ABB Robotics. Application manual EtherNet/IP Fieldbus Adapter

Transcription

1 ABB Robotics Application manual EtherNet/IP Fieldbus Adapter

2 Trace back information: Workspace RW version a4 Checked in Skribenta version

3 Application manual EtherNet/IP Fieldbus Adapter RobotWare 5.15 Document ID: 3HAC Revision: K

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 Overview... Product documentation, M Safety... 1 Overview 1.1 EtherNet/IP General EtherNet/IP Fieldbus Adapter, IRC CIP routing General CIP routing, IRC Hardware description 2.1 EtherNet/IP Fieldbus Adapter, DSQC Configuration 3.1 EtherNet/IP Fieldbus Adapter configuration Introduction to configuration Configuration overview Working with the EtherNet/IP Fieldbus Adapter CIP routing configuration Introduction Configuration overview Working with CIP routing... 4 System parameters 4.1 Introduction Type Bus EtherNet/IP Address EtherNet/IP Subnet Mask EtherNet/IP Gateway Connector ID Type Unit Type Input Size Output Size Type Route Name Connected to Bus Port ID... Index HAC Revision: K 5

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7 Overview Overview About this manual This manual describes the EtherNet/IP Fieldbus Adapter option and contains instructions for the EtherNet/IP Fieldbus Adapter configuration. Usage This manual should be used during installation and configuration of the EtherNet/IP Fieldbus Adapter and upgrading of the EtherNet/IP Fieldbus Adapter 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 Organization of chapters The manual is organized in the following chapters: Chapter Contents This chapter gives an overview of the EtherNet/IP Fieldbus Adapter and includes following: A general description of EtherNet/IP and CIP routing Description of how the EtherNet/IP Fieldbus Adapter is connected in a robot system Description of how CIP routing is used in a robot system This chapter describes the EtherNet/IP Fieldbus Adapter hardware. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter configuration and the CIP routing configuration. The chapter also contains descriptions of workflows. This chapter describes the EtherNet/IP Fieldbus Adapter specific system parameters. References Document references Reference Application manual - DeviceNet Operating manual - RobotStudio Operating manual - IRC5 with FlexPendant Product manual - IRC5 Document ID 3HAC HAC HAC HAC Continues on next page 3HAC Revision: K 7

8 Overview Continued Reference Technical reference manual - System parameters Product specification, IRC5 with FlexPendant Document ID 3HAC HAC Other references Reference Common Industrial Protocol (CIP) Edition 3.0 EtherNet/IP Specification Edition 1.2 Description The web site of ODVA (Open DeviceNet Vendor Association). ODVA Specification ODVA Specification Revisions Revision - A B C D E F G H J K Description First edition. RobotWare Description of CIP routing is added. The predefined Unit Type ENIP_SLAVE_FA is changed to EN_SLAVE_FA. The system parameters EtherNet/IP Address, EtherNet/IP Subnet Mask and EtherNet/IP gateway now belong to the type Bus. The Output/Assembly section is added in the EtherNet/IP Fieldbus Adapter configuration > Configuration overview section of the Configuration chapter. Updated for the RW 5.13 release. Changes in the Configuration chapter. Updated the table in the section Configuration overview on page 28. Added the subsection Viewing MAC Address on page 33 in the Working with the EtherNet/IP Fieldbus Adapter section. Added cross reference to Operating manual - IRC5 with FlexPendant in the section Configuring the EtherNet/IP Fieldbus Adapter on page 30. Updated for the RW 5.14 release. The value for the Connection size is updated in the table in the subsection Specification overview on page 14. Information about the location of the EDS file in the RobotWare DVD, PC, and IRC5 Controller is added in the following section: Electronic Data Sheet file on page 28 Electronic Data Sheet file on page 36 Updated for the RW release. Added the new system parameter Connector ID. Updated the Limitations section in Configuration overview on page 28 for the RW release. Updated the Introduction section in the chapter System parameters on page 43 for RW 5.15 release. Updated for the RW release. Removed the notes in Description from EtherNet/IP Address on page 45. The subnet mask allowed values are changed from " " to " " in EtherNet/IP Subnet Mask on page 46. Updated the screenshots of RobotStudio 5.15 throughout. 8 3HAC Revision: K

9 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. Continues on next page 3HAC Revision: K 9

10 Product documentation, M2004 Continued 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. 10 3HAC Revision: K

11 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: K 11

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13 1 Overview General 1 Overview 1.1 EtherNet/IP General What is EtherNet/IP? EtherNet/IP is a communications link to connect industrial devices. The EtherNet/IP (EtherNet Industrial Protocol) is managed by ODVA (Open DeviceNet Vendors Association). It is a well established industrial Ethernet communication system with good real-time capabilities. EtherNet/IP extends commercial off-the-shelf Ethernet to the CIP (Common Industrial Protocol) the same upper-layer protocol and object model found in DeviceNet and ControlNet. CIP allows EtherNet/IP and DeviceNet system integrators and users to apply the same objects and profiles for plug-and-play interoperability among devices from multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and EtherNet/IP promote transparency from sensors to the enterprise software. Examples of applications Here are some examples of EtherNet/IP applications: Peer-to-peer data exchange where an EtherNet/IP product can produce and consume messages Master/slave operation defined as a proper subset of peer-to-peer An EtherNet/IP product can function as a client or server, or both EtherNet/IP standardization EtherNet/IP is standardized according to the International standard IEC and EtherNet/IP devices are certified by ODVA for interoperability and conformance. Facts, EtherNet/IP The following table specifies a number of facts about EtherNet/IP. Network type Installation Speed Ethernet based Control Level network with CIP application protocol Standard Off the Shelf (COTS) Ethernet cables and connectors. 10/100/1000 Mbit/s TX Ethernet cable or fibre optics. RJ45, M12 or fibre optic connectors. 10, 100, 1000 Mbit/s Electronic Data Sheet file The configuration process is based on EDS files (Electronic Data Sheet) which are required for each EtherNet/IP device. EDS files are provided by the device manufacturers and contain electronic descriptions of all relevant communication parameters and objects of the EtherNet/IP device. 3HAC Revision: K 13

14 1 Overview EtherNet/IP Fieldbus Adapter, IRC EtherNet/IP Fieldbus Adapter, IRC5 Hardware overview Illustration, example The hardware of the EtherNet/IP Fieldbus Adapter, DSQC 669, consists of a slave unit. The fieldbus adapter is connected to a Compact Flash interface on the main computer in the robot controller, and is normally controlled by an external master on the same physical EtherNet/IP network. The following figure illustrates an overview of the hardware. xx A B C D E F PLC EtherNet/IP scanner Ethernet switch EtherNet/IP Fieldbus Adapter, DSQC 669 IRC5 controller General EtherNet/IP unit Specification overview Item Fieldbus type Specification revision Data rate Connection type Connection size Transport Classes Specification EtherNet/IP EtherNet/IP Specification Edition /100 Mbit Cyclic Maximum 128 input bytes and 128 output bytes Class 1 and HAC Revision: K

15 1 Overview General 1.2 CIP routing General What is CIP routing CIP (Common Industrial Protocol) routing makes it possible to collect and view status or other information from different devices placed on several CIP networks at a single or several operator stations. A CIP router allows sending messages between CIP networks. CIP standardization CIP is standardized by ODVA. CIP devices are certified by ODVA for interoperability and conformance. Electronic Data Sheet file The configuration process is based on EDS files (Electronic Data Sheet) which are required for each CIP device. EDS files are provided by the device manufacturers and contain electronic descriptions of all relevant communication parameters and objects of the CIP device. The EDS files contain essential information about CIP routing. 3HAC Revision: K 15

16 1 Overview CIP routing, IRC CIP routing, IRC5 Hardware overview Messages are sent from one device on an EtherNet/IP fieldbus network to one or several devices on a DeviceNet fieldbus network. Note In IRC5 the originator of a message has to be connected on the EtherNet/IP Fieldbus Adapter network while its targets have to be on a DeviceNet network. Illustration, example The following figure illustrates an overview of the hardware. xx A B C D E F PLC EtherNet/IP scanner EtherNet/IP Fieldbus Adapter, DSQC 669 IRC5 controller DeviceNet master, DSQC 658 User equipment, for example, arc welding or spot welding equipment For information about the DeviceNet hardware, refer to Application manual - DeviceNet. Specification overview The following table specifies a number of facts about CIP routing. CIP network types Route type EtherNet/IP to DeviceNet Unconnected send 16 3HAC Revision: K

17 2 Hardware description 2.1 EtherNet/IP Fieldbus Adapter, DSQC Hardware description 2.1 EtherNet/IP Fieldbus Adapter, DSQC 669 Description The EtherNet/IP Fieldbus Adapter is mounted in the computer module. Installation of fieldbus adapter For installation descriptions of the EtherNet/IP Fieldbus Adapter refer to Product manual - IRC5, section Replacement of fieldbus adapter in computer unit DSQC 639. The figure illustrates the location of the EtherNet/IP Fieldbus Adapter in the computer unit. xx Description Art. no. Designation Pos. EtherNet/IP Fieldbus Adapter 3HAC DSQC 669 A Prerequisites RobotWare 5.09 or later version is required to use the EtherNet/IP Fieldbus Adapter, and RobotWare 5.10 or later version is required to use the CIP routing functionality. The EtherNet/IP Fieldbus Adapter can be mounted only in the computer unit DSQC 639. Continues on next page 3HAC Revision: K 17

18 2 Hardware description 2.1 EtherNet/IP Fieldbus Adapter, DSQC 669 Continued Illustration, EtherNet/IP Fieldbus Adapter DSQC 669 xx NS MS LINK Ether- Net/IP Network status LED Module status LED Link/Activity EtherNet/IP interface LEDs This section describes the LEDs of the EtherNet/IP Fieldbus Adapter. Network status LED Note A test sequence is performed on this LED during start of the adapter. LED state OFF GREEN GREEN, flashing RED RED flashing Description No power or no IP address Online, one or more connections established Online, no connections established Duplicate IP address, fatal error One or more connections timed out Module status LED Note A test sequence is performed on this LED during start of the adapter. LED state OFF GREEN GREEN flashing Description No power Controlled by a scanner in run state Not configured, or scanner in idle state Continues on next page 18 3HAC Revision: K

19 2 Hardware description 2.1 EtherNet/IP Fieldbus Adapter, DSQC 669 Continued LED state RED RED flashing Description Major fault (exception state, fatal error etc.) Recoverable fault(s) Link/Activity LED LED state OFF GREEN GREEN flickering Description No link, no activity Link established Activity Cable lengths Permanent link length The total permanent link length for COTS twisted pair systems is limited to 90 m (298 ft). The permanent link shall conform to ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2. Channel length The total channel length for COTS twisted pair systems is 100 m (330 ft) including patch cables as defined in ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2. Continues on next page 3HAC Revision: K 19

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21 3 Configuration Introduction to configuration 3 Configuration 3.1 EtherNet/IP Fieldbus Adapter configuration Introduction to configuration Controller software The IRC5 controller must be installed with software that supports the use of the EtherNet/IP network, that is, the EtherNet/IP Fieldbus Adapter option must be installed. For a information on how to add the EtherNet/IP Fieldbus Adapter option, see Operating manual - RobotStudio. PC software RobotStudio is a PC software that is used to setup connections to robots and to work with robots. The configuration for the EtherNet/IP communication is done either manually using RobotStudio, or by loading a configuration file from RobotStudio. For information on how to work with RobotStudio, see Operating manual - RobotStudio. Explicit 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. 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 EtherNet/IP 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 EtherNet/IP unit. The EtherNet/IP specific system parameters in the Fieldbus Command type are: Path (-EN_Path) Service (-EN_Service) For more information, refer to the EtherNet/IP Specification or the Application manual - Robot communication and I/O control. Continues on next page 3HAC Revision: K 21

22 3 Configuration Introduction to configuration Continued Following is a configuration file example that sends four Fieldbus Commands at startup to the I/O unit SafeTrigger of UnitType "ABB_type". xx xx Continues on next page 22 3HAC Revision: K

23 3 Configuration Introduction to configuration Continued xx xx Continues on next page 3HAC Revision: K 23

24 3 Configuration Introduction to configuration Continued xx The preceding example shows how to use the -EN_Path and -EN_Service parameters. 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 -EN_Path string. Following is a short description of the syntax used in the -EN_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. This is an optional parameter. The EtherNet/IP Class number. The instance number of the class. The attribute of the specified instance. The data format of the attribute. This is an optional parameter. The length in bytes of the specified Data type. The highest allowed value is 0x20 (32 bytes). This parameter is ignored, but is accepted if entered. Data Type CIP_EXPL_BOOL CIP_EXPL_SINT CIP_EXPL_INT Value C1 C2 C3 Description Logical Boolean with values TRUE and FALSE Signed 8-bit integer value Signed 16-bit integer value Continues on next page 24 3HAC Revision: K

25 3 Configuration Introduction to configuration Continued Data Type Value Description CIP_EXPL_USINT CIP_EXPL_UINT CIP_EXPL_UDINT CIP_EXPL_REAL CIP_EXPL_STRING CIP_EXPL_BYTE CIP_EXPL_WORD CIP_EXPL_DWORD CIP_EXPL_SHORT_STRING Array values C6 C7 C8 CA D0 D1 D2 D3 DA Unsigned 8-bit integer value Unsigned 16-bit integer value Unsigned 32-bit integer value 32-bit floating point value Character string (1 byte per character) Bit string - 8-bits Bit string - 16-bits Bit string - 32-bits Character string (1 byte per character, 1 byte length indicator) Data Type CIP_EXPL_BOOL CIP_EXPL_SINT CIP_EXPL_INT CIP_EXPL_USINT CIP_EXPL_UINT CIP_EXPL_UDINT CIP_EXPL_REAL CIP_EXPL_BYTE CIP_EXPL_WORD CIP_EXPL_DWORD Description The values are delimited by space. Example " " An array of 5 elements. The Data Type specifies the type of each element. CIP_EXPL_STRING CIP_EXPL_SHORT_STRING The values are delimited by semicolon. "Hello;This;Is;My;Name" An array of 5 elements of string type. The -EN_Service parameter describes what type of operation that should be performed against the specified -EN_Path parameter. Following are the allowed values for -EN_Service: Operation Set Get Reset Value Description Set the value specified in '-DefValue' or EIO_COMMAND. Get the specified parameter. 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 EtherNet/IP master will generate an event message with the error code returned by the I/O unit. Fieldbus commands via RAPID In this example, data packed as a rawbytes variable is read from an EtherNet/IP I/O unit. PROC get_quickconnect_value() VAR iodev dev; VAR rawbytes rawdata_out; Continues on next page 3HAC Revision: K 25

26 3 Configuration Introduction to configuration Continued VAR rawbytes rawdata_in; VAR num input_int; VAR byte return_status; VAR byte return_errcodecnt; VAR num return_errcode; VAR byte value;! Empty contents of rawdata_out and rawdata_in ClearRawBytes rawdata_out; ClearRawBytes rawdata_in;! Add Fieldbus command header to rawdata_out with! service "GET_ATTRIBUTE_SINGLE" and! path to QuickConnect attribute on I/0 unit. PackDNHeader "0E", "6,20 F C", rawdata_out;! Open FCI device Open "/FCI1:" \File:="TheUnit", dev \Bin;! Write the contents of rawdata_out to dev WriteRawBytes dev, rawdata_out \NoOfBytes := RawBytesLen(rawdata_out);! Read the answer from dev ReadRawBytes dev, rawdata_in;! Close FCI device Close dev;! Unpack rawdata_in to the variable return_status UnpackRawBytes rawdata_in, 1, return_status \Hex1;! The first byte is always the general status byte. 0 means success, see the CIP standard error codes. IF return_status = 0 THEN TPWrite "Status OK from device. Status code: " \Num:=return_status;! Unpack the read data value that follows the status byte. UnpackRawBytes rawdata_in, 2, value \Hex1; ELSE TPWrite "Read value: " \Num:=value;! If the general status was not ok there is extended error information that can be retreived. First byte, after the general status byte, tells! how many extended error words can be found. UnpackRawBytes rawdata_in, 2, return_errcodecnt \Hex1;! Unpack the number of extended status words. In this example only the first one is unpacked. Continues on next page 26 3HAC Revision: K

27 3 Configuration Introduction to configuration Continued UnpackRawBytes rawdata_in, 3, return_errcode \IntX := UINT; TPWrite "Error code from device: " \Num:=return_status; TPWrite "Additional error code count from device: " \Num:=return_errcodecnt; TPWrite "Additional error code from device: " \Num:=return_errcode; ENDIF ENDPROC 3HAC Revision: K 27

28 3 Configuration Configuration overview Configuration overview Configuration The following table gives descriptions of defining the types Bus and Unit Type for the EtherNet/IP Fieldbus Adapter. Defining... Bus Unit Type Unit Signal Description An EtherNet/IP Fieldbus Adapter bus must be defined with a valid IP address before starting the communication. When creating a unit type, some system parameters are fieldbus specific. Unit specific values can be found in the EDS file (Electronic Data Sheet) for the unit, see Electronic Data Sheet file on page 28. See also Type Unit Type on page 49. An I/O unit must be defined in the configuration before any master is able to connect, and to see any activity on the LEDs. For general information, see Technical reference manual - System parameters. For general information, see Technical reference manual - System parameters. Predefined Bus When the system is installed with the EtherNet/IP Fieldbus Adapter option, a predefined bus EtherNetIP_FA1 is created. Predefined Unit Type A predefined Unit Type for the fieldbus adapter, EN_SLAVE_FA, is defined supporting a cyclic connection with the size of 64 input bytes and 64 output bytes as defined in the signal configuration for the fieldbus adapter. If another input or output size on the fieldbus adapter is required, the predefined Unit Type must be modified or a new Unit Type must be created. Limitations The EtherNet/IP Fieldbus Adapter has the following limitations: The predefined Unit Type (EN_SLAVE_FA) has 128 input bytes and 128 output bytes, but this number can be increased or decreased to the restriction in the I/O system (see Input Size on page 49 and Output Size on page 50). For the EtherNet/IP Fieldbus Adapter both the input and output map starts at bit 0 Related information Technical reference manual - System parameters Electronic Data Sheet file An EDS file, ENIP_FA.eds, for the EtherNet/IP Fieldbus Adapter, matching the configuration of the predefined Unit Type EN_SLAVE_FA, is located at the following locations: Continues on next page On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\EtherNetIP\EDS\ OnthePCwheretheRobotWareisinstalled:...\ABBIndustrialIT\ RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\EDS\ 28 3HAC Revision: K

29 3 Configuration Configuration overview Continued 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 that the values in the EDS file are edited to match the new system parameter values. Note If the EDS file is edited it will not be considered as a certified file. Example, EDS file An example from an EDS file when changing the predefined output and input sizes from 128 bytes to 16 bytes: [Params] Param1 = "Output Size",$ name 0,128,16, $ min, max, default data values Param2 = "Input Size",$ name 0,128,16,$ min, max, default data values Input/Output Assembly The input and output assemblies are used by an EtherNet/IP master to locate the input and output data in the EtherNet/IP Fieldbus Adapter. For EtherNet/IP Fieldbus Adapter, the input assembly is 150 and the output assembly is 100. I/O connection Cyclic I/O connection is supported and the size of the I/O connection is defined by the type Unit Type. Note If the EtherNet/IP Fieldbus Adapter loses connection with the scanner, the configured input signals are cleared (reset to zero). When the connection is re-established, the scanner updates the input signals. 3HAC Revision: K 29

30 3 Configuration Working with the EtherNet/IP Fieldbus Adapter Working with the EtherNet/IP Fieldbus Adapter Usage When the IRC5 controller is connected, for example, to an external PLC it can be configured as shown in Illustration, example on page 30. Prerequisites The network address of the EtherNet/IP Fieldbus Adapter must be known. Illustration, example The following figure illustrates an example of how to use the EtherNet/IP Fieldbus Adapter. xx A B C D E F PLC EtherNet/IP scanner Ethernet switch EtherNet/IP Fieldbus Adapter, DSQC 669. Placed in the computer module. IRC5 controller General EtherNet/IP unit Configuring the EtherNet/IP Fieldbus Adapter A configuration procedure of the EtherNet/IP Fieldbus Adapter: 1. Action Edit the bus and set the address of the fieldbus adapter. Info See Editing Bus on page Add a unit that has the address requested by the master (e.g. PLC), and with Unit Type EN_SLAVE_FA. See Adding Unit on page Define the signals on the created unit. Restart the system. Now the IRC5 controller is ready to be contacted by an EtherNet/IP master. See Adding signals on page 32. Continues on next page 30 3HAC Revision: K

31 3 Configuration Working with the EtherNet/IP Fieldbus Adapter Continued Note For information about configuring I/O using FlexPendant, refer to the Configuring I/O section in the Handling inputs and outputs, I/O chapter in Operating manual - IRC5 with FlexPendant. Editing Bus Action In RobotStudio, click Configuration Editor and select I/O. Click Bus, then double-click on the bus you want to edit. In the Edit Bus dialog box, type the values for the parameters. en Adding Unit Action In RobotStudio, click Configuration Editor and select I/O. Click Unit, then right-click in the workspace and select Add Unit. Continues on next page 3HAC Revision: K 31

32 3 Configuration Working with the EtherNet/IP Fieldbus Adapter Continued Action 3. In the Edit Unit dialog box, type the values for the parameters. en Adding signals Action In RobotStudio, click Configuration Editor and select I/O. Click Signal, then right-click in the workspace and click Add Signal. Continues on next page 32 3HAC Revision: K

33 3 Configuration Working with the EtherNet/IP Fieldbus Adapter Continued Action 3. In the Edit Signal dialog box, type the values for the parameters. xx Viewing MAC Address After the configuration, you can view the MAC Address of the EtherNet/IP Fieldbus Adapter on FlexPendant in one of the following ways: Using the I/O Buses Option: Step Action In the ABBmenu, tap Inputs and Outputs. The list of most common I/O signals is displayed. Tap View and select I/O Buses. The list of available I/O buses is displayed. Tap EtherNetIP_FA1. Tap I/O Unit Identification. The MAC Address of EtherNet/IP Fieldbus Adapter is displayed along with the other details. Using the I/O Units Option: Step 1 2 Action In the ABBmenu, tap Inputs and Outputs. The list of most common I/O signals is displayed. Tap View and select I/O Units. The list of available I/O units is displayed. Continues on next page 3HAC Revision: K 33

34 3 Configuration Working with the EtherNet/IP Fieldbus Adapter Continued Step 3 4 Action Tap the I/O unit created to Ethernet/IP fieldbus adapter. Tap Actions and select I/O Unit Identification. The MAC Address of EtherNet/IP Fieldbus Adapter is displayed along with the other details. Related information Operating manual - RobotStudio. 34 3HAC Revision: K

35 3 Configuration Introduction 3.2 CIP routing configuration Introduction Controller software PC software The IRC5 controller must be installed with software that supports the use of the CIP networks. To communicate through the EtherNet/IP network the EtherNet/IP Fieldbus Adapter option must be installed, while DeviceNet communication requires one DeviceNet option to be installed. For description of how to add the EtherNet/IP Fieldbus Adapter and DeviceNet options, see 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 EtherNet/IP and DeviceNet communication is done either manually using RobotStudio, or by loading a configuration file from RobotStudio. For information about how to work with RobotStudio refer to Operating manual - RobotStudio, see References on page 7. 3HAC Revision: K 35

36 3 Configuration Configuration overview Configuration overview Configuration A routing configuration requires that two or more routes are defined. One route bonds the required CIP port to a CIP network. Messages can be fowarded to any of the networks having a CIP port defined. The following table gives descriptions of all route specific types. Defining... CIP Route Description A route identity links the required CIP port to a destination network. Port identity The port identity, required by the CIP route protocol, is used in order to find a destination network. By the configuration the port identity is tied to a specific network/bus. Each network has its own unique port identity. Electronic Data Sheet file An EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching the configuration of the predefined Unit Type EN_SLAVE_FA, is located at the following locations: On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\EtherNetIP\EDS\ OnthePCwheretheRobotWareisinstalled:...\ABB Industrial IT\ RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\EDS\ On the IRC5 Controller: \hd0a\<robotware_xx.xx.xxxx>\utility\service\eds\ The file contains information necessary for the CIP routing. Example, EDS file An example from an EDS file that shows the configurations of the ports: [Port] Port1 = TCP,$ port type name "TCP/IP",$ name of port "20 F ", $ instance one of the TCP/IP interface $ object 2;$ port number Port2 = DeviceNet,$ port type "DeviceNet1",$ port name " ",$ path to object supporting this port-dnet $ object 3;$ port number Port3 = DeviceNet,$ port type "DeviceNet2",$ port name " ",$ path to object supporting this port-dnet $ object Continues on next page 36 3HAC Revision: K

37 3 Configuration Configuration overview Continued 4;$ port number 3HAC Revision: K 37

38 3 Configuration Working with CIP routing Working with CIP routing Usage When the IRC5 controller is connected, for example, to an external PLC it can be configured as Illustration, example on page 38. The function of CIP routing A message on one route can be forwaded to any of the other defined routes. The sent message contains the destination device and port number, and from that information the suitable destination route is selected. All defined CIP routes will together compose a virtual CIP router. During the configuration of a route the port number will be coupled with its network or fieldbus and thereby with its hardware. Prerequisites Fieldbuses to use in the CIP network have to be of type EtherNet/IP and DeviceNet. The RobotWare options EtherNet/IP and DeviceNet are required for usage of CIP routing. All DeviceNet equipment to be used with CIP routing must be configured with the IRC5 master. In order to reach a DeviceNet equipment with a message via CIP routing, the Explicit messaging parameter must be set in the DeviceNet configuration. Illustration, example The following figure illustrates an example of how to use CIP routing, and shows an IRC5 controller with connections to three networks/fieldbuses. For each of the three CIP hardware devices (C, E, and G), route parameters have to be defined. The route parameters are added to the I/O configuration of the IRC5 controller. See Configuring the CIP routes on page 39. xx A B C D E F PLC EtherNet/IP scanner with port ID, for example, value 2. EtherNet/IP Fieldbus Adapter with port ID, for example, value 2. IRC5 controller DeviceNet1 master with port ID, for example, value 3. User equipment on DeviceNet1, for example, arc welding or spot welding. Continues on next page 38 3HAC Revision: K

39 3 Configuration Working with CIP routing Continued G H DeviceNet2 master with port ID, for example, value 4. User equipment on DeviceNet2, for example, arc welding or spot welding. In this example there are two possible routes: From port ID 2 to port ID 3, and further to equipment on the DeviceNet1 network. From port ID 2 to port ID 4, and further to equipment on the DeviceNet2 network. Note The maximum number of ports depends on total number of DeviceNet channels - that is, 2 + number of DeviceNet channels. See Port ID on page 53. Configuring the CIP routes A configuration procedure of the CIP routes that details how to add a route to EtherNet/IP, DeviceNet1 and DeviceNet2 by using RobotStudio: Action In RobotStudio, click Configuration Editor and select I/O. Click Route, then right-click in the workspace and select Add Route. In the Edit Route dialog box, type the values for the parameters to add a route to EtherNet/IP. Click OK. xx Continues on next page 3HAC Revision: K 39

40 3 Configuration Working with CIP routing Continued Action 4. To add a route to DeviceNet1, proceed with step 2 above. In the Edit Route dialog box, type the values for the parameters to add a route to DeviceNet1. Click OK. xx To add a route to DeviceNet2, proceed with step 2 above. In the Edit Route dialog box, type the values for the parameters to add a route to DeviceNet2. Click OK. xx Continues on next page 40 3HAC Revision: K

41 3 Configuration Working with CIP routing Continued Action 6. Restart the system. Limitations Related information CIP routing has the following limitations: Max. routes: A maximum of 5 routes can be defined. Unconnected send connection: Only unconnected send service routing is supported. Explicit message connection: This is the only supported connection type. In order to see or use a DeviceNet device it has to allow Explicit message connection. I/O message connection: Unsupported connection type. Single hop: The router cannot act as an intermediate hop, that is, the router cannot forward a message to its target when it has to go through another router. EtherNet/IP: An EtherNet/IP route only has server capability. A server will only respond to a received request. DeviceNet: A DeviceNet route only has client capability. A client will issue a request and expects an answer to its request. Working with the EtherNet/IP Fieldbus Adapter on page 30. Application manual - DeviceNet. Operating manual - RobotStudio. 3HAC Revision: K 41

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43 4 System parameters 4.1 Introduction 4 System parameters 4.1 Introduction About the system parameters There are both EtherNet/IP specific parameters and more general parameters. This chapter describes all EtherNet/IP 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. EtherNet/IP 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 EtherNet/IP Address EtherNet/IP Subnet Mask EtherNet/IP Gateway For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Connector ID on page 48 Technical reference manual - System parameters Technical reference manual - System parameters EtherNet/IP Address on page 45 EtherNet/IP Subnet Mask on page 46 EtherNet/IP Gateway on page 47 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 Input Size Output Size 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 Input Size on page 49 Output Size on page 50 Route These parameters belong to the type Route in the topic I/O. Parameter Name Type of Bus Connected to Bus For more information, see... Technical reference manual - System parameters Technical reference manual - System parameters Connected to Bus on page 52 Continues on next page 3HAC Revision: K 43

44 4 System parameters 4.1 Introduction Continued Parameter Port ID For more information, see... Port ID on page HAC Revision: K

45 4 System parameters EtherNet/IP Address 4.2 Type Bus EtherNet/IP Address Parent Cfg name Description Prerequisites Allowed values EtherNet/IP Address belongs to the type Bus, in the topic I/O. EN_Address The parameter EtherNet/IP Address specifies the IP address of the EtherNet/IP Fieldbus Adapter that uses on the network. This IP address is used by an external master to set up a connection to the fieldbus adapter. The option EtherNet/IP Fieldbus Adapter must be installed. Allowed values are between Note If the IP address of the LAN port is left empty, the EtherNet/IP Master/Slave will use the already assigned IP address for the IRC5 controller. 3HAC Revision: K 45

46 4 System parameters EtherNet/IP Subnet Mask EtherNet/IP Subnet Mask Parent Cfg name Description Usage Prerequisites Allowed values EtherNet/IP Subnet Mask belongs to the type Bus, in the topic I/O. EN_SubnetMask The EtherNet/IP Subnet Mask is used to determine what subnet the IP address belongs to. EtherNet/IP Subnet Mask is an EtherNet/IP specific parameter. The option EtherNet/IP Fieldbus Adapter must be installed. Allowed values are between Note If the Subnet Mask of the LAN port is left empty, the EtherNet/IP Master/Slave will use the already assigned Subnet Mask for the IRC5 controller. 46 3HAC Revision: K

47 4 System parameters EtherNet/IP Gateway EtherNet/IP Gateway Parent Cfg name Description Usage EtherNet/IP Gateway belongs to the type Bus, in the topic I/O. EN_Gateway EtherNet/IP Gateway specifies the node on the network that serves as an entrance to another network. Use this parameter if the EtherNet/IP traffic needs to be routed to another sub-network. The parameter value is the address to a physical gateway on the EtherNet/IP network. EtherNet/IP Gateway is an EtherNet/IP specific parameter. Note A destination address must be specified if the gateway address is specified. Prerequisites Allowed values The option EtherNet/IP Fieldbus Adapter must be installed. Allowed values are between HAC Revision: K 47

48 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 option EtherNet/IP fieldbus adapter shall use. The Connector ID parameter is used to select one of the available connection ports to use. The option EtherNet/IP fieldbus adapter (840-1) must be installed. Fieldbus Adapter Fieldbus Adapter 48 3HAC Revision: K

49 4 System parameters Input Size 4.3 Type Unit Type Input Size Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Input Size belongs to the type Unit Type, in the topic I/O. EN_InputSize The parameter Input Size defines the data size in bytes for the input area received from the unit. Input Size is an EtherNet/IP specific parameter. The option EtherNet/IP Fieldbus Adapter must be installed. A limitation is the maximum unit size for the Unit Type. The default value is 8. Allowed values are the integers 0-128, specifying the input data size in bytes. 3HAC Revision: K 49

50 4 System parameters Output Size Output Size Parent Cfg name Description Usage Prerequisites Limitations Default value Allowed values Output Sizebelongs to the type Unit Type, in the topic I/O. EN_OutputSize Output Size defines the data size in bytes for the output area received from the unit. Output Size is an EtherNet/IP specific parameter. The option EtherNet/IP Fieldbus Adapter must be installed. A limitation is the maximum unit size for the Unit Type. The default value is 8. Allowed values are the integers 0-128, specifying the output data size in bytes. 50 3HAC Revision: K

51 4 System parameters Name 4.4 Type Route Name Parent Cfg name Description Usage Prerequisites Default value Allowed values Name belongs to the type Route, in the topic I/O. Name The parameter Name specifies the name of the route. Name specifies a route, to which the route messages can be received or sent to. EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed. The default value is an empty string The value can be a string of characters. 3HAC Revision: K 51

52 4 System parameters Connected to Bus Connected to Bus Parent Cfg name Description Usage Prerequisites Default value Allowed values Connected to Bus belongs to the type Route, in the topic I/O. Bus The parameter Connected to Bus specifies the name of the I/O network. Connected to Bus shows which network is associated to a certain port. EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed. The default value is an empty string. The value can be any defined I/O bus name. 52 3HAC Revision: K

53 4 System parameters Port ID Port ID Parent Cfg name Description Usage Prerequisites Default value Allowed values Port ID belongs to the type Route, in the topic I/O. Port ID The parameter Port ID specifies the connector of the I/O network. Port ID is used in the CIP routing path. EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed. The default value is 2. The value can be from 2 to (2 + number of installed DeviceNet channels). Note Value 1 is reserved and is not allowed to use. 3HAC Revision: K 53

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55 Index Index C cable length, 19 channel length, 19 CIP, 13 CIP router, 15 CIP routing, CIP port, 36 configuration, 36, 39 function, 38 limitations, 41 port identity, 36 Common Industrial Protocol, 15 configuration, CIP routing, 39 Connector ID, 48 controller software, 21, 35 ControlNet, 13 D DeviceNet, 13 DSQC 639, 17 DSQC 658, 16 DSQC 667, 17 DSQC 669, 14, 16, 18, 30 E EDS file, 13, 15, 36 EtherNet/IP, 13 configuration, 21 specification, standardization, 13 EtherNet/IP fieldbus adapter, 14, 16, 30 configuration, 30 hardware, 14 installation, 17 limitations, 28 predefined Bus, 28 predefined Unit Type, 28 EtherNet/IP network, 14 ethernet switch, 30 F fieldbus adapter, 17 installation, 17 I I/O connection, 29 cyclic, 29 input assembly, 29 L LED, 18 link/activity, 19 module status, 18 network status, 18 test, 18 M MAC Address, 33 O ODVA, 13 output assembly, 29 P PROFIBUS fieldbus adapter, 17 S safety, 11 system parameters Connected to Bus, 52 EtherNet/IP Address, 45 EtherNet/IP Gateway, 47 EtherNet/IP Subnet Mask, 46 Input Size, 49 Name, 51 Output Size, 50 Port ID, 53 T topic I/O type Bus, 28, 31, 43 Unit, 28, 31, 43 Unit Type, 28, 43 3HAC Revision: K 55

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58 Contact us ABB AB Discrete Automation and Motion Robotics S VÄSTERÅS, Sweden Telephone +46 (0) ABB AS, Robotics Discrete Automation and Motion Box 265 N-4349 BRYNE, Norway Telephone: HAC , Rev K, en ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI , China Telephone: ABB Inc. Discrete Automation and Motion Robotics 1250 Brown Road Auburn Hills, MI USA Telephone: