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Application manual EtherNet/IP Fieldbus Adapter Robot Controller RobotWare 5.0

Application manual

EtherNet/IP Fieldbus Adapter

Robot Controller

RobotWare 5.0

Application manual EtherNet/IP Fieldbus Adapter Robot Controller RobotWare 5.0
Application manual EtherNet/IP Fieldbus Adapter Robot Controller RobotWare 5.0

© Copyright 2007 ABB. All rights reserved.

Application manual EtherNet/IP Fieldbus Adapter

RobotWare 5.0

Document ID: 3HAC028509-001 Revision: -

© Copyright 2007 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

© Copyright 2007 ABB All rights reserved.

ABB Robotics SE-721 68 Västerås Sweden

Table of Contents

© Copyright 2007 ABB. All rights reserved.

Overview

Product

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Safety

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1 Overview

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11

1.1 EtherNet/IP,

general

 

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. 11

1.2 EtherNet/IP Fieldbus Adapter, IRC5

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12

2 Hardware description

 

13

2.1

EtherNet/IP Fieldbus Adapter, DSQC

 

13

3 EtherNet/IP Fieldbus Adapter configuration

 

17

3.1 Introduction

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. 17

3.2 Configuration overview

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18

3.3

Workflows

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20

3.3.1

Working with the EtherNet/IP Fieldbus Adapter

 

20

4 System parameters

 

23

4.1 Type Unit

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23

 

4.1.1

EtherNet/IP

 

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23

4.2 Type Unit Type

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24

 

4.2.1 Input Size

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24

4.2.2 Output Size

 

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25

4.2.3 Subnet Mask

 

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26

4.2.4 Gateway

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27

Index

29

Table of Contents

© Copyright 2007 ABB. All rights reserved.

© Copyright 2007 ABB. All rights reserved.

Overview

Overview

About this manual

This manual describes the EtherNet/IP Fieldbus Adapter option and contains instructions for the EtherNet/IP Fieldbus Adapter configuration.

Usage

This manual should be used during installation and configuration of the EtherNet/IP Fieldbus Adapter and upgrading of the EherNet/IP Fieldbus Adapter option.

Who should read this manual?

This manual is intended for

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

• Description of how the EtherNet/IP Fieldbus Adapter is connected in a robot system

2.

This chapter describes the EtherNet/IP Fieldbus Adapter.

3.

This chapter gives an overview of the EtherNet/IP Fieldbus Adapter configura- tion. The chapter also contains descriptions of workflows.

4.

This chapter describes the EtherNet/IP Fieldbus Adapter specific system parameters.

Continues on next page

© Copyright 2007 ABB. All rights reserved.

Overview

Continued

References

Document references

 

Reference

Document ID

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

Other references

 

References

Description

www.odva.org

The web site of ODVA (Open DeviceNet- Vendor Association).

Common Industrial Protocol (CIP) Edition 3.0

ODVA Specification

EtherNet/IP Specification Edition 1.2

ODVA Specification

Revisions

 

Revision

Description

-

First edition. RobotWare 5.09.

© Copyright 2007 ABB. All rights reserved.

Product documentation, M2004

Product documentation, M2004

General

 

The robot documentation may be divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems.

Product manuals

All hardware, robots and controllers, will be delivered with a Product manual that contain:

Safety information

Installation and commissioning (descriptions of mechanical installation, electrical connections)

Maintenance (descriptions of all required preventive maintenance procedures including intervals)

Repair (descriptions of all recommended repair procedures including spare parts)

Additional procedures, if any (calibration, decommissioning)

Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards)

Part list

Foldouts or exploded views

Circuit diagrams

Technical reference manuals

The following manuals describe the robot software in general and contain relevant reference information:

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

© Copyright 2007 ABB. All rights reserved.

Product documentation, M2004

Continued

Operating manuals

This group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes:

Emergency safety information

Getting started - IRC5 and RobotStudio Online

IRC5 with FlexPendant

RobotStudio Online

Trouble shooting - IRC5 for the controller and robot

© Copyright 2007 ABB. All rights reserved.

Safety

Safety

Safety of personnel

When working inside the robot controller it is necessary to be aware of voltage related risks.

A danger of high voltage is associated with the following parts:

Units inside the controller, for example I/O units can be supplied with power from an external source.

The mains supply/mains switch.

The power unit.

The power supply unit for the computer system (230 VAC).

The rectifier unit (400-480 VAC and 700 VDC). Capacitors!

The drive unit (700 VDC).

The service outlets (115/230 VAC).

The power supply unit for tools, or special power supply units for the machining process.

The external voltage connected to the controller remains live even when the robot is disconnected from the mains.

Additional connections.

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

Safety regulations

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

© Copyright 2007 ABB. All rights reserved.

Safety

1 Overview

© Copyright 2007 ABB. All rights reserved.

1 Overview

1.1. EtherNet/IP, general

1.1. EtherNet/IP, general

What is EtherNet/IP?

EtherNet/IP is a communications link to connect industrial devices.

The EtherNet/IP (EtherNet Industrial Protocol) is managed by ODVA (Open DeviceNet Vendors Association). It is a well established industrial ethernet communication system with good real-time capabilities. EtherNet/IP extends commercial off-the-shelf ethernet to the CIP (Common Industrial Protocol) — the same upper-layer protocol and object model found in DeviceNet and ControlNet. CIP allows EtherNet/IP and DeviceNet system integrators and users to apply the same objects and profiles for plug-and-play interoperability among devices from multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and EtherNet/IP promote transparency from sensors to the enterprise software.

Examples of applications

Here are some examples of EtherNet/IP applications:

Peer-to-peer data exchange where an EtherNet/IP product can produce and consume messages

Master/slave operation defined as a proper subset of Peer-to-Peer

An EtherNet/IP product can function as a client or server, or both

EtherNet/IP standardization

EtherNet/IP is standardized in the International standard IEC 61158 and EtherNet/IP devices are certified by ODVA for interoperability and conformance.

Facts, EtherNet/IP

The following table specifies a number of facts about EtherNet/IP.

Network type

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

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.

1 Overview

© Copyright 2007 ABB. All rights reserved.

1.2. EtherNet/IP Fieldbus Adapter, IRC5

1.2. EtherNet/IP Fieldbus Adapter, IRC5

Hardware overview

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

Illustration, example

The following figure illustrates an overview of the hardware.

xx0700000098
xx0700000098

A

PLC

B

EtherNet/IP scanner

C

Ethernet switch

D

EtherNet/IP Fieldbus Adapter, DSQC 669

E

IRC5 controller

F

General EtherNet/IP unit

Specification overview

Item

Specification

Fieldbus type

EtherNet/IP

Specification revision

EtherNet/IP Specification Edition 1.2

Data rate

10/100 Mbit

Connection type

Cyclic

Connection size

64 byte in and 64 byte out

Transport Classes

Class 1 and 3

2 Hardware description

© Copyright 2007 ABB. All rights reserved.

2 Hardware description

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

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.

Fieldbus Adapter is located in the computer unit. xx0700000162 Description Art. no. Designation Pos.

xx0700000162

Description

Art. no.

Designation

Pos.

EtherNet/IP Fieldbus Adapter

3HAC027652-001

DSQC 669

A

Prerequisites

RobotWare 5.09 or later version is required to run the EtherNet/IP Fieldbus Adapter.

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

Continues on next page

2 Hardware description

© Copyright 2007 ABB. All rights reserved.

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

Continued

Illustration, DSQC 669

Fieldbus Adapter, DSQC 669 Continued Illustration, DSQC 669 xx0700000097 NS Network status LED MS Module

xx0700000097

NS

Network status LED

MS

Module status LED

LINK

Link/Activity

EtherNet/IP

EtherNet/IP interface

LEDs

This section describes the LEDs of the EtherNet/IP Fieldbus Adapter.

Network status LED

LEDs of the EtherNet/IP Fieldbus Adapter. Network status LED - NOTE! A test sequence is performed

-

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

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

Continues on next page

2 Hardware description

© Copyright 2007 ABB. All rights reserved.

Module status LED

- NOTE!
-
NOTE!

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

Continued

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

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)

Link/Activity LED

 

LED state

Description

OFF

No link, no activity

GREEN

Link established

GREEN flickering

Activity

Cable lengths

Permanent link length

The total permanent link length for COTS twisted pair systems is limited to 90 m (298 ft). The permanent link shall conform to ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2.

Channel length

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

2 Hardware description

© Copyright 2007 ABB. All rights reserved.

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

3.1. Introduction

3 EtherNet/IP Fieldbus Adapter configuration

3.1. Introduction

Controller software

The IRC5 controller must be installed with software that supports the use of the EtherNet/IP network, that is, the EtherNet/IP Fieldbus Adapter option must be installed.

For description of how to add the EtherNet/IP Fieldbus Adapter option, see Operating manual - RobotStudio Online, section Adding RobotWare option.

PC software

RobotStudio Online is PC software that is used to set up connections to robots and to work with robots.

The configuration for the EtherNet/IP communication is done either manually by RobotStudio Online, or by loading a configuration file from RobotStudio Online. For information about how to work with RobotStudio Online refer to Operating manual - RobotStudio Online, see References on page 6.

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

3.2. Configuration overview

3.2. Configuration overview

Configuration

The EtherNet/IP Fieldbus Adapter is configured as an ordinary I/O unit.

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

Defining

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 19. See also Type Unit Type on page 24.

Unit

The only EtherNet/IP specific system parameter in the unit definition is the unit address. See Type Unit on page 23.

Predefined Unit Type

A predefined Unit Type for the fieldbus adapter (ENIP_SLAVE_FA) is defined supporting a cyclic connection with the size of 8 input bytes and 8 output bytes of digital, analog or group signal data, as defined in the signal configuration for the fieldbus adapter.

If another input or output size on the fieldbus adapter is required a new Unit Type must be written or the predefined Unit Type must be changed.

Limitations

The EtherNet/IP Fieldbus Adapter has the following limitations:

The predefined Unit Type (ENIP_SLAVE_FA) has 8 input bytes and 8 output bytes, but this number can be increased or decreased to the restriction in the I/O system (see Product Specification for IRC5 controller).

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

Related information

Technical reference manual - System parameters

Continues on next page

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

3.2. Configuration overview

Continued

Electronic Data Sheet file

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

utility\fieldbus\EtherNetIP\eds\

If another input or output size than the predefined is used, the values in the EDS file must be edited to match the new system parameter values.

Example, EDS file

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

[Params]

Param1 = "Output Size",

0,64,16

,

Param2 =

"Input Size",

0,64,16

,

$ name $ min, max, default data values

$ name $ min, max, default data values

I/O connection

values $ name $ min, max, default data values I/O connection Cyclic I/O connection is supported

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.

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

3.3.1. Working with the EtherNet/IP Fieldbus Adapter

3.3 Workflows

3.3.1. Working with the EtherNet/IP Fieldbus Adapter

Usage

 

When the IRC5 controller is connected to an external PLC for example, it can be configured

as

Illustration, example on page 20.

Prerequisites

The network address of the I/O unit must be known.

Illustration, example

The following figure illustrates an example of how to use the EtherNet/IP fieldbus adapter.

xx0700000098
xx0700000098

A

PLC

B

EtherNet/IP scanner

C

Ethernet switch

D

EtherNet/IP Fieldbus Adapter, DSQC 669

E

IRC5 controller

F

General EtherNet/IP unit

How to configure the EtherNet/IP Fieldbus Adapter

A configuration procedure of the EtherNet/IP Fieldbus Adapter:

 

Action

Info

1.

Add unit that has the address requested by the scanner (e.g. PLC), and with Unit Type ENIP_SLAVE_FA.

See Add unit on page 21.

2.

Define the signals on the created unit.

See Add signals on page 22.

3.

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

 

Continues on next page

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

Add unit

3.3.1. Working with the EtherNet/IP Fieldbus Adapter

Continued

Action 1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration
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. Then right-click in the workspace and click Add
Unit.
4.
In the Edit Unit(s) dialog box, type the values for the parameters.
xx0700000205

Continues on next page

3 EtherNet/IP Fieldbus Adapter configuration

© Copyright 2007 ABB. All rights reserved.

3.3.1. Working with the EtherNet/IP Fieldbus Adapter

Continued

Add signals

Action 1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration
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.
4.
In the Edit Signal(s) dialog box, type the values for the parameters.
xx0700000206

Related information

Operating manual - RobotStudio Online

4 System parameters

© Copyright 2007 ABB. All rights reserved.

4 System parameters

4.1 Type Unit

4.1.1. EtherNet/IP Address

4.1.1. EtherNet/IP Address

Parent

 

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

Cfg name

 

EN_Address

Description

 

The parameter EtherNet/IP Address specifies the address of the I/O unit on the network.

Usage

 

EtherNet/IP Address specifies the address that the I/O uses on the network, to which the scanner should try to setup a connection.

Prerequisites

 

EtherNet/IP Fieldbus Adapter option must be installed.

Default value

 

The default value is:

0.0.0.0

Allowed values

 

The value can be:

0.0.0.0 - 255.255.255.255

There are limitations for the values set by the vendor.

4 System parameters

© Copyright 2007 ABB. All rights reserved.

4.2.1. Input Size

4.2 Type Unit Type

4.2.1. Input Size

Parent

 

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

Cfg name

 

EN_InputSize

Description

 

The parameter Input Size defines the data size in bytes for the input area received from the unit.

Usage

 

Input Size is an EtherNet/IP specific parameter.

Prerequisites

 

The EtherNet/IP Fieldbus Adapter option must be installed.

Limitations

 

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

Default value

 

The default value is 8 bytes.

Allowed values

Allowed values are the integers 0-64, specifying the input data size in bytes.

4 System parameters

© Copyright 2007 ABB. All rights reserved.

4.2.2. Output Size

4.2.2. Output Size

Parent

 

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

Cfg name

 

EN_OutputSize

Description

 

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

Usage

 

Output Size is an EtherNet/IP specific parameter.

Prerequisites

 

The EtherNet/IP Fieldbus Adapter option must be installed.

Limitations

 

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

Default value

 

The default value is 8 bytes.

Allowed values

Allowed values are the integers 0-64, specifying the output data size in bytes.

4 System parameters

© Copyright 2007 ABB. All rights reserved.

4.2.3. Subnet Mask

4.2.3. Subnet Mask

Parent

 

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

Cfg name

 

EN_SubnetMask

Description

 

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

Usage

 

Subnet Mask is an EtherNet/IP specific parameter.

Prerequisites

 

The EtherNet/IP Fieldbus Adapter option must be installed.

Default value

 

The default value is:

255.255.255.0

Allowed values

 

The value can be:

0.0.0.0 - 255.255.255.255

4 System parameters

© Copyright 2007 ABB. All rights reserved.

4.2.4. Gateway

4.2.4. Gateway

Parent

 

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

Cfg name

 

EN_Gateway

Description

 

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

Usage

 

Gateway is an EtherNet/IP specific parameter.

Prerequisites

 

The EtherNet/IP Fieldbus Adapter option must be installed.

Default value

 

The default value is:

0.0.0.0

Allowed values

 

The value can be:

0.0.0.0 - 255.255.255.255

Index

© Copyright 2007 ABB. All rights reserved.

B

Bus 18

C

cables

length 15

connections

size 12

type 12

D

DSQC 669 14

E

EDS file 19 EDS file, example 19

F

fieldbus adapter 13 files, EDS 19

I

illustrations DSQC 669 14 hardware overview 12

L

LED

link/activity 15 module status 15 network status 14

S

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

U

Unit 18, 23 Unit Type 18, 24

Index

© Copyright 2007 ABB. All rights reserved.

3HAC 028509-001, Revision -, en

3HAC 028509-001, Revision -, en ABB Robotics S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000

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

+46 (0) 21 132592

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