ABB Robotics. Application manual DeviceNet

Transcription

1 ABB Robotics Application manual DeviceNet

2 Trace back information: Workspace Main version a16 Checked in Skribenta version 896

3 Application manual DeviceNet RobotWare 5.15 Document ID: 3HAC Revision: P

4 The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English. ABB AB Robotics Products SE Västerås Sweden

5 Table of contents Table of contents Manual overview... Product documentation, M Safety... 1 Overview 1.1 DeviceNet, general DeviceNet, IRC Definition of I/O units... 2 Hardware description 2.1 DeviceNet Master/Slave Connections Shield grounding and power Connection of the DeviceNet bus Selecting cables Repeaters... 3 DeviceNet Master/Slave configuration 3.1 Introduction Configuration overview DeviceNet master Internal DeviceNet slave Workflows Configuration of third party units Working with IRC5 internal DeviceNet slave DeviceNet communication between two IRC5 controllers... 4 System parameters 4.1 Introduction Type Bus DeviceNet Address DeviceNet Communication Speed Connector ID Type Unit DeviceNet Address Type Unit Type Vendor ID Product Code Device Type Major Revision Minor Revision Production Inhibit Time Explicit Messaging Connection 1 Type Connection 1 Interval Connection 1 Output Size Connection 1 Input Size Quick Connect Trigger Poll I/O Type Fieldbus Command Type Path Service... 5 Trouble shooting 5.1 Bus off HAC Revision: P 5

6 Table of contents 6 Boards and units General DeviceNet Bus and I/O board status LED description DeviceNetbus status LEDs at power-up External I/O units Coil neutralization Setting DeviceNet bus ID Unit descriptions Introduction DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway DSQC 351A and 351B, DeviceNet/INTERBUS gateways DSQC 352A, DeviceNet/PROFIBUS-DP gateway DSQC 352B, DeviceNet/PROFIBUS-DP gateway DSQC 355A, Analog I/O DSQC 377A and DSQC 377B, Queue tracking units DSQC 378A and DSQC 378B, DeviceNet/CCLink gateways DSQC 651, AD combi I/O DSQC 652, Digital I/O DSQC 653, Digital I/O with relay outputs Index HAC Revision: P

7 Manual overview Manual overview About this manual This manual describes the DeviceNet option and contains instructions for the DeviceNet Master/Slave configuration. It also describes the configuration of boards and units. Usage This manual should be used during installation and configuration of the DeviceNet bus and upgrading of the DeviceNet option. Who should read this manual? This manual is intended for: Personnel that are responsible for installations and configurations of fieldbus hardware/software Personnel that make the configurations of the I/O system System integrators Prerequisites The reader should have the required knowledge of: Mechanical installation work Electrical installation work System parameter configuration Organization of chapters The manual is organized in the following chapters: Chapter Contents This chapter gives an overview of the DeviceNet fieldbus and includes the following: A general description of DeviceNet and the communication protocol connections Description of how the DeviceNet master/slave unit and I/O units are connected in a robot system Definition of I/O units in the IRC5 controller and the configuration of the controller This chapter describes the DeviceNet Master/Slave boards. The chapter also describes: Communication units How to connect the DeviceNet master to an I/O unit Termination Cable types and data rates Repeater functions This chapter gives an overview of the DeviceNet master and internal slave configuration. The chapter also contains descriptions of workflows. This chapter describes the DeviceNet specific system parameters. This chapter contains information and instructions for trouble shooting the DeviceNet connection. 3HAC Revision: P 7

8 Manual overview Chapter 6 Contents This chapter gives detailed descriptions of I/O units and gateways available from ABB Robotics and that support DeviceNet communication. The chapter also describes: DeviceNet bus status LEDs at power-up How to set the DeviceNet bus ID References Document references References Application manual - Conveyor tracking Application manual - Motion coordination and supervision Application manual - Robot communication and I/O control Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Product manual - IRC5 Product specification - Controller IRC5 with FlexPendant Technical reference manual - System parameters Technical reference manual - RAPID Instructions, Functions and Data types Document ID 3HAC HAC HAC HAC HAC HAC HAC HAC HAC Other references References Description The web site of ODVA (Open DeviceNet Vendor Association). ODVA DeviceNet Specification, revision 2.0 Specification from ODVA (Open DeviceNet Vendor Associations). Revisions Revision - A Description First edition The following corrections are made in chapter 5 Boards and units: A completing in section General. A correction in the description of the numerical format for the DSQC 355A unit, in section Unit descriptions. 8 3HAC Revision: P

9 Manual overview Revision B C D E F G H J K Description The following updates are made in chapter 2 Overview: Section DeviceNet, general; the different types of I/O connections are described more in detail. Section DeviceNet, IRC5; the figure illustrating the hardware overview is updated. The following updates are made in chapter 4 DeviceNet Master/Slave configuration: Section Working with IRC5 internal DeviceNet slave; the illustration is updated. Section DeviceNet communication between two IRC5 controllers; the illustration is updated. The following updates are made in chapter 5 Boards and units: Section Unit descriptions; the article numbers for the respective units are completed in the overview table of the I/O units. Each I/O unit description includes information about which types of I/O connections they support. Section DSQC 332A, Digital I/O with relay outputs; illustrations of how to connect the digital outputs and digital inputs. New DeviceNet Master/Slave boards, DSQC 658 and DSQC 659, which replace the earlier version, DSQC 603. Section DSQC 658 and DSQC 659, DeviceNet Master/Slave. The following new I/O units are included in section Unit descriptions: DSQC 651, AD combi I/O DSQC 652, Digital I/O DSQC 653, Digital I/O with relay outputs Information about DeviceNet internal slave, I/O connection, in chapter updated. Information updated in chapter 2.2 DeviceNet, IRC5. Chapter 6 Trouble shooting added. Updates and corrections are made. New system parameters, Trigger Poll I/O and Internal Slave, are added. Descriptions of the following circuit boards are removed: DSQC 327A, DSQC 328A, and DSQC 332A. Minor corrections. A new chapter is created for DSQC 352B - DeviceNet/PROFIBUS-DP gateway. Updated for the RW 5.13 release. Added information about the new PCI Card DSQC 697, which is equivalent to PCI Card DSQC 658 and will replace it. The following sections are updated: DeviceNet, IRC5 on page 17 DeviceNet Master/Slave on page 21 Updated for the RW release. Changes in the Boards and units chapter. Updated the table Technical data on page 133 for the DSQC 651 board. Updated the table Technical data on page 140 for the DSQC 652 board. Updated the table Technical data on page 148 for the DSQC 653 board. Changes in the Overview chapter. Updated the table in the section Illustration, example on page 18. 3HAC Revision: P 9

10 Manual overview Revision L M N P Description Updated for the RW 5.14 release. For the following sections, the information about the location of EDS, GSD, and GSDML files in the RobotWare DVD, PC, and IRC5 Controller is added: Internal DeviceNet Slave, subsection Electronic Data Sheet on page 37. DSQC 352A, DeviceNet/PROFIBUS-DP gateway, subsection Additional information on page 99. DSQC 352B, DeviceNet/PROFIBUS-DP gateway, subsection Additional information on page 106. Following updates are done in the DSQC 378A and DSQC 378B, DeviceNet/CCLink gateways section. Added the image of DSQC 378B board in the subsection Illustration of DSQC 378A and DSQC 378B on page 125. Updated the image of LED sequences in the subsection Board specific LEDs on page 127. Updated the table in the subsection Board specific LEDs on page 127. Updated the section Explict Messaging services on page 32. Updated for the RW release. Added a Note in the section Connector X8 on page 111 for DSQC 355A, Analog I/O board. Updated the screenshot in the section Change address on the IRC5 DeviceNet slave on page 45. Added the new system parameter Connector ID. Information about the location of Electronic Data Sheet files in the RobotWare DVD, PC, and IRC5 Controller is added for the boards DSQC 651, DSQC 652, and DSQC 653. Updated the image in the section Add unit with the Unit Type DN_INTERN- AL_SLAVE on page 46 for the RW release. Updated for the RW 5.15 release. Removed the word "master" throughout the manual from the text "DeviceNet master address". Updated the Introduction section in the chapter System parameters on page 49. Removed the section Internal Slave as it is explained in the System parameters manual. 10 3HAC Revision: P

11 Product documentation, M2004 Product documentation, M2004 Categories for manipulator documentation The manipulator documentation is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for M2004 manipulator systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware will be delivered with a Product manual that generally contains: Safety information. Installation and commissioning (descriptions of mechanical installation or electrical connections). Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts). Repair (descriptions of all recommended repair procedures including spare parts). Calibration. Decommissioning. Reference information (safety standards, unit conversions, screw joints, lists of tools ). Spare parts list with exploded views (or references to separate spare parts lists). Circuit diagrams (or references to circuit diagrams). Technical reference manuals The technical reference manuals describe reference information for robotics products. Technical reference manual - Lubrication in gearboxes: Description of types and volumes of lubrication for the manipulator gearboxes. Technical reference manual - RAPID overview: An overview of the RAPID programming language. Technical reference manual - RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types. Technical reference manual - RAPID kernel: A formal description of the RAPID programming language. Technical reference manual - System parameters: Description of system parameters and configuration workflows. Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications. 3HAC Revision: P 11

12 Product documentation, M2004 An application manual generally contains information about: The purpose of the application (what it does and when it is useful). What is included (for example cables, I/O boards, RAPID instructions, system parameters, DVD with PC software). How to install included or required hardware. How to use the application. Examples of how to use the application. Operating manuals The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and trouble shooters. The group of manuals includes (among others): Operating manual - Emergency safety information Operating manual - General safety information Operating manual - Getting started, IRC5 and RobotStudio Operating manual - Introduction to RAPID Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Trouble shooting IRC5, for the controller and manipulator. 12 3HAC Revision: P

13 Safety Safety Safety of personnel Safety regulations When working inside the robot controller it is necessary to be aware of voltage-related risks. A danger of high voltage is associated with the following parts: Units inside the controller, for example I/O units, can be supplied with power from an external source. The mains supply/mains switch. The power unit. The power supply unit for the computer system (230 VAC). The rectifier unit ( VAC and 700 VDC). Capacitors! The drive unit (700 VDC). The service outlets (115/230 VAC). The power supply unit for tools, or special power supply units for the machining process. The external voltage connected to the controller remains live even when the robot is disconnected from the mains. Additional connections. Therefore, it is important that all safety regulations are followed when doing mechanical and electrical installation work. Before beginning mechanical and/or electrical installations, ensure you are familiar with the safety regulations described in Product manual - IRC5. 3HAC Revision: P 13

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15 1 Overview 1.1 DeviceNet, general 1 Overview 1.1 DeviceNet, general What is DeviceNet? DeviceNet is a communications link to connect industrial devices. It is a simple networking solution that reduces both cost and time to wire and install industrial automation devices, and the direct connectivity provides improved communication between devices. DeviceNet is an open network standard. Here are some examples of applications: Peer-to-peer data exchange where a DeviceNet product can produce and consume messages Master/slave operation defined as a proper subset of Peer-to-Peer A DeviceNet product can function as a client or server, or both Note When using a polled connection on DeviceNet Master/Slave a DO signal will be updated directly on a I/O unit. DeviceNet specification The DeviceNet specification defines a network communication system for moving data between elements of an industrial control system. Communication protocol connections The user must establish a connection with a device in order to exchange information with that device. DeviceNet defines the following two different types of messaging: Type of message Explicit messages I/O messages Description Explicit messages provide multi-purpose and point-to-point communication paths between two devices. Explicit messages provide the typical request/response oriented network communications used to perform node configuration and problem diagnosis. I/O messages are for time-critical and control-oriented data, and they provide a dedicated and special-purpose communication path between a producing application and one or more consuming applications. I/O messages - connection types The following table describes the different types of I/O connections. Type of I/O connection Polled connection Description This technique is used for any amount of I/O data. Each slave receives a query from the master and may or may not respond before the next device has received a query. A slave can only respond to a request from the master. 3HAC Revision: P 15

16 1 Overview 1.1 DeviceNet, general Type of I/O connection Strobe connection Description A single multicasting request. Quick exchange of a small amount of I/O data between a master and its slaves. The master sends one message that contains one bit of output data to each slave that has a strobe connection. This will result in a synchronized reading of data. Change-Of-State (COS) connection data. This technique can improve system throughput signific- Units are configured to produce data upon a change of I/O antly. Data messages must be acknowledged by the receiver before new messages can be sent. Heart beat messages are used to tell the receiver that the unit is still alive even if no data has changed state for a long time. Cyclic connection Change-Of-State with acknowledge suppression Cyclic with acknowledge suppression Units are configured to produce data on a pre-configured time interval. Data production messages must be acknowledged before a new message can be sent. Units are configured to produce data upon a change of application data. This technique can improve system throughput significantly. No acknowledge is required - that is, the receiver of data must be able to consume the data at the same rate as it is produced by the sending unit. Units are configured to produce data on a pre-configured time interval. No acknowledge is required - that is, the receiver of data must be able to consume the data at the same rate as it is produced by the sending unit. 16 3HAC Revision: P

17 1 Overview 1.2 DeviceNet, IRC5 1.2 DeviceNet, IRC5 General Several I/O units and gateways for DeviceNet communication are available from ABB Robotics. See Unit descriptions on page 80. When ordering DeviceNet there are the following three options: DeviceNet single, which consists of 1 Master/Slave channel DeviceNet dual, which consists of 2 Master/Slave channels DeviceNet quadruple, which consists of 4 Master/Slave channels Hardware overview Slave units The hardware of the DeviceNet fieldbus consists of a Master/Slave unit, a single channel or a dual channel, and distributed I/O units (called Slave units). The Master/Slave unit is connected to the PCI backplane on the main computer in the robot controller. The slave part of the Master/Slave unit is normally controlled by an external master on the same physical DeviceNet network. It is possible to act as a master and a slave simultaneously on the same channel. The slave units are attached to the fieldbus network, and can be any DeviceNet compliant device. They are controlled through the master part of the Master/Slave unit. 3HAC Revision: P 17

18 1 Overview 1.2 DeviceNet, IRC5 Illustration, example The following illustration shows an example of the hardware. xx A B C D E F DeviceNet fieldbus, Master/Slave unit. Placed in the computer module. Terminating resistor (121 Ohm). DSQC 634, DeviceNet power supply 24 V DSQC 652, Distributed digital I/O. The maximum length of the drop cable is 6 m. DSQC 608/609, Customer power supply 24 V. IRC5 controller Additional Master/Slave The IRC5 system supports up to four Master/Slave units. They work independently from each other, for example have different baud rates, and have the same possibilities and limitations as described in this document. To achieve this, it is possible to use up to two DeviceNet boards of the same type. Following are the possible hardware configurations: One or two single channel PCI boards One or two dual channel PCI boards Note It is possible to use the PCI card DSQC 658 together with the new PCI card DSQC HAC Revision: P

19 1 Overview 1.2 DeviceNet, IRC5 Bus configuration Configuration of the bus is done using RobotStudio. Refer to Operating manual - RobotStudio. Specification overview Item Fieldbus type Specification revision Data rate Specification DeviceNet DeviceNet specification release , 250, 500 Kbps Support for predefined Master/Slave connection set Group 2 Client (Master) Group 2 Only Client (Master) Group 2 Server (Slave) 3HAC Revision: P 19

20 1 Overview 1.3 Definition of I/O units 1.3 Definition of I/O units General It is possible to connect any type of DeviceNet compliant I/O unit on the DeviceNet master bus. All I/O units should comply with the DeviceNet standard and be conformance tested by ODVA. I/O units may be mounted inside the controller. For details about I/O units, see Boards and units on page 73. Further information The table gives references to additional information: Information Detailed descriptions of all I/O units and gateways available from ABB Robotics and that support DeviceNet communication. How to install the I/O units and gateways mechanically and electrically. See Section Introduction on page 80. Product manual - IRC5, section Replacement of I/O units and gateways, IRC5. Allowed configurations of I/O units and how Technical reference manual - System parameters. to setup the configurations. 20 3HAC Revision: P

21 2 Hardware description 2.1 DeviceNet Master/Slave 2 Hardware description 2.1 DeviceNet Master/Slave Description DSQC 658/DSQC 697 and DSQC 659 are the PCI cards mounted in the computer module. The Master/Slave boards can be operated both as a master and a slave (at the same time) for a DeviceNet system. Installation of PCI cards For installation descriptions of the DeviceNet Master/Slave board refer to Product manual - IRC5, section Replacement of PCI cards in the Computer unit slots. The following figure illustrates the location of the DeviceNet Master/Slave boards in the computer unit. xx Description Art. no. Note Pos. DeviceNet master/slave (single) 3HAC DSQC 697 A, B, C, D DeviceNet master/slave (single) 3HAC DSQC 658 A, B, C, D DeviceNet master/slave (dual) 3HAC DSQC 659 A, B, C, D Prerequisites RobotWare 5.07 or later version, and the DeviceNet option are required to run the DeviceNet Master/Slave board. 3HAC Revision: P 21

22 2 Hardware description 2.1 DeviceNet Master/Slave Illustration, DSQC 697/DSQC 659 The following figure illustrates the mounting bracket for the PCI cards, the front view. Note The mounting brackets for DSQC 697 and DSQC 658 are identical with DSQC 659, except of the channel B that is not included. xx A B C D E F Channel A Health LED Channel A DeviceNet connector Channel A Communication LED Channel B Health LED Channel B DeviceNet connector Channel B Communication LED 22 3HAC Revision: P

23 2 Hardware description 2.1 DeviceNet Master/Slave DeviceNet connector xx The following table shows the connections to the DeviceNet connector: Signal name I/O pin Wire color Function V- 1 black DeviceNet network negative power (0 V) CANL 2 blue DeviceNet communication bus terminal (low) Shield 3 bare Network cable shield CANH 4 white DeviceNet communication bus terminal (high) V+ 5 red DeviceNet network positive power (24 V DC) LEDs Designation COMM COMM COMM COMM HLT HLT HLT Color status Off Flashing green Solid green Solid red Off Solid green Solid red Description Offline - that is, board is not communicating on the network. Online - that is, board is communicating on the network but no configured devices are found. Online and configured - that is, board is communicating on the network and at least one configured device is found. Bus off - that is, board unable to communicate on network. No power supply to PCI bus. Board is running. Start-up self test OK. Board is not running, an error occurred during board firmware load or a fatal runtime error occurred. Note This LED should be lit red at start-up until the proper software is loaded. 3HAC Revision: P 23

24 2 Hardware description Shield grounding and power 2.2 Connections Shield grounding and power General The DeviceNet shield and V- should be interconnected and grounded at only one place in the DeviceNet network. For more advanced connections with several power supplies refer to the DeviceNet Specification, see References on page 8. Grounding The following illustration shows an example of cable grounding. xx HAC Revision: P

25 2 Hardware description Connection of the DeviceNet bus Connection of the DeviceNet bus Illustration The illustration below shows an example of how to connect the DeviceNet bus. xx A B C D E F Computer unit DeviceNet PCI board (DSQC 659) DeviceNet connector, channel A DeviceNet connector, channel B 121 ohm, 1 %, 0.25 W metal film resistor I/O unit Physical connection between DeviceNet bus and DeviceNet node The following figure shows how the next DeviceNet node is connected to the DeviceNet bus. xx A B Incoming DeviceNet bus cable Outgoing DeviceNet bus cable 3HAC Revision: P 25

26 2 Hardware description Connection of the DeviceNet bus Termination resistors in DeviceNet bus Each end of the DeviceNet bus must be terminated with a 121 ohm resistor. The two terminating resistors should be as far apart as possible. The termination resistor is placed in the cable connector. There is no internal termination on the DeviceNet PCI board. The termination resistor is connected between CANL and CANH - that is, between pin 2 and pin 4 according to the illustration below. xx HAC Revision: P

27 2 Hardware description Selecting cables Selecting cables DeviceNet bus The end-to-end network distance varies with data rate and cable thickness. For information about cable length dependency on cable type and data rate, see the following tables. For specification of the designations on the different cable types, see ODVA DeviceNet Specification. Data rate 500 kbit/s Cable type Thick trunk length Thin trunk length Flat trunk cable Maximum drop length Cumulative drop length Max. length 100 m (328 ft) 100 m (328 ft) 75 m (246 ft) 6 m (20 ft) 39 m (128 ft) Data rate 250 kbit/s Cable type Thick trunk length Thin trunk length Flat trunk cable Maximum drop length Cumulative drop length Max. length 250 m (820 ft) 100 m (328 ft) 200 m (656 ft) 6 m (20 ft) 78 m (256 ft) Data rate 125 kbit/s Cable type Thick trunk length Thin trunk length Flat trunk cable Maximum drop length Cumulative drop length Max. length 500 m (1,640 ft) 100 m (328 ft) 380 m (1,250 ft) 6 m (20 ft) 156 m (512 ft) 3HAC Revision: P 27

28 2 Hardware description Selecting cables Illustration of trunk line and drop lines The following figure illustrates a trunk line with drop lines. Thick or thin cable can be used for trunk lines and drop lines. For information about cable thickness and data rate, see the tables in the section DeviceNet bus on page 27. xx A B C D E F G H Terminator Trunk line Drop line Tap Zero drop Node Short drop T-connector 28 3HAC Revision: P

29 2 Hardware description Repeaters Repeaters Usage Repeaters are used for the following purposes: To avoid disturbances such as ESD/EFT, which may otherwise propagate to other parts of the network. To isolate noisy segments. When using several power supplies a repeater could be used to isolate the supplies from each other to avoid voltage potential differences and ground currents. Extending the length of a trunk line The following figure illustrates an application example where a repeater is used for extending the length of a trunk line. en Control TR PS Controller Terminating resistor Power supply Extending the length of a drop line The following figure illustrates an application example where a repeater is used for extending the length of a drop line. en HAC Revision: P 29

30 2 Hardware description Repeaters Control TR PS Controller Terminating resistor Power supply 30 3HAC Revision: P

31 3 DeviceNet Master/Slave configuration 3.1 Introduction 3 DeviceNet Master/Slave configuration 3.1 Introduction Controller software PC software The IRC5 controller must be installed with software that supports the use of the DeviceNet network - that is, the option for DeviceNet must be installed. For description of how to add the DeviceNet option refer to Operating manual - RobotStudio. RobotStudio is a PC software that is used to set up connections to robots and to work with robots. The configuration for the DeviceNet communication is done either manually in RobotStudio, or by loading a configuration file using RobotStudio. For information on how to work with RobotStudio refer to Operating manual - RobotStudio, see References on page 8. 3HAC Revision: P 31

32 3 DeviceNet Master/Slave configuration DeviceNet master 3.2 Configuration overview DeviceNet master Configuration The maximum number of I/O units that can be defined in the IRC5 system is described in Technical reference manual - System parameters, see References on page 8. DeviceNet has an addressing range from Counted as I/O units are: All DeviceNet slave units connected to the IRC5 DeviceNet master. The internal DeviceNet slave. Simulated I/O units and other I/O units connected to other IRC5 fieldbuses. ABB I/O units and/or units from other vendors can be used. No additional software option, except for the DeviceNet option, is required to run I/O units from other vendors. DeviceNet generic unit type Use the DeviceNet generic unit type if the EDS file is unavailable. To define a unit with the predefined unit type DN_GENERIC, you only need to know the network address of the device to be able to communicate with it. When the unit is connected, messages containing the information necessary to create a unit type will appear on the Event Log window of the FlexPendant. The following information appears: Unit identification system parameters (Vendor ID, Device Type and Product Code) The first connection system parameters of the unit (Connection 1 Type, Connection 1 Input Size and Connection 1 Output Size) Other system parameters in the Unit Type can be left to their default values. See Configuration of third party units on page 39. Note DN_GENERIC should only be used when installing and commissioning new devices. Using DN_GENERIC will increase the startup time. When restarting the system the identification of the I/O unit will be lost and there will not be any information if the unit is replaced with another unit, which has other functionality or size. Explict Messaging services It is possible to configure I/O units through explicit messaging services. This could be done either at startup by defining the Fieldbus Commands to the configured unit, or at runtime from RAPID through the Fieldbus Command Interface (FCI). For more information, refer to Technical reference manual - RAPID Instructions, Functions and Data types, and Application manual - Robot communication and I/O control, section Fieldbus Command Interface. 32 3HAC Revision: P

33 For the explicit messaging at startup: 1 Use RobotStudio to define a Fieldbus Command type that is general to the unit type and could be used by many DeviceNet units of this unit type. 2 Use RobotStudio to define a Fieldbus Command that is specific to a certain unit and that specifies the unit specific data to be send to the unit. The Fieldbus Command is linked to a certain unit. The data defined in the value parameter should fit the instance or attribute size on the DeviceNet unit. The DeviceNet specific system parameters in the Fieldbus Command type are: Path (-DN_Path) Service (-DN_Service) For more information, refer to the DeviceNet Specification or the Application manual - Robot communication and I/O control. Following is a configuration file example that sends two Fieldbus Commands at startup to the I/O unit SafeTrigger. EIO_UNIT: -Name "SafeTrigger" -UnitType "ABB_type" -Bus "DeviceNet1" -DN_Address 19 EIO_COMMAND_TYPE: 3 DeviceNet Master/Slave configuration -Name "RackSize" -UnitType "ABB_type" -DefValue "0" -OrderNr 1\ -DN_Path "6, ,C6,1" -DN_Service 16 -Name "LastRack" -UnitType "ABB_type" -DefValue "0" -OrderNr 2\ -DN_Path "6, ,C1,1" -DN_Service DeviceNet master The preceding example shows how to use the -DN_Path and -DN_Service parameters. The syntax used in the -DN_Path command and in the I/O unit's EDS file is same. If a Class, Instance, or Attribute below 0x10 is specified, it is important to include a "0" before the value. For example, the value 8 is written as 08 in the -DN_Path string. Following is a short description of the syntax used in the -DN_Path parameter. "Path length, 20 Class 24 Instance 30 Attribute, Data type, Data type length" The following table provides a description of the parameters used in the syntax: Parameter Path length Class Instance Attribute Data type Data type length Description The byte count for the " " string. The DeviceNet Class number. The instance number of the class. The attribute of the specified instance. The data format of the attribute. The length in bytes of the specified Data type. The highest allowed value is 0x20 (32 bytes). Following are the allowed values of the Data type and Data type length parameters: Data Type 0x01 Description Signed 16-bit value Data type length 2 3HAC Revision: P 33

34 3 DeviceNet Master/Slave configuration DeviceNet master Data Type 0x02 0x03 0x04 0x05 0x08 0x09 0x0B 0x16 0x18 0xC1 0xC2 0xC3 0xC6 0xC7 0xC8 0xCA 0xD1 0xD2 0xDA Description Unsigned 16 bit integer value Signed 16-bit value Logical Boolean with values TRUE and FALSE Signed 8-bit integer value Unsigned 8-bit integer value Unsigned 32-bit integer value 32-bit floating point value Character string (1 byte per character, 1 byte length indicator) Unsigned 8-bit integer value Logical Boolean with values TRUE and FALSE Signed 8-bit integer value Signed 16-bit value Unsigned 8-bit integer value Unsigned 16 bit integer value Unsigned 32-bit integer value 32-bit floating point value Unsigned 8-bit integer value Signed 16-bit value Character string (1 byte per character, 1 byte length indicator) Data type length X X The -DN_Service parameter describes what type of operation that should be performed against the specified -DN_Path parameter. Following are the allowed values for -DN_Service: Operation Set Get Reset Value Description Set the value specified in '-DefValue' or EIO_COMMAND. Get the specified parameter. Display answer as an event message. Performs a reset of the specified I/O unit. The-OrderNr parameter is used to specify in what order the commands are send to the I/O unit. If an FCI command is rejected by the I/O unit, the DeviceNet master will generate an event message with the error code returned by the I/O unit. The following table shows some of the possible return values: General Error Code 0x02 0x05 0x08 0x09 Semantics Resource unavailable. Path destination unknown. Service not supported. Invalid attribute value. 34 3HAC Revision: P

35 3 DeviceNet Master/Slave configuration DeviceNet master General Error Code 0x0B 0x0D 0x0E 0x13 0x14 0x16 Semantics Already in requested mode/state. Object already exists. Attribute not settable. Not enough data. Attribute not supported. Object does not exist CIP routing To be able to use CIP routing the system parameter Explicit Messaging must be set in the unit configuration for those units that will use CIP routing. For details about the unit configuration, refer to Application manual - EtherNet/IP Fieldbus Adapter. 3HAC Revision: P 35

36 3 DeviceNet Master/Slave configuration Internal DeviceNet slave Internal DeviceNet slave Configuration The internal DeviceNet slave shares address and physical connector with the master, and is configured as an ordinary I/O unit. The following table gives descriptions of defining the types Bus, Unit Type and Unit. Defining... Bus Unit Type Unit Description A DeviceNet bus must be defined before any communication on the bus is possible - that is, define rules for the DeviceNet master to communicate on the network. The following two system parameters are DeviceNet specific: DeviceNet Address defines the address which the DeviceNet master should use. DeviceNet Communication Speed defines the communication speed (baud rate). For detailed information, refer to Type Bus on page 51. When creating a unit type some system parameters are fieldbus specific. For detailed information about the parameters see System parameters on page 49. Unit specific values can be found in the EDS file (Electronic Data Sheet) for the unit, see Electronic Data Sheet on page 37. The EDS file should be obtained from the vendor of the I/O module. If an EDS file is unavailable, the generic unit type could be used to obtain necessary information about the unit. Refer to DeviceNet generic unit type on page 32. Technical reference manual - System parameters Predefined bus When the system is installed with the DeviceNet option, a predefined bus DeviceNet1 is created. Predefined Unit Types The following Unit Types are predefined for the internal slave: DN_INTERNAL_SLAVE is used on the slave side to allow an IRC5 DeviceNet master to create a connection to an IRC5 DeviceNet slave. DN_SLAVE is used on the master side to connect to another IRC5 DeviceNet slave. The predefined Unit Types are supporting a polled connection with the size of 8 input bytes and 8 output bytes as defined in the Unit Types configuration for the fieldbuses. If another input or output size on the internal DeviceNet slave is required, the predefined Unit Types must be changed or new Unit Types must be created. Limitations The internal DeviceNet slave has the following limitations: The default DN_INTERNAL_SLAVE and DN_SLAVE have 8 digital input bytes and 8 digital output bytes but can be increased to the maximum value, which is 64 digital input bytes and 64 digital output bytes. 36 3HAC Revision: P

37 3 DeviceNet Master/Slave configuration Internal DeviceNet slave For the internal DeviceNet slave both the input and output map starts at bit 0 and ends at bit 63. Related information Technical reference manual - System parameters Electronic Data Sheet The Electronic Data Sheet files (IRC5_Slave_DSQC603.eds, IRC5_Slave_DSQC658_659.eds, and IRC5_Slave_DSQC697.eds) for the DeviceNet Master/Slave units, matching the configuration of the internal DeviceNet slave can be obtained from the RobotWare DVD, PC, or IRC5 controller at the following locations. On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\DeviceNet\EDS\ On the PC where the RobotWare is installed:...\abb Industrial IT\ RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\EDS\ On the IRC5 Controller: \hd0a\<robotware_xx.xx.xxxx>\utility\service\eds\ If another input or output size than the predefined is used, it is recommended to edit the values in the EDS file to match the new system parameter values. Example, EDS file An example from the EDS file when changing the predefined input and output sizes from 8 bytes to 16 bytes: [IO_Info] Default = 0x0000; Input1 = 16; Output1 = 16; I/O connection One I/O connection is supported, but there is no explicit connection to the application. Size and connection type supported are defined in slave type Unit Type. Note If the DeviceNet internal slave loses connection with the master, for example, bus off or connection is interrupted, the input signals of the slave are cleared (reset to zero). 3HAC Revision: P 37

38 3 DeviceNet Master/Slave configuration Internal DeviceNet slave Connecting two IRC5 systems When connecting two IRC5 systems the internal slave should be seen and configured as any other ordinary I/O unit from the other IRC5 system, which is acting as a master. Refer to Working with IRC5 internal DeviceNet slave on page 41. Illustration The following picture illustrates how to use the predefined Unit Types. en HAC Revision: P

39 3 DeviceNet Master/Slave configuration Configuration of third party units 3.3 Workflows Configuration of third party units Description of DeviceNet generic unit type DN_GENERIC is a predefined unit type that is used to set up a communication with any I/O unit in an easy way. Usage When new DeviceNet units should be configured and the information available is not sufficient to create a new unit type, then the generic unit type DN_GENERIC could be used to retrieve necessary information. This could be the case when third part units should be configured and the EDS file is missing. Note When using DN_GENERIC you accept any type of unit as long as the address matches - that is, make sure to use the correct address. Prerequisites The network address of the I/O unit must be known and the baud rate must match the master. Data presented on the FlexPendant In the Event Log window of the FlexPendant you get information about the following system parameters: Vendor ID Product Code Device Type Connection 1 Type Connection 1 Input Size Connection 1 Output Size How to use the DeviceNet generic unit type The following steps describe how to use the DeviceNet generic unit type: Action Note Determine the address on the physical I/O unit. Add unit at the determined address and with unit type DN_GENERIC. Restart the system. For information see Operating manual - RobotStudio. 4 View event log that shows unit identification parameters and connection support information. For information see Operating manual - RobotStudio and/or Operating manual - IRC5 with FlexPendant. Two event messages appear in the Event Log window in RobotStudio. 3HAC Revision: P 39

40 3 DeviceNet Master/Slave configuration Configuration of third party units Action Note Create new unit type by using information For information see Operating manual - RobotStudio. from the event log, and change unit type from DN_GENERIC to the type just created. Define the signals. Restart the system. For information see Operating manual - RobotStudio and/or Technical reference manual - System parameters. 40 3HAC Revision: P

41 3 DeviceNet Master/Slave configuration Working with IRC5 internal DeviceNet slave Working with IRC5 internal DeviceNet slave Usage When the IRC5 controller is connected, for example, to an external PLC, the IRC5 controller should act as an ordinary slave unit on the DeviceNet network. The PLC connects to the IRC5 DeviceNet slave unit to exchange data. To configure the IRC5 controller as a slave unit on the DeviceNet network, use the Unit Type DN_INTERNAL_SLAVE. See Illustration on page 41. Prerequisites The network address of the DeviceNet master on the IRC5 controller must be known. The unit configured with the predefined Unit Type DN_INTERNAL_SLAVE will share this address. A master will connect to the internal DeviceNet slave using this address. Illustration The following figure illustrates how to use the internal DeviceNet slave. D xx A B C D E PLC DeviceNet master, for example, with the address 4 and a configured I/O unit with the address 2. Power supply unit, 24 VDC IRC5 controller Internal DeviceNet slave, for example, with the address 2 (the same address as the DeviceNet Address on the IRC5 controller). 3HAC Revision: P 41

42 3 DeviceNet Master/Slave configuration Working with IRC5 internal DeviceNet slave How to use the internal DeviceNet slave Action 1 Add a unit with the Unit Type DN_INTERNAL_SLAVE. xx For information about how to change the master (internal slave address), refer to DeviceNet master on page 32, DeviceNet communication between two IRC5 controllers on page 43, and DeviceNet Address on page Define the signals on the created unit. xx For information, refer to Operating manual - RobotStudio. 3 Restart the system. Now the IRC5 controller is ready to be contacted from another DeviceNet master. 42 3HAC Revision: P

43 3 DeviceNet Master/Slave configuration DeviceNet communication between two IRC5 controllers DeviceNet communication between two IRC5 controllers Usage When two IRC5 controllers are connected to each other via DeviceNet, one of them must be configured as a slave and the other one must be configured as a master. See Illustration on page 43. Limitations The master address cannot be the same on the two controllers since they shall be interconnected. Illustration The figure illustrates DeviceNet communication between two IRC5 controllers. xx A B C D E IRC5 DeviceNet master IRC5 DeviceNet slave DeviceNet master Internal DeviceNet slave Power supply unit, 24V DC 3HAC Revision: P 43

44 3 DeviceNet Master/Slave configuration DeviceNet communication between two IRC5 controllers How to configure the DeviceNet master-/slave controllers The following procedures describe the configuration of a hardware setup like the one illustrated in the picture in section Illustration on page 43. There are references to the hardware via the capital letters associated with the respective hardware in the picture. 1. Action Change the DeviceNet address on the IRC5 DeviceNet slave (B). Info/Note See How to use the internal DeviceNet slave on page 42 and Change address on the IRC5 DeviceNet slave on page 45. The DeviceNet address needs to be changed to avoid duplicated addresses on the interconnected network with the DeviceNet master (A) Configure the IRC5 DeviceNet slave (B) according to the configuration procedure for the internal DeviceNet slave. See How to use the internal DeviceNet slave on page 42 and Add unit with the Unit Type DN_INTERNAL_SLAVE on page 46. Configure the IRC5 DeviceNet master (A) See Add unit to the IRC5 DeviceNet master to connect to the IRC5 internal DeviceNet (A) on page 47. slave (B). Configure signals on the created unit Physically interconnect the two IRC5 controllers. Restart the master controller. Now it is possible to set output signals on one controller. The shield should only be connected to earth at one point, and the power should only be connected to the bus cable in one place. The master should try to connect to the slave controller. The output signals shall appear as inputs on the other controller. 44 3HAC Revision: P

45 3 DeviceNet Master/Slave configuration DeviceNet communication between two IRC5 controllers Change address on the IRC5 DeviceNet slave Action In RobotStudio, click Configuration Editor and select I/O. Click Bus, then right-click on the bus and select Edit Bus. In the Edit Bus(s) dialog box, click on DeviceNet Address and type an address in the Value field that is different from the DeviceNet address for the IRC5 DeviceNet master (A) xx HAC Revision: P 45

46 3 DeviceNet Master/Slave configuration DeviceNet communication between two IRC5 controllers Add unit with the Unit Type DN_INTERNAL_SLAVE Action In RobotStudio, click Configuration Editor and select I/O. Click Unit, then right-click in the workspace and select Add Unit. In the Edit Unit dialog box, type the values for the parameters. xx Note The DeviceNet address used by this unit on the DeviceNet network is the same as the selected DeviceNet address on the IRC5 DeviceNet slave (B). 46 3HAC Revision: P

47 3 DeviceNet Master/Slave configuration DeviceNet communication between two IRC5 controllers Add unit to the IRC5 DeviceNet master (A) Action In RobotStudio, click Configuration Editor and select I/O. Click Unit, then right-click in the workspace and select Add Unit. Add a unit of the Unit Type DN_SLAVE that corresponds to the Unit Type DN_INTERN- AL_SLAVE on the IRC5 DeviceNet slave conroller (B). In the Edit Unit dialog box, type the values for the parameters. Set the address to the same value that was selected as the DeviceNet address of the IRC5 DeviceNet slave (B). xx HAC Revision: P 47

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49 4 System parameters 4.1 Introduction 4 System parameters 4.1 Introduction About the system parameters There are both DeviceNet specific parameters and more general parameters. This chapter describes all DeviceNet specific system parameters. The parameters are divided into the type they belong to. For information about other system parameters, see Technical reference manual - System parameters. DeviceNet system parameters Bus These parameters belong to the type Bus in the topic I/O. Parameter Name Type of Bus Connector ID Label of Fieldbus Connector Unit Recovery Time DeviceNet Address DeviceNet Communication Speed For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Connector ID on page 53 Technical reference manual - System parameters Technical reference manual - System parameters DeviceNet Address on page 51 DeviceNet Communication Speed on page 52 Unit These parameters belong to the type Unit in the topic I/O. Parameter Name Type of Unit Connect to Bus Unit Identification Label Unit Trustlevel Unit Startup State Store Unit State at Power Fail Regain Communication Reset DeviceNet Address For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters DeviceNet Address on page 54 3HAC Revision: P 49

50 4 System parameters 4.1 Introduction Unit Type These parameters belong to the type Unit Type in the topic I/O. Parameter Name Type of Bus Vendor Name Product Name Internal Slave Vendor ID Product Code Device Type Major Revision Minor Revision Production Inhibit Time Explicit Messaging Connection 1 Type Connection 1 Interval Connection 1 Output Size Connection 1 Input Size Quick Connect Trigger Poll I/O For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Vendor ID on page 55 Product Code on page 56 Device Type on page 57 Major Revision on page 58 Minor Revision on page 59 Production Inhibit Time on page 60 Explicit Messaging on page 61 Connection 1 Type on page 62 Connection 1 Interval on page 63 Connection 1 Output Size on page 64 Connection 1 Input Size on page 65 Quick Connect on page 66 Trigger Poll I/O on page 67 Fieldbus Command Type These parameters belong to the type Fieldbus Command Type in the topic I/O. Parameter Name Type of Unit Default Value Download Order Path Service For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Technical reference manual - System parameters Path on page 68 Service on page HAC Revision: P

51 4 System parameters DeviceNet Address 4.2 Type Bus DeviceNet Address Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values DeviceNet Address belongs to the type Bus, in the topic I/O. DN_MasterAddress DeviceNet Address is mandatory for a DeviceNet fieldbus and decides what address the master should use to communicate with other devices on the DeviceNet network. The master address is the address that the master uses to communicate. DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The DeviceNet Address should not use the same address as another device on the network. The default value is 2. Allowed values are the integers Additional information Note For an IRC5 system using a DSQC 377B I/O unit: If the parameter DeviceNet Address is changed, from the default value (2), then the parameter Default Value for the Fieldbus Command Type TimeKeeperInit must be changed to the same value. For detailed information, see Technical reference manual - System parameters, Fieldbus Command Type, see References and DSQC 377B. 3HAC Revision: P 51

52 4 System parameters DeviceNet Communication Speed DeviceNet Communication Speed Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values DeviceNet Communication Speed belongs to the type Bus, in the topic I/O. DN_BaudRate DeviceNet Communication Speed is mandatory for a DeviceNet fieldbus and decides what communication speed (baud rate) the DeviceNet master should use to communicate with other devices on the DeviceNet network. The baud rate is the signalling speed of the communication, and determines the maximum speed of the data transfer in serial channels. The higher the baud rate is, the faster the communication can be. DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. When using DeviceNet Communication Speed, all devices on the same physical network must use the same baud rate. The default value is 500. Allowed values are 125, 250, and 500, specifying the baud rate in Kbps (kilobits per second). 52 3HAC Revision: P

53 4 System parameters Connector ID Connector ID Parent Cfg name Description Usage Prerequisites Default value Allowed values Connector ID belongs to the type Bus, in the topic I/O. ConnectorID The parameter Connector ID specifies the hardware interface (connection port) that the DeviceNet option shall use. The Connector ID parameter is used to select one of the available connection ports to use. DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. First Channel First Channel Second Channel Third Channel Fourth Channel 3HAC Revision: P 53

54 4 System parameters DeviceNet Address 4.3 Type Unit DeviceNet Address Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values DeviceNet Address belongs to the type Unit, in the topic I/O. DN_Address DeviceNet Address specifies the address that the I/O unit is assumed to be using on the network, and which the master should try to setup a connection against. DeviceNet Address is a DeviceNet specific parameter that is only available for DeviceNet units. DeviceNet single, DeviceNet dual or DeviceNet quadruple option must be installed. There can be no sharing of addresses on the DeviceNet network when other than the internal DeviceNet slave and the master are on the same board. All addresses on a DeviceNet network must be unique, the only exception is that the master and the internal DeviceNet slave share the same address. The default value is 63. Allowed values are the integers HAC Revision: P

55 4 System parameters Vendor ID 4.4 Type Unit Type Vendor ID Parent Cfg name Description Usage Prerequisites Default value Allowed values Vendor ID belongs to the type Unit Type, in the topic I/O. DN_VendorId Vendor ID is used as an identification of the I/O unit to secure communication to the correct type of device. This parameter is used as an identification of the I/O unit to secure communication to the correct device. The value of Vendor ID can be found in the Electronic Data Sheet (EDS) for the unit (called VendCode in EDS file), or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The default value is 0. Allowed values are the integers Additional information The I/O unit vendor number is assigned by Open DeviceNet Vendor Associations (ODVA) to the vendor of the specific I/O unit. 3HAC Revision: P 55

56 4 System parameters Product Code Product Code Parent Cfg name Description Usage Prerequisites Default value Allowed values Product Code belongs to the type Unit Type, in the topic I/O. DN_ProductCode Product Code is used as an identification of the I/O unit to secure communication to the correct device. This parameter is used as an identification of the I/O unit to secure communication to the correct device. The value of Product Code can be found in Electronic Data Sheet (EDS) for the unit (called ProdCode in EDS file), or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual or DeviceNet quadruple option must be installed. Default value is 0. Allowed values are the integers Additional information The I/O unit product code is defined by the vendor of the unit and shall be unique for the actual product type. 56 3HAC Revision: P

57 4 System parameters Device Type Device Type Parent Cfg name Description Usage Prerequisites Default value Allowed values Device Type belongs to the type Unit Type, in the topic I/O. DN_DeviceType The parameter Device Type specifies the device type of this I/O unit as defined by the Open DeviceNet Vendor Association. This parameter is used as an identification of the I/O unit to secure communication to the correct device. The value of this parameter can be found in the Electronic Data Sheet (EDS) for the unit (called ProdType in EDS file), or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The default value is 0. Allowed values are the integers HAC Revision: P 57

58 4 System parameters Major Revision Major Revision Parent Cfg name Description Usage Prerequisites Default value Allowed values Major Revision belongs to the type Unit Type, in the topic I/O. DN_MajorRev Major Revision is only used as information and is the major part of the software revision on the I/O unit. The value of Major Revision can be found in the Electronic Data Sheet (EDS) for the unit (called MajRev in EDS file). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The default value is 0. Allowed values are the integers HAC Revision: P

59 4 System parameters Minor Revision Minor Revision Parent Cfg name Description Usage Prerequisites Default value Allowed values Minor Revision belongs to the type Unit Type, in the topic I/O. DN_MinorRev Minor Revision is only used as information and is the minor part of the software revision of the I/O unit. The value of this parameter can be found in the Electronic Data Sheet (EDS) for the unit (called MinRev in EDS file). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The default value is 0. Allowed values are the integers HAC Revision: P 59

60 4 System parameters Production Inhibit Time Production Inhibit Time Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Production Inhibit Time belongs to the type Unit Type, in the topici/o. DN_ProdInhibitTime Production Inhibit Time specifies the minimum time, expressed in milliseconds, between network messages sent by the unit. Production Inhibit Time is used to control the minimum time between transmissions from the I/O unit in order to prevent overloading of the DeviceNet network. This parameter is only applicable when connection type is set to Change-Of-State (COS) connection or Change-Of-State with acknowledge suppression. DeviceNet single, DeviceNet dual or DeviceNet quadruple option must be installed. Maximum and minimum values might be constrained by the unit. This parameter is not applicable when connection type is set to polled or strobe connection. The default value is 10. Allowed values are the integers HAC Revision: P

61 4 System parameters Explicit Messaging Explicit Messaging Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Related information Explicit Messaging belongs to the type Unit Type, in the topic I/O. DN_ExplicitMsgEnabled Explicit Messaging enables DeviceNet explicit connection to the I/O unit. Explicit Messaging is used for a Fieldbus Command Interface (FCI) and CIP routing, and must then be set to Enabled. DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The maximum size of Explicit Messaging is 100 bytes, including service, path, and other header information. The default value is Disabled. Enabled and Disabled. Service on page 70. Path on page 68. 3HAC Revision: P 61

62 4 System parameters Connection 1 Type Connection 1 Type Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Connection 1 Type belongs to the type Unit Type, in the topic I/O. DN_C1Type Connection 1 Type specifies the type of the first connection that should be established to the unit. Connection 1 Type is used to define the communication scheme used towards the I/O unit. The different connection types are described in the ODVA DeviceNet specification (Open DeviceNet Vendor Associations). The type of connection supported by the I/O unit can either be found in the [IO_Info] section of the Electronic Data Sheet (EDS) for the unit, or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. All connection types may not be supported by unit. The default value is Polled connection. Allowed values are: Polled connection Strobe connection Change-Of-State (COS) connection Cyclic connection Change-Of-State with acknowledge suppression Cyclic with acknowledge suppression 62 3HAC Revision: P

63 4 System parameters Connection 1 Interval Connection 1 Interval Parent Cfg name Description Usage Connection 1 Interval belongs to the type Unit Type, in the topic I/O. DN_C1Interval Connection 1 Interval defines the cyclicity of the communication over the first connection. Connection 1 Interval is used to optimize network bandwidth and I/O update rates. Note When using a polled connection on DeviceNet Master/Slave a DO signal will be updated directly on a I/O unit. Prerequisites Limitations Default value Allowed values DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. Maximum and minimum values might be constrained by the unit. The default value is Allowed values are the integers , specifying the time in milliseconds. 3HAC Revision: P 63

64 4 System parameters Connection 1 Output Size Connection 1 Output Size Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Connection 1 Output Size belongs to the type Unit Type, in the topic I/O. DN_C1OutputSize Connection 1 Output Size defines the data size that is transmitted to the unit over the first connection. The value of Connection 1 Output Size can either be found in the [IO_Info] section of the Electronic Data Sheet (EDS) for the unit, or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. A limitation is the maximum unit size for the Unit Type. Default value is 0. Allowed values are the integers 0-64, specifying the data size in bytes. For units that can give the unit size itself by an explicit message, the value -1 is also allowed. 64 3HAC Revision: P

65 4 System parameters Connection 1 Input Size Connection 1 Input Size Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Connection 1 Input Size belongs to the type Unit Type, in the topic I/O. DN_C1InputSize Connection 1 Input Size defines the data size received from the unit over the first connection. The value of Connection 1 Input Size can either be found in the [IO_Info] section of the Electronic Data Sheet (EDS) for the unit, or by using the generic unit type (DN_GENERIC). DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. A limitation is the maximum unit size for the Unit Type. The default value is 0. Allowed values are the integers 0-64, specifying the data size in bytes. For units that can give the unit size itself by an explicit message, the value -1 is also allowed. 3HAC Revision: P 65

66 4 System parameters Quick Connect Quick Connect Parent Cfg name Description Usage Prerequisites Default value Allowed values Quick Connect belongs to the type Unit Type, in the topic I/O. DN_QuickConnectEnabled The Quick Connect parameter enables the quick connect option on the master side of a connection to a unit. Quick Connect is used to shorten the time when an I/O unit is enabled from a disabled state. DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. Default value is Disabled. Enabled or Disabled. Additional information To be able to use this option completely, the I/O unit must support Quick Connect according to the ODVA DeviceNet Specification. 66 3HAC Revision: P

67 4 System parameters Trigger Poll I/O Trigger Poll I/O Parent Cfg name Description Usage Trigger Poll I/O belongs to the type Unit Type, in the topic I/O. DN_TriggerPollDisabled With the Trigger Poll I/O parameter it is possible to decide if the digital output data from the IRC5 DeviceNet master should be updated directly or with the poll cycle. If the Trigger Poll I/O is enabled (default) the output data is updated directly, even if the unit uses a polled connection. To prevent this the Trigger Poll I/O can be disabled and the output data will be updated with the poll cycle (connection interval). Note Trigger Poll I/O disabled is normally used together with a polled connection but can also be used with a change-of-state connection. The output data will then be updated with the poll cycle (connection interval) and the input data with change of state. Prerequisites Default value Allowed values DeviceNet single, DeviceNet dual, or DeviceNet quadruple option must be installed. The default value is Enabled. Allowed values are Enabled or Disabled. 3HAC Revision: P 67

68 4 System parameters Path 4.5 Type Fieldbus Command Type Path Parent Path belongs to the type Fieldbus Command Type, in the topic I/O. Cfg name DN_Path Description Path defines the path to DeviceNet object instance or attribute. Information about how to define this can usually be found in the [param] section of the EDS file. Usage Path is used to describe the path to the instance or attribute, the data type identifier and the data size that are to be affected by the explicit message. Prerequisites The system parameter Explicit Messaging (of the type Unit Type) must be enabled. The path can usually be found in the EDS file for the I/O unit. Limitations Supported data type identifiers and their size: Type/Identifier (hex)/size (hex) WORD/D2/2 UINT/C7/2 INT/C3/2 BOOL/C1/1 SINT/C2/1 USINT/C6/1 UDINT/C8/4 REAL/CA/4 SHORT_STRING/DA/20 BYTE/D1/1 Default value The default value is an Empty string. Allowed values A string with maximum 30 characters. 68 3HAC Revision: P

69 4 System parameters Path Related information Explicit Messaging on page 61. ODVA DeviceNet Specification 2.0. Example 6, ,C6,1 Description of example: 6 is the length of the path - that is, the number of hexadecimal figurs until the next comma. Path ( ) is a software description of DeviceNet class, instance and attribute. A further description can be found in the ODVA DeviceNet Specification 2.0. C6 is the hexadecimal value for the data type identifier. 1 is the data size - that is, the number of bytes as a hexadecimal value. 3HAC Revision: P 69

70 4 System parameters Service Service Parent Cfg name Description Usage Prerequisites Default value Allowed values Related information Service belongs to the type Fieldbus Command Type, in the topic I/O. DN_Service Service defines the explicit service that should be performed on DeviceNet object instance or attribute pointed out in Path. Service is used to define the type of action to be used. The system parameter Explicit Messaging (of the type Unit Type) must be enabled. The services supported by the unit can usually be found in the EDS file for the I/O unit. The default value is 0. Following values are allowed: Reset (0x05 or 5 in the configuration file) Create (0x08 or 8 in the configuration file) Apply_Attributes (0x0D or 13 in the configuration file) Set_Attribute_Single (0x10 or 16 in the configuration file) Path on page 68. Explicit Messaging on page HAC Revision: P

71 5 Trouble shooting 5.1 Bus off 5 Trouble shooting 5.1 Bus off Description Consequences Possible causes The master/slave channel goes bus off when an excessive number of communication errors are detected and the CAN chip automatically goes off-line. An event message will inform the users that bus off has occurred. The master/slave channel will automatically try to recover from bus off and if succeeded an event message will inform the user that the master/slave channel has recovered from bus off. To turn off the automatically bus off recovery you can use the system parameter Automatically Bus Restart. Refer to Technical reference manual - System parameters. Bus off indicates a serious communication fault such as incorrect baud rate or physical layer error (short, open etc.). The symptom is caused by: Different baud rates on the master and some I/O units (the I/O units do not support auto baud rate). No or faulty power on the bus. Short circuit between CAN high and CAN low. Cable length on trunk cables and drop cables. Faulty terminations. Recommended actions In order to remedy the symptom, the following actions are recommended: Cause Different baud rates on the master and some I/O units. (The I/O units do not support auto baud rate.) No or faulty power on the bus. Cable length on trunk cables and drop cables. Faulty terminations. Action/Info Cycle the power of the units or manually change the baud rate of the units. Refer to Shield grounding and power on page 24 Refer to Selecting cables on page 27 or Repeaters on page 29. Refer to Connection of the DeviceNet bus on page 25. Note If the master/slave channel goes bus off, the I/O units on the bus also can go bus off. The only way to recover these units is to cycle the power on the I/O unit (the behavior may be different depending on the manufacturer of the I/O unit). 3HAC Revision: P 71

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73 6.1.1 DeviceNet Bus and I/O board status LED description 6 Boards and units 6.1 General DeviceNet Bus and I/O board status LED description General Each of the units connected to the DeviceNet bus includes LED indicators which indicate the condition of the unit and the function of the network communication. LEDs Common LEDs Specific LEDs The LEDs found on the units connected may be divided into two categories. The following LEDs can be found on all units: MS - Module status NS - Network status Certain units also include the following LEDs: DeviceNet Tx - DeviceNet network transmit DeviceNet Rx - DeviceNet network receive MS - Module status The bicolor (green/red) LED indicates the status of the device. It indicates whether or not the device has power and is operating properly. The LED is controlled by software. The following table shows the different states of the MS LED. LED color OFF GREEN steady Description No power applied to the device. Device is operating in a normal condition. Remedy/cause Check power supply. If no light, check other LED modes. GREEN flashing Device needs commissioning due to missing, incomplete or incorrect configuration. The device may be in the stand-by state. Check system parameters. Check messages. RED flashing RED steady RED/GREEN flashing Recoverable minor fault. The device has an unrecoverable fault. The device is running self test. Check messages. Device may need replacing. If flashing for more than a few seconds, check hardware. 3HAC Revision: P 73

74 6.1.1 DeviceNet Bus and I/O board status LED description NS - Network status The bicolor (green/red) LED indicates the status of the communication link. The LED is controlled by software. The following table shows the different states of the NS LED. LED color OFF Description Device has no power or is not online. The device has not completed the Dup_MAC_ID test yet. Remedy/cause Check status of MS LED. Check power to affected module. GREEN steady The device is online and has connection If no light, check other LED in the established state. modes. For a group 2 device only: the device is allocated to a master. For a UCMM capable device: the device has one or more established connections. GREEN flashing Device is online, but has no connections Check that other nodes in the in the established state. network are operative. The device has passed the Dup_MAC_ID Check parameter to see whether test, is online, but has no established module has correct ID. connections to other nodes. For a group 2 device only: the device is not allocated to a master. For a UCMM capable device: the device has no established connections. RED flashing One or more I/O connections are in the time-out state. Check system messages. RED steady Failed communication device. The device has detected an error rendering it incapable of communicating on the network. (Duplicate MAC_ID, or Bus-off). Check system messages and parameters. DeviceNet Tx - DeviceNet network transmit The following table shows the different states of the DeviceNet Tx LED. LED color GREEN steady GREEN flashing Description Physically connected to the DeviceNet Tx line. Flashes when the unit is transmitting data on the DeviceNet bus. Remedy/cause If no light when transmission is expected, check error messages. Check system boards in rack. DeviceNet Rx - DeviceNet network receive The following table shows the different states of the DeviceNet Rx LED. LED color GREEN steady GREEN flashing Description Physically connected to the DeviceNet Rx line. Flashes when the unit is receiving data on the DeviceNet bus. Remedy/cause If no light, check network and connections. 74 3HAC Revision: P

75 6.1.2 DeviceNetbus status LEDs at power-up DeviceNetbus status LEDs at power-up Process The system performs a test of the MS and NS LEDs during startup. The purpose of this test is to check that all LEDs are working properly. The test runs as follows: Order LED action NS LED is switched Off. MS LED is switched On green for approx seconds. MS LED is switched On red for approx seconds. MS LED is switched On green. NS LED is switched On green for approx seconds. NS LED is switched On red for approx seconds. NS LED is switched On green. Additional LEDs If a device has other LEDs, each LED is tested in sequence. 3HAC Revision: P 75

76 6.1.3 External I/O units External I/O units General Up to 20 units can be connected to the same controller. Requirements Description The maximum cable length between controller and external I/O unit. Data/value 100 m More information Selecting cables on page 27. Controller placement on cable chain. At one end or anywhere between the ends. Power supply to I/O units. Function of I/O units. Termination of DeviceNet bus. 24 VDC 121 ohm resistor Section Unit descriptions on page 80. Termination resistors in DeviceNet bus on page HAC Revision: P

77 6.1.4 Coil neutralization Coil neutralization External units External relay coils, solenoids, and other units that are connected to the controller must be neutralized. The following sections describe how this can be done. Note The turn-off time for DC relays increases after neutralization, especially if a diode is connected across the coil. Varistors give shorter turn-off times. Neutralizing the coils lengthens the life of the switches that control them. Clamping with a diode The diode should be dimensioned for the same current as the relay coil, and a voltage of twice the supply voltage. xx Clamping with a varistor The varistor should be dimensioned for the same current as the relay coil, and a voltage of twice the supply voltage. xx Clamping with an RC circuit R 100 ohm, 1W C mf. >500 V max. voltage, 125 V nominal voltage. xx HAC Revision: P 77

78 6.1.5 Setting DeviceNet bus ID Setting DeviceNet bus ID Description Each I/O unit is given a unique address (ID). How to set the ID The connector contains address pins and can be keyed as shown in the following figure. When all terminals are unconnected the highest address 63 is obtained. When all terminals are connected to 0 V, the address would be 0. To obtain the address 10: To obtain the address 25: Cut address pins 2 and 8 Cut address pins 1, 8 and 16 xx A B C Connector X5 Address pins Address key Note Do not change the address with power on. Connector X5 Connector X5 is a DeviceNet connector. The following table shows the connections to connector X5. Signal name X5 pin Supply voltage GND - Black CAN signal low - Blue Shield CAN signal high - White Supply voltage 24 VDC - Red Logic GND Board ID bit 0 (LSB) 78 3HAC Revision: P

79 6.1.5 Setting DeviceNet bus ID Signal name X5 pin Board ID bit 1 Board ID bit 2 Board ID bit 3 Board ID bit 4 Board ID bit 5 (MSB) 3HAC Revision: P 79

80 6.2.1 Introduction 6.2 Unit descriptions Introduction Overview This section includes descriptions of the different I/O units that support DeviceNet communication. The following units are described: Board designation Name of unit Type of unit Article number DSQC 350A DeviceNet/AllenBradley remote I/O Gateway unit 3HNE DSQC 351B DeviceNet/INTERBUS Gateway unit 3HNE DSQC 352B DeviceNet/PROFIBUS-DP Gateway unit 3HNE DSQC 355A Analog I/O Distributed I/O unit 3HNE DSQC 377B Queue tracking Encoder interface unit 3HNE DSQC 378B DeviceNet/CCLink Gateway unit 3HNE DSQC 651 AD combi I/O Distributed I/O unit 3HAC DSQC 652 Digital I/O Distributed I/O unit 3HAC DSQC 653 Digital I/O with relay outputs Distributed I/O unit 3HAC HAC Revision: P

81 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway Description The DSQC 350A is a circuit board normally mounted in the control module. As an option, it may also be mounted in an external I/O module. The unit handles input and output signals between the DeviceNet system and the Allen Bradley system. Warranty Termination This product incorporates a communications link which is licensed under patents and proprietary technology of the Allen-Bradley Company, Inc. The Allen-Bradley Company, Inc. does not warrant or support this product. All warranty and support services for this product are the responsibility of and provided by ABB. When the robot is last in a RIO loop, the loop must be terminated with a termination resistor according to Allen-Bradley's specification. Illustration The figure below shows the DSQC 350A board: xx Parts The table below refers to the illustration in section Illustration on page 81. Item X3 X5 X8 X9 Description Backup feed supply DeviceNet and ID connector RIO in See section Connector X8 on page 83 for connection tables. RIO out See section Connector X9 on page 83 for connection tables. 3HAC Revision: P 81

82 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway Facts, DSQC 350A This section specifies a number of facts applicable to the DSQC 350A. Unless stated otherwise, the data applies to the standard version. Technical data No. of digital inputs No. of digital outputs SW connections Baud rate Unit is programmable for 32, 64, 96 or 128 digital inputs. Unit is programmable for 32, 64, 96 or 128 digital outputs. Support for the following connections: Polled Change-Of-State Change-Of-State with acknowledge suppression For descriptions of the different types of I/O connections, see I/O messages - connection types on page Kbps Connector X3 xx The table below shows the connections to connector X3: Signal name 0 VDC NC GND NC + 24 VDC X3 pin Function Supply voltage GND Not connected Ground connection Not connected Supply voltage + 24 VDC Connector X5 xx Connector X5 is a DeviceNet connector specified in section Setting DeviceNet bus ID on page HAC Revision: P

83 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway Connector X8 xx The table below shows the connections to connector X8: Signal name LINE1 (blue) LINE2 (clear) Shield Cabinet ground X8 pin Function Remote I/O in Remote I/O in Remote I/O in Remote I/O in Connector X9 xx The table below shows the connections to connector X9: Signal name Blue Clear Shield Cabinet ground X9 pin Function Remote I/O out Remote I/O out Remote I/O out Remote I/O out Board specific LEDs The figure and table below show the location and significance of the the LEDs on the board. Designation POWER-24 VDC NAC STATUS Color Green Green Description Indicates that a supply voltage is present, and has a level above 12 VDC. If there is no light, check that voltage is present on power unit and in power connector. If not, check cables and connectors. If power is applied to the unit but it does not work, replace the unit. Steady green indicates RIO link in operation. If there is no light, check network, cables and connections. Also check that PLC is operational. Flashing green indicates that communication is established, but the INIT_COMPLETE bit is not set in NA chip, or configuration, rack size etc. does not match configuration set in PLC. If LED keeps flashing continuously, check setup. 3HAC Revision: P 83

84 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway General LEDs Unit size The significance of the LEDs are specified in section DeviceNet Bus and I/O board status LED description on page 73. The table explains the unit size for the input and output units. Unit size Rack size Number of bits Number of bytes 32+2 DI/32 DO DI/64 DO DI/96 DO DI/128 DO Input map The figure below shows the digital input mapping. en m RIO Status RIO Comm N.U. The rack size (in 32 bit intervals) that the unit has been configured to, using the Fieldbus Command TypeRackSize. The status of the remote I/O communication can be monitored using the signal RIO Status. When RIO Status is set it indicates that the unit is in data communication with the PLC/master controlling it (the NAC STATUS LED is steady green). The status of the remote I/O communication can be monitored using the signal RIO Comm. When RIO Comm is set it indicates that the RIO communication is "partially up" (the NAC STATUS LED is flashing) - that is, the PLC is in programming mode. Not used. The signal position is reserved for future use and shall not be used. The RIO status signals are located at the first bits of the last byte of the input area. For example, if the RackSize is set to 1 (2 * 32 bit) there are 8 bytes of input data (bit 0-63), and the signals RIO Command RIO Status are located at bit 64 and bit 65 respectively. 84 3HAC Revision: P

85 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway Output map The figure below shows the digital output mapping. en m The rack size (in 32 bit intervals) that the unit has been configured to, using the Fieldbus Command TypeRackSize. Fieldbus Command Types The following table gives necessary data on the Fieldbus Command Types for DeviceNet communication. Fieldbus Command Type Path (DeviceNet parameter) Allowed values Usage LinkAddr 6, , C6, Determines the address of the DSQC 350A on the RIO connection. Note! The rack address is entered in decimal form (0-63) while AllenBradley use octal representation (base 8, range 0-77). DataRate StartQ 6, according to: 30 02, C6, 1 0 = 57.6 kbaud 1 = kbaud 2 = kbaud 6, according to: 30 03, C6, 1 0 = First (PLC value 0) 1 = Second (PLC value 2) 2 = Third (PLC value 4) 3 = Fourth (PLC value 6) Determines the communication speed on the RIO bus. Determines the RIO Starting Quarter of the unit. RackSize LastRack 6, according to: 30 04, C6, 1 0 = 1/4 rack (32 DO, 32+2 DI) 1 = 1/2 rack (64 DO, 64+2 DI) 2 = 3/4 rack (96 DO, 96+2 DI) 3 = Full rack (128 DO, DI) 6, and 1 according to: 30 05, C6, 1 0 = No (this is NOT the last rack) 1 = Yes (this is the last rack) Determines the size of the input and output data areas of the RIO gateway. Determines if the unit is the last rack on the RIO bus. 3HAC Revision: P 85

86 6.2.2 DSQC 350A, DeviceNet/Allen Bradley remote I/O gateway Additional information The data areas of the gateway are "byte-consistent", which means that signals within the same byte (groups of 8 bits) are handled as one piece and are guaranteed to belong to the same bus-cycle. Normally this does not cause any problems, but if a signal group has been defined across the byte boundaries as e.g. a 16 bit group signal this needs to be considered. It is important to make sure that undesired behaviors are avoided in the case when the group signal is updated at exactly the same time as the gateway is being polled/scanned by one of the masters. The values for the Fieldbus Command Types are stored in flash memory of the gateway module. Any change of these values requires a reset (or power cycle) of the gateway module before it actually assumes these new values. By using the standard configuration files for the gateways, the robot controller will automatically issue a reset command to activate the modified configuration. 86 3HAC Revision: P

87 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways DSQC 351A and 351B, DeviceNet/INTERBUS gateways Description The DSQC 351A and 351B are the circuit boards normally mounted in the control module. As an option, it may also be mounted in an external I/O unit. The units handle input and output signals between the DeviceNet system and the INTERBUS system. There are no functional differences between DSQC 351A and DSQC 351B. Communication concept The INTERBUS system is able to communicate with a number of external devices, depending on the number of process words occupied by each unit. The robot controller may be equipped with several DSQC 351A/B boards. The INTERBUS inputs and outputs are accessible in the robot controller as general inputs and outputs. The following figure is an outline diagram of the communication concept: xx A B C D E F Master PLC (customer equipment) Robot 1 controller, word 1-4 Robot 2 controller, word 5-8 Robot 3 controller, word inputs/128 outputs 64 inputs/64 outputs Note A link is connected between pin 5 and 9 in the plug on the interconnection cable connected to the OUT connector (connector X21) of each unit. The link informs the INTERBUS unit that more units are connected further out in the chain. (The last unit does not have a cable connected and therefore no link.) 3HAC Revision: P 87

88 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Illustration of DSQC 351A/B The following illustration shows the DSQC 351A/B board: xx Parts The table below refers to Illustration of DSQC 351A/B on page 88. Item X3 X5 X20 X21 Description Back-up feed supply See section Connector X3 on page 89 for connection tables! DeviceNet connector See section Connector X5 on page 90! INTERBUS, input See section Connector X20 on page 90 for connection tables! INTERBUS, output See section Connector X21 on page 90 for connection tables! 88 3HAC Revision: P

89 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Facts, DSQC 351A/B This section specifies a number of facts applicable to the DSQC 351A/B. Unless stated otherwise, the data applies to the standard version. Technical data Also see the DSQC 351A and 351B, DeviceNet/INTERBUS gateways on page 87, International Standard DIN SW connections Baud rate Support for the following connections: Polled Change-Of-State Change-Of-State with acknowledge suppression For descriptions of the different types of I/O connections, see I/O messages - connection types on page Kbps Supply The INTERBUS gateway must be fed externally to avoid shutting down the INTERBUS net if a robot cell is switched off. The 24V power supply must be fed from an external power source and be connected to connector X3. INTERBUS master setup The unit must be given an ID address, and setup parameters must be entered into the INTERBUS master system. Connector X3 The unit ID to be entered in the INTERBUS master is 3. The length code depends on the selected data. The width is between 1 and 4 configured by the Fieldbus Command Type, DataWidth. xx The following table shows the connections to connector X3: Signal name 0 VDC NC GND NC + 24 VDC X3 pin Function Supply voltage GND Not connected Ground connection Not connected Supply voltage + 24 VDC 3HAC Revision: P 89

90 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Connector X5 Connector X20 xx Connector X5 is a DeviceNet connector specified in section Setting DeviceNet bus ID on page 78. xx The table below shows the connections to connector X20: Signal name TPDO1 TPDI1 GND NC NC TPDO1-N TPDI1-N NC NC X20 pin Function Communication line TPDO1 Communication line TPDI1 Ground connection Not connected Not connected Communication line TPDO1-N Communication line TPDI1-N Not connected Not connected Connector X21 xx The following table shows the connections to connector X21: Signal name TPDO2 TPDI2 GND NC + 5 V X21 pin Function Communication line TPDO2 Communication line TPDI2 Ground connection Not connected + 5 VDC 90 3HAC Revision: P

91 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Signal name TPDO2-N TPDI2-N NC RBST X21 pin Function Communication line TPDO2-N Communication line TPDI2-N Not connected Synchronization Note Board specific LEDs Pin 5 and pin 9 in X21 must be linked together. The designations refer to LEDs shown in the figure in the section Illustration of DSQC 351A/B on page 88. Designation POWER-24 VDC (upper indicator) POWER- 5 VDC (lower indicator) RBDA BA RC Color GREEN GREEN RED GREEN GREEN Description Indicates that a supply voltage is present, and has a level above 12 VDC. If there is no light, check that voltage is present on power module. Check also that power is present in power connector. If it is not, check cables and connectors. If power is applied to unit but unit does not work, replace unit. Lit when both 5 VDC supplies are within limits, and no reset is active. If there is no light, check that voltage is present on power module. Check also that power is present in power connector. If it is not, check cables and connectors. If power is applied to unit but unit does not work, replace unit. Lit when this INTERBUS station is last in the INTERBUS network. If it is not, verify the INTERBUS configuration. Lit when INTERBUS is active. If there is no light, check network, nodes and connections. Lit when INTERBUS communication runs without errors. If there is no light, check system messages in robot and in INTERBUS net. General LEDs The significance of the LEDs are specified in section DeviceNet Bus and I/O board status LED description on page 73. 3HAC Revision: P 91

92 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Input map The figure below shows the digital input mapping. en m INTER- BUS Status N.U. The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeDataWidth. The status of the INTERBUS communication can be monitored using the signal INTERBUS Status. When INTERBUS Status is set it indicates that the unit is in data communication with the PLC/master controlling it, i.e. bus is active (the BA LED is lit). Not used. The signal position is reserved for future use and shall not be used. The INTERBUS Status signal is located in the last bit of the last byte of the input area. For example, if the DataWidth is set to 4 (words) there are 8 bytes of input data (bit 0-63), and the INTERBUS Status is located in the last bit of the 9th byte i.e. bit 71. Output map The figure below shows the digital output mapping. en m The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeDataWidth. 92 3HAC Revision: P

93 6.2.3 DSQC 351A and 351B, DeviceNet/INTERBUS gateways Fieldbus Command Types Following table gives necessary data on the Fieldbus Command Types for DeviceNet communication. Fieldbus Command Type Path (DeviceNet parameter) Allowed values Usage DataWidth 6, , C6, according to: 0 = 1 word (16 DO, 16+1 DI) 1 = 2 words (32 DO, 32+1 DI) 2 = 3 words (48 DO, 48+1 DI) 3 = 4 words (64 DO, 64+1 DI) Determines the size of the input and output data areas of the INTERBUS gateway. Additional information The data areas of the gateway are "byte-consistent", which means that signals within the same byte (groups of 8 bits) are handled as one piece and are guaranteed to belong to the same bus-cycle. Normally this does not cause any problems, but if a signal group has been defined across the byte boundaries as e.g. a 16 bit group signal this needs to be considered. It is important to make sure that undesired behaviors are avoided in the case when the group signal is updated at exactly the same time as the gateway is being polled/scanned by one of the masters. The values for the Fieldbus Command Types are stored in flash memory of the gateway module. Any change of these values requires a reset (or power cycle) of the gateway module before it actually assumes these new values. By using the standard configuration files for the gateways, the robot controller will automatically issue a reset command to activate the modified configuration. 3HAC Revision: P 93

94 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway DSQC 352A, DeviceNet/PROFIBUS-DP gateway Description The DSQC 352A is a circuit board normally mounted in the control module. As an option, it may also be mounted in an external I/O unit. The unit handles input and output signals between the DeviceNet system and the PROFIBUS-DP system. Communication concept The PROFIBUS-DP system is able to communicate with a number of external devices, depending on the number of process words occupied by each unit. The robot controller may be equipped with several DSQC 352A boards. The PROFIBUS-DP inputs and outputs are accessible in the robot controller as general inputs and outputs. Following figure is an outline diagram of the communication concept: xx A B C D E F Master PLC (customer equipment) Robot 1 controller, word 1-8 Robot 1 controller, word 9-16 Robot 2 controller, word inputs/256 outputs 128 inputs/128 outputs Note The PROFIBUS cable must be terminated at both ends. 94 3HAC Revision: P

95 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway Illustration The figure below shows the DSQC 352A board: xx Parts The table below refers to the illustration in section Illustration on page 95. Item X3 X5 X20 Description Back-up feed supply See section Connector X3 on page 96 for connection tables! DeviceNet connector See section Connector X5 on page 96! PROFIBUS connection See section Connector X20 on page 97 for connection tables 3HAC Revision: P 95

96 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway Facts, DSQC 352A This section specifies a number of facts applicable to the DSQC 352A. Unless stated otherwise, the data applies to the standard version. Also see the PROFIBUS-DP specification, International Standard DIN E part 3. Technical data SW connections Baud rate Support for the following connections: Polled Change-Of-State Change-Of-State with acknowledge suppression For descriptions of the different types of I/O connections, see I/O messages - connection types on page Kbps Supply Unit ID and setup The PROFIBUS-DP does not need any external power feed, power is supplied via X5. All the robots cells are connected to the trunk cable via a special D-sub connector which works as a very short drop cable. Because of this, the PROFIBUS will work correctly even if a robot cell is turned off. The unit must be given an ID address, and setup parameters must be entered into the system. Connector X3 xx The table following shows the connections to connector X3: Signal name 0 VDC NC GND NC + 24 VDC X3 pin Function Supply voltage GND Not connected Ground connection Not connected Supply voltage + 24 VDC Connector X5 xx Connector X5 is a DeviceNet connector further described in section Setting DeviceNet bus ID on page HAC Revision: P

97 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway Connector X20 xx The table below shows the connections to connector X20: Signal name Shield NC RxD/TxD-P Control-P GND +5 VDC NC RxD/TxD-N NC X20 pin Function Cable screen Not connected Receive/Transmit data P Ground connection Not connected Receive/Transmit data N Not connected Board specific LEDs The designations refer to LEDs shown in the figure in section Illustration on page 95. Designation PROFIBUS active POWER, 24 VDC Color Green Green Description Lit when the node is communicating with the master. If there is no light, check system messages in robot and in PROFIBUS net. Indicates that a supply voltage is present, and has a level above 12 VDC. If there is no light, check that voltage is present in power unit and in the power connector. If not, check cables and connectors. If power is applied to the unit but it does not work, replace the unit. General LEDs The significance of the LEDs are specified in section DeviceNet Bus and I/O board status LED description on page 73. 3HAC Revision: P 97

98 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway Input map The following figure shows the digital input mapping. en m The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeMasterInputSize. PROFIB- US Status The status of the PROFIBUS communication can be monitored using the signal PROFIBUS Status. When PROFIBUS Status is set it indicate that the unit is in data communication with the PLC/master controlling it. N.U. Not used. The signal position is reserved for future use and shall not be used. The PROFIBUS Status signal is located in the last bit of the last byte of the input area. For example, if the MasterInputSize is set to 4 (words) there are 8 bytes of input data (bit 0-63), and the PROFIBUS Status is located in the last bit of the 9th byte i.e. bit 71. Output map The following figure shows the digital output mapping. en m The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeMasterOutputSize. 98 3HAC Revision: P

99 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway Fieldbus Command Types Following table gives necessary data on the Fieldbus Command Types for DeviceNet communication. Fieldbus Command Type Path (DeviceNet parameter) Allowed values Usage MasterInputSize 6, , C6,1 0-8 (words) Determines the size of the input data area of the gateway module. The size is expressed in number of words (16 bit groups), which means that the maximum size of input data for one DSQC 352A is 128 bit. By reducing the size, the allocated bandwidth decreases and thus the throughput and performance of the network increase. MasterOutputSize 6, , C6, (words) Determines the size of the output data area of the gateway module. The size is expressed in number of words (16 bit groups), which means that the maximum size of output data for one DSQC 352A is 128 bit. By reducing the size, the allocated bandwidth decreases and thus the throughput and performance of the network increase. StationAddress 6, , C6, Determines the address of the DSQC 352B on the PROFIBUS connection. The value that StationAddress is set to, is the gateway address found by the external master (PLC) connected to the PROFIBUS side of the gateway. Additional information The data areas of the gateway are "byte-consistent", which means that signals within the same byte (groups of 8 bits) are handled as one piece and are guaranteed to belong to the same bus-cycle. Normally this does not cause any problems, but if a signal group has been defined across the byte boundaries as e.g. a 16 bit group signal this needs to be considered. It is important to make sure that undesired behaviors are avoided in the case when the group signal is updated at exactly the same time as the gateway is being polled/scanned by one of the masters. The values for the Fieldbus Command Types are stored in flash memory of the gateway module. Any change of these values requires a reset (or power cycle) of the gateway module before it actually assumes these new values. By using the standard configuration files for the gateways, the robot controller will automatically issue a reset command to activate the modified configuration. To configure an external PROFIBUS master (PLC) to communicate with the gateway, a GSD-file is required. The GSD-file, DSQC352A.gsd, for the DSQC 352A can be obtained from the RobotWare DVD, PC, or IRC5 controller from the following locations: On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFIBUS\GSD\ On the PC where the RobotWare is installed:...\abb Industrial IT\ RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\GSD\ 3HAC Revision: P 99

100 6.2.4 DSQC 352A, DeviceNet/PROFIBUS-DP gateway On the IRC5 Controller: \hd0a\<robotware_xx.xx.xxxx>\utility\service\gsd\ 100 3HAC Revision: P

101 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway DSQC 352B, DeviceNet/PROFIBUS-DP gateway Description The DSQC 352B is a circuit board normally mounted in the control module. As an option, it may also be mounted in an external I/O unit. The unit handles input and output signals between the DeviceNet system and the PROFIBUS-DP system. Communication concept The PROFIBUS-DP system is able to communicate with a number of external devices, depending on the number of process words occupied by each unit. The robot controller may be equipped with several DSQC 352B boards. The PROFIBUS-DP inputs and outputs are accessible in the robot controller as general inputs and outputs. The following figure is an outline diagram of the communication concept: xx A B C D E F Master PLC (customer equipment) Robot 1 controller, word 1-8 Robot controller, word 9-16 Robot 2 controller, word inputs/512 outputs 256inputs/256 outputs Note The PROFIBUS cable must be terminated at both ends. 3HAC Revision: P 101

102 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway Illustration The figure below shows the DSQC 352B board: xx Parts The following table refers to the illustration in the section Illustration on page 95 Item X3 X5 X20 Description Back-up feed supply See the section Connector X3 on page 103 for connection tables. DeviceNet connector. See the section Connector X5 on page 104. PROFIBUS connection See the section Connector X20 on page 104 for connection tables HAC Revision: P

103 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway Facts, DSQC 352B The following section specifies a number of facts applicable to the DSQC 352B. Unless stated otherwise, the data applies to the standard version. Also see the PROFIBUS-DP specification, International Standard DIN E part 3. Technical Data SW connections Baud rate Support for the following connections: Polled Change-Of-State Change-Of-State with acknowledge suppression For descriptions of the different types of I/O connections, see I/O messages - connection types on page Kbps Supply Unit ID and setup The PROFIBUS-DP does not need any external power feed, power is supplied via X5. All the robots cells are connected to the trunk cable via a special D-sub connector which works as a very short drop cable. Because of this, the PROFIBUS will work correctly even if a robot cell is turned off. The unit must be given an ID address, and setup parameters must be entered into the system. Connector X3 xx The following table shows the connections to connector X3 Signal name 0 VDC NC GND NC + 24 VDC X3 pin Function Supply voltage GND Not connected Ground connection Not connected Supply voltage + 24 VDC 3HAC Revision: P 103

104 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway Connector X5 xx Connector X20 Connector X5 is a DeviceNet connector further described in the section Setting DeviceNet bus ID on page 78. xx The following table shows the connections to connector X20: Signal name Shield NC RxD/TxD-P Control-P GND +5 VDC NC RxD/TxD-N NC X20 pin Function Cable screen Not connected Receive/Transmit data P Ground connection Not connected Receive/Transmit data N Not connected Board specific LEDs The designations refer to LEDs shown in the figure in the section Illustration on page 95. Designation PROFIBUS active POWER, 24 VDC Color Green Green Description Lit when the node is communicating with the master. If there is no light, check system messages in robot and in PROFIBUS net. Indicates that a supply voltage is present, and has a level above 12 VDC. If there is no light, check that voltage is present in power unit and in the power connector. If not, check cables and connectors. If power is applied to the unit but it does not work, replace the unit HAC Revision: P

105 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway General LEDs Input map The significance of the LEDs are specified in the section. The following figure shows the digital input mapping. en m The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeMasterInputSize. PROFIB- US Status The status of the PROFIBUS communication can be monitored using the signal PROFIBUS Status. When PROFIBUS Status is set it indicate that the unit is in data communication with the PLC/master controlling it. N.U. Not used. The signal position is reserved for future use and shall not be used. The PROFIBUS Status signal is located in the last bit of the last byte of the input area. For example, if the MasterInputSize is set to 4 (words) there are 8 bytes of input data (bit 0-63), and the PROFIBUS Status is located in the last bit of the 9th byte i.e. bit 71. Output map The following figure shows the digital output mapping. en m The number of words (16 bit) that the unit has been configured to, using the Fieldbus Command TypeMasterOutputSize. 3HAC Revision: P 105

106 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway Fieldbus Command Types The following table gives necessary data on the Fieldbus Command Types for DeviceNet communication. Fieldbus Command Type Path (DeviceNet parameter) Allowed values Usage MasterInputSize 6, , C6, (words) Determines the size of the input data area of the gateway module. The size is expressed in number of words (16 bit groups), which means that the maximum size of input data for one DSQC 352B is 256 bit. By reducing the size, the allocated bandwidth decreases and thus the throughput and performance of the network increase. MasterOutputSize 6, , C6, (words) Determines the size of the output data area of the gateway module. The size is expressed in number of words (16 bit groups), which means that the maximum size of output data for one DSQC 352B is 256 bit. By reducing the size, the allocated bandwidth decreases and thus the throughput and performance of the network increase. StationAddress 6, , C6, Determines the address of the DSQC 352B on the PROFIBUS connection. The value that StationAddress is set to, is the gateway address found by the external master (PLC) connected to the PROFIBUS side of the gateway. Additional information The data areas of the gateway are "byte-consistent", which means that signals within the same byte (groups of 8 bits) are handled as one piece and are guaranteed to belong to the same bus-cycle. Normally this does not cause any problems, but if a signal group has been defined across the byte boundaries as e.g. a 16 bit group signal this needs to be considered. It is important to make sure that undesired behaviors are avoided in the case when the group signal is updated at exactly the same time as the gateway is being polled/scanned by one of the masters. The values for the Fieldbus Command Types are stored in flash memory of the gateway module. Any change of these values requires a reset (or power cycle) of the gateway module before it actually assumes these new values. By using the standard configuration files for the gateways, the robot controller will automatically issue a reset command to activate the modified configuration. To configure an external PROFIBUS master (PLC) to communicate with the gateway, a GSD-file is required. The GSD-file, DSQC352B.gsd, for the DSQC 352B can be obtained from the RobotWare DVD, PC, or IRC5 controller from the following locations: On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFIBUS\GSD\ 106 3HAC Revision: P

107 6.2.5 DSQC 352B, DeviceNet/PROFIBUS-DP gateway On the PC where the RobotWare is installed:...\abb Industrial IT\ RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\GSD\ On the IRC5 Controller: \hd0a\<robotware_xx.xx.xxxx>\utility\service\gsd\ 3HAC Revision: P 107

108 6.2.6 DSQC 355A, Analog I/O DSQC 355A, Analog I/O Description The DSQC 355A is a circuit board normally mounted inside the control module. As an option, it may also be mounted in an external I/O module. The unit handles interface between the robot system and any external systems through analog input and output signals. Illustration The figure below shows the DSQC 355A board: xx Parts The following table refers to the illustration in section Illustration on page 108. Item X3 X5 X7 X8 Description Back-up feed supply See section Connector X3 on page 109 for connection tables! DeviceNet connector See section Connector X5 on page 109! Analog outputs See section Connector X7 on page 110 for connection tables! Analog inputs See section Connector X8 on page 111 for connection tables! 108 3HAC Revision: P

109 6.2.6 DSQC 355A, Analog I/O Facts, DSQC 355A This section specifies a number of facts applicable to the DSQC 355A. Unless stated otherwise, the data applies to the standard version. Technical data SW connections Support for the following connections: Polled Change-Of-State Change-Of-State with acknowledge suppression For descriptions of the different types of I/O connections, see I/O messages - connection types on page 15. Unit ID and setup The unit must be given an ID address, and setup parameters must be entered into the system. Connector X3 xx The following table shows the connections to connector X3: Signal name 0 VDC NC GND NC + 24 VDC X3 pin Function Supply voltage GND Not connected Ground connection Not connected Supply voltage + 24 VDC Connector X5 xx Connector X5 is a DeviceNet connector further described in section Setting DeviceNet bus ID on page 78. 3HAC Revision: P 109

110 6.2.6 DSQC 355A, Analog I/O Connector X7 xx The following table shows the connections to connector X7: Signal name ANOUT_1 ANOUT_2 ANOUT_3 ANOUT_4 Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used GND GND GND GND GND X7 pin Function Analog output 1, -10 V/+10 V Analog output 2, -10 V/+10 V Analog output 3, -10 V/+10 V Analog output 4, 4-20 ma Analog output 1, 0 V Analog output 2, 0 V Analog output 3, 0 V Analog output 4, 0 V 110 3HAC Revision: P

111 6.2.6 DSQC 355A, Analog I/O Signal name GND X7 pin 24 Function Note The load on analog outputs on current mode must always be between ohm. Connector X8 xx The following table shows the connections to connector X8: Signal name ANIN_1 ANIN_2 ANIN_3 ANIN_4 Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used +24 V out +24 V out +24 V out X8 pin Function Analog input 1, -10 V/+10 V Analog input 2, -10 V/+10 V Analog input 3, -10 V/+10 V Analog input 4, -10 V/+10 V +24 VDC supply +24 VDC supply +24 VDC supply 3HAC Revision: P 111

112 6.2.6 DSQC 355A, Analog I/O Signal name +24 V out +24 V out +24 V out +24 V out +24 V out GND GND GND GND GND GND GND GND X8 pin Function +24 VDC supply +24 VDC supply +24 VDC supply +24 VDC supply +24 VDC supply Analog input 1, 0 V Analog input 2, 0 V Analog input 3, 0 V Analog input 4, 0 V Note Since DSQC 355A has a new A/D converter from revision 11, if cables are not connected to the inputs the analog inputs show -10V instead of 0V. Board specific LEDs The designations refer to LEDs shown in the figure in section Illustration on page 108. Designation RS232 Rx RS232 Tx +5VDC / +12VDC / -12VDC Color Green Green Green Description Indicates the state of the RS232 Rx line. LED is active when receiving data. If there is no light, check communication line and connections. Indicates the state of the RS232 Tx line. LED is active when transceiving data. If there is no light when transmission is expected, check error messages. Check also system boards in rack. Indicates that supply voltage is present and at correct level. If there is no light, check that voltage is present on power unit and that power is present in power connector. If not, check cables and connectors. If power is applied to the unit but it does not work, replace the unit. General LEDs The significance of the LEDs are specified in section DeviceNet Bus and I/O board status LED description on page HAC Revision: P

113 6.2.6 DSQC 355A, Analog I/O Input map The figure below shows the analog input mapping. Note Pay attention to the order of the bits for the analog signals. Output map The figure below shows the analog output mapping. Note Pay attention to the order of the bits for the analog signals. en LSB MSB The least significant bit of the binary number representing the analog signal. The most significant bit of the binary number representing the analog signal. Numerical format The numerical representation of the values are described in the table below: Signal Analog physical value Hexadecimal number Bit value AO 1 - AO V 0x7FFF MaxBitVal = V 0x0 MinBitVal = V 0x800 AO 4 20 ma 0xFFFF MaxBitVal = ma 0x0 MinBitVal = 0 AI 1 - AI V 0x7FFF MaxBitVal = V 0x0 MinBitVal = V 0x8000 3HAC Revision: P 113

114 6.2.6 DSQC 355A, Analog I/O Additional information The table shows the physical type of the signals, resolution etc. Signal Type Range Resolution Encoding type AO 1 Voltage -10 V V 12 bit Twos complement AO 2 Voltage -10 V V 12 bit Twos complement AO 3 Voltage -10 V V 12 bit Twos complement AO 4 Current 4 ma.. 20 ma 12 bit Unsigned AI 1 Voltage -10 V V 16 bit Twos complement AI 2 Voltage -10 V V 16 bit Twos complement AI 3 Voltage -10 V V 16 bit Twos complement AI 4 Voltage -10 V V 16 bit Twos complement 114 3HAC Revision: P

115 6.2.7 DSQC 377A and DSQC 377B, Queue tracking units DSQC 377A and DSQC 377B, Queue tracking units Description Usage The encoder units DSQC 377A and DSQC377B provides connection for one encoder and one digital input (synchronization switch), and includes queue tracking functions. There are no functional differences between DSQC 377A and DSQC 377B. The encoder unit is normally used for installation on a conveyor to enable the robot programs to synchronize to the motion (position) of the conveyor (conveyor tracking). The digital input is used for synchronization switch (also called sync signal), which means conveyor synchronization point. Illustration of DSQC 377A/B The figure below shows the DSQC 377A/B board: xx HAC Revision: P 115