Application manual

EtherNet/IP Fieldbus Adapter

Robot Controller RobotWare 5.0

Application manual EtherNet/IP Fieldbus Adapter

RobotWare 5.0 Document ID: 3HAC028509-001 Revision: -

Copyright 2007 ABB. All rights reserved.

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, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2007 ABB. All rights reserved.

Copyright 2007 ABB All rights reserved. ABB Robotics SE-721 68 Vsters Sweden

Table of Contents

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1 Overview 11

1.1 EtherNet/IP, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.2 EtherNet/IP Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2 Hardware description 13

2.1 EtherNet/IP Fieldbus Adapter, DSQC 669. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3 EtherNet/IP Fieldbus Adapter configuration 17

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3 Workflows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.3.1 Working with the EtherNet/IP Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4 System parameters 23

4.1 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.1.1 EtherNet/IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.2.1 Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.2.2 Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.2.3 Subnet Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.2.4 Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Index 29

Copyright 2007 ABB. All rights reserved.

3HAC028509-001 Revision: -

Table of Contents

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Copyright 2007 ABB. All rights reserved.

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 EherNet/IP Fieldbus Adapter option. Who should read this manual? This manual is intended for Prerequisites The reader should have the required knowledge of Organization of chapters The manual is organized in the following chapters: Chapter
1.

Personnel that are responsible for installations and configurations of fieldbus hardware/software Personnel that make the configurations of the I/O system System integrators

Mechanical installation work Electrical installation work

Contents
This chapter gives an overview of the EtherNet/IP Fieldbus Adapter and includes following: A general description of EtherNet/IP Description of how the EtherNet/IP Fieldbus Adapter is connected in a robot system This chapter describes the EtherNet/IP Fieldbus Adapter. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter configuration. The chapter also contains descriptions of workflows. This chapter describes the EtherNet/IP Fieldbus Adapter specific system parameters.

Copyright 2007 ABB. All rights reserved.

2. 3. 4.

Continues on next page

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Overview Continued References

Document references Reference

Operating manual - RobotStudio Online Operating manual - IRC5 with FlexPendant Product manual - IRC5 Technical reference manual - System parameters Product specification, IRC5 with FlexPendant

Document ID
3HAC18236-1 3HAC16590-1 3HAC021313-001 3HAC17076-1 3HAC021785-001

Other references References

www.odva.org Common Industrial Protocol (CIP) Edition 3.0 EtherNet/IP Specification Edition 1.2

Description
The web site of ODVA (Open DeviceNetVendor Association). ODVA Specification ODVA Specification

Revisions Revision
-

Description
First edition. RobotWare 5.09.

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Product documentation, M2004

Product documentation, M2004

General The robot documentation may be divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered. However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems. Product manuals All hardware, robots and controllers, will be delivered with a Product manual that contain: Safety information Installation and commissioning (descriptions of mechanical installation, electrical connections) Maintenance (descriptions of all required preventive maintenance procedures including intervals) Repair (descriptions of all recommended repair procedures including spare parts) Additional procedures, if any (calibration, decommissioning) Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards) Part list Foldouts or exploded views Circuit diagrams

Technical reference manuals The following manuals describe the robot software in general and contain relevant reference information:
Copyright 2007 ABB. All rights reserved.

RAPID Overview: An overview of the RAPID programming language. RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions and data types. 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. 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, CD with PC software) How to use the application Examples of how to use the application Continues on next page
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Product documentation, M2004 Continued Operating manuals This group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes: Emergency safety information Getting started - IRC5 and RobotStudio Online IRC5 with FlexPendant RobotStudio Online Trouble shooting - IRC5 for the controller and robot

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Safety

Safety
Safety of personnel 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 (400-480 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. Safety regulations Before beginning mechanical and/or electrical installations, make sure you are familiar with the safety regulations described in Product manual - IRC5.

Copyright 2007 ABB. All rights reserved.

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10

Safety

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1 Overview
1.1. EtherNet/IP, 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 in the International standard IEC 61158 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
Copyright 2007 ABB. All rights reserved.

Ethernet based Control Level network with CIP application protocol Standard Off the Shelf (COTS) Ethernet cables and connectors. Shielded 10/100 Mbit/s TX Ethernet cable or fibre optics. RJ45, M12 or fibre optic connectors. 10, 100, 1000 Mbit/s

Speed

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.

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1 Overview
1.2. EtherNet/IP Fieldbus Adapter, IRC5

1.2. EtherNet/IP Fieldbus Adapter, IRC5

Hardware overview 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. Illustration, example The following figure illustrates an overview of the hardware.

xx0700000098

A B C D E F

PLC EtherNet/IP scanner Ethernet switch EtherNet/IP Fieldbus Adapter, DSQC 669 IRC5 controller General EtherNet/IP unit
Copyright 2007 ABB. All rights reserved.

Specification overview Item

Fieldbus type Specification revision Data rate Connection type Connection size Transport Classes

Specification
EtherNet/IP EtherNet/IP Specification Edition 1.2 10/100 Mbit Cyclic 64 byte in and 64 byte out Class 1 and 3

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2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669
Description The DSQC 669 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 where the EtherNet/IP Fieldbus Adapter is located in the computer unit.

xx0700000162

Description
EtherNet/IP Fieldbus Adapter

Art. no.
3HAC027652-001

Designation
DSQC 669

Pos.
A

Prerequisites RobotWare 5.09 or later version is required to run the EtherNet/IP Fieldbus Adapter. The DSQC 669 can be mounted only in the computer unit DSQC 639.
Copyright 2007 ABB. All rights reserved.

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2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669 Continued Illustration, DSQC 669

xx0700000097

NS MS LINK EtherNet/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
Copyright 2007 ABB. All rights reserved.

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2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669 Continued Module 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 Controlled by a scanner in run state Not configured, or scanner in idle state 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.

Copyright 2007 ABB. All rights reserved.

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2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

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3 EtherNet/IP Fieldbus Adapter configuration

3.1. Introduction

3 EtherNet/IP Fieldbus Adapter configuration

3.1. Introduction
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 description of how to add the EtherNet/IP Fieldbus Adapter option, see Operating manual - RobotStudio Online, section Adding RobotWare option. PC software RobotStudio Online is PC software that is used to set up connections to robots and to work with robots. The configuration for the EtherNet/IP communication is done either manually by RobotStudio Online, or by loading a configuration file from RobotStudio Online. For information about how to work with RobotStudio Online refer to Operating manual RobotStudio Online, see References on page 6.

Copyright 2007 ABB. All rights reserved.

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3 EtherNet/IP Fieldbus Adapter configuration

3.2. Configuration overview

3.2. Configuration overview

Configuration The EtherNet/IP Fieldbus Adapter is configured as an ordinary I/O unit. The following table gives descriptions of defining the types Bus, Unit Type and Unit for the EtherNet/IP Fieldbus Adapter. Defining...
Bus

Description
An EtherNet/IP bus must be defined before any communication is possible, that is, define rules for the EtherNet/IP Fieldbus Adapter to communicate on the network. 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 19. See also Type Unit Type on page 24. The only EtherNet/IP specific system parameter in the unit definition is the unit address. See Type Unit on page 23.

Unit Type

Unit

Predefined Unit Type A predefined Unit Type for the fieldbus adapter (ENIP_SLAVE_FA) is defined supporting a cyclic connection with the size of 8 input bytes and 8 output bytes of digital, analog or group signal data, as defined in the signal configuration for the fieldbus adapter. If another input or output size on the fieldbus adapter is required a new Unit Type must be written or the predefined Unit Type must be changed. Limitations The EtherNet/IP Fieldbus Adapter has the following limitations: The predefined Unit Type (ENIP_SLAVE_FA) has 8 input bytes and 8 output bytes, but this number can be increased or decreased to the restriction in the I/O system (see Product Specification for IRC5 controller). For the EtherNet/IP Fieldbus Adapter both the input and output map starts at bit 0.

Related information

Technical reference manual - System parameters

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3 EtherNet/IP Fieldbus Adapter configuration

3.2. Configuration overview Continued Electronic Data Sheet file An EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching the configuration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWare release CD in the directory: utility\fieldbus\EtherNetIP\eds\ If another input or output size than the predefined is used, the values in the EDS file must be edited to match the new system parameter values. Example, EDS file An example from an EDS file when changing the predefined output and input sizes from 8 bytes to 16 bytes:
[Params] Param1 = "Output Size", 0,64,16, Param2 = "Input Size", 0,64,16, $ name $ min, max, default data values $ name $ min, max, default data values

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.

Copyright 2007 ABB. All rights reserved.

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3 EtherNet/IP Fieldbus Adapter configuration

3.3.1. Working with the EtherNet/IP Fieldbus Adapter

3.3 Workflows 3.3.1. Working with the EtherNet/IP Fieldbus Adapter

Usage When the IRC5 controller is connected to an external PLC for example, it can be configured as Illustration, example on page 20. Prerequisites The network address of the I/O unit must be known. Illustration, example The following figure illustrates an example of how to use the EtherNet/IP fieldbus adapter.

xx0700000098

A B C D E F

PLC EtherNet/IP scanner Ethernet switch EtherNet/IP Fieldbus Adapter, DSQC 669 IRC5 controller General EtherNet/IP unit
Copyright 2007 ABB. All rights reserved.

How to configure the EtherNet/IP Fieldbus Adapter A configuration procedure of the EtherNet/IP Fieldbus Adapter: Action
1. 2. 3.

Info

Add unit that has the address requested by the scanner See Add unit on page 21. (e.g. PLC), and with Unit Type ENIP_SLAVE_FA. Define the signals on the created unit. Restart the system. Now the IRC5 controller is ready to be contacted by an EtherNet/IP scanner. See Add signals on page 22.

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3 EtherNet/IP Fieldbus Adapter configuration

3.3.1. Working with the EtherNet/IP Fieldbus Adapter Continued Add unit Action
1. 2. 3. 4. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller. Double-click I/O. The Configuration Editor appears. In the Configuration Editor, click Unit. Then right-click in the workspace and click Add Unit. In the Edit Unit(s) dialog box, type the values for the parameters.

xx0700000205

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3 EtherNet/IP Fieldbus Adapter configuration

3.3.1. Working with the EtherNet/IP Fieldbus Adapter Continued Add signals

Action
1. 2. 3. 4. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller Double-click I/O. The Configuration Editor appears. In the Configuration Editor, click Signal. Then right-click in the workspace and click Add Signal. In the Edit Signal(s) dialog box, type the values for the parameters.

xx0700000206

Related information Operating manual - RobotStudio Online

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4 System parameters
4.1.1. EtherNet/IP Address

4 System parameters
4.1 Type Unit 4.1.1. EtherNet/IP Address
Parent EtherNet/IP Address belongs to the type Unit, in the topic I/O. Cfg name EN_Address Description The parameter EtherNet/IP Address specifies the address of the I/O unit on the network. Usage EtherNet/IP Address specifies the address that the I/O uses on the network, to which the scanner should try to setup a connection. Prerequisites EtherNet/IP Fieldbus Adapter option must be installed. Default value The default value is: 0.0.0.0 Allowed values The value can be: 0.0.0.0 - 255.255.255.255 There are limitations for the values set by the vendor.
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4 System parameters
4.2.1. Input Size

4.2 Type Unit Type 4.2.1. Input Size

Parent Input Size belongs to the type Unit Type, in the topic I/O. Cfg name EN_InputSize Description The parameter Input Size defines the data size in bytes for the input area received from the unit. Usage Input Size is an EtherNet/IP specific parameter. Prerequisites The EtherNet/IP Fieldbus Adapter option must be installed. Limitations A limitation is the maximum unit size for the Unit Type. Default value The default value is 8 bytes. Allowed values Allowed values are the integers 0-64, specifying the input data size in bytes.

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4 System parameters
4.2.2. Output Size

4.2.2. Output Size

Parent Output Size belongs to the type Unit Type, in the topic I/O. Cfg name EN_OutputSize Description Output Size defines the data size in bytes for the output area received from the unit. Usage Output Size is an EtherNet/IP specific parameter. Prerequisites The EtherNet/IP Fieldbus Adapter option must be installed. Limitations A limitation is the maximum unit size for the Unit Type. Default value The default value is 8 bytes. Allowed values Allowed values are the integers 0-64, specifying the output data size in bytes.

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4 System parameters
4.2.3. Subnet Mask

4.2.3. Subnet Mask

Parent Subnet Mask belongs to the type Unit Type, in the topic I/O. Cfg name EN_SubnetMask Description The Subnet Mask is used to determine what subnet the IP address belongs to. Usage Subnet Mask is an EtherNet/IP specific parameter. Prerequisites The EtherNet/IP Fieldbus Adapter option must be installed. Default value The default value is: 255.255.255.0 Allowed values The value can be: 0.0.0.0 - 255.255.255.255

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4 System parameters
4.2.4. Gateway

4.2.4. Gateway
Parent Gateway belongs to the type Unit Type, in the topic I/O. Cfg name EN_Gateway Description Gateway specifies the node on the network that serves as an entrance to another network. Usage Gateway is an EtherNet/IP specific parameter. Prerequisites The EtherNet/IP Fieldbus Adapter option must be installed. Default value The default value is: 0.0.0.0 Allowed values The value can be: 0.0.0.0 - 255.255.255.255

Copyright 2007 ABB. All rights reserved.

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Index

B
Bus 18

C
cables length 15 connections size 12 type 12

D
DSQC 669 14

E
EDS file 19 EDS file, example 19

F
fieldbus adapter 13 files, EDS 19

I
illustrations DSQC 669 14 hardware overview 12

L
LED link/activity 15 module status 15 network status 14

S
system parameters Bus 18 EtherNet/IP Address 23 Gateway 27 Input Size 24 Output Size 25 Subnet Mask 26 Unit 18, 23 Unit Type 18, 24

Copyright 2007 ABB. All rights reserved.

U
Unit 18, 23 Unit Type 18, 24

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30

Index

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ABB Robotics S-721 68 VSTERS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592

3HAC 028509-001, Revision -, en