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Application manual

EtherNet/IP Fieldbus Adapter


Robot Controller
RobotWare 5.0


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Application manual
EtherNet/IP Fieldbus Adapter
RobotWare 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 be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2007 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Vsters
Sweden
Table of Contents
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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1 Overview 11
1.1 EtherNet/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1.2 EtherNet/IP Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 CIP routing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.2 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.3 Working with the EtherNet/IP Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 CIP routing configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2.3 Working with CIP routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4 System parameters 31
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.1 EtherNet/IP Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3.1 Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3.2 Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3.3 Subnet Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3.4 Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.4 Type Route. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.1 Name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.2 Connected to Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4.3 Port ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Index 41
Table of Contents
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Overview
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Overview
About this manual
This manual describes the EtherNet/IP Fieldbus Adapter option and contains instructions for
the EtherNet/IP Fieldbus Adapter configuration.
Usage
This manual should be used during installation and configuration of the EtherNet/IP Fieldbus
Adapter and upgrading of the EherNet/IP Fieldbus Adapter option.
Who should read this manual?
This manual is intended for
Personnel that are responsible for installations and configurations of fieldbus
hardware/software
Personnel that make the configurations of the I/O system
System integrators
Prerequisites
The reader should have the required knowledge of
Mechanical installation work
Electrical installation work
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter and
includes following:
A general description of EtherNet/IP and CIP routing
Description of how the EtherNet/IP Fieldbus Adapter is connected in a
robot system
Description of how CIP routing is used in a robot system
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 descriptions
of workflows.
4. This chapter describes the EtherNet/IP Fieldbus Adapter specific system
parameters.
Continues on next page

Overview
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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 - System
parameters
3HAC17076-1
Product specification, IRC5 with
FlexPendant
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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Product documentation, M2004
General
The robot documentation is divided into a number of categories. This listing is based on the
type of information contained within the documents, regardless of whether the products are
standard or optional. This means that any given delivery of robot products will not contain all
documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Product manuals
All hardware, robots and controllers, will be delivered with a Product manual that contains:
Safety information
Installation and commissioning (descriptions of mechanical installation, electrical
connections)
Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
Repair (descriptions of all recommended repair procedures including spare parts)
Additional procedures, if any (calibration, decommissioning)
Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
Part list
Foldouts or exploded views
Circuit diagrams
Technical reference manuals
The following manuals describe the robot software in general and contain relevant reference
information:
RAPID Overview: An overview of the RAPID programming language.
RAPID Instructions, Functions and Data types: Description and syntax for all
RAPID instructions, functions and data types.
System parameters: Description of system parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
The purpose of the application (what it does and when it is useful)
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, CD with PC software)
How to use the application
Examples of how to use the application
Continues on next page

Product documentation, M2004
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Operating manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
that is production cell operators, programmers and trouble shooters. The group of manuals
includes:
Emergency safety information
Getting started - IRC5 and RobotStudio Online
IRC5 with FlexPendant
RobotStudio Online
Trouble shooting - IRC5 for the controller and robot
Continued
Safety
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Safety
Safety of personnel
When working inside the robot controller it is necessary to be aware of voltage-related risks.
A danger of high voltage is associated with the following parts:
Units inside the controller, for example I/O units can be supplied with power from an
external source.
The mains supply/mains switch.
The power unit.
The power supply unit for the computer system (230 VAC).
The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
The drive unit (700 VDC).
The service outlets (115/230 VAC).
The power supply unit for tools, or special power supply units for the machining
process.
The external voltage connected to the controller remains live even when the robot is
disconnected from the mains.
Additional connections.
Therefore, it is important that all safety regulations are followed when doing mechanical and
electrical installation work.
Safety regulations
Before beginning mechanical and/or electrical installations, make sure you are familiar with
the safety regulations described in Product manual - IRC5.

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 DeviceNet
Vendors Association). It is a well established industrial ethernet communication system with
good real-time capabilities. EtherNet/IP extends commercial off-the-shelf ethernet to the CIP
(Common Industrial Protocol) the same upper-layer protocol and object model found in
DeviceNet and ControlNet. CIP allows EtherNet/IP and DeviceNet system integrators and
users to apply the same objects and profiles for plug-and-play interoperability among devices
from multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and
EtherNet/IP promote transparency from sensors to the enterprise software.
Examples of applications
Here are some examples of EtherNet/IP applications:
Peer-to-peer data exchange where an EtherNet/IP product can produce and consume
messages
Master/slave operation defined as a proper subset of Peer-to-Peer
An EtherNet/IP product can function as a client or server, or both
EtherNet/IP standardization
EtherNet/IP is standardized in the International standard IEC 61158 and EtherNet/IP devices
are certified by ODVA for interoperability and conformance.
Facts, EtherNet/IP
The following table specifies a number of facts about EtherNet/IP.
Electronic Data Sheet file
The configuration process is based on EDS files (Electronic Data Sheet) which are required
for each EtherNet/IP device. EDS files are provided by the device manufacturers and contain
electronic descriptions of all relevant communication parameters and objects of the EtherNet/
IP device.
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 overview
The hardware of the EtherNet/IP Fieldbus Adapter, DSQC 669, consists of a slave unit. The
fieldbus adapter is connected to a Compact Flash interface on the main computer in the robot
controller, and is normally controlled by an external master on the same physical EtherNet/
IP network.
Illustration, example
The following figure illustrates an overview of the hardware.
xx0700000098
Specification overview
A PLC
B 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 routing
CIP (Common Industrial Protocol) routing makes it possible to collect and view status or
other information from different devices placed on several CIP networks at a single or several
operator stations. A CIP router allows sending messages between CIP networks.
CIP standardization
CIP is standardized by ODVA. CIP devices are certified by ODVA for interoperability and
conformance.
Electronic Data Sheet file
The configuration process is based on EDS files (Electronic Data Sheet) which are required
for each CIP device. EDS files are provided by the device manufacturers and contain
electronic descriptions of all relevant communication parameters and objects of the CIP
device. The EDS files contain essential information about CIP routing.
1 Overview
1.2.2. CIP routing, IRC5
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1.2.2. CIP routing, IRC5
Hardware overview
Messages are sent from one device on an EtherNet/IP fieldbus network to one or several
devices on a DeviceNet fieldbus network.
NOTE!
In IRC5 the originator of a message has to be connected on the EtherNet/IP Fieldbus Adapter
network while its targets have to be on a DeviceNet network.
Illustration, example
The following figure illustrates an overview of the hardware.
xx0700000535
For information about the DeviceNet hardware, refer to Application manual - DeviceNet.
Specification overview
The 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 description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669
Description
The DSQC 669 is mounted in the computer module.
Installation of fieldbus adapter
For installation descriptions of the EtherNet/IP Fieldbus Adapter refer to Product manual -
IRC5, section Replacement of fieldbus adapter in computer unit DSQC 639.
The figure illustrates where the EtherNet/IP Fieldbus Adapter is located in the computer unit.
xx0700000162
Prerequisites
RobotWare 5.09 or later version is required to use the EtherNet/IP Fieldbus Adapter, and
RobotWare 5.10 or later version is required to use the CIP routing functionality.
The 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
Continues on next page
2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669
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Illustration, DSQC 669
xx0700000097
LEDs
This section describes the LEDs of the EtherNet/IP Fieldbus Adapter.
Network status LED
-
NOTE!
A test sequence is performed on this LED during start of the adapter.
NS Network status LED
MS 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
Continued
Continues on next page
2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669
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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 length
The total permanent link length for COTS twisted pair systems is limited to 90 m (298 ft).
The permanent link shall conform to ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP
Specification Edition 1.2.
Channel length
The total channel length for COTS twisted pair systems is 100 m (330 ft) including patch
cables as defined in ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2.
LED state Description
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)
LED state Description
OFF No link, no activity
GREEN Link established
GREEN flickering Activity
Continued
2 Hardware description
2.1. EtherNet/IP Fieldbus Adapter, DSQC 669
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3 Configuration
3.1.1. Introduction
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3 Configuration
3.1 EtherNet/IP Fieldbus Adapter configuration
3.1.1. Introduction
Controller software
The IRC5 controller must be installed with software that supports the use of the EtherNet/IP
network, that is, the EtherNet/IP Fieldbus Adapter option must be installed.
For description of how to add the EtherNet/IP Fieldbus Adapter option, see Operating
manual - RobotStudio Online, section Adding RobotWare option.
PC software
RobotStudio Online is PC software that is used to set up connections to robots and to work
with robots.
The configuration for the EtherNet/IP communication is done either manually using
RobotStudio Online, or by loading a configuration file from RobotStudio Online. For
information about how to work with RobotStudio Online refer to Operating manual -
RobotStudio Online, see References on page 6.
3 Configuration
3.1.2. Configuration overview
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3.1.2. Configuration overview
Configuration
The following table gives descriptions of defining the types Bus, Unit Type and Unit for the
EtherNet/IP Fieldbus Adapter.
Predefined bus
When the system is installed with the EtherNet/IP Fieldbus Adapter option, a predefined bus
EtherNetIP_FA1 is created.
Predefined Unit Type
A predefined Unit Type for the fieldbus adapter, ENIP_SLAVE_FA, is defined supporting a
cyclic connection with the size of 8 input bytes and 8 output bytes as defined in the signal
configuration for the fieldbus adapter.
If another input or output size on the fieldbus adapter is required, the predefined Unit Type
must be modified or a new Unit Type must be created.
Limitations
The EtherNet/IP Fieldbus Adapter has the following limitations:
The predefined Unit Type (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 information
Technical reference manual - System parameters
Defining... Description
Bus An EtherNet/IP bus must be defined before any communication
is possible, that is, define rules for the EtherNet/IP Fieldbus
Adapter to communicate on the network.
Unit Type When creating a unit type some system parameters are fieldbus
specific.
Unit specific values can be found in the EDS file (Electronic Data
Sheet) for the unit, see Electronic Data Sheet file on page 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.
Continues on next page
3 Configuration
3.1.2. Configuration overview
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Electronic Data Sheet file
An EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching the
configuration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWare
release CD in the directory:
utility\fieldbus\EtherNetIP\eds
If another input or output size than the predefined is used, it is recommended that the values
in the EDS file are edited to match the new system parameter values.
Example, EDS file
An example from an EDS file when changing the predefined output and input sizes from 8
bytes to 16 bytes:
[Params]
Param1 =
"Output Size", $ name
0,64,16, $ min, max, default data values
Param2 =
"Input Size", $ name
0,64,16, $ min, max, default data values
I/O connection
Cyclic I/O connection is supported and the size of the I/O connection is defined by the type
Unit Type.
NOTE!
If the EtherNet/IP Fieldbus Adapter loses connection with the scanner, the configured input
signals are cleared (reset to zero).
When the connection is re-established, the scanner updates the input signals.
Continued
3 Configuration
3.1.3. Working with the EtherNet/IP Fieldbus Adapter
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3.1.3. Working with the EtherNet/IP Fieldbus Adapter
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be configured
as shown in Illustration, example on page 22.
Prerequisites
The network address of the EtherNet/IP Fieldbus Adapter must be known.
Illustration, example
The following figure illustrates an example of how to use the EtherNet/IP Fieldbus Adapter.
xx0700000098
How to configure the EtherNet/IP Fieldbus Adapter
A 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 the
scanner (e.g. PLC), and with Unit Type
ENIP_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 to
be contacted by an EtherNet/IP scanner.
Continues on next page
3 Configuration
3.1.3. Working with the EtherNet/IP Fieldbus Adapter
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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 click
Add 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 click
Add Signal.
Continued
Continues on next page
3 Configuration
3.1.3. Working with the EtherNet/IP Fieldbus Adapter
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Related information
Operating 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 software
The IRC5 controller must be installed with software that supports the use of the CIP
networks. To communicate through the EtherNet/IP network the EtherNet/IP Fieldbus
Adapter option must be installed, while DeviceNet communication requires one DeviceNet
option to be installed.
For description of how to add the EtherNet/IP Fieldbus Adapter and DeviceNet options, see
Operating manual - RobotStudio Online.
PC software
RobotStudio Online is a PC software that is used to set up connections to robots and to work
with robots.
The configuration for the EtherNet/IP and DeviceNet communication is done either manually
using RobotStudio Online, or by loading a configuration file from RobotStudio Online. For
information about how to work with RobotStudio Online refer to Operating manual -
RobotStudio Online, see References on page 6.
3 Configuration
3.2.2. Configuration overview
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3.2.2. Configuration overview
Configuration
A routing configuration requires that two or more routes are defined. One route bonds the
required CIP port to a CIP network. Messages can be fowarded to any of the networks having
a CIP port defined.
The following table gives descriptions of all route specific types.
Port identity
The port identity, required by the CIP route protocol, is used in order to find a destination
network. By the configuration the port identity is tied to a specific network/bus. Each network
has its own unique port identity.
Electronic Data Sheet file
An EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching the
configuration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWare
release CD in the directory:
utility\fieldbus\EtherNetIP\eds
The file contains information necessary for CIP routing.
Example, EDS file
An example from an EDS file that shows the configurations of the ports:
[Port]
Port1 =
TCP, $ port type name
"TCP/IP", $ name of port
"20 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 destination
network.
3 Configuration
3.2.3. Working with CIP routing
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3.2.3. Working with CIP routing
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be configured
as Illustration, example on page 27.
The function of CIP routing
A message on one route can be forwaded to any of the other defined routes. The sent message
contains the destination device and port number, and from that information the suitable
destination route is selected. All defined CIP routes will together compose a virtual CIP
router. During the configuration of a route the port number will be coupled with its network
or fieldbus and thereby with its hardware.
Prerequisites
Fieldbuses to use in the CIP network have to be of type EtherNet/IP and DeviceNet. The
RobotWare options EtherNet/IP and DeviceNet are required for usage of CIP routing. All
DeviceNet equipment to be used with CIP routing must be configured with the IRC5 master.
In order to reach a DeviceNet equipment with a message via CIP routing, the Explicit
messaging parameter must be set in the DeviceNet configuration.
Illustration, example
The following figure illustrates an example of how to use CIP routing, and shows an IRC5
controller with connections to three networks/fieldbuses. For each of the three CIP hardware
devices (C, E, and G), route parameters have to be defined. The route parameters are added
to the I/O configuration of the IRC5 controller. See How to configure the CIP routes on page
28.
xx0700000393
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.
Continues on next page
3 Configuration
3.2.3. Working with CIP routing
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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 routes
A 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 to
EtherNet/IP. Click OK.
xx0700000395
Continued
Continues on next page
3 Configuration
3.2.3. Working with CIP routing
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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 to
DeviceNet1. Click OK.
xx0700000536
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 to
DeviceNet2. Click OK.
xx0700000537
7. Restart the system.
Action
Continued
Continues on next page
3 Configuration
3.2.3. Working with CIP routing
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Limitations
CIP routing has the following limitations:
Max. routes: A maximum of 5 routes can be defined.
Unconnected send connection: Only unconnected send service routing is supported.
Explicit message connection: This is the only supported connection type. In order to
see or use a DeviceNet device it has to allow Explicit message connection.
I/O message connection: Unsupported connection type.
Single hop: The router cannot act as an intermediate hop, that is, the router cannot
forward a message to its target when it has to go through another router.
EtherNet/IP: An EtherNet/IP route only has server capability. A server will only
respond to a received request.
DeviceNet: A DeviceNet route only has client capability. A client will issue a request
and expects an answer to its request.
Related information
Working 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 parameters
4.1. Introduction
EtherNet/IP specific system parameters
There are both EtherNet/IP specific parameters and more general parameters. This chapter
describes all EtherNet/IP specific system parameters. The parameters are divided into the
type they belong to.
For information about other 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 name
EN_Address
Description
The parameter EtherNet/IP Address specifies the address of the I/O unit on the network.
Usage
EtherNet/IP Address specifies the address that the I/O uses on the network, to which the
scanner should setup a connection.
Prerequisites
EtherNet/IP Fieldbus Adapter option must be installed.
Default value
The default value is 0.0.0.0.
Allowed values
The value can be 0.0.0.0 - 255.255.255.255.
There are limitations for the values set by the vendor.
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 name
EN_InputSize
Description
The parameter Input Size defines the data size in bytes for the input area received from the
unit.
Usage
Input Size is an EtherNet/IP specific parameter.
Prerequisites
The EtherNet/IP Fieldbus Adapter option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
The default value is 0.
Allowed values
Allowed 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
Parent
Output Size belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_OutputSize
Description
Output Size defines the data size in bytes for the output area received from the unit.
Usage
Output Size is an EtherNet/IP specific parameter.
Prerequisites
The EtherNet/IP Fieldbus Adapter option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
The default value is 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
Parent
Subnet Mask belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_SubnetMask
Description
The Subnet Mask is used to determine what subnet the IP address belongs to.
Usage
Subnet Mask is an EtherNet/IP specific parameter.
Prerequisites
The EtherNet/IP Fieldbus Adapter option must be installed.
Default value
The default value is 255.255.255.0.
Allowed values
The value can be 0.0.0.0 - 255.255.255.255.
4 System parameters
4.3.4. Gateway
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4.3.4. Gateway
Parent
Gateway belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_Gateway
Description
Gateway specifies the node on the network that serves as an entrance to another network.
Usage
Gateway is an EtherNet/IP specific parameter.
Prerequisites
The EtherNet/IP Fieldbus Adapter option must be installed.
Default value
The default value is 0.0.0.0.
Allowed values
The value can be 0.0.0.0 - 255.255.255.255.
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 name
Name
Description
The parameter Name specifies the name of the route.
Usage
Name specifies a route, to which the route messages can be received or sent to.
Prerequisites
EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.
Default value
The default value is an empty string
Allowed values
The 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
Parent
Connected to Bus belongs to the type Route, in the topic I/O.
Cfg name
Bus
Description
The parameter Connected to Bus specifies the name of the I/O network.
Usage
Connected to Bus shows which network is associated to a certain port.
Prerequisites
EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.
Default value
The default value is an empty string.
Allowed values
The 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
Parent
Port ID belongs to the type Route, in the topic I/O.
Cfg name
Port ID
Description
The parameter Port ID specifies the connector of the I/O network.
Usage
Port ID is used in the CIP routing path.
Prerequisites
EtherNet/IP Fieldbus Adapter and the DeviceNet option must be installed.
Default value
The default value is 2.
Allowed values
The value can be from 2 to (2 + number of installed DeviceNet channels).
NOTE!
Value 1 is reserved and is not allowed to use.
4 System parameters
4.4.3. Port ID
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Index
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B
Bus 20
C
cables
length 17
CIP routing
configuration 28
limitations 30
configuration, CIP routing 28
connections
size 12
type 12
D
DSQC 669 16
E
EDS file 21
EDS file, example 21
F
fieldbus adapter 15
files, EDS 21
I
illustrations
DSQC 669 16
hardware overview 12
L
LED
link/activity 17
module status 17
network status 16
S
signals, adding 23
system parameters
Bus 20
Connected to Bus 38
EtherNet/IP Address 32
Gateway 36
Input Size 33
Name 37
Output Size 34
Port ID 39
Subnet Mask 35
Unit 20, 32
Unit Type 20, 33
U
Unit 20, 32
Unit Type 20, 33
units, adding 23
Index
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ABB AB
Robotics Products
S-721 68 VSTERS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax: +46 (0) 21 132592
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