Ethernet IP 3HAC028509-001 RevA En

8/11/2019 Ethernet IP 3HAC028509-001 RevA En

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Application manual

EtherNet/IP Fieldbus Adapter

Robot ControllerRobotWare 5.0



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Application manual

EtherNet/IP Fieldbus AdapterRobotWare 5.0

Document ID: 3HAC028509-001

Revision: A



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The information in this manual is subject to change without notice and should not beconstrued as a commitment by ABB. ABB assumes no responsibility for any errors thatmay appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued 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 fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB's writtenpermission, and contents thereof must not be imparted to a third party nor be used forany 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.

ABB ABRobotics Products

SE-721 68 VästeråsSweden



Table of Contents

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

1 Overview 111.1 EtherNet/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.1.2 EtherNet/IP Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.2 CIP routing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.2.2 CIP routing, IRC5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2 Hardware description 15

2.1 EtherNet/IP Fieldbus Adapter, DSQC 669. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3 Configuration 19

3.1 EtherNet/IP Fieldbus Adapter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.1.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.1.3 Working with the EtherNet/IP Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.2 CIP routing configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.2.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.2.3 Working with CIP routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4 System parameters 31

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.2.1 EtherNet/IP Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334.3.1 Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334.3.2 Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344.3.3 Subnet Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354.3.4 Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.4 Type Route. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374.4.1 Name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374.4.2 Connected to Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384.4.3 Port ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Index 41



Table of Contents

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Overview


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Overview

About this manualThis manual describes the EtherNet/IP Fieldbus Adapter option and contains instructions forthe EtherNet/IP Fieldbus Adapter configuration.

UsageThis manual should be used during installation and configuration of the EtherNet/IP FieldbusAdapter and upgrading of the EherNet/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

PrerequisitesThe 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

1. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter andincludes 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

2. This chapter describes the EtherNet/IP Fieldbus Adapter hardware.

3. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter configura-

tion and the CIP routing configuration. The chapter also contains descriptionsof workflows.

4. This chapter describes the EtherNet/IP Fieldbus Adapter specific systemparameters.

Continues on next page



Overview

3HAC028509-001 Revision: A6

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References

Document references

Other references

Revisions

Reference Document ID

Application manual - DeviceNet 3HAC020676-001

Operating manual - RobotStudio Online 3HAC18236-1

Operating manual - IRC5 with FlexPendant 3HAC16590-1

Product manual - IRC5 3HAC021313-001

Technical reference manual - Systemparameters

3HAC17076-1

Product specification, IRC5 withFlexPendant

3HAC021785-001

Reference Description

www.odva.org The web site of ODVA (Open DeviceNetVen-dor Association).

Common Industrial Protocol (CIP) Edition 3.0 ODVA Specification

EtherNet/IP Specification Edition 1.2 ODVA Specification

Revision Description

- First edition. RobotWare 5.09.

A Description of CIP routing is added.

Continued



Product documentation, M2004


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GeneralThe robot documentation is divided into a number of categories. This listing is based on thetype of information contained within the documents, regardless of whether the products arestandard 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 forM2004 robot systems.

Product manualsAll hardware, robots and controllers, will be delivered with a Product manual that contains:

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electricalconnections)

• Maintenance (descriptions of all required preventive maintenance proceduresincluding 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 Productmanual, procedures, lists of tools, safety standards)

• Part list

• Foldouts or exploded views• Circuit diagrams

Technical reference manualsThe following manuals describe the robot software in general and contain relevant referenceinformation:

• RAPID Overview : An overview of the RAPID programming language.

• RAPID Instructions, Functions and Data types : Description and syntax for allRAPID instructions, functions and data types.

• System parameters : Description of system parameters and configuration workflows.

Application manualsSpecific applications (for example software or hardware options) are described inApplication 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, systemparameters, CD with PC software)

• How to use the application

• Examples of how to use the application






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Operating manualsThis 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 manualsincludes:

• Emergency safety information

• Getting started - IRC5 and RobotStudio Online

• IRC5 with FlexPendant

• RobotStudio Online

• Trouble shooting - IRC5 for the controller and robot

Continued



Safety


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Safety

Safety of personnelWhen 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 anexternal 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 machiningprocess.

• The external voltage connected to the controller remains live even when the robot isdisconnected from the mains.

• Additional connections.

Therefore, it is important that all safety regulations are followed when doing mechanical andelectrical installation work.

Safety regulationsBefore beginning mechanical and/or electrical installations, make sure you are familiar withthe safety regulations described in Product manual - IRC5 .



Safety


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1 Overview

1.1.1. General


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1 Overview

1.1 EtherNet/IP

1.1.1. 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 DeviceNetVendors Association). It is a well established industrial ethernet communication system withgood 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 inDeviceNet and ControlNet. CIP allows EtherNet/IP and DeviceNet system integrators andusers to apply the same objects and profiles for plug-and-play interoperability among devicesfrom multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet andEtherNet/IP promote transparency from sensors to the enterprise software.

Examples of applicationsHere are some examples of EtherNet/IP applications:

• Peer-to-peer data exchange where an EtherNet/IP product can produce and consumemessages

• 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 standardizationEtherNet/IP is standardized in the International standard IEC 61158 and EtherNet/IP devicesare certified by ODVA for interoperability and conformance.

Facts, EtherNet/IPThe following table specifies a number of facts about EtherNet/IP.

Electronic Data Sheet fileThe configuration process is based on EDS files (Electronic Data Sheet) which are requiredfor each EtherNet/IP device. EDS files are provided by the device manufacturers and containelectronic descriptions of all relevant communication parameters and objects of the EtherNet/ IP device.

Network type Ethernet based Control Level network with CIP application protocol

Installation 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.

Speed 10, 100, 1000 Mbit/s



1 Overview

1.1.2. EtherNet/IP Fieldbus Adapter, IRC5


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1.1.2. EtherNet/IP Fieldbus Adapter, IRC5

Hardware overviewThe hardware of the EtherNet/IP Fieldbus Adapter, DSQC 669, consists of a slave unit. Thefieldbus adapter is connected to a Compact Flash interface on the main computer in the robotcontroller, and is normally controlled by an external master on the same physical EtherNet/ IP network.

Illustration, exampleThe following figure illustrates an overview of the hardware.

xx0700000098

Specification overview

A PLCB EtherNet/IP scanner

C Ethernet switch

D EtherNet/IP Fieldbus Adapter, DSQC 669

E IRC5 controller

F General EtherNet/IP unit

Item Specification

Fieldbus type EtherNet/IP

Specification revision EtherNet/IP Specification Edition 1.2

Data rate 10/100 Mbit

Connection type Cyclic

Connection size Maximum 64 input bytes and 64 output bytes

Transport Classes Class 1 and 3



1 Overview

1.2.1. General


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1.2 CIP routing

1.2.1. General

What is CIP routingCIP (Common Industrial Protocol) routing makes it possible to collect and view status orother information from different devices placed on several CIP networks at a single or severaloperator stations. A CIP router allows sending messages between CIP networks.

CIP standardizationCIP is standardized by ODVA. CIP devices are certified by ODVA for interoperability andconformance.

Electronic Data Sheet fileThe configuration process is based on EDS files (Electronic Data Sheet) which are requiredfor each CIP device. EDS files are provided by the device manufacturers and containelectronic descriptions of all relevant communication parameters and objects of the CIPdevice. The EDS files contain essential information about CIP routing.



1 Overview

1.2.2. CIP routing, IRC5


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1.2.2. CIP routing, IRC5

Hardware overviewMessages are sent from one device on an EtherNet/IP fieldbus network to one or severaldevices on a DeviceNet fieldbus network.

NOTE!

In IRC5 the originator of a message has to be connected on the EtherNet/IP Fieldbus Adapternetwork while its targets have to be on a DeviceNet network.

Illustration, exampleThe following figure illustrates an overview of the hardware.

xx0700000535

For information about the DeviceNet hardware, refer to Application manual - DeviceNet .

Specification overviewThe following table specifies a number of facts about CIP routing.

A PLC

B EtherNet/IP scanner

C EtherNet/IP Fieldbus Adapter, DSSQC 669

D IRC5 controller

E DeviceNet master, DSQC 658

F User equipment, for example, arc welding or spot welding equipment

CIP network types EtherNet/IP to DeviceNet

Route type Unconnected send



2 Hardware description

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669


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2 Hardware description2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

DescriptionThe DSQC 669 is mounted in the computer module.

Installation of fieldbus adapterFor 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

PrerequisitesRobotWare 5.09 or later version is required to use the EtherNet/IP Fieldbus Adapter, andRobotWare 5.10 or later version is required to use the CIP routing functionality.

The DSQC 669 can be mounted only in the computer unit DSQC 639.

Description Art. no. Designation Pos.

EtherNet/IP Fieldbus Adapter 3HAC027652-001 DSQC 669 A







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Illustration, DSQC 669

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LEDsThis 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.

NS Network status LEDMS Module status LED

LINK Link/Activity

EtherNet/IP EtherNet/IP interface

LED state Description

OFF No power or no IP address

GREEN Online, one or more connections established

GREEN, flashing Online, no connections established

RED Duplicate IP address, fatal error

RED flashing One or more connections timed out

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Module status LED

-

NOTE!

A test sequence is performed on this LED during start of the adapter.

Link/Activity LED

Cable lengths

Permanent link lengthThe 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/IPSpecification Edition 1.2 .

Channel lengthThe total channel length for COTS twisted pair systems is 100 m (330 ft) including patchcables as defined in ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2 .


OFF No power

GREEN Controlled by a scanner in run state

GREEN flashing Not configured, or scanner in idle state

RED Major fault (exception state, fatal error etc.)

RED flashing Recoverable fault(s)


OFF No link, no activity

GREEN Link established

GREEN flickering Activity

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3 Configuration

3.1.2. Configuration overview


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ConfigurationThe following table gives descriptions of defining the types Bus, Unit Type and Unit for theEtherNet/IP Fieldbus Adapter.

Predefined busWhen the system is installed with the EtherNet/IP Fieldbus Adapter option, a predefined bus

EtherNetIP_FA1 is created.

Predefined Unit TypeA predefined Unit Type for the fieldbus adapter, ENIP_SLAVE_FA , is defined supporting acyclic connection with the size of 8 input bytes and 8 output bytes as defined in the signalconfiguration for the fieldbus adapter.

If another input or output size on the fieldbus adapter is required, the predefined Unit Typemust be modified or a new Unit Type must be created.

LimitationsThe 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

Input Size on page 33 and Output Size on page 34 ).

• For the EtherNet/IP Fieldbus Adapter both the input and output map starts at bit 0

Related informationTechnical reference manual - System parameters

Defining... Description

Bus An EtherNet/IP bus must be defined before any communicationis possible, that is, define rules for the EtherNet/IP FieldbusAdapter to communicate on the network.

Unit Type When creating a unit type some system parameters are fieldbusspecific.Unit specific values can be found in the EDS file (Electronic DataSheet) for the unit, see Electronic Data Sheet file on page 21 .

See also Type Unit Type on page 33 .Unit The only EtherNet/IP specific system parameter in the unit

definition is the unit address.See Type Unit on page 32 .




3 Configuration



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Electronic Data Sheet fileAn EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching theconfiguration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWarerelease CD in the directory:

utility\fieldbus\EtherNetIP\eds

If another input or output size than the predefined is used, it is recommended that the valuesin the EDS file are edited to match the new system parameter values.

Example, EDS fileAn example from an EDS file when changing the predefined output and input sizes from 8bytes to 16 bytes:

[Params]

Param1 =

"Output Size", $ name0,64, 16 , $ min, max, default data values

Param2 =

"Input Size", $ name

0,64, 16 , $ min, max, default data values

I/O connectionCyclic I/O connection is supported and the size of the I/O connection is defined by the typeUnit Type.

NOTE!

If the EtherNet/IP Fieldbus Adapter loses connection with the scanner, the configured inputsignals are cleared (reset to zero).

When the connection is re-established, the scanner updates the input signals.

Continued



3 Configuration

3.1.3. Working with the EtherNet/IP Fieldbus Adapter


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UsageWhen the IRC5 controller is connected, for example, to an external PLC it can be configuredas shown in Illustration, example on page 22 .

PrerequisitesThe network address of the EtherNet/IP Fieldbus Adapter must be known.

Illustration, exampleThe following figure illustrates an example of how to use the EtherNet/IP Fieldbus Adapter.

xx0700000098

How to configure the EtherNet/IP Fieldbus AdapterA configuration procedure of the EtherNet/IP Fieldbus Adapter:

A PLC

B EtherNet/IP scanner

C Ethernet switch

D EtherNet/IP Fieldbus Adapter, DSQC 669. Placed in the computer module.

E IRC5 controller

F General EtherNet/IP unit

Action Info

1. Add a unit that has the address requested by thescanner (e.g. PLC), and with Unit TypeENIP_SLAVE_FA.

See Add unit on page 23 .

2. Define the signals on the created unit. See Add signals on page 23 .

3. Restart the system. Now the IRC5 controller is ready tobe contacted by an EtherNet/IP scanner.




3 Configuration



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Add unit

Add signals

Action

1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller.

2. Double-click I/O. The Configuration Editor appears.

3. In the Configuration Editor , click Unit Type . Then right-click in the workspace and clickAdd Unit Type .

4. In the Edit Unit(s) dialog box, type the values for the parameters.

xx0700000205

Action

1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller

2. Double-click I/O. The Configuration Editor appears.

3. In the Configuration Editor , click Signal . Then right-click in the workspace and clickAdd Signal .

Continued




3 Configuration



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Related informationOperating manual - RobotStudio Online

4. In the Edit Signal(s) dialog box, type the values for the parameters.

xx0700000206

Action

Continued



3 Configuration

3.2.1. Introduction


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3.2 CIP routing configuration

3.2.1. Introduction

Controller softwareThe IRC5 controller must be installed with software that supports the use of the CIPnetworks. To communicate through the EtherNet/IP network the EtherNet/IP FieldbusAdapter option must be installed, while DeviceNet communication requires one DeviceNetoption to be installed.

For description of how to add the EtherNet/IP Fieldbus Adapter and DeviceNet options, seeOperating manual - RobotStudio Online .

PC software

RobotStudio Online is a PC software that is used to set up connections to robots and to workwith robots.

The configuration for the EtherNet/IP and DeviceNet communication is done either manuallyusing RobotStudio Online, or by loading a configuration file from RobotStudio Online. Forinformation about how to work with RobotStudio Online refer to Operating manual -

RobotStudio Online , see References on page 6 .



3 Configuration



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ConfigurationA routing configuration requires that two or more routes are defined. One route bonds therequired CIP port to a CIP network. Messages can be fowarded to any of the networks havinga CIP port defined.

The following table gives descriptions of all route specific types.

Port identityThe port identity, required by the CIP route protocol, is used in order to find a destinationnetwork. By the configuration the port identity is tied to a specific network/bus. Each networkhas its own unique port identity.

Electronic Data Sheet fileAn EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching theconfiguration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWarerelease CD in the directory:

utility\fieldbus\EtherNetIP\eds

The file contains information necessary for CIP routing.

Example, EDS fileAn example from an EDS file that shows the configurations of the ports:

[Port]

Port1 =

TCP, $ port type name

"TCP/IP", $ name of port

"20 F5 24 01", $ instance one of the TCP/IP interface$ object

2; $ port number

Port2 =

DeviceNet, $ port type"DeviceNet1", $ port name

"20 03 24 01", $ path to object supporting this port-DNet$ object

3; $ port number

Port3 =

DeviceNet, $ port type

"DeviceNet2", $ port name

"20 03 24 01", $ path to object supporting this port-DNet$ object

4; $ port number

Defining... Description

CIP Route A route identity links the required CIP port to a destinationnetwork.



3 Configuration

3.2.3. Working with CIP routing


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UsageWhen the IRC5 controller is connected, for example, to an external PLC it can be configuredas Illustration, example on page 27 .

The function of CIP routingA message on one route can be forwaded to any of the other defined routes. The sent messagecontains the destination device and port number, and from that information the suitabledestination route is selected. All defined CIP routes will together compose a virtual CIProuter. During the configuration of a route the port number will be coupled with its networkor fieldbus and thereby with its hardware.

Prerequisites

Fieldbuses to use in the CIP network have to be of type EtherNet/IP and DeviceNet. TheRobotWare options EtherNet/IP and DeviceNet are required for usage of CIP routing. AllDeviceNet 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 Explicitmessaging parameter must be set in the DeviceNet configuration.

Illustration, exampleThe following figure illustrates an example of how to use CIP routing, and shows an IRC5controller with connections to three networks/fieldbuses. For each of the three CIP hardwaredevices (C, E, and G), route parameters have to be defined. The route parameters are addedto the I/O configuration of the IRC5 controller. See How to configure the CIP routes on page28 .

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A PLC

B EtherNet/IP scanner with port ID, for example, value 2.

C EtherNet/IP Fieldbus Adapter with port ID, for example, value 2.

D IRC5 controller

E DeviceNet1 master with port ID, for example, value 3.

F User equipment on DeviceNet1, for example, arc welding or spot welding.

G DeviceNet2 master with port ID, for example, value 4.

H User equipment on DeviceNet2, for example, arc welding or spot welding.




3 Configuration



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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 39 .

How to configure the CIP routesA configuration procedure of the CIP routes that details how to add a route to EtherNet/IP,DeviceNet1 and DeviceNet2 by using RobotStudio Online:

Action

1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller.

2. Double-click I/O. The Configuration Editor appears.3. In the Configuration Editor , click Route . Then right-click in the workspace and click

Add Route .

4. In the Edit Route(s) dialog box, type the values for the parameters to add a route toEtherNet/IP. Click OK .

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Continued




3 Configuration



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5. To add a route to DeviceNet1, proceed with step 3 above.In the Edit Route(s) dialog box, type the values for the parameters to add a route toDeviceNet1. Click OK .

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6. To add a route to DeviceNet2, proceed with step 3 above.In the Edit Route(s) dialog box, type the values for the parameters to add a route toDeviceNet2. Click OK .

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7. Restart the system.

Action

Continued




3 Configuration



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LimitationsCIP 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 tosee 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 cannotforward 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 onlyrespond 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.

Related informationWorking with the EtherNet/IP Fieldbus Adapter on page 22

Application manual - DeviceNet

Operating manual - RobotStudio Online

Continued



4 System parameters

4.1. Introduction


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4 System parameters4.1. Introduction

EtherNet/IP specific system parametersThere are both EtherNet/IP specific parameters and more general parameters. This chapterdescribes all EtherNet/IP specific system parameters. The parameters are divided into thetype they belong to.

For information about other parameters refer to Technical reference manual - System parameters .



4 System parameters

4.2.1. EtherNet/IP Address


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4.2 Type Unit

4.2.1. EtherNet/IP Address

Parent EtherNet/IP Address belongs to the type Unit , in the topic I/O .

Cfg nameEN_Address

DescriptionThe 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 thescanner should setup a connection.

PrerequisitesEtherNet/IP Fieldbus Adapter option must be installed.

Default valueThe 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.



4 System parameters

4.3.1. Input Size


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4.3 Type Unit Type

4.3.1. Input Size

Parent Input Size belongs to the type Unit Type , in the topic I/O .

Cfg nameEN_InputSize

DescriptionThe parameter Input Size defines the data size in bytes for the input area received from theunit.

Usage Input Size is an EtherNet/IP specific parameter.

PrerequisitesThe EtherNet/IP Fieldbus Adapter option must be installed.

LimitationsA limitation is the maximum unit size for the Unit Type .

Default value

The default value is 0.

Allowed valuesAllowed values are the integers 1-64, specifying the input data size in bytes.



4 System parameters

4.3.2. Output Size


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4.3.2. Output Size

ParentOutput Size belongs to the type Unit Type , in the topic I/O .

Cfg nameEN_OutputSize

DescriptionOutput Size defines the data size in bytes for the output area received from the unit.

UsageOutput Size is an EtherNet/IP specific parameter.


LimitationsA limitation is the maximum unit size for the Unit Type .

Default valueThe default value is 0.

Allowed values

Allowed values are the integers 1-64, specifying the output data size in bytes.



4 System parameters

4.3.3. Subnet Mask


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4.3.3. Subnet Mask

ParentSubnet Mask belongs to the type Unit Type , in the topic I/O .

Cfg nameEN_SubnetMask

DescriptionThe Subnet Mask is used to determine what subnet the IP address belongs to.

UsageSubnet Mask is an EtherNet/IP specific parameter.



Allowed valuesThe value can be 0.0.0.0 - 255.255.255.255.



4 System parameters

4.3.4. Gateway


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4.3.4. Gateway

ParentGateway belongs to the type Unit Type , in the topic I/O .

Cfg nameEN_Gateway

DescriptionGateway specifies the node on the network that serves as an entrance to another network.

UsageGateway is an EtherNet/IP specific parameter.



Allowed valuesThe value can be 0.0.0.0 - 255.255.255.255.



4 System parameters

4.4.1. Name


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4.4 Type Route

4.4.1. Name

Parent Name belongs to the type Route , in the topic I/O .

Cfg nameName

DescriptionThe parameter Name specifies the name of the route.

Usage Name specifies a route, to which the route messages can be received or sent to.

PrerequisitesEtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.

Default valueThe default value is an empty string

Allowed valuesThe value can be a string of characters.



4 System parameters

4.4.2. Connected to Bus


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4.4.2. Connected to Bus

ParentConnected to Bus belongs to the type Route , in the topic I/O .

Cfg nameBus

DescriptionThe parameter Connected to Bus specifies the name of the I/O network.

UsageConnected to Bus shows which network is associated to a certain port.

PrerequisitesEtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.

Default valueThe default value is an empty string.

Allowed valuesThe value can be any defined I/O bus name.



4 System parameters

4.4.3. Port ID


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4.4.3. Port ID

ParentPort ID belongs to the type Route , in the topic I/O .

Cfg namePort ID

DescriptionThe parameter Port ID specifies the connector of the I/O network.

UsagePort ID is used in the CIP routing path.

Prerequisites EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.

Default valueThe default value is 2.

Allowed valuesThe value can be from 2 to (2 + number of installed DeviceNet channels).

NOTE!

Value 1 is reserved and is not allowed to use.



Index


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BBus 20

C

cableslength 17

CIP routingconfigurati on 28limitations 30

configuration, CIP routing 28connectio ns

size 12type 12

DDSQC 669 16

E

EDS file 21EDS file, example 21

Ffieldbus ad apter 15files, EDS 21

Iillustrations

DSQC 669 16hardware overview 12

LLED

link/activity 17module status 17network status 16

Ssignals, adding 23system pa rameters

Bus 20Connected to Bus 38EtherNet/ IP Address 32Gateway 36Input S ize 33Name 37Output Size 34Port ID 39Subn et Mask 35Unit 20, 32Unit Type 20, 33

UUnit 20, 32Unit Type 20 , 33units, adding 23



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Ethernet IP 3HAC028509-001 RevA En

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Transcript of Ethernet IP 3HAC028509-001 RevA En