ROBOTICS Applicationmanual PROFINETController/Device · Reference Description...

ROBOTICS

Application manualPROFINET Controller/Device

Trace back information:Workspace R18-1 version a16Checked in 2018-04-18Skribenta version 5.2.025

Application manualPROFINET Controller/Device

RobotWare 6.07

Document ID: 3HAC050969-001Revision: G

© Copyright 2015-2018 ABB. All rights reserved.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may 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 topersons 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'swritten permission.Keep for future reference.Additional copies of this manual may be obtained from ABB.

Original instructions.

© Copyright 2015-2018 ABB. All rights reserved.ABB AB, Robotics

Robotics and MotionSe-721 68 Västerås

Sweden

Table of contents7Overview of this manual ...................................................................................................................

10Product documentation ....................................................................................................................12Safety ................................................................................................................................................13Network security ...............................................................................................................................14Terminology ......................................................................................................................................

151 Introduction151.1 What is PROFINET? ..........................................................................................161.2 PROFINET for IRC5 ...........................................................................................

192 Hardware overview192.1 Main computer ..................................................................................................262.2 Ethernet switches ..............................................................................................272.3 I/O devices .......................................................................................................

293 Software overview293.1 Information about the internal device ....................................................................313.2 Information about the internal controller ................................................................323.3 Software for configuring a device .........................................................................333.4 Software for configuring a controller .....................................................................

354 Configuring the internal device and external controller354.1 Recommended working procedure .......................................................................364.2 Configuring the PROFINET network settings ..........................................................384.3 Configuring the internal device ............................................................................394.4 Configuring the external controller ........................................................................

415 Configuring the internal controller and external device415.1 Recommended working procedure .......................................................................425.2 Creating the PROFINET configuration file ..............................................................435.3 Configuring the IRC5 controller ............................................................................445.4 Using Fast Device Startup ...................................................................................465.5 Using Shared Device .........................................................................................465.5.1 About Shared Device ...............................................................................

496 System parameters496.1 Introduction ......................................................................................................526.2 Type Industrial Network ......................................................................................526.2.1 Connection ............................................................................................536.2.2 Configuration File ....................................................................................546.2.3 PROFINET Station Name ..........................................................................556.2.4 Nested Diagnosis ....................................................................................566.3 Type PROFINET Device .....................................................................................566.3.1 PROFINET Station Name ..........................................................................576.3.2 Fast Device Startup .................................................................................586.3.3 Port 1 ....................................................................................................596.3.4 Port 2 ....................................................................................................606.3.5 Port 3 ....................................................................................................616.3.6 Port 4 ....................................................................................................626.3.7 Energy Saving ........................................................................................636.4 Type Signal ......................................................................................................636.4.1 Transfer To Device ..................................................................................646.4.2 Output Offset on Destination Device ...........................................................656.4.3 Transfer From Device ..............................................................................666.4.4 Input Offset on Source Device ...................................................................

Application manual - PROFINET Controller/Device 53HAC050969-001 Revision: G


Table of contents

676.5 Type PROFINET Internal Device ..........................................................................676.5.1 Input Size ..............................................................................................686.5.2 Output Size ............................................................................................

697 Troubleshooting697.1 Scenarios ........................................................................................................

71A About the third party tool information

75B Using Siemens Step 7 PC tool

79C Using PROFINET Configurator Express

85Index

6 Application manual - PROFINET Controller/Device3HAC050969-001 Revision: G


Table of contents

Overview of this manualAbout this manual

This manual describes the following options and contains instructions on how toconfigure them in an IRC5 system.

• PROFINET Controller/Device, option number 888-2• PROFINET Device, option number 888-3

UsageThis manual should be used during installation and configuration of the PROFINEToptions.

Who should read this manual?This manual is intended for:

• Personnel that are responsible for installations and configurations of industrialnetwork hardware/software.

• Personnel that make the configurations of the I/O system.• System integrators.

PrerequisitesThe reader should have the required knowledge of:

• PROFINET network• I/O system configuration• IRC5 controller• RobotStudio

References

ABB documents

Document IDReference

3HAC050948-001Technical reference manual - System parameters

3HAC047136-001Product manual - IRC5

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

3HAC050968-001Application manual - PROFINET Anybus Device

3HAC050967-001Application manual - PROFIenergy Device

Other references

DescriptionReference

The PROFINET industrial network standardis described in the international standards.

International standard IEC 61158 Type 3 In-ternational standard IEC 61784

Installation Guideline for PROFINET (Version2.00, September 1998)

PROFINET Cabling and InterconnectionTechnology

Continues on next pageApplication manual - PROFINET Controller/Device 73HAC050969-001 Revision: G


Overview of this manual

DescriptionReference

Release 12/2006 C79000-G8976-C156-08Commissioning PC Stations - Manual andQuick Start

Manual from SiemensET200S Distributed I/O System

The web site of PROFINET Internationalwww.profinet.com

Revisions

DescriptionRevision

First edition.-Released with RobotWare 6.0.

Released with RobotWare 6.01.• Added information about different ways to connect to networks in

section Main computer on page 19.• System parameters Address, Subnet Mask, and Gateway removed

from Industrial Network.• Added a note that it is advisable to avoid multiple master networks

installation to ensure proper system performance in section Softwareoverview on page 29.

A

Released with RobotWare 6.02.• Updated the path to the template files, see Template I/O configuration

file on page 29.• Added shared device functionality and configuration, seeUsing Shared

Device on page 46.• Added new parameter Nested Diagnosis, see Nested Diagnosis on

page 55.• Added new parameter Energy Saving, see Energy Saving on page62.• Added PROFINET Station Name under Type PROFINET Device, see

PROFINET Station Name on page 56.• The PROFINET internal device has been extended from 128 bytes

(1024 signals) to 256 bytes (2048 signals). See Input Size on page 67and Output Size on page 68.

B

Released with RobotWare 6.03.CAdded information about configuration of AC500 with an IRC5 device inAutomation Builder (Control Builder Plus). See Troubleshooting on page 69section.

Released with RobotWare 6.04.• The information about third party tools is moved to an appendix.• Added new parameters in Type Signal in System Parameters section.

See Transfer To Device on page 63, Output Offset on DestinationDevice on page64, Transfer FromDevice on page65, and Input Offseton Source Device on page 66.

D

Released with RobotWare 6.05.EAdded new allowed value Support in parameter Fast Device Startup onpage 57.

Released with RobotWare 6.06.• Minor correction.• Added information about default gateway only for PROFINET traffic

using LAN3. See Default gateway on page 17.• Added information about device replacement feature. See Device re-

placement on page 18

F

Continues on next page8 Application manual - PROFINET Controller/Device

3HAC050969-001 Revision: G© Copyright 2015-2018 ABB. All rights reserved.

Overview of this manualContinued

http://www.profinet.com

DescriptionRevision

Released with RobotWare 6.07.• Clarified the limitations for Isolated Lan 3 in the section Isolated LAN

3 or LAN 3 as part of the private network on page 20.• PC WORX is not a recommended tool, so it is removed from the

manual.• Added section Link Layer Discovery Protocol (LLDP) on page 17.

G



Overview of this manualContinued

Product documentationCategories for user documentation from ABB Robotics

The user documentation from ABB Robotics is divided into a number of categories.This listing is based on the type of information in the documents, regardless ofwhether the products are standard or optional.All documents can be found via myABB Business Portal, www.myportal.abb.com.

Product manualsManipulators, controllers, DressPack/SpotPack, and most other hardware isdelivered 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 corresponding figures (or references to separate spare

parts lists).• Circuit diagrams (or references to circuit diagrams).

Technical reference manualsThe technical reference manuals describe reference information for roboticsproducts, for example lubrication, the RAPID language, and system parameters.

Application manualsSpecific applications (for example software or hardware options) are described inApplication manuals. An application manual can describe one or severalapplications.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, software).• How to install included or required hardware.• How to use the application.• Examples of how to use the application.



Product documentation

http://www.myportal.abb.com

Operating manualsThe operating manuals describe hands-on handling of the products. The manualsare aimed at those having first-hand operational contact with the product, that isproduction cell operators, programmers, and troubleshooters.



Product documentationContinued

SafetySafety of personnel

When working inside the robot controller it is necessary to be aware ofvoltage-related risks.A danger of high voltage is associated with the following parts:

• Devices inside the controller, for example I/O devices, can be supplied withpower 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 doingmechanical and electrical installation work.

Safety regulationsBefore beginning mechanical and/or electrical installations, ensure you are familiarwith the safety regulations described in Operating manual - General safetyinformation1 .

1 This manual contains all safety instructions from the product manuals for the manipulators and the controllers.



Safety

Network securityNetwork security

This product is designed to be connected to and to communicate information anddata via a network interface, It is your sole responsibility to provide and continuouslyensure a secure connection between the product and to your network or any othernetwork (as the case may be). You shall establish and maintain any appropriatemeasures (such as but not limited to the installation of firewalls, application ofauthentication measures, encryption of data, installation of anti-virus programs,etc) to protect the product, the network, its system and the interface against anykind of security breaches, unauthorized access, interference, intrusion, leakageand/or theft of data or information. ABB Ltd and its entities are not liable fordamages and/or losses related to such security breaches, any unauthorized access,interference, intrusion, leakage and/or theft of data or information.



Network security

TerminologyTerms

ExplanationTerm

The PROFINET master is referred to as PROFINETcontroller.

Controller

In this manual the term device is used to describe aphysical unit.

Device

The term external is used to describe a controller ordevice on the PROFINET network connected to theIRC5 controller.

External slave or master

A third party PC software to configure the PROFINETcontroller.

External PROFINET configurationtool

Recommended softwares are:• PROFINET-IO Configurator Express• PROFINET-IO Configurator Professional

See Configuration programs on page 16.

Functionality for shortening the connection time withan I/O device.

Fast Device Startup

Other manufacturers refer to this functionality as FastStart Up (FSU) or Prioritized Startup.

A GSDML file contains information about a PROFINETdevice.

GSDML file

(Generic Station Description Markup Language)

A built-in device in the robot controllerInternal Device

The term internal is used to describe when the IRC5controller acts as a controller or device on thePROFINET network.

Internal slave or master

Port/connector for Local Area Network.LAN

The nested diagnosis functionality is used for diagnos-is in hierarchial plants and enables the user to evaluatethe status of the PROFINET network from a centralPLC or external tool.

Nested Diagnosis

XML file created using an external PROFINET config-uration tool

PROFINET configuration file

Poll rateReduction ratio

A device that is controlled by two controllers via aPROFINET interface.

Shared Device

See term DeviceSlave

Port/connector for Wide Area Network.WAN



Terminology

1 Introduction1.1 What is PROFINET?

GeneralPROFINET is an open standard for Industrial Ethernet. PROFINET satisfiesrequirements for automation technology. PROFINET solutions can be implementedfor factory and process automation, for safety applications, and for the entire rangeof drive technology right up to clock-synchronized motion control.

StandardizationThe use of open standards, simple operation, and the integration of existing systemsegments have driven the definition of PROFINET from the beginning. PROFINETis standardized in IEC 61158 and IEC 61784. The continual further developmentof PROFINET offers users a long term perspective for the implementation of theirautomation tasks.

Communication profilesPROFINET has a modular design and different PROFINET communication profilesare all combinations of modular elements from the groups transmission technology,communication protocol, and application profiles.Here are some examples of PROFINET communication profiles:

• PROFINET-IO - Distributed I/O (Remote I/O). Here, the familiar I/O view ofPROFIBUS is retained, in which the user data from the field devices areperiodically transmitted into the process model of the control system.

• PROFINET-CBA - Based on the object-oriented modelling of technologicalmodules. Based on the object model, machines and installations arestructured in PROFINET in the form of technological modules.

• PROFIsafe - Defines how safety-oriented devices (emergency shutoffswitches, light grids, overfill protection systems, etc.) can communicatesafety control information over a network securely enough that they can beused in safety-oriented automation tasks up to EN954's KAT4, AK6, or SIL3(Safety Integrity Level).

• PROFIdrive - The PROFIdrive profile covers application scenarios from simplefrequency converters to highly dynamic servo drivers.

• PROFIenergy - A profile of the PROFINET communications protocol thatallows the power consumption of automation equipment in manufacturing(such as robot assembly cells, laser cutters and sub-systems such as paintlines) to be managed over a PROFINET network. It offers an open andstandardized means of controlling energy usage during planned andunplanned breaks in production. See alsoApplicationmanual - PROFIenergyDevice.



1 Introduction1.1 What is PROFINET?

1.2 PROFINET for IRC5

GeneralThe PROFINET network is running on the IRC5 main computer and does not requireany additional hardware. PROFINET as described in this manual requires the maincomputer DSQC1000.

OptionsWith optionPROFINETController/Device, the IRC5 controller can act as a controller,device, or both on the PROFINET network.With option PROFINET Device, the IRC5 controller can only act as a device.

Tip

If only PROFINET device functionality is required, then the option PROFINETAnybus Device can also be used.For more information, see Application manual - PROFINET Anybus Device.

Note

Note that the network settings are set for the Connection, i.e. the physicalconnector on the main computer used for the PROFINET network.This means that the network settings are shared between the internal device andthe internal controller if the IRC5 controller acts as both on the PROFINETnetwork.

CompatibilityFor RobotWare 6.06 and later, the PROFINET device is certified by PROFIBUS &PROFINET International (PI) with conformance class B/ NetLoad Class II and thedevice profiles; PROFIenergy and PROFIsafe.PROFINET device is certified for the PROFINET version 2.33.

Configuration programsTo be able to configure the PROFINET controller, an external PROFINETconfiguration tool is needed. There are two different versions available:PROFINET-IO Configurator Express and PROFINET-IO Configurator Professional.Supplied in the RobotWare distribution package is the Express version, see Aboutthe third party tool information on page 71. The Professional version have someadditional features and can be bought separately.The PROFINET internal device does not require any external configuration tool forthe IRC5 controller. A connecting PLC or other controller needs to use the providedGSDML file and its vendor specific configuration tool to be able to connect to thePROFINET internal device.



1 Introduction1.2 PROFINET for IRC5

Specification overview, internal controller

SpecificationItem

Maximum 50 I/O devicesNumber of I/O devices connected to control-ler

Maximum 256 input bytes and 256 outputbytes per device.

Connection size

Specification overview, internal device

SpecificationItem

See GSDML file on page 29.GSDML file

2.33PROFINET Version

Slot 1-2: Digital input or output modules ofvariable size

Slot configuration

Maximum 256 input bytes and 256 outputbytes per device.

Connection size

Default gatewayThere are multiple default gateways in the system. And hence, it is possible tohave two different default gateways in the system, one for the non-PROFINETtraffic and one that only manages the PROFINET interface and its traffic. So whileusing optionPROFINETController/Device the LAN 3 port is used only for PROFINETtraffic.

Link Layer Discovery Protocol (LLDP)The IRC5 controller supports LLDP, but only on one port at a time. PreferrablyLLDP should be used on the PROFINET network. Any network connected to anotherport must have LLDP disabled (or use equipment not supporting LLDP).

Factory Network

Not using LLDP

WANLAN 2 LAN 3

Robot Controller

LAN 1Service

Private PROFINET network

Using LLDP

xx1800000140



1 Introduction1.2 PROFINET for IRC5

Continued

Device replacementPROFINET controller supports the device replacement mechanism. When a devicefails, a new, identical device can replace the failed one if plugged in the sametopology location. And this does not need any engineering tool. The new deviceis automatically assigned the same parameters and name as the previous one.The conditions for device replacement to work are:

• You must replace a previously connected device by an identical device withan empty station name at the same topology location. For example, the newdevice is plugged in the same port as previously in a switch.

• This feature requires all switches and devices to support Link Layer DiscoveryProtocol (LLDP). The easiest way to achieve this is to only use ConformanceClass B devices and switches in the PROFINET network.



1 Introduction1.2 PROFINET for IRC5Continued

2 Hardware overview2.1 Main computer

ConnectionsThe I/O network can be connected to one of the the Ethernet ports WAN, LAN 2,or LAN 3 on the main computer.The following figure illustrates where the Ethernet port connectors, are placed onthe main computer.

xx1500000391

DescriptionLabelConnector

Port to the robot's private network. Intended to be left emptyso that service personnel can use it to connect to the com-puter unit.

ServiceX2

Port to the robot's private network. Normally used to connectthe FlexPendant.

LAN 1X3

Port to the robot's private network.LAN 2X4

By default LAN 3 is configured for an isolated LAN3 network.Can be reconfigured to be a part of the private network.

LAN 3X5

Wide Area Network that can host a public industrial network.WANX6

Note

It is not supported to connect multiple ports of the main computer (X2 - X6) tothe same external switch, unless static VLAN isolation is applied on the externalswitch.




Intended use of WAN and LAN portsThe WAN port is a public network interface to the controller, typically connectedto the factory network with a public IP address provided by the networkadministrator.The LAN ports are intended for connecting network based process equipment tothe controller, for example industrial networks, cameras, and welding equipment.LAN 2 can only be used as a private network to the IRC5 controller.

Isolated LAN 3 or LAN 3 as part of the private networkThe default configuration is that LAN 3 is configured as an isolated network. Thisallows several robot controller to be connected to the same network, seePROFINETon dedicated industrial network on page 23.

Note

The isolated LAN 3 cannot be used to connect to any HMI device (RobotStudio,Robot Web Services, or PC SDK client) since it does not support the protocolneeded for communication.

WANLAN 2 LAN 3

Private

Robot Controller

LAN 1Service

PublicIsolated

LAN 3

xx1500000393

An alternative configuration is that LAN 3 is part of the private network. The portsService, LAN 1, LAN 2, and LAN 3 then belong to the same network and act justas different ports on the same switch. This is configured by changing the systemparameter Interface, in topic Communication and type Static VLAN, from "LAN 3"to "LAN". See Technical reference manual - System parameters.

WANLAN 2 LAN 3

Private

LAN 1Service

Public

Robot Controller

xx1500000394



2 Hardware overview2.1 Main computerContinued

One PROFINET network connected to the robot controllerIf PROFINET is used on the public network (WAN port) without an Anybus adapter,PROFINET cannot be used on the private network. Equipment not using PROFINET(for example a camera) can be connected to the private network. To use PROFINETon both the public and private network, an Anybus adapter must be used. SeeUsing Anybus adapter to connect two PROFINET networks on page 24.

PROFINET on factory networkWhen the WAN port is used for connecting to an industrial network, the trafficshares the same media as the factory network and will share bandwidth with othernon industrial network traffic.The following figure illustrates the network when connecting a controller and adevice to the WAN port of the main computer:

WANLAN 2 LAN 3

Private

LAN 1Service

Public

WAN

Factory Network & Industrial Network

LAN 2 LAN 3

Private

Robot Controller 1

LAN 1Service

Robot Controller 2

PLC

Camera

Public

Cell I/O

I/OI/O

PROFINET

xx1500000472




Continued

PROFINET on private networkThe private network can contain I/O, sensors, etc. for the robot controller. However,it is not possible to connect several robot controllers to the same private network.The following illustration shows two robot controllers with PROFINET (and otherIP traffic) on each private network. The factory network cannot communicate withthe robot controller using PROFINET.

Factory Network

Robot I/O

I/O

Switch

Robot I/O

I/O

I/O

I/O

Switch

Sensor

Camera

WANLAN 2 LAN 3

Private

Robot Controller 1

LAN 1Service

Public

WANLAN 2 LAN 3

Private

Robot Controller 1

LAN 1Service

Public

PLC

PROFINET PROFINET

xx1500000473




PROFINET on dedicated industrial networkBy connecting to the isolated LAN 3 port it is possible to connect several robotcontrollers to a dedicated industrial network.

WAN

Factory Network

LAN 2 LAN 3

Private

Robot Controller 1

LAN 1Service WANLAN 2 LAN 3

Robot Controller 2

LAN 1Service

PLC

Sensor

Cell I/O

I/OI/O

Industrial Network

Isolated

LAN 3Public Private

Isolated

LAN 3Public

Camera

PROFINET

xx1500000474




Continued

Using Anybus adapter to connect two PROFINET networks

PROFINET on shared factory network and private networkTo be able to use PROFINET on both the public and the private network, an Anybusadapter must be used. If the same factory network is used both for PROFINETcommunication and other communication, both the Anybus adapter and the WANport must be connected to the factory network. For information about the PROFINETAnybus adapter, see Application manual - PROFINET Anybus Device.

WAN

Factory Network

Private

Robot Controller 1

LAN 1Service

PLC

Robot I/O

LAN 2 LAN 3

I/O I/O

Anybus

adapter

WAN

Private

Robot Controller 1

LAN 1Service

Robot I/O

LAN 2 LAN 3

I/O I/O

Public Public

Anybus

adapter

PROFINET PROFINET

PROFINET PROFINET

xx1500000475

PROFINET on dedicated industrial networkIf the PROFINET communication is separated from other communication, an Anybusadapter must be connected to the PROFINET industrial network and the WAN portmust be connected to the factory network.If the PROFINET communication shall be separated from other Ethernetcommunication, an Anybus adapter must be installed and connected to the publicPROFINET industrial network and the WAN port connected to the factory network.




For information about the PROFINET Anybus adapter, see Applicationmanual - PROFINET Anybus Device.

WAN

Factory Network

Private

Robot Controller 1

LAN 1Service

PLC

Robot I/O

LAN 2 LAN 3

I/O I/O

FBA

WAN

Private

Robot Controller 1

LAN 1Service

Robot I/O

LAN 2 LAN 3

I/O I/O

Public Public

Industrial Network

FBA

PROFINET

PROFINET PROFINET

xx1500000476




Continued

2.2 Ethernet switches

PrerequisitesIt is recommended that switches used in the I/O network support Quality of Service(QoS).I/O devices mark their packets with a priority value. The priority value is used inorder to get better I/O data throughput and shorter delays on the network.Switches and routers are then able to differentiate the device's critical from theother non-critical traffic. To do this, the switches and routers must support Qualityof Service.



2 Hardware overview2.2 Ethernet switches

2.3 I/O devices

LimitationsIt is possible to connect any type of PROFINET-IO compliant I/O device on thePROFINET controller network. All I/O devices should comply with the PROFINETstandard and be conformance tested by PROFINET international. I/O devices maybe mounted inside the IRC5 controller.

Safety I/O devicesPROFINET network supports safety module. It is possible to configure safety I/Odevices and create safety signals to the I/O devices. For more information, referto Application manual - Functional safety and SafeMove2 and Applicationmanual - I/O Configurator.



2 Hardware overview2.3 I/O devices

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3 Software overview3.1 Information about the internal device

GeneralTo use the PROFINET internal device, the IRC5 controller must be installed witheither the option 888-2 PROFINET Controller/Device or 888-3 PROFINET Device.The PROFINET internal device can be used to:

• connect a PLC to the IRC5 controller.• connect the IRC5 controller to another IRC5 controller which acts as a master.

Predefined networkWhen the robot system is installed with thePROFINET option, a predefined networkwith the name PROFINET is created at system startup.Use RobotStudio or other recommended tool to configure the PROFINET networkfor initial use. For example, by setting the correct network name and IP settings.

Predefined internal deviceWhen the robot system is installed with the PROFINET option, a predefined internaldevice with the name PN_Internal_Device is created at system startup.It is used to define the internal device in the IRC5 controller, which will enable aPLC to connect to the IRC5 controller. There can only be one internal device definedin the IRC5 controller.

GSDML fileIn order to configure a PROFINET network with an external PROFINET configurationtool, a GSDML file for each I/O device needs to be imported into the tool. Thesefiles contains vital information about the PROFINET I/O devices and they shall besupplied by the vendor/manufacturer of the specific PROFINET module.For information on where to find the GSDML file for the IRC5 controller, see Locationof GSDML files on page 32.

Template I/O configuration fileA template I/O configuration file is available for the internal device. The file containspreconfigured names for all available inputs and outputs. The file can be loadedto the controller, using RobotStudio or the FlexPendant, to facilitate and speed upthe configuration.The I/O template configuration file, PN_Internal_Device.cfg, can be obtained fromRobotStudio or the IRC5 controller.

• In the RobotWare installation folder in RobotStudio: ...\RobotPackages\RobotWare_RPK_<version>\utility\service\ioconfig\PROFINET\

• On the IRC5 Controller: <SystemName>\PRODUCTS\<RobotWare_xx.xx.xxxx>\utility\service\ioconfig\PROFINET\



3 Software overview3.1 Information about the internal device

Note

Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,by right-clicking on the installed RobotWare version in the Add-Ins browser andselecting Open Package Folder.

Input and output sizePROFINET has an internal device with maximum 2048 digital input signals andmaximum 2048 digital output signals. Similarly, for safe PROFINET internal device,you can add safety digital input signals and safety digital output signals.The internal device PN_Internal_Device has two system parameters, Input Sizeand Output Size. Input Size is used to configure the input size of the internal deviceand Output Size configures the output size. A connecting PLC needs to have aslot configuration created in the external PROFINET configuration tool that matchesthe configuration of the internal device.The following table shows a few examples of how the Input Size and Output Sizeparameters can be used to create different slot configurations of a connecting PLC:

Step 7 ConfigurationOutput SizeInput Size

Slot 1: DI 8 bytes8 bytes8 bytesSlot 2: DO 8 bytes

Slot 1: DI 16 bytes16 bytes8 bytesSlot 2: DO 8 bytes

Slot 1: DI 32 bytes32 bytes64 byteSlot 2: DO 64 bytes

Tip

If a configuration mismatch between the connecting PLC and the internal deviceoccurs, an event message is generated on the FlexPendant. This event messageinforms the user of the present slot configuration of the internal device.

Note

The Input Size sets the size on digital outputs and Output size sets the size ondigital inputs, seen from the PLC’s point of view.



3 Software overview3.1 Information about the internal deviceContinued

3.2 Information about the internal controller

GeneralTo use the PROFINET internal controller, the IRC5 controller must be installed withthe option PROFINET Controller/Device.The PROFINET internal controller can be used to:

• connect PROFINET devices to the IRC5 controller.• connect the IRC5 controller to another IRC5 controller which acts as a device.

GSDML filesIn order to configure a PROFINET network with an external PROFINET configurationtool, GSDML files need to be imported into the tool. These files contains vitalinformation about the PROFINET I/O devices and they shall be supplied by thevendor/manufacturer of the specific PROFINET module.

Configuration programsSee Configuration programs on page 16 and About the third party tool informationon page 71.



3 Software overview3.2 Information about the internal controller

3.3 Software for configuring a device

GeneralThe PROFINET internal device does not need any type of PC software to beactivated, but the connecting PLC / PROFINET controller might need a PC softwaretool to configure all connection parameters used to connect to the IRC5 system.

Location of GSDML filesThe provided GSDML file for the IRC5 PROFINET device is used to inform theconnecting PLC / PROFINET controller of supported connection parameters.The GSDML file,GSDML-V2.xx-ABB-Robotics-PNSW-Device-YYYYMMDD.xml, forthe internal device can be obtained from the RobotStudio or the IRC5 controller.

• In the RobotWare installation folder in RobotStudio: ...\RobotPackages\RobotWare_RPK_<version>\utility\service\GSDML\

• On the IRC5 Controller: <SystemName>\PRODUCTS\<RobotWare_xx.xx.xxxx>\utility\service\GSDML\

Note

Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,by right-clicking on the installed RobotWare version in the Add-Ins browser andselecting Open Package Folder.



3 Software overview3.3 Software for configuring a device

3.4 Software for configuring a controller

PC SoftwareTo configure the PROFINET network in the IRC5 controller, a PROFINETconfiguration file needs to be created and downloaded to the IRC5 controller. ThisPROFINET configuration file has to be created using a third party configurationsoftware. See About the third party tool information on page 71.NetNames+ is a PC software that is used for diagnostics mainly, like setting thename, IP address, Subnet Mask, etc of the internal device. For more information,see NetNames+ on page 72.The following third party software PC tools can be used to create PROFINETconfiguration files:

• PROFINET -IO Configurator Express• PROFINET -IO Configurator Professional

Note

The software PROFINET-IO Configurator Express, together with NetNames+, isfree to use and is included in the RobotWare distribution package.

Note

PROFINET -IO Configurator Professional provides some added functionalitycompared to the PROFINET-IO Configurator Express. For example, functionalityto scan a network and import devices.



3 Software overview3.4 Software for configuring a controller

4 Configuring the internal device and external controller4.1 Recommended working procedure

GeneralThis section describes the recommended working procedure when installing andconfiguring a PROFINET internal device. The working procedure helps tounderstand the dependencies between the different steps.When the IRC5 controller is connected to an external master, the IRC5 controlleracts as an ordinary slave device on the PROFINET network.

Do not configure parameters while exchanging I/O dataIt is important to make sure that the PROFINET network is not involved in any I/Odata exchange before configuring the parameters.If for example the PROFINET internal device is exchanging I/O data with a PLC, itis not possible to change the IP address or any other settings of the PROFINETnetwork.

Basic stepsUse this procedure to install and configure a PROFINET device.

SeeAction

Technical referencemanual - System paramet-ers

Use RobotStudio to configure the topicCommunication.

1

Configuring the PROFINET network settingson page 36

Use RobotStudio, or an externalPROFINET network browser tool, toconfigure the PROFINET network set-tings.

2

Configuring the internal device on page 38Create and configure the internal devicein the IRC5 controller using RobotStu-dio or the FlexPendant.

3

Configuring the external controller on page39Configure the external controller usingthe vendor specific configuration tool.

4



4 Configuring the internal device and external controller4.1 Recommended working procedure

4.2 Configuring the PROFINET network settings

GeneralThe following procedure describes how to change the PROFINET network settingsusing RobotStudio.

External toolsThese settings, except Connection, can also be configured using an externalPROFINET network browser tool.Many external PROFINET tools have overlapping functionality when it comes tochanging the network settings. This means that for example a network addressset in RobotStudio can be overwritten by an external tool in a subsequent step.The overwritten settings will not be applied immediately but after the next restartof the IRC5 controller. Therefore, it is important to have a good working procedureto avoid that parameters are overwritten.

Note

Note that the network settings are set for the Connection, i.e. the physicalconnector on the main computer used for the PROFINET network.This means that the network settings are shared between the internal device andthe internal controller if the IRC5 controller acts as both on the PROFINETnetwork.

Network configurationUse this procedure to configure the PROFINET network settings in the IRC5controller, using RobotStudio.

NoteAction

Start RobotStudio and connect to theIRC5 controller. Request write access.

1

For more information about the paramet-ers, see System parameters on page 49.

Open theConfiguration Editor and selectI/O System.

2

xx1400002055

In the Type list click Industrial Networkand edit the parameter PROFINET.Edit the parameter values, if applicable.

• Connection, the physical connect-or on the main computer.

• ConfigurationFile, empty for intern-al device.

• PROFINET Station Name, userdefined.

• Simulated, user defined.Click OK.

3

Configuring the internal device on page38Restart the controller, or continue with thenext step of the configuration.

4



4 Configuring the internal device and external controller4.2 Configuring the PROFINET network settings

Note

Gateway is chosen from one of the configured instances of IP Route (seeTechnical referencemanual - System parameters). The gateway is matched withthe configured IP Setting pointed out by the Connection parameter for theIndustrial Network (see Connection on page 52). If the gateway is found to beon the same network as defined by the IP Setting for the Industrial Network, itis chosen.



4 Configuring the internal device and external controller4.2 Configuring the PROFINET network settings

Continued

4.3 Configuring the internal device

GeneralThe internal device is pre-installed at the system startup. However, the input andoutput size of the device can be changed. The size of the internal device determineshow many signals that can be attached, see Input and output size on page 30.This section describes the recommended working procedure of configuring ainternal device. The working procedure helps to understand the dependenciesbetween the different steps.

Note

It is only possible to have one internal device.

Internal device configurationUse this procedure to create and configure the internal device in the IRC5 controller,using RobotStudio.

NoteAction

Start RobotStudio and connect to theIRC5 controller. Request write access.

1

For more information about the paramet-ers, see System parameters on page 49.

Open theConfiguration Editor and selectI/O System.

2

xx1400002056

In the Type list, click PROFINET InternalDevice, right-click in the workspace andselect PROFINET Internal Device.Edit the parameter values for the internaldevice, if applicable.

• Change the default values for InputSize and Output Size to the de-sired size.

Note

This step is optional, for more in-formation see Input and output sizeon page 30.

Click OK.

3

In the Type list click Signal.4Add I/O signals for the internal device.

Restart the controller.5



4 Configuring the internal device and external controller4.3 Configuring the internal device

4.4 Configuring the external controller

GeneralThe external controller is configured using the vendor specific configuration toolthat is delivered, or bought, together with the controller.The tool is used to specify all the devices in the PROFINET network. One of thedevices is the internal device of the IRC5 controller. To create such a device, theGSDML file describing the internal device has to be imported into the vendorspecific configuration tool, see Location of GSDML files on page 32.All other I/O devices used in the network also has to have its GSDML file imported.

ExampleAs an example, a Siemens PLC is used to configure an external controller. Theprocedure to configure an external controller using Siemens Step 7 PC tool isdescribed in the Appendices. See Using Siemens Step 7 PC tool on page 75.

External controller configurationThis procedure describes the general steps that needs to be performed whenconfiguring an external controller, independent of which tool is used.

Action

Use the external controller configuration tool to:• Specify the IP address range that the external PROFINET controller operates

within.• Import the GSDML files for the internal device and all other types of I/O devices

in the network.• Add the IRC5 controller I/O device and set the same IP address as the

PROFINET industrial network.• Add any other I/O devices.• Set the properties of the I/O devices to reflect the device's properties on the

PROFINET network.

1



4 Configuring the internal device and external controller4.4 Configuring the external controller

5 Configuring the internal controller and external device5.1 Recommended working procedure

GeneralThis section describes the recommended working procedure when installing andconfiguring a PROFINET controller. The working procedure helps to understandthe dependencies between the different steps.

Basic stepsUse this procedure to install and configure a PROFINET controller.

SeeAction

Technical referencemanual - System paramet-ers

Use RobotStudio to configure the topicCommunication.

1

Configuring the PROFINET network settingson page 36

Use a PROFINET network browser toolto configure the PROFINET networksettings.

2

Creating the PROFINET configuration file onpage 42

Use an external PROFINET configura-tion tool to create a project that con-tains the configuration of thePROFINET network.

3

Configuring the IRC5 controller on page 43Download the PROFINET configurationfile to the controller.

4

Configure the I/O devices connected tothe PROFINET network using RobotStu-dio or FlexPendant.

5

Additional configuration

SeeAction

Using Fast Device Startup on page 44Configuring Fast Device Startup.

Using Shared Device on page 46Configuring Shared Device.

Examples

SeeAction

Using PROFINET Configurator Express onpage 79

Creating master network configuration fileusing PROFINET-IO Configurator Express.



5 Configuring the internal controller and external device5.1 Recommended working procedure

5.2 Creating the PROFINET configuration file

GeneralThe PROFINET configuration file can be created with the help of an externalPROFINET configuration tool. This section describes the basic steps that needsto be performed independent of which tool is used.

ExamplesAs an example, PROFINET Configurator Express is used to create a configurationfile. The procedure is described in the Appendices. See Using PROFINETConfigurator Express on page 79 .

Basic stepsThis procedure describes the general steps that needs to be performed whencreating a controller network configuration file, independent of which tool is used.

Action

Use the PROFINET configuration tool to:• Specify the IP address range that the PROFINET internal controller operates

within.• Set the same IP address for the PROFINET industrial network as specified

in the system parameter IP Address in the IRC5 controller.• Import the GSDML files for all types of I/O devices in the network.• Add the I/O devices into the network structure.• Set the properties of the I/O devices to reflect the device's properties on the

PROFINET network.

1

Build the project and create the PROFINET configuration file, ippnio.xml.2

The next step is to download the ippnio.xml file to the HOME directory of thecurrently used RobotWare system, seeConfiguring the IRC5 controller on page43.



5 Configuring the internal controller and external device5.2 Creating the PROFINET configuration file

5.3 Configuring the IRC5 controller

DescriptionThis configuration example uses the PROFINET configuration file, ippnio.xml,created in section Creating the PROFINET configuration file on page 42. It showshow to use the PROFINET configuration file and how to add the configurationdefinitions to the system parameters.

Internal controller configurationUse this procedure to configure the PROFINET controller in the IRC5 controller,using the Configuration Editor in RobotStudio.

NoteAction

Start RobotStudio and connect to the IRC5controller. Request write access.

1

Use the File Transfer tool in RobotStudio,or an external FTP client.

Download the ippnio.xml configuration fileto theHOME directory of the currently usedRobotWare system.

2

Click Configuration Editor and select I/OSystem.

3

For more information about the parameters,see System parameters on page 49.

In the type list, click Industrial Networkand then right-click in the workspace onthe PROFINET item and select Edit Indus-trial Network.

4

xx1500000937

Enter the parameter values for the industri-al network.

• Connection, select the used Ether-net connector.

Note

The Connection value is configuredin Communication topic. A defaultconnection is created forPROFINET. For information aboutIP address configuration, see Tech-nical reference manual - Systemparameters, section 2.2 Communic-ation, Use case 2: isolated LAN 3.

• Configuration File, the path to theippnio.xml file.

• PROFINET Station name, the ro-bot's PROFINET name id on thePROFINET network.

Click OK.

5

Restart the IRC5 controller.6In this example, the et200_test device(found in the example file ippnio.xml) isadded.

If needed, change the signal names on theadded I/O device.

7

Restart the IRC5 controller to connect tothe configured I/O device.

8



5 Configuring the internal controller and external device5.3 Configuring the IRC5 controller

5.4 Using Fast Device Startup

About Fast Device StartupThe Fast Device Startup functionality is used in tool changing applications toshorten the connection time between the PROFINET controller and an I/O device.To be able to use this functionality, the I/O device needs to support this functionality.All devices must support fast startup in the communication chain. Devices suchas switches or other intermediate hardware that could affect the PROFINETcommunication. For more information, see Poor performance using fast startupon page 69.Some manufacturers also call this functionality Fast Start Up (FSU) or PrioritizedStartup.To activate Fast Device Startup against an I/O device, activate the system parameterFast Device Startup and select the corresponding port(s) to be configured. SeeFast Device Startup on page 57.

Note

The I/O device with FSU functionality is connected with the IRC5 controller. Whenthe power of the I/O device is switched off and switched on again, the IRC5controller establishes contact with the I/O device using the fast startup sequence.

Three alternative connections

I/O device connected via a switch

xx1100000093

IRC5 controller acting as PROFINET controllerA

SwitchB

Connection pointC

I/O deviceD

Port 1 on the deviceF

Port 2 on the deviceG

In this alternative the PROFINET controller connects to the I/O device via a switch.Enable fast device startup and select 100 MBit (full duplex) on port 1. The portnumber is usually displayed upon the I/O device itself.



5 Configuring the internal controller and external device5.4 Using Fast Device Startup

Two I/O devices connected in serial via a switch

xx1100000094


SwitchB

Connection pointC

I/O deviceD

I/O deviceE

In this alternative, both I/O devices are disconnected at the connection point. Bothport 1 and port 2 on the first device (D) and port 1 on the second device (E) needsto be configured to support Fast Device Startup.

I/O device connected without a switch

A

C

D

xx1100000095


Connection pointC

I/O deviceD

In this alternative there is a direct cable between the PROFINET controller and theI/O device. Enable fast device startup and select 100 MBit (full duplex) on the port.A crossed Ethernet cable needs to be used.



5 Configuring the internal controller and external device5.4 Using Fast Device Startup

Continued

5.5 Using Shared Device

5.5.1 About Shared Device

IntroductionShared device functionality is when two controllers are sharing a device. Eachcontroller has the ownership over different modules on the device.

Note

The internal device itself cannot be configured to be a shared device.

I/O device modules

Controller 1 Controller 2

xx1400002064

Configuring PROFINET controller with shared device functionality

Basic steps

SeeAction

Using PROFINET Configurator Ex-press on page 79

Use the external PROFINET configuration tool tocreate a project that contains the configuration ofthe PROFINET network.

1

Updating configuration file to sup-port shared device functionality onpage 83.

Update the project in PROFINET configurationtool to create shared device functionality.

2

Download the PROFINET configuration file to theIRC5 controller.

3

Configuring the IRC5 controller onpage 43

Configure the I/O devices connected to thePROFINET network using RobotStudio or theFlexPendant.

4



5 Configuring the internal controller and external device5.5.1 About Shared Device

SeeAction

Technical reference manual - Sys-tem parameters

Configure the I/O signals.5

Restart the IRC5 controller.6

Updating PROFINET configuration file for shared deviceThis section describes how to update the configuration file with the shared devicefunctionality, where the configuration file is created by using the PROFINETConfigurator Express tool.For details on installing the PROFINET Configurator Express, see PROFINET-IOConfigurator Express on page71 andUpdating configuration file to support shareddevice functionality on page 83.



5 Configuring the internal controller and external device5.5.1 About Shared Device

Continued

6 System parameters6.1 Introduction

About the system parametersThere are both PROFINET specific parameters and more general parameters. Thischapter describes all PROFINET specific system parameters. The parameters aredivided into the type they belong to. For information about other parameters, seeTechnical reference manual - System parameters.

PROFINET system parameters

Industrial NetworkThese parameters belong to the type Industrial Network in the topic I/O System.

For more information, see ...Parameter

Technical reference manual - System parametersName

Technical reference manual - System parametersIdentification Label

Connection on page 52Connection

Configuration File on page 53Configuration File

PROFINET Station Name on page 54PROFINET Station Name

Nested Diagnosis on page 55Nested Diagnosis

PROFINET DeviceThese parameters belong to the type PROFINET Device in the topic I/O System.



PROFINET Station Name on page 56PROFINET Station Name

Technical reference manual - System parametersConnected to IndustrialNetwork

Technical reference manual - System parametersState at System Restart


Technical reference manual - System parametersTrust Level

Technical reference manual - System parametersSimulated

Technical reference manual - System parametersVendor Name

Technical reference manual - System parametersRecovery Time

Fast Device Startup on page 57Fast Device Startup

Fast Device Startup on page 57Port1, 2, 3, 4

Energy Saving on page 62Energy Saving




SignalThese parameters belong to the type Signal in the topic I/O System.



PROFINET Station Name on page 56Type of Signal

Technical reference manual - System parametersAssigned to Device

Technical reference manual - System parametersSignal Identification Label

Technical reference manual - System parametersDevice Mapping

Technical reference manual - System parametersCategory

Technical reference manual - System parametersAccess Level

Technical reference manual - System parametersDefault Value

Technical reference manual - System parametersFilter Time Passive (ms)

Fast Device Startup on page 57Filter Time Active (ms)

Fast Device Startup on page 57Invert Physical Value

Energy Saving on page 62Analog Encoding Type

Technical reference manual - System parametersMaximum Logical Value

Technical reference manual - System parametersMaximum Physical Value

Technical reference manual - System parametersMaximum Physical ValueLimit

Technical reference manual - System parametersMaximum Bit Value

Technical reference manual - System parametersMinimum Logical Value

Technical reference manual - System parametersMinimum Physical Value

Technical reference manual - System parametersMinimum Physical ValueLimit

Technical reference manual - System parametersMinimum Bit Value

Transfer To Device on page 63Transfer To Device

Output Offset on Destination Device on page 64Output Offset On Destina-tion Device

Transfer From Device on page 65Transfer From Device

Input Offset on Source Device on page 66Input Offset On SourceDevice

PROFINET Internal DeviceThese parameters belong to the type PROFINET Internal Device in the topic I/OSystem.



Technical reference manual - System parametersConnected to IndustrialNetwork

Technical reference manual - System parametersSimulated

Technical reference manual - System parametersVendor Name



6 System parameters6.1 IntroductionContinued


Technical reference manual - System parametersProduct Name


Input Size on page 67Input Size

Output Size on page 68Output Size




Continued

6.2 Type Industrial Network

6.2.1 Connection

ParentConnection belongs to the type Industrial Network, in the topic I/O System.

Cfg nameConnection

DescriptionThe parameter Connection specifies the IP Setting that the PROFINET industrialnetwork shall use.

Default valuePROFINET Network

Allowed valuesValid instances of IP Setting

Additional informationThe Public Network or the Private Network cannot be edited by external controllersor tool, such as NetNames+.



6 System parameters6.2.1 Connection

6.2.2 Configuration File

ParentConfiguration File belongs to the type Industrial Network, in the topic I/O System.

Cfg nameCfgPath

DescriptionConfiguration File specifies the path to an XML file that is located on the IRC5controller. This file is created and edited with the program PROFINET-IOConfigurator Express or PROFINET-IO Configurator Professional, see Creatingthe PROFINET configuration file on page 42.

UsageThe Configuration File system parameter is used to point out where to find thePROFINET controller configuration file. This file is only used by the controller part.If the file is placed in the HOME directory of the installed system on the IRC5controller, it is enough to write the file name.If the PROFINET configuration file is placed in the HOME directory, it will also beincluded in backups.

PrerequisitesThe option PROFINET Controller/Device must be installed.

Default valueThe default value is an empty string.

Allowed valuesA string with maximum 80 characters.



6 System parameters6.2.2 Configuration File

6.2.3 PROFINET Station Name

ParentPROFINET Station Name belongs to the type Industrial Network, in the topic I/OSystem.

Cfg nameStationName

DescriptionPROFINET Station Name specifies the PROFINET station name on the network ofthe IRC5 controller.

UsageThe parameter PROFINET Station Name is used to identify a PROFINET deviceon the network. The name must be unique on the network.The parameter PROFINET Station Name can also be changed with an externalPROFINET configuration tool or a connecting PROFINET controller.

PrerequisitesThe option PROFINET Controller/Device or PROFINET Device must be installed.


Allowed valuesA string with maximum 80 characters.Allowed characters:

• 0-9 (numerical)• A-Z (uppercase letters)• a-z (lowercase letters)• - (hyphen)• . (full stop)



6 System parameters6.2.3 PROFINET Station Name

6.2.4 Nested Diagnosis

ParentNested Diagnosis belongs to the type Industrial Network, in the topic I/O System.

Cfg nameNesteddiagnosis

DescriptionThe parameter Nested Diagnosis specifies diagnosis in hierarchical plants andenables the end-users to evaluate the status of the PROFINET network from acentral PLC or external tool.

UsageIf the parameter Nested Diagnosis is activated, alarms will be forwarded from acontroller if its internal device has a connected controller.


Default valueThe default value is Deactivated.

Allowed valuesActivatedDeactivated



6 System parameters6.2.4 Nested Diagnosis

6.3 Type PROFINET Device

6.3.1 PROFINET Station Name

ParentPROFINET Station Name belongs to the type PROFINET Device, in the topic I/OSystem.

Cfg nameStationName

DescriptionPROFINET Station Name specifies the PROFINET station name on the network ofthe external I/O device.

UsageThe parameter PROFINET Station Name is used to identify a PROFINET deviceon the network. The name must be unique on the network.



Allowed valuesThe station name follows the PROFINET naming convention for IO devices.

Note

It is possible to set the PROFINET station name of a device and it does not followthe naming restriction as the CFG name, which still has restrictions of a RAPIDIdentifier.



6 System parameters6.3.1 PROFINET Station Name

6.3.2 Fast Device Startup

ParentFast Device Startup belongs to the type PROFINET Device, in the topic I/O System.

Cfg nameFastDeviceStartup

DescriptionThe parameter Fast Device Startup specifies if the I/O device should use a fasterconnection attempt algorithm or not.

UsageThe parameter Fast Device Startup is used mainly to speed up tool changeapplications. The usual PROFINET connection attempt takes a few seconds tocomplete, but with Fast Device Startup enabled devices, this time is shortened toless than a second. For more information, see Using Fast Device Startup onpage 44.


LimitationsThe Ethernet switches between the IRC5 controller and the I/O device that usesthe Fast Device Startup functionality. It must be configured to disable the autocrossover and automatic speed detection functions on used connectors. The speedrate is set to 100Mbps (full duplex).


Allowed values• Deactivated• Activated• Support

Note

Select Support to set the desired port speed. For port speed, select 100 Mbpsand the port speed is adjusted to 100Mbps, and auto negotiation is turned offfor the port.Hence, it is possible to change the settings on a built-in switch for a PROFINETI/O device.



6 System parameters6.3.2 Fast Device Startup

6.3.3 Port 1

ParentPort 1 belongs to the type PROFINET Device, in the topic I/O System.

Cfg nameFastDeviceStartup_Port1

DescriptionThe parameter Port 1 specifies fast device startup port 1 in the I/O device.

UsageThe parameter Fast Device Startup is configured at port 1 of the I/O device.

PrerequisitesThe parameter Fast Device Startup must be activated.


Allowed values• Deactivated• 100 Mbps



6 System parameters6.3.3 Port 1

6.3.4 Port 2











6.3.5 Port 3











6.3.6 Port 4











6.3.7 Energy Saving

ParentEnergy Saving belongs to the type PROFINET Device, in the topic I/O System.

Cfg nameEnergy Saving

DescriptionThe parameter Energy Saving specifies if the I/O device should respond to energysaving command or not.

UsageThe parameter Energy Saving is used mainly to activate energy saving mode.

PrerequisitesThe option PROFINET Controller/Device and PROFIenergy must be installed.

Default valueThe default value is Activated.

Allowed values• Activated• Deactivated



6 System parameters6.3.7 Energy Saving

6.4 Type Signal

6.4.1 Transfer To Device

ParentTransfer To Device belongs to the type Signal, in the topic I/O System.

Cfg nameTransferToDevice

DescriptionThe parameter Transfer To Device specifies that the signal shall be transferred tothe internal device starting at the offset specified in the parameter Output OffsetOn Destination Device.


LimitationsOnly signals of type Digital Output/ Digital Input/ Group Output/ Group Input canbe transferred. The destination I/O device can only be the PROFINET internaldevice.

Allowed valuesThe allowed value is the PROFINET internal device.



6 System parameters6.4.1 Transfer To Device

PROFINET Controller/Device

6.4.2 Output Offset on Destination Device

ParentOutput Offset On Destination Device belongs to the type Signal, in the topic I/OSystem.

Cfg nameTransferOutputOffset

DescriptionThe parameter Output Offset On Destination Device specifies the output start biton the PROFINET internal device set by the transfer signal.


LimitationsThe destination I/O device can only be the PROFINET internal device.

Default valueThe default value is -1. This means that no Output Offset On Destination Deviceis defined.

Allowed valuesThe values are in the range of -1 to 65535.

Additional informationThe parameter Output Offset On Destination Device specifies the start bit on theinternal device. And, for bits specified in a group are transferred starting with thefirst bit.



6 System parameters6.4.2 Output Offset on Destination DevicePROFINET Controller/Device

6.4.3 Transfer From Device

ParentTransfer From Device belongs to the type Signal, in the topic I/O System.

Cfg nameTransferFromDevice

DescriptionThe parameter Transfer From Device specifies that the bit value for the internaldevice (starting at the offset specified in the parameter Input Offset On DestinationDevice) shall be transferred to the signal.


LimitationsOnly the input bits from the PROFINET internal device can be transferred to thesignals of type digital output and group output.

Allowed valuesThe allowed value is the PROFINET internal device.



6 System parameters6.4.3 Transfer From Device

PROFINET Controller/Device

6.4.4 Input Offset on Source Device

ParentInput Offset on Source Device belongs to the type Signal, in the topic I/O System.

Cfg nameTransferInputOffset

DescriptionThe parameter Input Offset on Source Device specifies the input start bit PROFINETinternal device that will be transferred to the defined signal.


LimitationsThe transfer is possible only to the signals of type digital output and group output.For all cases, it is possible to transfer information from the internal device to signalsdefined on other PROFINET I/O devices only.

Default valueThe default value is -1. This means that Input Offset on Source Device is not defined.

Allowed valuesThe values are in the range of -1 to 65535.

Additional informationThe parameter Input Offset On Destination Device specifies the start bit on theinternal device. The bits specified in a group are transferred starting with the firstbit.



6 System parameters6.4.4 Input Offset on Source DevicePROFINET Controller/Device

6.5 Type PROFINET Internal Device

6.5.1 Input Size

ParentInput Size belongs to the type PROFINET Internal Device, in the topic I/O System.

Cfg nameInputSize

DescriptionThe parameter Input Size is used to configure the input slot configuration of thePROFINET internal device.

UsageIt will configure the input slot size for the PROFINET internal device. This size mustmatch the connecting PLC’s or other PROFINET controller’s defined output slotsize. For more information, see Input and output size on page 30.


Default valueThe default value is 64 bytes (512 signal bits).

Allowed values8, 16, 32, 64, 128 or 256 bytes (64, 128, 512, 1024 or 2048 signal bits).



6 System parameters6.5.1 Input Size

6.5.2 Output Size

ParentOutput Size belongs to the type PROFINET Internal Device, in the topic I/O System.

Cfg nameOutputSize

DescriptionThe parameter Output Size is used to configure the output slot configuration ofthe PROFINET internal device.

UsageThe parameterOutput Size is only valid for the PN_Internal_Device. It will configurethe output slot size for the PROFINET internal device. This size must match theconnecting PLC’s or other PROFINET controller’s defined input slot size. For moreinformation, see Input and output size on page 30.


Default valueThe default value is 64 bytes (512 signal bits).

Allowed values8, 16, 32, 64, 128 or 256 bytes (64, 128, 512, 1024 or 2048 signal bits).



6 System parameters6.5.2 Output Size

7 Troubleshooting7.1 Scenarios

Problem assigning IP address or station nameIf an external PROFINET configuration tool is used to set IP address or stationname for a controller or device, it may not be possible to perform that operation.In such a case, make sure that the device or PLC is not involved in any I/O dataexchange. If, for example, a device or PLC is exchanging data with another deviceor PLC, it is not possible to change the IP address or station name of those devices.

Unable to connect to a deviceIf all parameters are correct, but it is still not possible to connect to an device usingthe PROFINET controller, make sure that the device does not already have anactive connection with another controller. Most I/O devices do not accept that twocontrollers are connected against the same I/O device at the same time. That is,if the device does not allow shared device functionality.

Connections are lost randomlyLost connections can occur for a number of reasons.

• Bad network• Overloaded Ethernet switches• Ethernet cable problems

Another possible reason is that the IRC5 PROFINET is not able to process all thePROFINET requests within the specified time frame. If, for example, 20 I/O devicesare used with 1 ms reduction ratio (poll rate), the slightest variation of CPU loadon the main computer might cause a protocol disturbance which can lead to aconnection timeout. The maximum possible devices that can be used depends onthe reduction ratios used, CPU load and data lengths transferred at every datacycle.There can be connection loss while configuring PROFINET Master on the samelogical subnet as other applications, on the WAN port. It might cause sporadic lossof communication for the applications as well as for the PROFINET communication.

Poor performance using fast startupIn general the startup time for one I/O device using fast startup is less than asecond, together with the robot controller. This is highly dependent upon the deviceitself. Check with the device vendor for detailed description about I/O devices thatsupport fast startup with corresponding performance figures.

• If there are other intermediate hardware on the connection link that mightinterfere with the PROFINET connection.

• If there is a chained setup containing multiple devices, there is an increasedlatency before all devices are running. Depending upon the number of chaineddevices the total connection time can be more than a second.



7 Troubleshooting7.1 Scenarios

• Make sure that the port/ports used for fast startup is selected in the IOconfiguration.

• Check with the device vendor for optimal settings when using the I/O devicewith fast startup. Sometimes device behavior is configurable with a vendorspecific tool or through the network configuration tool. According to theGSDML file.

• Check that the switch settings are correct according to below:- 100 Mbit speed rate with full duplex.- Auto negotiation shall be switched off.- Disable "switch intelligent features" such as flow control and MDIX

(medium dependent interface crossover) that might cause delays duringstartup.

Configuration of AC500 with an IRC5 device in Automation Builder (Control Builder Plus)Use this procedure to configure the AC500 with an IRC5 device in the AutomationBuilder:

NoteAction

In the AC500 project, select the appropri-ate PROFINET controller.

1

xx1500003223

Double-click on the IRC5 device icon toselect the IRC5 device.

2

In the PNIO parameters tab, edit the fieldRT Class to RT Class 2 Data-RTC-PDU.

3

ID mismatch on PROFINET controllerIf the diagnostics from the PROFINET controller say something like "Peer Port IDmismatch" or "Peer Chassis ID mismatch":This can be caused by more than one network connected to the robot controllerusing LLDP. For more information, see Link Layer Discovery Protocol (LLDP) onpage 17.



7 Troubleshooting7.1 ScenariosContinued

A About the third party tool informationOverview

There are external software tools available to configure the PROFINET controller.This section describes some of the external tools and procedure of configuringthe controller.

Validity of the information for third party toolsThe information is available "as is", and should only be used for reference. Thethird party tools can include functionality that is not supported in IRC5.The information about the third party tools is applicable for specific versions of thethird party tools and RobotWare. Other versions of the tools can also be used butare not tested by ABB.

PROFINET-IO Configurator ExpressPROFINET-IO Configurator Express is a PC software used to create PROFINETconfiguration files.The PROFINET-IO Configurator Express package is available in the RobotWaredistribution package.

InstallationThe installation can be downloaded from the RobotStudio Online Community,where it is included in the RobotWare Tools and Utilities package.Use this procedure to install the PROFINET-IO Configurator Express package,including NetNames+.

Action

Go to the RobotStudio Online Community and click Downloads to open the SoftwareDownloads webpage.

1

In Software Downloads webpage, under Miscellaneous group, click Download Ro-botWare Tools and Utilities.

2

After the package is downloaded, unzip the package.3

Locate the file and run the PROFINET configurator.exe file.

Note

After the download, the folder path is: C:\Users\...\Downloads\RobotWare Tools andUtilities 6.01\Utilities\Fieldbus\Profinet

4

Follow the instructions on the installation window.5

Note

Please refer to www.kw-software.com for information about system requirementsand limitations when running the PROFINET-IO Configurator Express tool.



A About the third party tool information

http://new.abb.com/products/robotics/robotstudio

http://new.abb.com/products/robotics/robotstudio

http://www.kw-software.com

NetNames+NetNames+ is a PC software used to manage the PROFINET network, organizethe PROFINET devices, and avoid duplicated IP addresses and station names.NetNames+ is included in the PROFINET-IO Configurator Express package availablein the RobotWare distribution package.

xx1300002216

InstallationNetNames+ is included in the PROFINET-IO Configurator Express installation, seePROFINET-IO Configurator Express on page 71.Use this procedure to install the NetNames+.

NoteAction

Start NetNames+.1

Select Network Adapter to the Ethernetadapter used on the PC that connects tothe PROFINET network.

2

Click Options and make sure that SaveIP Addresses permanently is selected.This makes sure that a name or IP ad-dress change sent down from NetNames+is saved by the PROFINET device.

3

Now NetNames+ will list all PROFINETdevices that are reachable on the network.Using this view, it is possible to changea device configuration parameters.

Click the Refresh button.4

Note

Gateway cannot be set, see Limitations.

To change a device's parameters, double-click on that device and fill in the valuesthat need to be changed.When done, click the Send button.

5



A About the third party tool informationContinued

Fault indicationIf there is a problem with a device, like duplicated IP address, the device will bemarked red.

en1100000261

Device identificationSometimes it is difficult to distinguish devices in the network from each other. Auseful function in such a case is the Flashing On functionality. This will send arequest to the selected device to flash its status LEDs.

Action

Select a device from the list and click the Flashing On button.1

The status LED on the selected device will start to flash.2

Click the Flashing On button again to stop the status LED from flashing.3

LimitationsSince the gateway is chosen from IP Route and must be valid to our system it isnot possible to set the gateway externally from DCP request, ie.AddressAssignMode is LOCAL when it comes to the gateway parameter.



A About the third party tool informationContinued

B Using Siemens Step 7 PC toolConfiguring an external controller using Siemens Step7 PC tool

DescriptionThis is a configuration example for an internal device with 32 byte input and 32byte output size. The example also shows how to configure a PLC that connectsagainst the internal device.This example uses the Siemens Step7 PC tool. The procedure can be used withother tools as well. See the documentation for your PLC configuration tool.

Configuring the internal deviceUse the procedure described in sections Configuring the PROFINET networksettings on page 36 and Configuring the internal device on page 38. Set the InputSize and Output Size to 32 bytes.

Configuring the external controllerUse this procedure to configure a Siemens PLC to connect to the internal device,using Siemens Step 7.

NoteAction

en1000001189

Start Simatic Manager and create a newPLC project. Open the HW Config windowfor the PLC hardware configuration.

1

Make sure the PROFINET network connec-ted to the PLC is the same as the networkconnected to the IRC5 controller’sPROFINET network port. Also make surethat they are on the same logical subnet IPaddress range. See Configuring thePROFINET network settings on page 36.

2



B Using Siemens Step 7 PC tool

NoteAction

en1000001190

Install the GSDML file for the PROFINETinternal device. The GSDML file is includedin the controller software, see GSDML fileon page 29.

3

en1000001191

Expand PROFINET IO \ Additional FieldDevices \ I/O \ IRC5 PNIO-Device in thecatalog view to the right, to find thePROFINET internal device. Add the IRC5PNIO-Device to the PLC project.

4

en1000001192

Add a DI 32 bytes module on Slot 1 and aDO 32 bytes module on Slot 2.

5



B Using Siemens Step 7 PC toolContinued

NoteAction

en1000001193

Double-click on the ABB icon to bring upthe Properties window. Make sure thatDevice name is set to the same name asthe IRC5’s PROFINET industrial networkparameter PROFINET Station Name, seePROFINET Station Name on page54. Alsomake sure thatAddress is the same as thesystem parameter IP used by thePROFINET network.

6

Download the configuration to the PLC.7



B Using Siemens Step 7 PC toolContinued

C Using PROFINET Configurator ExpressCreating controller network configuration file using PROFINET Configurator Express

DescriptionThe following example is performed using PROFINET Configurator Express.This example demonstrates how to create a PROFINET configuration file for onedevice, a Siemens ET200S with 5 DO 2-bit modules and 1 DI 2-bit module.

Action

Start PROFINET-IO Configurator Express.1

In PROFINET-IO Configurator Express, click File and select New to create a newempty project.

2

Click File and select Save to save the new project. Use the name "TestProject".3

In the Bus Structure window, make sure that the "TestProject" node is selected.4

In the Device Details window, set the PROFINET IP range for this project by settingthe following parameters:

• Last IP Address: 192.168.5.254• First IP Address: 192.168.5.2• Subnetmask: 255.255.255.0

en1100000063

5

In the Device Catalog window, expand the nodes Phoenix Contact Software GmbH,Generic PN and PLC.

• Select the PLC version that corresponds to the current version of the PhoenixContact Software. Currently, it is 3.9 version.

xx1400002205

6



C Using PROFINET Configurator Express

Action

Right-click on Phoenix Contact Software PROFINET and select Insert Device intoBus structure.

7

This node now represents the IRC5 controller master.

In the Bus Structure window, select Phoenix Contact Software PROFINET to bringup the Device Details window.

xx1600000030

8

These values does not have any effect on the IRC5 controller settings, but could befilled with data to reflect the settings of the IRC5 controller that is using this configur-ation.

Install the GSDML file for the ET200s Standard device by right-clicking in the DeviceCatalog window and select Import GSD file.

xx1600000031

9

In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.This version of the PROFINET-IO Configurator Express support V2.2 syntax andearlier versions for the GSDML files.The installation of the GSDML file may take several minutes and the program mightappear to be unresponsive during that time.



C Using PROFINET Configurator ExpressContinued

Action

Make sure that the PROFINET node is selected in the Bus Structure window.10Add an ET200s ST (standard) head module by expanding the SIEMENS / I/O / ET 200Snode in the Device Catalog window.Right-click in the window and select Edit Catalog Representation. Move the OrderNumber item from Available to Used and click OK. The window will no be sorted withorder numbers as well.Select and right-click the node (for example IM151-3 PN ST V6.0 Rev.) and chooseInsert Device into Bus structure.In this example we use a version 6.0 module with order number 6ES7-151 3AA23-0AB0.

xx1600000032




Action

Select the added node in the Bus Structure window.11In theDevice Detailswindow, set the device properties to reflect the device's propertieson the PROFINET network, see Configuring the PROFINET network settings onpage 36.In this example we set:

• DNS/PROFINET Device Name: unit1.cell2• IP Address: 192.168.5.65• Reduction ratio: 8 ms

xx1600000033

Note

The DNS/PROFINET Device Name is using a much longer string length and a syntaxthat is not allowed in the IRC5 controller for a device name. The DNS/PROFINETDevice Name is matched against the system parameter Name for a device definitionin the IRC5 controller. Therefore the DNS/PROFINET Device Name must be uniquefor the first 32 letters or up to the first "." (full stop character).In this example the device's name in the Robot controller will be "unit1", but on thePROFINET network it will be displayed with the name "unit1.cell2".

Select the node 0 @IM151-3 PN ST V6.0 in the Bus Structure window.12Now the Module Catalog window displays all possible modules to insert at Slot 1 forthis device. Add the power module. Sort this window as well based on order number.Add a power module with order number 6ES7 138-4CA01-0AA0 by selecting it anddrop it in the Bus Structure window on the text 0 @IM151-3 PN ST V6.0.

Note

It is very important for some devices that the firmware/hardware version on the deviceexactly matches the version used in the configuration (for example V 6.0).

Add the rest of the digital input and output modules by repeating the previous step.Select the node 1 PM-E DC24V. Sort the Module Catalog window on order number.Add a 2-bit DO module with order number 6ES7 132-4BB01-0AA0 by dragging anddropping it on the 1 PM-E DC24V node.

13




Action

When all modules are added, right-click the node PROFINET in the Bus Structurewindow and select Parameterize to compile the configuration project and create theippnio.xml file.

xx1600000034

14

Download the ippnio.xml file to the HOME directory of the currently used RobotWaresystem using an FTP client.

15

Updating configuration file to support shared device functionalityThe following example is performed using PROFINET Configurator Express. Thisexample demonstrates how two IRC5 controllers are configured when sharing anI/O device, a MURR 5529 with 8 DI and 8 DO modules.

Action

Follow the procedure from steps 1-13 that is explained in section Using PROFINETConfigurator Express on page 79. Name the new project as "TestProject_IRC1". Thisconfiguration uses a MURR 55529 as shared device.

1

The configuration should have the following appearance:

xx1500001663




Action

After the device has been configured, delete the modules that should be owned byanother controller.

• Right-click on the module > click Delete on the shortcut menu.The configuration should have the following appearance:

xx1500001664

2

Download the ippnio.xml file to the HOME directory of the currently used RobotWaresystem in the IRC5 controller using an FTP client.

3

Configure the second controller the same way as mentioned in the above steps 1-2,except that the other nodes should be deleted. That is, the modules owned by firstcontroller are deleted.

4

The second controller configuration should have the following appearance:

xx1500001665

Download the ippnio.xml file to the HOME directory of the currently used RobotWaresystem in the second IRC5 controller using an FTP client

5

Restart both IRC5 controllers.6




Index8888-3, 7888-2, 7

Ccommunication profiles, 15compatibility, 16configuration file, 14Configuration File, 49, 53Connection, 37, 49, 52controller, 17

Ddevice, 14, 17

EEnergy Saving, 62

FFast Device Startup, 8, 44, 49–50, 57Fast Start Up, 14, 44FSU, 14, 44

Ggateway, 37, 73GSDML, 14GSDML file, 29, 31–32

Iindustrial Ethernet, 15Input Size, 8, 30, 51, 67

LLLDP, 9, 17, 70

Mmaster, 14

NNested Diagnosis, 8, 49, 55

network security, 13

OOutput Size, 8, 30, 51, 68

PPrioritized Startup, 14, 44private network, 22PROFINET

configuration tool, 14controller, 17device, 17internal device, 29standardization, 15

PROFINET versionsPROFIdrive, 15PROFIenergy, 15PROFINET-CBA, 15PROFINET-IO, 15–16PROFIsafe, 15

QQoS, 26Quality of Service, 26

Rreduction ratio, 14, 69

Ssafety, 12Shared Device, 46Station Name, 49, 54, 77system parameters, 49

Ttemplate I/O configuration file, 29topic I/O System

Device, 49Industrial Network, 49Internal Device, 50predefined internal device, 29predefined network, 29



Index

ABB AB, RoboticsRobotics and MotionS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsRobotics and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 22 87 2000

ABB Engineering (Shanghai) Ltd.Robotics and MotionNo. 4528 Kangxin HighwayPuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

ABB Inc.Robotics and Motion1250 Brown RoadAuburn Hills, MI 48326USATelephone: +1 248 391 9000

abb.com/robotics

3HAC050969-001,Rev

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