect each cable and connector.

Failure to observe this caution may result in a fire or damage the board.

• Set the switches, etc. correctly.

Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.

• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.

• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.

• No shock to the board.

The shock may damage the board.

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DX100

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.

Equipment Manual Designation

DX100 Controller DX100
DX100 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator cable
controller
JARCR-XFB01B board XFB01B board

Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:

Equipment Manual Designation

Programming Character The keys which have characters printed on

Pendant Keys them are denoted with [ ].
ex. [ENTER]

Symbol Keys The keys which have a symbol printed on

them are not denoted with [ ] but depicted
with a small picture.

ex. page key

The cursor key is an exception, and a picture
is not shown.

Axis Keys “Axis Keys” and “Numeric Keys” are generic

Numeric Keys names for the keys for axis operation and
number input.

Keys pressed When two keys are to be pressed

simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.
ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.

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DX100 Contents

1 Outline............................................................................................................................................. 1-1

1.1 System Configuration......................................................................................................... 1-1

1.1.1 XFB01B Board in Slave Mode .............................................................................. 1-1

1.1.2 XFB01B Board in Master Mode ............................................................................ 1-2

2 Hardware Specifications ................................................................................................................. 2-1

2.1 Board External View .......................................................................................................... 2-1

2.2 Board Specifications .......................................................................................................... 2-1

2.3 Communication Specifications........................................................................................... 2-2

2.4 Connector .......................................................................................................................... 2-2

3 Setting Functions ............................................................................................................................ 3-1

3.1 Function Setting Switches.................................................................................................. 3-1

3.2 Setting Switches ................................................................................................................ 3-2

3.3 Function Setting Terminals ................................................................................................ 3-4

3.4 Setting Terminals ............................................................................................................... 3-5

4 Mounting XFB01B Board ................................................................................................................ 4-1

4.1 Opening Front Door of the DX100 ..................................................................................... 4-2

4.2 Confirming Switch Settings on the XFB01B Board ............................................................ 4-2

4.3 Mounting the XFB01B Board on the DX100 ...................................................................... 4-2

4.4 Connecting Each Cable ..................................................................................................... 4-3

4.5 Closing the Front Door of the DX100................................................................................. 4-4

5 Allocating I/O Signals ...................................................................................................................... 5-1

5.1 I/O Module Setting ............................................................................................................. 5-1

5.2 Transmission Data ............................................................................................................. 5-7

5.3 DeviceNet Slave Allocation (Only in Master Mode) ........................................................... 5-9

5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) ............................... 5-13

5.4.1 Saving to External Memory................................................................................. 5-13

5.4.2 Loading from External Memory........................................................................... 5-15

6 Network Specifications.................................................................................................................... 6-1

6.1 Network Configuration ....................................................................................................... 6-1

6.1.1 Network Connections............................................................................................ 6-1

6.1.1.1 Connection Form ..................................................................................... 6-1
6.1.1.2 Configuration Elements ........................................................................... 6-2

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DX100 Contents

6.1.1.3 Branching from the Trunk Line ................................................................ 6-3

6.1.1.4 Branching from Drop Lines...................................................................... 6-3

6.1.2 Precautions for Wiring DeviceNet Cables ............................................................ 6-4

6.1.2.1 Maximum Network Length....................................................................... 6-4
6.1.2.2 Drop Line Length..................................................................................... 6-5
6.1.2.3 Total Drop Line Length........................................................................... 6-6

7 Connections for DeviceNet Communications ................................................................................. 7-1

7.1 Location of Communication Power Supply ........................................................................ 7-1

7.1.1 Basic Precautions................................................................................................. 7-1

7.1.2 Location of Power Supply..................................................................................... 7-2

7.1.3 How to Decide the Location of the Power Supply ................................................ 7-3

7.2 Grounding ........................................................................................................................ 7-10

7.2.1 Grounding Method.............................................................................................. 7-10

8 Error Indication................................................................................................................................ 8-1

8.1 LED Indicators ................................................................................................................... 8-1

8.1.1 MS Lamp .............................................................................................................. 8-1

8.1.2 NS Lamp .............................................................................................................. 8-2

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1 Outline
DX100 1.1 System Configuration

1 Outline
This manual gives the instructions for using the JARCR-XFB01B board
(hereinafter called the XFB01B board) for the DeviceNet on the DX100.
The application of this board allows the transmission of DX100’s general-
purpose I/O data with other devices connected to DeviceNet.

1.1 System Configuration

1.1.1 XFB01B Board in Slave Mode

The following diagram shows an example of the system configuration
when the XFB01B board is used in slave mode.

Fig. 1-1: System Configuration Example with XFB01B board as Slave

DeviceNet Master Communications

External PLC (sequencer) Power Supply DX100

DeviceNet Slave
JARCR-XFB01B Board

Terminator 121
±1% 1/4W Metal Film

DeviceNet Cable

DeviceNet Slave
I/O Unit

Terminator 121
±1% 1/4W Metal Film

• A cable for DeviceNet and terminators connected exter-

NOTE nally are not packed with the XFB01B board.
• When the XFB01B board is connected at the end of a net-
work, connect a terminator externally. Incorrect connec-
tions of the terminators may result in improper
communications.

1-1

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1 Outline
DX100 1.1 System Configuration

1.1.2 XFB01B Board in Master Mode

The following diagram shows an example of the system configuration
when the XFB01B board is used in master mode.

Fig. 1-2: System Configuration Example with XFB01B Board as Master

Communications
DX100 Power Supply

DeviceNet Master
JARCR-XFB01B Board

DeviceNet Slave
I/O Unit

DeviceNet Cable
DeviceNet Slave
I/O Unit

Terminator 121
±1% 1/4W Metal Film
Terminator 121
±1% 1/4W Metal Film

When the XFB01B board is used in master mode, the total

NOTE input points and the total output points of the connected
slave devices must be 112 (14 bytes) or less respectively.
For a system configuration whose slaves have more than
112 total points for each input and output, the XFB01B
board is not applicable. Use another device such as a PLC
applicable for DeviceNet as the master station.

SUPPLE
DeviceNet is a registered trademark of ODVA (Open Devi-
-MENT ceNet Vendor Association, Inc.).

1-2

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2 Hardware Specifications
DX100 2.1 Board External View

2 Hardware Specifications

2.1 Board External View

JARCR-
XFB01B

CN1
CN1: 24 VDC Power Supply
Connector

SW4 SW5 CN2

CN2: I/O Communications Connector

SW5: Transmission I/O Points Setting SW

SW4: Station Setting SW

CN4
CN4: Serial No. Writing Connector

CN3: Connector for DeviceNet

TM1: Resistance Setting Terminal

SW1 SW2 SW3 CN3

NA
SW3: Node Address Setting SW (x10) X10

SW2: Node Address Setting SW (x 1) X1

ON
SW1: Mode/Baud Rate Setting SW S/T
S/M
TM5 TM4 DR1
DR0
LED1 DeviceNet Status Display LED
NS MS

TM4 16 or 17-byte Transmission Switching Terminal

TM5 XFB01 or XFB01B Mode Switching Terminal

2.2 Board Specifications

Items Specifications

Interface to the DeviceNet

external device

Board mounting Optional board mounting space in the DX100

position

Error indicator LED display

Number of Maximum number of I/O points

transmission I/O Input: 112 points
points Output: 112 points
Note: The number of input points and the number of
output points can not be set individually.

2-1

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2 Hardware Specifications
DX100 2.3 Communication Specifications

2.3 Communication Specifications

Items Specifications

Connecting form Multi-drop, T-branch (1:N communications)

Transmission Select among 500/250/125 kbps

speed

Transmission Dedicated 5 cables (2 cables for signals, 2 cables for

media power supply, 1 drain wire)

Use a DeviceNet cable such as DCA1-5C10

(manufactured by OMRON).

Communication Transmission Network max. Branch Total length

distance speed distance line length of branch
lines

500 kbps 100m and 6m and 39m and

less less less
250 kbps 250m and 6m and 78m and
less less less
125 kbps 500m and 6m and 156m and
less less less

Power supply 24 VDC

voltage for (supplied through the connector CN3 for connecting
communication DeviceNet)

Maximum current 0.05 A

consumption for
communications

2.4 Connector

Table 2-1: CN3 (Connector for DeviceNet)

Terminal No. Signal Name Explanation

1 (black) V- 024V power supply line connecting terminal

2 (blue) CAN_L DeviceNet signal line connecting terminal

3 (bare wire) Drain Drain wire connecting terminal (shield)

4 (white) CAN_H DeviceNet signal line connecting terminal

5 (red) V+ +24V power supply line connecting terminal

The color mentioned in ( ) indicates the color of the DeviceNet cable to be

connected.

2-2

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3 Setting Functions
DX100 3.1 Function Setting Switches

3 Setting Functions

3.1 Function Setting Switches

This section explains switches to set functions of the XFB01B board.
Make the proper settings following the instructions. For more details of
setting, refer to chapter 3.2 “Setting Switches” at page 3-2.

SW1: Sets the DeviceNet operation mode and transmission baud rate,
and the XFB01B board transmission mode, slave or master.
SW1-1 (S/T)
Always set to OFF (normal operation mode).
SW1-2 (S/M)
Switches the mode, slave or master, for the XFB01B board.
SW1-3 and 1-4 (DR0 and DR1)
Sets the baud rate.
The baud rate for communications can be selected among the
following three rates.
• 125 kbps
• 250 kbps
• 500 kbps

SW2 and SW3: Sets the local node address of DeviceNet.

The setting range of local node address is from 0 to 63.

SW4: Sets the station number for the XFB01B board on the DX100.

The setting range of station number is from 1 (ST#01) to D (ST#13).

Do not set the station numbers 0 (ST#00), E (ST#14) and F (ST#15).

SW5: Sets the number of transmission I/O points.

(Set value of SW5) × 8 is the actual number of I/O points.

The SW5 setting range is from “1” (8 points) to “E” (112 points).

<Example>
When the SW5 is set to “E”, the number of I/O points are as follows.
• Input: 112 points
• Output: 112 points

3-1

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3 Setting Functions
DX100 3.2 Setting Switches

3.2 Setting Switches

Switches Setting Method

SW1 Baudrate
Sets the baud rate and mode of DeviceNet.
Mode and baud rate setting shows the default setting.
1 2 3 4
ON

SW1-1: Operation mode (S/T)

OFF: Normal ON: Test

Always set to OFF (normal operation mode).

SW1-2: Slave/Master mode switching (S/M).

OFF: Slave ON: Master

SW1-3: Baud rate setting (DR1)

OFF: 0 ON: 1

SW1-4: Baud rate setting (DR0)

OFF: 0 ON: 1

SW1-3 SW1-4 Baud Rate

0 0 : 125kbps
0 1 : 250kbps
1 0 : 500kbps
1 1 : Enable to set.
Set the same value as of the other devices in the DeviceNet. Otherwise,
DeviceNet communications cannot be established.

SW2 ( × 1 setting) Sets the local node address of DeviceNet.

SW3 ( × 10 setting) The following shows the relations between the setting of switches and
the actual number of I/O points.
Node address setting Turn the arrow to the number corresponding to the desired node
address. (Use a precision flat tip screwdriver.)

<Example>
SW3 SW2 Node address
0 0 :0
0 1 : 1 (Default setting)
0 2 :2
0 4 :4
0 8 :8
1 6 : 16
3 2 : 32
6 3 : 63

When the node address is set to a value exceeding 64, DeviceNet communication
cannot be established. Select a node address in the range from 0 to 63 that does
not overlap with any of other devices.

3-2

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3 Setting Functions
DX100 3.2 Setting Switches

Switches Setting Method

SW4 Sets the station number.

The following shows the relations between the switch setting and the
Station setting station number.
Turn the arrow to the number corresponding to the desired station.
(Use a precision flat tip screwdriver.)

0: Unavailable 8: ST#08
1: ST#01 9: ST#09
2: ST#02 A: ST#10
3: ST#03 B: ST#11
4: ST#04 (Default setting) C: ST#12
5: ST#05 D: ST#13
6: ST#06 E: Unavailable
7: ST#07 F: Unavailable
The number after ST# is the station number displayed on the programming
pendant of the DX100 when setting I/O modules.

SW5 Sets the number of I/O points to be transferred.

The following shows the relations between the switch setting and the
Number of transmission I/O number of I/O points.
points setting Turn the arrow to the number corresponding to the desired number of
I/O points.
(Use a precision flat tip screwdriver.)

0: Unavailable 8: 64 [72]
1: 8 [16] 9: 72 [80]
2: 16 [24] A: 80 [88]
3: 24 [32] B: 88 [96]
4: 32 [40] C: 96 [104]
5: 40 [48] D: 104 [112]
6: 48 [56] E: 112 [120] (Default setting)
7: 56 [64] F: Unavailable
The value in [ ] indicates the number of I/O points reserved for the XFB01B board
inside the DX100. (This includes the area for board status).

When setting SW4 station, do not use “0”, “E”, or “F”. Be

NOTE sure to set only one board to the each station. Failure of this
instruction may result in improper recognition of I/O module.

3-3

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3 Setting Functions
DX100 3.3 Function Setting Terminals

3.3 Function Setting Terminals

This section explains terminals used to set functions of the XFB01B board
and their roles. Following the instructions, be sure to set the terminals
correctly.

TM1: This terminal is reserved for the manufacturer. TM 1 sets the

resistance status (121 Ω).
Always set to “Without resistance.”
Never set to “with resistance”. “With resistance” is only for
maintenance purposes.

TM4: Sets the transmission mode to 16-byte or 17-byte.

Always set to17-byte.
Never set to 16-byte.

TM5: Sets the board to XFB01 or XFB01B.

Always set to “XFB01B mode”.
Never set to XFB01 mode.

3-4

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3 Setting Functions
DX100 3.4 Setting Terminals

3.4 Setting Terminals

Terminals Setting Method

TM1 1 2 3
Short-circuit between 1 and 2: With resistance
Reserved for the * Setting unavailable
manufacturer 1 2 3
Short-circuit between 2 and 3: Without resistance
(Default setting)
* Setting indispensable
Always set to “Without resistance.”
Never set to “With resistance,” because this is used only for maintenance.
When a terminator is required, install a junction tap or a terminator externally, and
do not use this resistance.

TM4 1 2 3
Short-circuit between 1 and 2: 17-byte transmission
Transmission mode setting * Setting indispensable
1 2 3
Short-circuit between 2 and 3: 16-byte transmission
(Default setting)
* Setting unavailable
Always set to “17-byte transmission”.
Remember to change the set mode to 17-byte transmission as the mode is set to
16-byte at the factory before shipping.

TM5 1 2 3
Short-circuit between 1 and 2: XFB01 mode
Board setting * Setting unavailable
1 2 3
Short-circuit between 2 and 3: XFB01B mode
(default setting)
* Setting indispensable
Always set to “XFB01B mode”.
In XFB01B mode, either slave or master can be selected.
Never set to XFB01 mode.

3-5

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4 Mounting XFB01B Board
DX100

4 Mounting XFB01B Board

WARNING
• Before wiring, be sure to turn OFF the power supply and put up a
warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an
injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric
shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.

CAUTION
• The wiring and mounting must be performed by authorized and
qualified personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Make sure that there is no damage or deflection of parts on the
board.
In case of malfunction, etc. it may result in an injury or damage the
board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
Malfunction, caused by an incorrect setting, may result in an injury or
damage the board.
• Never touch the mounting surfaces of the board parts directly with
fingers.
The generated static electricity may damage the IC.
• Never touch the soldered surfaces of the board directly with fingers.
Protrusions on the soldered surface may result in an injury.
• No shock to the board.
The shock may damage the board.

4-1

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4 Mounting XFB01B Board

DX100 4.1 Opening Front Door of the DX100

4.1 Opening Front Door of the DX100

Mount the XFB01B board in the following manner.
1. Turn the two door locks on the front face of the DX100 clockwise for
90 ° with a coin or a flat tip screwdriver.

Door Lock

Clockwise

Flat Tip
Screwdriver

2. With the door locks turned clockwise for 90 °, turn the main switch
handle to the “OFF” position, and slowly open the door.

ON
D
PE
IP
TR
OFFO T
SE
RE

4.2 Confirming Switch Settings on the XFB01B Board

1. Be sure that the main power supply is turned OFF.
2. Be sure that the settings of switches on the board are correct.
3. For the switch settings, refer to chapter 3 “Setting Functions” at
page 3-1.

4.3 Mounting the XFB01B Board on the DX100

1. Fix the XFB01B board on the DX100 with the board fixing screws
securely tightened.

4-2

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4 Mounting XFB01B Board
DX100 4.4 Connecting Each Cable

4.4 Connecting Each Cable

1. Connect the 24 VDC power cable to the CN1.
2. Connect the I/O communications cable to the CN2. Plug the terminal
connector connected to the CN300 of the JZNC-YIU01-E unit to the
non-occupied CN2 on the XFB01B board.
3. Connect the cable for DeviceNet to CN3. (The color of the connected
cable should be the same as the one of the connector and frame seal
on the CN3.)

24VDC Power Cable

JARCR-
XFB01
REV.

CN01 (upper side)

CN1
CN304 Terminal
Connector
CN02 (left side)

CN2
SW5
3 4 56
2

F0 1

7 8 9A
E
B CD

SW4
3 4 56
2

F0 1

7 8 9A
E
B CD

CN4
DeviceNet
Cable

CN3

NA
SW3

2 3
X10
0 1

4
5 6
9

7 8
SW2

2 3
X1
0 1

4
5 6

CN300 (right side)

9

7 8

ON
ON
SW1
1
2

DR1
3

DR0
4

NS MS

I/O Communications Cable

4-3

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4 Mounting XFB01B Board

DX100 4.5 Closing the Front Door of the DX100

A dummy connector is inserted into the CN1 of the 24 VDC power supply connector on
NOTE the XFB01B board. Do not remove this connector because it is inserted to prevent incor-
rect cable connections. Removing this connector may result in incorrect connection of the
24 VDC power supply cable to the CN1. This prevents power from being supplied nor-
mally to the board, and the board may not start up.

24V

1
24VU

2
Not used Dummy Connector
Not used * Keep the dummy connector inserted to this position.
24V (Do not remove.)
5

24VU
6

CN1

24 VDC Power Cable Connection Postion

24 VDC
Power Cable 24 VDC

1
1

1
Power Cable

2
2

2
24 VDC
3

3
4
Power Cable

4
5
5

5
6
6

6
CN1 CN1 CN1
Correct Position Incorrect Postion Incorrect Position
*Removing the dummy connector leads to incorrect connection
of the power cable.
This results in insufficient 24 VDC power supply to the board.

4.5 Closing the Front Door of the DX100

1. Close the door gently.
2. Turn the two door locks on the front face of the DX100
counterclockwise for 90 ° with a coin or a flat tip screwdriver.

Flat Tip
Screwdriver
Counter
Clockwise

Door Lock

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5 Allocating I/O Signals
DX100 5.1 I/O Module Setting

5 Allocating I/O Signals

5.1 I/O Module Setting

In order to use the XFB01B board on the DX100, the system configuration
should be set in the following manner.

Make sure that the power supply to the DX100 is OFF. Then, mount the
XFB01B board, for which all of its switches have been set, inside the
DX100. For more details on board mounting, refer to chapter 4 “Mounting
XFB01B Board” at page 4-1.

Add or modify the I/O module status in Management Mode.

SUPPLE
-MENT In Operation Mode and Editing Mode, the settings on the
display are only for reference.

1. Turn the power supply ON again while pressing [MAIN MENU]

simultaneously.
– The main menu appears.

2. Set the Security Mode to the “MANAGEMENT MODE”.

3. Select {SYSTEM} under the main menu.
– The sub menu appears.

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DX100 5.1 I/O Module Setting

4. Select {SETUP}.
– The SETUP window appears.

5. Select {IO MODULE}.

– The current status of the mounted I/O modules is shown as in the
following.

– Press [ENTER] to display the module mounted status for the rest of
the stations.

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DX100 5.1 I/O Module Setting

6. Confirm the status of the mounted I/O module.

– Only mounted I/O module is displayed. Confirm that each station
(ST#) is the same as the I/O module’s actual mounting status.
– The following information is shown for each station.
ST# Station address of I/O module
DI Number of digital input pointsa)
DO Number of digital output pointsa)
AI Number of analog input pointsa)
AO Number of analog output pointsa)
BOARD Circuit board typeb)
a A hyphen "-" indicates the corresponding I/O module is not
mounted.
b If the system cannot recognize the circuit board type, “*****” is
shown. No problem will occur as long as the values displayed in
DI, DO, AI, and AO are correct.

– The followings are the configurations of boards as examples shown

in the above window in the Explanation 5.
ST#04: JARCR-XFB01B board
(digital input 120 points, digital output 120 points)
Switch SW4: Set to 4. (This value becomes the ST#.)
ST#14: JZNC-YIU01-E unit
(digital input 40 points, digital output 40 points)
This unit is fixed to ST#14.

The following should be taken into consideration when

NOTE reading the display.
For the XFB01B board, as the number of I/O points
reserved for the board status exists other than the number
of transmission I/O points set at SW5, the number of I/O
points shown in the display is the number calculated by “the
set value of SW5 + 1 (for the board status)”.

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DX100 5.1 I/O Module Setting

<Example>
When the SW5 is set to “E”, it is understood that 120 ((14+1) × 8) I/O
points are reserved for the I/O board.
Accordingly, “DI : 120 DO : 120” is displayed.
The relationship between the set value of SW5 and the I/O module display
is shown below:

SW5 Display (I/O point)

DI DO
1 016 016
2 024 024
3 032 032
4 040 040
5 048 048
6 056 056
7 064 064
8 072 072
9 080 080
A 088 088
B 096 096
C 104 104
D 112 112
E 120 120

7. Press [ENTER].
– The confirmation dialog box appears.

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DX100 5.1 I/O Module Setting

8. Select “YES”.
– Press “YES” if the display corresponds to the current mounted
status of the I/O modules. The system parameters are automatically
set according to the current mounted status of the hardware.
The procedures to add I/O modules are completed.

If the display does not indicate the actual mounted status,

NOTE recheck the cable connection and the switch setting. The
following causes are suspected.
• Improper setting of I/O communications
Setting of TM4 on the XFB01B board may be improper.
XFB01B board would not be recognized properly if this con-
dition is applied.
• Improper setting of switching boards.
Setting of TM5 on the XFB01B board may be improper.
XFB01B board would not be recognized properly if this con-
dition is applied.
• Improper or overlapped station settings
SW4 might be set to 0, E, or F (impossible setting value).
Additionally, only one optional board can be set for each
station. Change the SW4 setting, and make sure that no
stations overlap.
• Improper connection of the 24VDC power cable and the I/
O communication cable
The 24VDC cable and the I/O communication cable may
not be connected properly. Incorrect connection of the
24VDC power cable to the right position of CN1 may lead to
improper power supply to the board. Recheck the cable
connection referring to the chapter 4 “Mounting XFB01B
Board” at page 4-1.
• I/O module failure
When the above causes do not apply, and the display still
does not correspond to the actual mounted status, failure of
an I/O module is suspected. Contact your YASKAWA repre-
sentative.
• The number of XFB01B(MASTER) which can be mounted
is two boards at the maximum.

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DX100 5.1 I/O Module Setting

9. Select “YES”.
– The confirmation dialog box appears when the XFB01B board is set
to “MASTER”. Select “YES”.

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5 Allocating I/O Signals
DX100 5.2 Transmission Data

5.2 Transmission Data

The data to be transferred from the XFB01B board to the inside of the
DX100 is not only the I/O data from the external devices connected to the
DeviceNet, but also the status of the XFB01B board.
Therefore, inside the DX100, 8 points (1 byte) each for input and output
are reserved for the status of the XFB01B board beside the area for the
digital data. However, the output area cannot be used.

The transmission data from the XFB01B board are allocated to the
external I/O signals of concurrent I/O.
External Corresponding Devices
Concurrent IO JARCR-XFB01B board to DeviceNet

< Input >

20010 22567
2048 inputs DeviceNet
Communications DeviceNet
< Output > and Communications
Transfer
30010 32567 to
2048 outputs the DX100

When only a XFB01B (SW5 : E Input: 112 points, Output: 112 points) is
mounted as an optional I/O board, the concurrent I/O allocation of each
board is as follows.
(20010 to 20057 are used for standard I/O of the DX100.)

Board Input Output

*1
JARCR-XFB01B 20060 to 20067 board status 30060 to 30067 can not be used
20070 to 20077 input data (1) 30070 to 30077 output data (1)
20080 to 20087 input data (2) 30080 to 30087 output data (2)
20090 to 02097 input data (3) 30090 to 30097 output data (3)
20100 to 20107 input data (4) 30100 to 30107 output data (4)
20110 to 20117 input data (5) 30110 to 30117 output data (5)
20120 to 20127 input data (6) 30120 to 30127 output data (6)
20130 to 20137 input data (7) 30130 to 30137 output data (7)
20140 to 20147 input data (8) 30140 to 30147 output data (8)
20150 to 20157 input data (9) 30150 to 30157 output data (9)
20160 to 20167 input data (10) 30160 to 30167 output data (10)
20170 to 20177 input data (11) 30170 to 30177 output data (11)
20180 to 20187 input data (12) 30180 to 30187 output data (12)
20190 to 20197 input data (13) 30190 to 30197 output data (13)
20200 to 20207 input data (14) 30200 to 30207 output data (14)

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DX100 5.2 Transmission Data

*1 [XFB01B Board Status]

The status of the XFB01B board (the first 8 points of the allocation area) is
indicated as follows.
The value “xxx” of the allocated input signals in the table indicates the first
numbers of the XFB01B board allocation number. In the table on the
previous page, where the allocation numbers were 20060 to 20067, “xxx”
would be 006.

Signal Contents
2xxx0 to 2xxx2 Watchdog counter. This bit repeats counting the value
between 0 to 7. (approximately every 32 ms.)
2xxx3 Not used
Always set to 0.
2xxx4 Not used
Always set to 1.
2xxx5 (In SLAVE mode)
Not used
Always set to 0.

(In MASTER mode)

Indicates if communicating with all the slaves or not
through DeviceNet.
Communicating with all slaves: 0,
Communicating with some slaves: 1
2xxx6 Indicates the DeviceNet communication status. (Even if
communicating with some nodes, the normal status is
indicated.)
Normal: 0 Error: 1
2xxx7 Indicates the operation status of the XFB01B board.
Normal: 0 Error: 1

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5 Allocating I/O Signals
DX100 5.3 DeviceNet Slave Allocation (Only in Master Mode)

5.3 DeviceNet Slave Allocation (Only in Master Mode)

To use the XFB01B board in the master mode, the slave stations in
DeviceNet must be allocated besides the setting of I/O modules explained
in chapter 5.1 “I/O Module Setting” at page 5-1.

The additional operation must be done in the management

SUPPLE mode.
-MENT

In the operation mode and the edit mode, only reference of

status setting is possible.

1. Turn the power supply ON while pressing [MAIN MENU]

simultaneously.
– The main menu appears.

2. Set the Security Mode to the “MANAGEMENT MODE”.

3. Select {SYSTEM} under the main menu.
– The sub menu appears.

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DX100 5.3 DeviceNet Slave Allocation (Only in Master Mode)

4. Select {SETUP}.
– The SETUP window appears.

5. Select {IO MODULE}.

– The current status of the mounted I/O modules is shown as in the
following.

6. Select {XFB01B (MASTER)}.

– The current status of the mounted DeviceNet is shown as in the
following.

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DX100 5.3 DeviceNet Slave Allocation (Only in Master Mode)

7. Select {DETAIL}.
– The SCAN LIST window appears.

8. Select the desired item.

9. Enter the desired value.
– Set each parameter according to the actual status of the mounted
slave device.

Each item in the display indicates as follows:

MAC ID : Node address of the DeviceNet device
IN : Number of bytes to be input from the slave device
(1byte = 8 points)
OUT : Number of bytes to be output to the slave device
(1byte = 8 points)
TYPE : I/O message type of the slave device, POLL or
BITSTROBE. The message type “POLL” can be set for any
DeviceNet device.
“BITSTROBE” is only an input message and can be set for
a DeviceNet device of 8 bytes or less. For details of POLL
and BITSTROBE, refer to the DeviceNet specifications.
INTERVAL : Set the scanning interval of DeviceNet. It is displayed in the
same row as the master device number. Set to a value
between 10 ms to 300 ms in units of 1 ms. The default
setting is 30 ms.

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DX100 5.3 DeviceNet Slave Allocation (Only in Master Mode)

10. Press [ENTER].

– The confirmation dialog box appears.

11. Select “YES”.

– The parameters for DeviceNet are stored in the DX100. Turn ON the
power to the DX100, and then start up the DX100.

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5 Allocating I/O Signals
DX100 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode)

5.4 Management of DeviceNet Slave Allocation (Only in

Master Mode)
The settings for allocating the slaves for DeviceNet which was set in
chapter 5.3 “DeviceNet Slave Allocation (Only in Master Mode)” at
page 5-9 can be saved to and loaded from an external memory. This
section explains the saving and loading procedures. For information on
operations using an external memory, refer to “Chapter 7 External
Memory Devices” of “DX100 Operator’s Manual.”

5.4.1 Saving to External Memory

1. Turn ON the power to the DX100.
2. Select {EX. MEMORY} under the main menu.
3. Select {SAVE}.
– The following window appears.

4. Select {SYSTEM DATA}.

– The selection window for system data appears.

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DX100 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode)

5. Select “DEVICENET ALLOC DATA”.

– The selected system data are marked with “”.

6. Press [ENTER].
– The confirmation dialog box appears.

7. Select “YES”.
– Saving the file starts. The transfer display appears.

– To cancel saving, select “STOP”.

Once saving is completed or cancelled, the file selection window
appears.

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5 Allocating I/O Signals
DX100 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode)

5.4.2 Loading from External Memory

1. Turn ON the power to the DX100.
2. Set the Security Mode to the “MANAGEMENT MODE”.
3. Select {EX. MEMORY} under the main menu.
4. Select {LOAD}.
– The following window appears.

5. Select {SYSTEM DATA}.

– The selection window for system data appears.

6. Select “DEVICENET ALLOC DATA”.

– The selected system data is marked with ““.

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DX100 5.4 Management of DeviceNet Slave Allocation (Only in Master Mode)

7. Press [ENTER].
– The confirmation dialog box appears.

8. Select “YES”.
– Loading the file starts. The transfer display appears.

– Once loading is completed, the selection window for system data

appears.

If the switch settings (node address, station, transmission I/

NOTE O points) of the XFB01B board are different from those in
the data to be loaded from external memory, the data can-
not be loaded. Set the switches on the XFB01B board to the
same settings those in the data to be saved.

9. After the file has been successfully loaded, turn ON the power to the
DX100.

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6 Network Specifications
DX100 6.1 Network Configuration

6 Network Specifications

6.1 Network Configuration

6.1.1 Network Connections

6.1.1.1 Connection Form

The following diagram shows the network connections.
Fig. 6-1: Network Connections
T with terminator T T Terminator

Node Node

Node Node Node T

Node

Trunk Line
Drop Line
T T-Branch Adapter
T
Node Node

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6 Network Specifications
DX100 6.1 Network Configuration

6.1.1.2 Configuration Elements

The network is configured from the following elements.

„ Node
A node is either a slave that connects to an external I/O unit, or the master
that manages the I/O of the slaves. There are no restrictions on the
location of the master or slaves. Any node in the figure above can be the
master or a slave.

„ Trunk line and drop lines

A cable with a terminator on each end is a trunk line. Any cable branching
from the trunk line is a drop line.

„ Connection methods
A node is connected using the T-branch method or multi-drop method.
A T-Branch Adapter is used to connect a node with the T-branch method. A
node is directly connected to the trunk line or a drop line with the multi-drop
method.
Both T-branch and multi-drop methods can be used together in the same
network, as shown in the figure above.

„ Terminator
both ends of the trunk line must connect to terminator to decrease signal
reflection and ensure stable network communications.

„ Communications power supply

The communications connector of each node must be provided with a
communications power supply through the communications cable for
DeviceNet communications.
Provide the communications power supply, the internal circuit power supply, and
the I/O power supply separately.

1. The communications cable must be a DeviceNet cable.

NOTE
2. Both ends of the trunk line must connect to a terminator.
The following is the specification for the terminator.

Resistance Value 121Ω

Allowable Difference of ±1%
Resistance Value
Rating Power 1/4W
Type Metal Film Resistor

3. Only DeviceNet devices can be connected to the

network. Do not connect any other devices, such as a
lightning arrester.

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6 Network Specifications
DX100 6.1 Network Configuration

6.1.1.3 Branching from the Trunk Line

There are three methods that can be used to branch from the trunk line.

Fig. 6-2: Branching from the Trunk Line

(1) Single Branching (2) Branching to Three Drop Lines (3) Direct Node
Connection
Trunk Trunk Trunk Trunk
Line Line Line Multi-drop Method
Line Trunk Trunk
T-Branch Line Line
Adapter T-Branch
Adapter Node

Drop Line Drop Drop Drop

Line Line Line

Node Node Node Node

6.1.1.4 Branching from Drop Lines

There are three methods that can be used to branch from drop lines.

Fig. 6-3: Branching from Drop Lines

(1) Single Branching (2) Branching to Three Drop Lines (3) Direct Node
Connection
Drop Drop Drop Drop
Line Line Line Line Multi-drop Method
Drop Drop
T-Branch T-Branch Line Line
Adapter Adapter
Node
Drop Drop Drop
Drop Line Line Line
Line

Node Node Node Node

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6 Network Specifications
DX100 6.1 Network Configuration

6.1.2 Precautions for Wiring DeviceNet Cables

6.1.2.1 Maximum Network Length

The maximum network length is either the line length between two nodes
located farthest from each other or the line length between the terminators
on the ends of the trunk line, whichever is longer.

The longer of the two distances is the maximum network length.

T with terminator T T Terminator

Node Node

Node Node Node T

Node

Trunk Line
Drop Line
T T-Branch Adapter
T
Node Node

DeviceNet cables can be either thick cables or thin cables.

The thick cables can be used for relatively long distance communication
with less signal attenuation distortion, however, they are rigid and difficult
to bend.
The thin cables are pliable and easy to bend, however, they are not
applicable for the long distance communication since the amount of signal
attenuation distortion is considerably big.
The maximum network length is determined by the type of cable, as
shown in the following table.
Baud Rate (kbps) Maximum Network Length (m)
Thick Cable Thin Cable
500 100 100
250 250 100
125 500 100

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6 Network Specifications
DX100 6.1 Network Configuration

The line connecting two nodes located farthest from each

SUPPLE other can use both thick and thin cables together. Compared
-MENT
to the case of only a thick cable, the maximum network
length is short. In this case, the length of each cable needs
to fulfill the conditions in the following table.

Baud Rate (kbps) Maximum Network Length (m)

500 LTHICK + LTHIN ≤ 100

250 LTHICK + 2.5 × LTHIN ≤ 250

125 LTHICK + 5.0 × LTHIN ≤ 500

LTHICK: thick cable length, LTHIIN: thin cable length

6.1.2.2 Drop Line Length

The drop line length is the line length between a branch point on the trunk
line to the farthest node that is located on the drop line.
The maximum drop line length is 6 m. A drop line can be branched out into
other drop lines.

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DX100 6.1 Network Configuration

6.1.2.3 Total Drop Line Length

The total drop line length is a total of all drop line lengths.
The total drop line length must be within the allowable range and even
then, each drop line must be 6 m or less.

The allowable range of total drop line length varies with the baud rate as
shown in the following table.
Baud Rate (kbps) Total Drop Line Length (m)
500 39 max.
250 78 max.
125 156 max.

Fig. 6-4: Configuration example (for 500 kbps transmission speed)

T (with terminator) T T Terminator

Node Node
a b c d

f
Node Node Node T

e Node
: Trunk Line
: Drop Line
g h T : T-Branch Adapter
T
Node Node

The above example must satisfy the following conditions.

a ≤ 6 m, b ≤ 6 m, c ≤ 6 m, d ≤ 6 m, d + f ≤ 6 m,
d + e + g ≤ 6 m, d + e + h ≤ 6 m

The total drop line length must satisfy the following condition.

Total drop line length = a + b + c + d + e + f + g + h ≤ 39 m

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7 Connections for DeviceNet Communications
DX100 7.1 Location of Communication Power Supply

7 Connections for DeviceNet Communications

7.1 Location of Communication Power Supply

7.1.1 Basic Precautions

1. The communications power supply to the network must be 24 VDC.
2. The communications power supply must have a sufficient margin in
the capacity.
3. Connect the communications power supply to the trunk line.
4. If many nodes are provided with power from a single power supply,
locate the power supply as close as possible to the middle of the trunk
line.
5. The allowable current flow in a thick cable is 8 A and that in a thin
cable is 3 A.
6. The power supply capacity for a drop line varies with the drop line
length.
The longer a drop line is, the lower the maximum current capacity of
the drop line will be regardless of the thickness of the drop line.
Obtain the allowable current (I) of the drop line (i.e., the allowable
current consumption of the drop line and devices connected to it) from
the following equation.
I = 4.57 / L I: Allowable current (A)
L: Drop line length (m)
7. If only the communications power supply is turned OFF while the
network is operating, errors may occur in the nodes that are
communicating at that time.

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DX100 7.1 Location of Communication Power Supply

7.1.2 Location of Power Supply

The following two types of configuration are possible for the location of the
power supply.

„ Nodes on Both Sides of the Power Supply

Power Supply Tap

or T-Branch Adapter

Node Node Communication Node Node

Power Supply

„ Nodes on One Side of the Power Supply

Power Supply Tap

or T-Branch Adapter

Communication Node Node Node Node

Power Supply

Note: The “Nodes on Both Sides of the Power Supply” method is

recommended if a single power supply is connected to many nodes.

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DX100 7.1 Location of Communication Power Supply

7.1.3 How to Decide the Location of the Power Supply

1. To provide a sufficient flow of current to each node, the power supply
capacity required for each node and the voltage drop caused by the
cable length must be taken into consideration.
Calculate the following values:
• The power supply capacity required for each node
• The distance from the power supply
2. There are two methods to calculate the power supply capacity for the
trunk line.
(1) Simplified calculation with the estimated values from the graph
(2) Calculation with the actual values (the voltage drop calculated
according to the resistance value and the current consumption of
the communications cable.)
• Each drop line must satisfy the equation between the drop line’s
length and the dropline’s power supply capacity described in 6 of
chapter 7.1.1 “Basic Precautions” at page 7-1.
• The values shown in the graph are obtained under unfavorable con-
ditions, such as the configuration which results in the maximum volt-
age drop. Therefore, the network operates correctly if the result of
the simplified calculation based on the graph satisfies the condition
for the required power supply capacity.

Node

Node

Node

Node
Communications
Power Supply

• Even if the result of the simplified calculation based on the graph

does not satisfy the condition for the required power supply capacity,
the result of the calculation with the actual values may satisfy the
condition. The network operates correctly as long as either of the
results by simplified calculation based on the graph or by the calcula-
tion with the actual values satisfies the condition.

1. It is recommended to use separate power supplies for

NOTE communications and for the internal circuit.
2. If the communications power supply is also used as the
internal circuit power supply, the simplified calculation
based on the graph is not applicable.
Calculate the power supply capacity with the actual
values.

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DX100 7.1 Location of Communication Power Supply

3. Simplified Calculation with the Estimated Values from the Graph

The voltage of the communications power supply to each node must
be 11 VDC or more.
If not, the communications will be unstable.
A current flowing to the communications cable causes a voltage drop.
The longer the communications cable is or the greater the current is,
the bigger the voltage drop will be.
The following tables show the maximum allowable current that can
supply sufficient voltage to the communications power supply
regardless of a voltage drop for a thick cable and a thin cable.
a) For a thick cable

Distance 0 25 50 100 150 200 250 300 350 400 450 500
(m)
Max. 8.00 8.00 5.42 2.93 2.01 1.53 1.23 1.03 0.89 0.78 0.69 0.63
current
(A)

6
Max.
5
Current
(A) 4

0
0 50 100 150 200 250 300 350 400 450 500

Distance (m)

b) For a thin cable

Distance 0 10 20 30 40 50 60 70 80 90 100
(m)
Max. 3.00 3.00 3.00 2.06 1.57 1.26 1.06 0.91 0.80 0.71 0.64
current
(A)

2
Max.
Current
(A)
1

0
0 10 20 30 40 50 60 70 80 90 100
Distance (m)

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DX100 7.1 Location of Communication Power Supply

(1) How to confirm sufficient power supply capacity

Check the following for each node.
When nodes are located on both sides of the power supply, check
for the nodes on each side.
The graph to be referred to differs depending on the cable type
(thick or thin cable) of the trunk line.

I) Calculate the total current consumption, “A,” of all the nodes

located for each side.
II) From the graph, obtain the maximum current, “B,” that may
flow to the cable according to the cable type and the distance
from the power supply to the end of trunk line.
III) If A ≤ B:
the total current consumption “A” calculated in step I) is equal
to or less than the allowable maximum current “B” obtained in
step II), and the power supply capacity is sufficient for all the
nodes.
IV) When the nodes are located on both sides of the power supply,
repeat steps I) to III) for the nodes on the other side.

(2) Corrective actions

If A > B,
the total current consumption “A” calculated in step I) is more than
the maximum current “B” obtained in step II), so consider the fol-
lowing corrective actions to satisfy the conditions for the required
power supply capacity.
• Move the power supply to the middle of the trunk line, so that
the nodes are located on both sides of the power supply.
• When the nodes are located on both sides of the power sup-
ply, move the power supply to the side where the bigger power
supply capacity is required.
• When a thin cable is used, replace it with a thick cable.
If A > B after having taken these corrective actions, recalculate the power
supply capacity taking the actual arrangement of nodes into consideration.

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DX100 7.1 Location of Communication Power Supply

Example 1: Where the power supply is at the end of the

trunk line
The following diagram shows an example where the thick cable with the
total length of 210 m is used and the power supply is connected at the
end of the trunk line.
Trunk Line Terminator
Terminator

Node Node Node Node Node

Communications 0.2A 0.1A 0.05A 0.2A 0.15A

Power Supply

210m
: Trunk Line
: Power Supply Cable

Total length of the power supply cable = 210 m

Total current consumption of the nodes = 0.2 A + 0.1 A + 0.05 A + 0.2 A +

0.15 A
= 0.7 A

Max. current obtained from the graph = 1.5 A

As A (total current consumption) < B (max. current), sufficient

communications power can be supplied to all nodes.
Example 2: Where the power supply is in the middle of the
trunk line
The following diagram shows an example where the thick cable with the
total length of 240 m is used and the power supply is connected in the
middle of the trunk line.
Terminator Trunk Line Trunk Line Terminator

Node Node Node Node Node Node

0.2A 0.3A 0.1A 0.25A 0.15A 0.1A

Communications
Power Supply

120m 120m
: Trunk Line
: Power Supply Cable

Total length of the power supply cable on the left of the power supply=
Total length of the power supply cable on the right of the power supply
= 120 m

Total current consumption of the nodes on the left of the power supply=
0.2 A + 0.3 A + 0.1 A = 0.6 A
Total current consumption of the nodes on the right of the power supply=
0.25 A + 0.15 A + 0.1 A = 0.5 A

The maximum current on the left obtained from the graph = approx. 2.5 A
The maximum current on the right obtained from the graph = approx. 2.5 A

As A (total current consumption on the left) < B (maximum current on the

left) and A (total current consumption on the right) < B (maximum current
on the right), sufficient power can be supplied to all nodes.

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7 Connections for DeviceNet Communications
DX100 7.1 Location of Communication Power Supply

4. Calculation with Actual Values

If the result of the simplified calculation based on the graph still does
not satisfy the conditions, check by detailed calculations using the
following equation.
(1) Equation
I) When a communications power supply and an internal circuit
power supply are separate
Check the distance between the power supply and each node
in addition to the current consumption for the communications
unit of each node.
If these values satisfy the following equation, sufficient power
can be supplied to the node.
However, the current must not exceed the maximum allowable
current to the cable, 8 A for a thick cable and 3 A for a thin
cable.

Equation Σ [(Ln × Rc + Nt × 0.005) × In] ≤ 4.65 V

Ln : Distance between the power supply and a node

(excluding the length of the drop line)
Rc : Maximum resistance of the cable (0.015 Ω/m for a thick
cable, 0.069 Ω/m for a thin cable)
Nt : Number of adapters between the power supply and a
node
In : Current consumption required for the communications
unit of node
0.005 Ω= Contact resistance value of an adapter

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7 Connections for DeviceNet Communications

DX100 7.1 Location of Communication Power Supply

II) When the communications power supply is also used as the

internal circuit power supply
Because the allowable voltage range of the communications
power supply is different from that of the internal circuit power
supply as shown below, avoid using the power supply for both
communications and the internal circuit.
• Allowable voltage range for the communications power
supply: 11VDC to 25 VDC
• Allowable voltage range for the internal circuit power sup-
ply: 24 VDC - 15% to + 10%

Check the distance between the power supply and each node
in addition to the total current consumption for the
communications unit and the internal circuit of each node.
If these values satisfy the following equation, sufficient power
can be supplied to the node.
However, the current must not exceed the maximum allowable
current to the cable, 8 A for a thick cable and 3 A for a thin
cable.

Equation Σ [(Ln × Rc + Nt × 0.005) × In] ≤ 0.65 V

Ln :Distance between the power supply and a node

(excluding the length of the drop line)
Rc :Maximum resistance of the cable (0.015 Ω/m for a thick
cable, 0.069 Ω/m for a thin cable)
Nt :Number of adapters between the power supply and a
node
In :Current consumption required for the communications
unit and the internal circuit of a node
0.005 Ω= Contact resistance value of an adapter

(2) Corrective actions

If the obtained values do not satisfy the equation, consider the fol-
lowing corrective actions.
• Place a node with a large current consumption close to the
power supply.
• Move the power supply to the middle of the trunk line so
that the nodes are located on both sides of the power sup-
ply.
• When nodes are located on both sides of the power supply,
move the power supply to the side where the bigger power
supply capacity is required.
• When a thin cable is used, replace it with a thick cable.

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7 Connections for DeviceNet Communications
DX100 7.2 Grounding

7.2 Grounding

7.2.1 Grounding Method

1. The DeviceNet cable system must be grounded at only one location in
the network in order to avoid a ground loop. Ground the DeviceNet
cable system closest to the center of the network.
As shown below, connect the drain wire of the communication cable to
the FG terminal of the communication power supply and ground the
power supply connected to the drain wire to a resistance of 100 Ω or
less.
T-Branch Tap or Power Supply Tap Power Supply Tap

V+ V+
CAN H CAN H
Commu- Drain Commu-
Drain
nication nication
CAN L CAN L Cable
Cable
V- V-

FG V+ V- FG V+ V-

Communication Communication
Power Supply Power Supply

Grounding resistance 100 or less Grounding resistance 100 or less

2. If more than one power supply is used, connect the drain wire of the
cable only to the power supply closest to the center of the network.
Ground the power supply to a resistance of 100 Ω or less. Do not
connect the drain wire to the other power supplies other than that.
For connecting multiple power supplies to the network, use a power
supply tap for each power supply. (Power supplies are not counted as
nodes.)

• Grounding resistance must be 100 Ω or less.

NOTE
• Grounding location must be reserved only for the Devi-
ceNet cable system. The same location cannot be used
for grounding of servo drivers or grounding of inverters.
• Ground the drain wire at only one place. Do not ground the
drain wire at several locations in the network.

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8 Error Indication
DX100 8.1 LED Indicators

8 Error Indication

8.1 LED Indicators

On the XFB01B board, the board status display LED and the DeviceNet
status display LED are provided. They are indicated with MS (module
status) and NS (network status) respectively. In startup after the power is
turned ON, MS and NS lamps light up in green and red alternately for LED
test and then in green. If MS and NS lamps do not light up in green after a
specified time with the power ON, the communication is not being
performed correctly.

MS
NS
SW3 SW2 SW1 LED1

8.1.1 MS Lamp
The MS LED indicates the status of the XFB01B board.

LED Status Indications and Corrective Actions

MS unlit Power loss • Check the connection of the power sup-

ply to CN1 of XFB01B board.

MS lit in Module in normal • The Module operates normally.

green state

MS blinks Communication error • Check the connection of the I/O commu-

in green with the DX100 nication cable to CN2 on the XFB01B
(In waiting status) board.

MS blinks Communication error • Check the connection of the I/O commu-

in red with the DX100 nication cable to CN2 on the XFB01B
(cyclically) board.

MS blinks Communication error Incorrect settings of the switches on the

in red with the DX100 XFB01B board.
(twice) • Check the settings of the switches on
the front of the XFB01B board.

MS lit in Error in module ROM/RAM check error or watchdog time-

red out error occurs.
• Turn the DX100 main power supply from
OFF to ON.
• Replace the XFB01B board.

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8 Error Indication
DX100 8.1 LED Indicators

8.1.2 NS Lamp
The NS LED indicates the status of DeviceNet.

LED Status Indications and Corrective Actions

NS unlit In offline status XFB01B board power supply failure,

communication power supply failure, or
DeviceNet line failure occurs.
• Check the connection of the power sup-
ply to CN1 of the XFB01B board.
• Check the wiring and connection of the
DeviceNet cable and connector.
• Check the voltage and connection of the
communication power supply.
• Check the transmission speed of each
device.
• Check the terminator value (121 Ω) of
the mounted terminator and its mounted
status.
• Check the operation status of the Devi-
ceNet master device.

NS blinks Communication is In online status, but communication is not

in green not established. established.
• Check the wiring and connection of the
DeviceNet cable and connector.
• Check the voltage and connection of the
communication power supply.
• Check the transmission speed of each
device.
• Check the terminator value (121 Ω) of
the mounted terminator and its mounted
status.
• Check the operation status of the Devi-
ceNet master device.
• Check if the number of I/O points for the
connected master or slave corresponds
to the number of I/O allocated points.

NS lit in Communication in Communication is established in online.

green normal status

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8 Error Indication
DX100 8.1 LED Indicators

LED Status Indications and Corrective Actions

NS blinks Time-out error A time-out error occurs between the

in red DX100 and the connected device.
• Check the wiring and connection of the
DeviceNet cable and connector.
• Check the voltage and connection of the
communication power supply.
• Check the transmission speed of each
device.
• Check the terminator value (121 Ω) of
the mounted terminator and its mounted
status.
• Check the operation status of the Devi-
ceNet master device.
• Check if the number of I/O points for the
connected master or slave corresponds
to the number of I/O allocated points.
• Raise the setting for the communications
cycle of the master device, and recheck
communications.

NS lit in Communication A node address is overlapped, or a bus

red fatal error OFF is detected on the network.
• Reset the node address so that the node
address is not overlapped.
• Check the wiring and connection of the
DeviceNet cable and connector.
• Check the voltage and connection of the
communication power supply.
• Check the transmission speed of each
device.
• Check the terminator value (121 Ω) of
the mounted terminator and its mounted
status.
• Check the transmission distance.
• Check if there is no noise generating fac-
tor.
• Replace the XFB01B board.

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DX100 OPTIONS
JARCR-XFB01B BOARD
INSTRUCTIONS
FOR DeviceNet

HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice

for ongoing product modifications and improvements. C Printed in Japan September 2009 09-09

MANUAL NO.

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