WAGO Remote IO with Fanuc Robot using EtherNet/IP Protocol A500390, English Version 1.0.0
2 General Copyright 2002 by WAGO Kontakttechnik GmbH All rights reserved. WAGO Kontakttechnik GmbH Hansastraße 27 D-32423 Minden Phone: +49 (0) 571/8 87 0 Fax: +49 (0) 571/8 87 1 69 E-Mail: info@wago.com Web: http://www.wago.com Technical Support Phone: +49 (0) 571/8 87 5 55 Fax: +49 (0) 571/8 87 85 55 E-Mail: support@wago.com Every conceivable measure has been taken to ensure the correctness and completeness of this documentation. However, as errors can never be fully excluded we would appreciate any information or ideas at any time. We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally trademark or patent protected. A00390en
Table of Contents 3 TABLE OF CONTENTS 1 Important comments... 4 1.1 Legal principles... 4 1.1.1 Copyright... 4 1.1.2 Personnel qualification... 4 1.1.3 Intended use... 4 1.2 Range of validity... 5 1.3 Symbols... 5 2 Description... 6 3 Reference Material... 6 4 Solution... 6 5 <End of the application note>... 13 A
4 Important comments 1 Important comments 1.1 Legal principles 1.1.1 Copyright To ensure fast installation and start-up of the units described in this manual, we strongly recommend that the following information and explanation is carefully read and adhered to. This manual is copyrighted, together with all figures and illustrations contained therein. Any use of this manual which infringes the copyright provisions stipulated herein, is not permitted. Reproduction, translation and electronic and photo-technical archiving and amendments require the written consent of WAGO Kontakttechnik GmbH. Non-observance will entail the right of claims for damages. 1.1.2 Personnel qualification 1.1.3 Intended use The use of the product detailed in this manual is exclusively geared to specialists having qualifications in PLC programming, electrical specialists or persons instructed by electrical specialists who are also familiar with the valid standards. WAGO Kontakttechnik GmbH declines all liability resulting from improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual. For each individual application, the components supplied are to work with a dedicated hardware and software configuration. Modifications are only admitted within the framework of the possibilities documented in the manuals. All other changes to the hardware and/or software and the non-conforming use of the components entail the exclusion of liability on part of WAGO Kontakttechnik GmbH. Please direct any requirements pertaining to a modified and/or new hardware or software configuration directly to WAGO Kontakttechnik GmbH.
Important comments 5 1.2 Range of validity 1.3 Symbols This application note is based on the stated hardware and software of the specific manufacturer as well as the correspondent documentation. This application note is therefore only valid for the described installation. New hardware and software versions may need to be handled differently. Please note the detailed description in the specific manuals. Danger Always observe this information to protect persons from injury. Warning Always observe this information to prevent damage to the device. Attention Marginal conditions must always be observed to ensure smooth operation. ESD (Electrostatic Discharge) Warning of damage to the components by electrostatic discharge. Observe the precautionary measure for handling components at risk. Note Routines or advice for efficient use of the device and software optimisation. More information References to additional literature, manuals, data sheets and INTERNET pages
6 Description 2 Description This application note is intended to serve as a guide for setting up WAGO Remote IO (16 Digital Input & 16 Digital Outputs) with a Fanuc Robot using Ethernet IP Protocol. While this guide uses a 750-880, a 750-352 (or other EtherNet/IP capable device) could also be setup in a similar manner. The guide assumes the user has some knowledge of the Fanuc software and operating the menus on the handheld programmer. 3 Reference Material 4 Solution Fanuc Manuals WAGO 750-880 User Manual. 4.1 Hardware Overview In this example a WAGO 750-880 with 16 DI (750-1405) and 16 DO (750-1504) and end module (750-600) are going to be configured as remote IO to a Fanuc robot with EtherNet/IP interface option. Fanuc Robot :
Solution 7 Wago Remote IO Node: 4.2 WAGO Coupler Setup 4.2.1 Set the IP address and enable EtherNet/IP Protocol in the WAGO Coupler. This is accomplished using the DIP switches. Set the IP address to 192.168.1.8 using the DIP switches as shown below. (DIP 4 is ON.)
8 Solution 4.2.2 Connect to the WAGO Controller using a web browser. Make sure computer is on the same 192.168.1.xxx subnet. Click TCP/IP from the navigation menu. On this page, you can change the IP to another static setting if desired. Put all DIP back to OFF and reboot controller to apply changes. 4.2.3 Enable the EtherNet/IP port and disable the Modbus ports, then click submit.
Solution 9 4.3 Fanuc Setup Required: Teach Pendant 4.3.1 Using the Fanuc teach pendant, select EtherNet/IP under the Digital I/O Menu.
10 Solution 4.3.2 Here you can modify the scanner slots. Note that slot two has been configured as WAGO and is enabled and running. Obviously when you are first setting up a slot, it will be Enable= False and Status = Offline like the other slots shown below. Select the desired slot using the arrow keys on the pendant. 4.3.3 Here you can configure the remote I/O for this slot. Enter the IP address for the WAGO Coupler, the input and output size in bytes, and the assembly instances. In this example, we have 16 digital inputs (2 bytes) and 16 digital outputs (2 bytes). Input assembly is 107 and output assembly is 101.
Solution 11 4.3.4 This is the second page of the configuration in this example. Make sure to set I/O Data Type to 8 bits, and other parameters as shown below. 4.3.5 Now go into the Digital input section, and assign DI 1-16 as Rack 89 and Slot 2 (Or what you selected in previous step).
12 Solution 4.3.6 Do the same for the Digital Output 1-16. 4.3.7 Reset power to the Fanuc Robot so the settings can be applied. After restart is complete, you can enable the slot for the WAGO I/O and it should report a running status. You can monitor the state of the Ditigal In/Out to verify correct operation.
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