I/O Plus Users Guide

Contents
1 2 Introduction Using Non-ABB DeviceNet units 2.1 General UNIT_TYPE configuration ................................................. 2.1.1 List all available I/O Unit Types............................................ 2.1.2 Defining an IO module type (EIO_UNIT_TYPE) .................. 2.1.3 Defining Parameters to a unit type. (EIO_PARAM) ............. 2.1.4 Defining parameters to a unit. (EIO_PARAM_VALUE) ........ 2.2 Predefined UNIT_TYPEs ............................................................... 2.2.1 Wago I/O System................................................................. 2.2.2 Lutze .................................................................................... 2.2.3 Other predefined Unit types. ................................................ 2.3 Unit of type General purpose Discrete I/O .................................... 2.4 Using Generic Driver ....................................................................... Dual DeviceNet channels 3.1 System Overview ............................................................................ 3.1.1 Specification Overview......................................................... 3.1.2 DeviceNet connectors in S4Cplus ....................................... 3.1.3 I/O Units ............................................................................... 3.2 Controller Software.......................................................................... 3.3 DeviceNet second channel Configuration ....................................... 3.3.1 Configuration Overview from the Teach Pendant ................ 3.3.2 CAN2 Bus Configuration...................................................... DeviceNet Slave 4.1 System Overview ............................................................................ 4.1.1 Specification Overview......................................................... 4.1.2 DeviceNet connectors in S4Cplus ....................................... 4.2 Controller Software.......................................................................... 4.2.1 Configuration Software ........................................................ 4.2.2 Slave EDS-file...................................................................... 4.3 S4Cplus DeviceNet Internal Slave .................................................. 4.3.1 Introduction .......................................................................... 4.3.2 Unit Type Configuration ....................................................... 4.3.3 I/O Unit Configuration .......................................................... 4.4 PLC configuration............................................................................ 4.5 Communication status.....................................................................
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Contents
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4.6 Internal Slave Configuration Example.............................................. 26 4.6.1 Setting up a S4Cplus DeviceNet slave. ................................ 26 4.6.2 Connecting two S4Cplus systems using the S4Cplus DeviceNet slave. .................................................................................... 27

I/O Plus Users Guide

Introduction

Introduction
Information regarding changing the System Parameters can be found in Users Guide for BaseWare OS, chapter Systemparameter. I/O Plus enables the S4Cplus to use non-ABB I/O units. A few units are predefined and shortly described in this document, these are to be seen as an example and might not be your first choice or most suitable for your application. In addition to the above units, the IO Plus Generic Driver also opens up the possibility to use other digital I/O units that conform with the DeviceNet specification. ABB Robotics AB does not assume any responsibility for the functionality or quality of such units. The user must provide the appropriate configuration data. IO Plus also opens up the use of the second DeviceNet channel named CAN2, the configuration of the second channel is automatic if you have IO Plus. IO Plus also opens up the DeviceNet Slave functionality, which allow the S4Cplus controller to act as a slave unit towards another DeviceNet master, the configuration data for the slave unit is included. Note! This manual is only a supplementary manual to the other robot manuals. Detailed information about DeviceNet can be found in the specification of the DeviceNet standard, which is possible to retrieve from Open DeviceNet Vendor Association, Inc. (http:\\www.odva.org).

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Using Non-ABB DeviceNet units

Using Non-ABB DeviceNet units

This section describes the configuration syntax and parameters needed when connecting non-ABB DeviceNet units. It also shortly describes a few predefined nonABB units and the Generic driver used for non-ABB units.

2.1

General UNIT_TYPE configuration

This section describes the EIO_UNIT_TYPE configuration and the parameters within this declaration.

2.1.1

List all available I/O Unit Types - Choose Topics: IO Signals - Choose Types: Unit Types All available unit types will be displayed, as shown in Figure 1.
File Edit Topics Types

System Parameters IO Signals Unit Types Name Product Name 7(7) eip000 Simulated d320 120 Vac Unit d327 Combi Unit d328 24 Vdc Unit d509 Panel Unit d332 Relay Unit d350 RIO Adapter

Figure 1

List of all available unit types

To get detailed information about a particular unit type: - Select the appropriate unit type and press Enter

2.1.2

Defining an IO module type (EIO_UNIT_TYPE) Different types of units (modules/devices) are defined in the EIO_UNIT_TYPE section. For each type of unit the parameter specifies that units overall constraints. The robot system is delivered with a set of predefined unit types. If a unit does not fit within these types, a new type may be defined in the EIO_UNIT_TYPE section. This is done by giving appropriate values to the parameters. The correct values are normally found in the EDS file (Electronic Data Sheet) for the unit witch should be obtained from the vendor of the IO module.

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Example: This configuration item defines a DSQC-328 I/O Board. The board has 16 digital inputs and 16 digital outputs. EIO_UNIT_TYPE: -Name d328 -VendorId 75 -VendorName ABB Robotics -DeviceType 7 \ -ProductId 0 -ProductName 24 Vdc IO -MajorRev 0 -MinorRev 0 Parameters of EIO_UNIT_TYPE - NameMandatory The name that will be used to refer to this type in the rest of the configuration file - VendorIdMandatory A number that identifies the vendor of the I/O module. (Called VendCode in EDS file). - VendorNameOptional The name of the vendor in readable text. (Called VendName in EDS file). - DeviceTypeMandatory A numeric code that identifies the type of I/O module. (Called ProdType in EDS file). - DeviceDriverOptional Only used with the Generic Driver, see section 2.4 <Italic>Using Generic Driver. - ProductIdMandatory A number that identifies the product that this type defines. (Called ProdCode in EDS file). - ProductNameOptional The name of the product in readable text. (Called ProdName in EDS file). - MajorRevOptional The major part of the software revision of the I/O module (Called MajRev in EDS file). - -MinorRevOptional The minor part of the software revision of the I/O module (Called MinRev in EDS file). - -MaxDiginOptional Specifies the maximum number of digital inputs available on the unit type. For some DeviceNet modules, this parameter is not used, since it is possible to obtain this information from the I/O module itself. If the Generic Diver is used always specify this parameter. - -MaxDigoutOptional Specifies the maximum number of digital outputs available on the unit type. For some DeviceNet modules, this parameter is not used, since it is possible to obtain this information from the I/O module itself. If the Generic Diver is used always specify this parameter. - -MaxAninOptional
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Specifies the maximum number of analog inputs available on the unit type. For some DeviceNet modules, this parameter is not used, since it is possible to obtain this information from the I/O module itself. - -MaxAnoutOptional Specifies the maximum number of analog outputs available on the unit type. For some DeviceNet modules, this parameter is not used, since it is possible to obtain this information from the I/O module itself. - -MaxChannelsOptional Specifies the maximum number of serial channels for the unit type. This is a ABB specific serial channel protocol. Usually only used internally by ABB. - -MMCAttrOptional Specifies a man machine attributes section in the mmc configuration file to be used to display the parameters listed in the -Param section. - -ParamOptional Name of a section that defines the parameters which are available for the unit type.See section 2.1.3 <Italic>Defining Parameters to a unit type. (EIO_PARAM) Some of the parameters must be given values, other may be left out and will then get the default value. The table below defines the characteristics for each parameter in the EIO_UNIT_TYPE section.
Parameter -Name -VendorId -VendorName -DeviceType -ProductId -DeviceDriver -ProductName -MajorRev -MinorRev -MaxDigin -MaxDigout -MaxAnin -MaxAnout -MaxChannels -MMCAttr -Param Values 1..19 letters 0..65535 1..19 letters 0..255 0..65535 1..19 letters 1..19 letters 0..255 0..255 0..255 0..255 0..255 0..255 0..2 1..19 letters 1..19 letters Type String Integer String Integer Integer String String Integer Integer Integer Integer Integer Integer Integer String String Default Value No Default No Default An empty string No Default No Default An empty string An empty string No Default No Default 0 0 0 0 0 An empty string An empty string

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Using Non-ABB DeviceNet units

2.1.3

Defining Parameters to a unit type. (EIO_PARAM) Some I/O modules may have configurable parameters, that shall be down loaded to the unit by the robot controller at startup. If so, these parameters are defined in the EIO_PARAM section. the path and values are obtained from the EDS file. The section is given a name as shown in this example. Example: D328_PARAM = EIO_PARAM: -Name on_off_delay -Path 6, 20 8 24 1 30 5,1,2 -Service 0x10 -DefValue 50 The name of this section is assigned to the -Param parameter of the EIO_UNIT_TYPE section. Example: EIO_UNIT_TYPE: -Name d328 -VendorId 75 -VendorName ABB Robotics -DeviceType 7 \ -ProductId 0 -ProductName 24 Vdc IO -MajorRev 0 -MinorRev 0 \ -Param D328_PARAM Each configuration item in the EIO_PARAM section describes one parameter by the following attributes. Attributes of EIO_PARAM - NameMandatory The name that will be used to refer to this parameter when giving it a specific value for a specific unit as described in the EIO_PARAM_VALUE section below. - PathMandatory A description used by the driver software when accessing objects and parameters within the software of the IO module. For more detailed description see the DeviceNet specification. For deviceNet compatible I/O modules, the value can be found in the EDS-file for the I/O module or from the DeviceNet specification. - ServiceOptional A numeric code that describes for the driver software how to set the parameter. For deviceNet compatible I/O modules, the service most commonly used is Set Attribute Single with the numeric code 0x10, and Get Attribute Single with code 0x0E. More information about these sevices could be found in the DeviceNet specification. - DefValueMandatory The default value that will be assigned to the parameter on unit type level. See section 2.1.4 <Italic>Defining parameters to a unit. (EIO_PARAM_VALUE) for assigning values to parameters on unit level. The table below describes the characteristics for each attribute.
Attribute -Name -Path Values 1..20 letters 1..30 letters Type String String Default Value Empty String Empty String

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Using Non-ABB DeviceNet units

Attribute -Service DefValue

Values 0..65535 0..65535

Type Integer Integer

Default Value 0 No Default

2.1.4

Defining parameters to a unit. (EIO_PARAM_VALUE) A certain unit type may have a number of configurable parameters, depending on whether that unit type has a reference to a EIO_PARAM section. For assigning a value to a parameter which is different from the default value of that parameter, a EIO_PARAM_VALUE section needs to be defined. The section is given a name, that is referred to by the -Param attribute in the EIO_UNIT_TYPE section. Example: D328_PARAM_VALUES = EIO_PARAM_VALUE: -Name on_off_delay -Value 100 The section holds one configuration item for each parameter that is defined in the corresponding EIO_PARAM section. Attributes of EIO_PARAM_VALUE - NameMandatory The name of the parameter that shall be assigned a value. The parameter name must match one of the configuration instances in the EIO_PARAM section of the EIO_UNIT_TYPE for this unit. - ValueMandatory The value to which the parameter will be set.

2.2

Predefined UNIT_TYPEs
The S4Cplus controller software contains a number of predefined I/O unit types for DeviceNet. The I/O unit types are described in configuration files located in the IO Plus Option directory in the RobotWare release media directory. This path differs according to what directory the RobInstall program has been installed into. The path is usually: On your PC: <RobInstall directory>\Mediapool\3HABxxxx-x.xx\Options\opt538\ioplus.cfg On the robot controller: \hd0a\3HABxxxx-x.xx\Options\opt538\ioplus.cfg where <xxxx-x.xx> corresponds to your specific release revision (e.g. xxxx-x.xx = 6811-1.20 means RobotWare 4.0.20) These are to be seen as an example and might not be your first choice or most suitable for your application. For more information on any of these units, please contact the supplier. If another I/O unit type is required, it has to be created by the user. See section 2.1 <Italic>General UNIT_TYPE configuration

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Using Non-ABB DeviceNet units

2.2.1

Wago I/O System DeviceNet Modular I/O The Wago I/O System is composed of a DeviceNet fieldbus coupler (Item 750-306 Rev 3.) and modules of different types such as digital I/O and Analog I/O Each module has two channels of the same type (digital or analog and input or output) In this way it is possible to build an I/O system with the exact number and type of channels needed. Its is possible for example to build a system with the following items: - Fieldbus coupler for DeviceNet 750-306 - one 750-400: two digital input channels 24V - one 750-501: two digital output channels 24V - one 750-466: two analog input channels 4-20mA - one 750-554: two analog output channels 4-20mA - one 750-467: two analog output channels -10V +10V - one 750-550: two analog input channels -10V +10V - one 750-600: system bus terminator The size of the unit may not exceed 16 bytes in and 16 bytes out, the size is calculated as shown below. Input: Sum all input signals, each group of 8 digital signals forms one byte. An analog input forms two bytes. Add one byte used by the Wago DeviceNet coupler. Output: Sum all output signals, each group of 8 digital signals forms a byte. An analog output forms two bytes. Example: - 28 digital input and two analog inputs => 9 bytes in (4+4+1) - 22 digital outputs and two analog outputs => 7 bytes out (3+4) The system must be externally powered by 24V Address and baudrate are programmable by dip switches Technical data See Wago I/O system documentation Further information

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Using Non-ABB DeviceNet units

Contact the vendor. WAGO I/O System 24 V power supply Status Led

MS

DeviceNet Open Style Connector

24V 0V

NS

+ + I/O WAGO<-I/O<-SYTEM -

Address and Baud Rate Dipswitches

750-306

Fieldbus Coupler 750-306

Figure 2 Wago I/O System connection and Leds

ON

Bus Terminator Two Channels module

2.2.2

Lutze Dioplex LS-DN 744221, IP 67 8 digital inputs and 8 digital outputs 24V This DIO-4221 has 8 digital inputs and 8 digital outputs channels packaged in a high protection grade IP67. The module is supplied by an external 24V. Max consumption is 500mA Address and baudrate are programmable with the help of a tool such as DeviceNet Manager 1787 MGR or RSNetWorx and the adapter 1770 KFD from Allen Bradley Default address is 63 and baudrate 125 kb/s. Technical data See Lutze technical sheet delivered with the product Further information Contact the vendor.

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Actuator power supply

DIOPLEX LS DN 8E/8A 744221 8 digital inputs 8 digital outputs DeviceNet 24V Channel connection M12 connector type
Us

Inputs

A Ul B

Outputs Diagnostic LEDS Us Actuator power supply, green Ul Logic power supply, green Ms Module status, red/green Ns Network status, red/green

MS A NS B B A

0VL A A

0VL sensor over load, red A,B status indication, yellow

3

DeviceNet connection M18 connector type Lutze 744 221 connection and Leds Dioplex LS-DN 744215, IP 67 16 digital inputs 24V This DIO-4215 has 16 digital inputs packaged in a high protection grade IP67. The module is supplied by the DeviceNet 24V_CAN. Max consumption is 80mA Address and baudrate are programmable with the help of a tool such as DeviceNet Manager 1787 MGR and the adapter 1770 KFD from Allen Bradley Default address is 63 and baudrate 125 kb/s. Technical data See Lutze technical sheet delivered with the product Further information Contact the vendor.

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Using Non-ABB DeviceNet units

DIOPLEX LS DN 744215 16 digital inputs DeviceNet 24V Input Channel connection M12 connector type
A Ul B B

Us A

Diagnostic LEDS Us Sensor power supply, green Ul Logic power supply, green

MS A NS B B A

Ms Module status, red/green Ns Network status, red/green

0VL A A

0VL sensor over load, red A,B status indication, yellow

4 3

DeviceNet connection M18 connector type

Figure 3 Lutze 744 215 connection and Leds

2.2.3

Other predefined Unit types. In I/O Plus there are also support for some other types such as the Welder. These are project specific types, and are not intended for general use.

2.3

Unit of type General purpose Discrete I/O

If the IO Plus option is installed, units that are of the DeviceNet specified profile/ device type General purpose discrete I/O (pure digital units) could be used with both Event triggered messeging (Change Of State (COS)) and Polled connections. Units of other profile/device types must use the Generic driver described in section 2.4 <Italic>Using Generic Driver. To see if a unit is of type General purpose discrete I/ O look in the EDS file for the unit, if ProdType is 7 then it is a General purpose discrete I/O if its not you must use the Generic Driver see section 2.4 <Italic>Using Generic Driver. Adding User Defined I/O Unit Types I/O devices that does not have a unit type equivalent listed on the teach pendent, needs to be defined in the EIO.CFG configuration file. This cannot be done from the teach pendant. It has to be done using a standard PC. User defined unit types are defined in the unit type section of the configuration file. A

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description of the parameters in the EIO_UNIT_TYPE is explained in section 2.1.2 <Italic>Defining an IO module type (EIO_UNIT_TYPE) The unit types are defined in the configuration file, using the syntax below filling in the appropriate italic- value, the values for these parameters are found in the EDS file for the unit supplied by the vendor. EIO_UNIT_TYPE: - Name typename \ - VendorId 1\ - VendorName Vendor Name \ - DeviceType 7 \ - ProductId 333 \ - ProductName Product Name \ - MajorRev 2 \ - MaxDigin 16 \ - MaxDigout 16 \ - MaxAnin 0 \ - MaxAnout 0

2.4

Using Generic Driver

Some devices may respond incorrectly to commands sent from the robot controller during connection establishment. The robot controller will then generate the error message: 71102 DeviceNet incompatible. This can be avoided by explicitly specifying that the controller should use a more trivial method for connection establishment. This is done by adding the line; -DeviceDriver DNGeneric to the configuration file. User defined unit types are defined in the unit type section of the configuration file. A description of the parameters in the EIO_UNIT_TYPE is explained in section 2.1.2 <Italic>Defining an IO module type (EIO_UNIT_TYPE) EIO_UNIT_TYPE: - Name typename \ - VendorId 1 \ - VendorName Vendor Name \ - DeviceType 12\ - DeviceDriver DNGeneric\ - ProductId 335 \ - ProductName Product Name \ - MajorRev 2\ - MaxDigin 16 \ - MaxDigout 16 \

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- MaxAnin 0 \ - MaxAnout 0 The generic driver can only set up polled connections. The size of the unit may not exceed 16 bytes in and 16 bytes out. The Generic Driver does not automatically support analog signals they have to be specially mapped see Users Guide section 3.7 Physical Signal Configuration.

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Dual DeviceNet channels

This section is a description of the second DeviceNet field bus channel in the S4Cplus system. The differences between the two channels (BASE and CAN2) are also pointed out. Detailed information about DeviceNet can be found in the specification of the DeviceNet standard, which is possible to retrieve from the Open DeviceNet Vendor Association, Inc. (http:\\www.odva.org).

3.1

System Overview
The second S4Cplus DeviceNet channel is named CAN2 and have the same features as the first channel BASE, in addition the CAN2 does not have a safety board connected to it and are not protected with internal relays in the cabinet as BASE. The baudrate and the master address could be changed on CAN2 while it is fixed for BASE this allows, in combination with the DeviceNet slave functionality, (see section 4 <Italic>DeviceNet Slave), CAN2 to be used to connect several S4Cplus systems together or several systems to be controlled by a external PLC.

Teach Pendant S4Cplus - DeviceNet I/O System

1 0

DeviceNet-Master/Slave DeviceNet-Slaves

CAN2

BASE

DeviceNet-Slave

PLC DeviceNet-master

Figure 4

The two DeviceNet networks

3.1.1

Specification Overview The lowest addresses are reserved for ABB Robotics internal use i.e. for safety board, master addresses and special applications.
Item Field Bus Type Specification DeviceNet

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Item Addressing

Specification DeviceNet master channel 1 (BASE) fixed address 2. DeviceNet slave channel 1 (BASE) configurable between 663. DeviceNet master channel 2 (CAN2) configurable between 0 - 63. DeviceNet slave channel 2 (CAN2) configurable between 0 63.

Number of Units configured in the system. Number of signals Baudrate

see Users Guide Baseware, chapter I/O data specification. see Users Guide Baseware, chapter I/O data specification. The DeviceNet channel 1 (BASE) is fixed to a baudrate of 500 Kbit/s. The DeviceNet channel 2 (CAN2) is configurable 125/250/ 500 Kbit/s. DeviceNet slave uses S4Cplus master baudrate.

Addresses available for customer use are 6-63 on BASE. 3.1.2 DeviceNet connectors in S4Cplus The connectors for the DeviceNet channels are shown in Figure 5 and are labelled CAN 1.1, CAN 1.2 and CAN 1.3 for the first DeviceNet channel and CAN 2 for the second channel.

BASE

CAN2

Figure 5

DeviceNet connectors

3.1.3

I/O Units The maximum number of I/O units that can be defined in the S4Cplus system is described in Users Guide Baseware chapter I/O data specification. As I/O units counts all DeviceNet-slave units connected to the S4Cplus DeviceNet-master, the internal DeviceNet-slave, simulated I/O units and other I/O units connected to other

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S4Cplus field buses.

3.2

Controller Software
The S4Cplus controller must be booted with the software option IO Plus that supports the use of the second DeviceNet channel. When the S4Cplus system is booted with IO Plus option the system is started up with a predefined second DeviceNet channel, CAN2. Default baudrate are 500Kbit/s and master address is 1.

3.3
3.3.1

DeviceNet second channel Configuration

Configuration Overview from the Teach Pendant

SystemParameters Service Production FileManager Operator Output & Input

Figure 6

Controller Communication IO Signals Manipulator Teach Pendant

Units User Signals Groups System Inputs System Outputs Cross Connections Unit Types IO Buses

Road map for S4Cplus I/O configuration

The DeviceNet Master configuration is set according to the contents of the I/O signal and Unit definitions. To perform a proper I/O configuration the user has to perform the following steps: - Create a new system using RobInstall make sure to install the option opt538: IO Plus. - Download the system to the S4Cplus controller. - Reboot the controller to start up with the new system. - Configure the bus For more information see chapter 3.3.2 <Italic>CAN2 Bus Configuration. Configure the units connected to the bus - in the system parameters window select the type Units - push Add to create a new Unit - enter unit name - choose a type from the displayed picklist

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Dual DeviceNet channels

- select the CAN2 bus, to which the unit is connected. - enter the address Configure the logical signals. - this is done in the same way as for all logical signals in the S4Cplus (see Users Guide Baseware, chapter System Parameters). Configure the logical groups. - this is done in the same way as for all logical groups in the S4Cplus (see Users Guide Baseware, chapter System Parameters). Configure the cross-connections. - this is done in the same way as for all cross-connections in the S4Cplus (see Users Guide Baseware, chapter System Parameters). Configure the system input signals. - this is done in the same way as for all system input signals in the S4Cplus (see Users Guide Baseware, chapter System Parameters). Configure the system output signals. - this is done in the same way as for all system output signals in the S4Cplus (see Users Guide Baseware, chapter System Parameters). 3.3.2 CAN2 Bus Configuration

SystemParameters Service Production FileManager Operator Output & Input

Figure 7

Controller Communication IO Signals Manipulator Teach Pendant

Units User Signals Groups System Inputs System Outputs Cross Connections Unit Types IO Buses

Road map for the IO bus configuration

The configuration of the bus consists of specifying the configuration path to the DeviceNet configuration file created in any text editor. The bus parameter defined for CAN2 are Master address and bus baudrate. The only way to modify the bus parameters (i.e. the master address and the baudrate) is to use a text editor and edit the file or by changing the path to another file in the system parameter window. If the system is installed with the IO Plus option the bus, CAN2, will default to master address 1 and baudrate 500 Kbit/s.

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Example: Configuration path HOME/can2_cfg.txt. is created. HOME specifies the current system directory, for example MySystem. It is possible to configure this path to any place on the S4Cplus controller, by first using the path /hd0a which corresponds to the system flashdrive. The equivalent to HOME/can2_cfg.txt in this example would be /hd0a/MySystem/can2_cfg.txt The configuration path points out a text file that should look like the example below, specifying the parameters for the second DeviceNet channel. Parameters left out will take the default value. Example: # This is a comment. Configuration file for Second DeviceNet channel # Parameter to set master address on CAN2 to 3. # The syntax is -MacId X were X is a integer between 0 and 63. - MacId 3 # Parameter to set CAN2 baudrate to 125 kbps. # The syntax is Baudrate Y were Y is a valid DeviceNet baudrate (125, 250,500). - Baudrate 125 Configuration of Bus from the Teach Pendant - Choose Topics: IO Signals - Choose Types: IO Buses. All defined buses will be displayed, as shown in Figure 8.
File Edit Topics Types IO Signals

System Parameters IO Buses Name BASE SIM CAN2

3(3)

Add Figure 8 System parameters of the type IO Buses

- Select the appropriate I/O bus to be changed and press Enter

- Select the desired parameter (the only parameter possible to change is Config Path) and change its value. - Press OK to confirm. Configuration of Bus from Configuration File The bus configuration in a configuration file is divided in two sections, EIO_BUS and
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EIO_BUS_USER. The EIO_BUS section contains the general definitions for a field bus according to S4Cplus default values and cannot be changed by the user. The EIO_BUS_USER value contains user specific settings for the bus and can be changed. A bus that is not configured in the EIO_BUS section but configured in the EIO_BUS_USER section will be ignored. If no EIO_BUS_USER section is supplied, a default configuration is created from EIO_BUS. EIO_BUS: - Name CAN2\ - Driver /BASE2: \ - CfgPath HOME/can2_cfg.txt EIO_BUS_USER: - Name <string>\ - Driver <string>\ - CfgPath <string> CAN2 Bus Parameter Definition
Name of paramete r Name Meaning of parameter Value description Name on the Teach Pendant Bus

Name of the bus. Is later used when defining units. This cannot be changed. Name of the driver for the bus. This cannot be changed. Configuration path to the DeviceNet configuration file.

Mandatory (CAN2 for DeviceNet channel 2) Mandatory (/BASE2: for DeviceNet channel 2) Mandatory Default: HOME/ can2_cfg.txt

Driver

Driver

CfgPath

Config Path

Down loading configuration file to the robot controller When the DeviceNet configuration file has been created on a offline PC, it needs to be transferred to the robot controller. There are mainly two different ways to achieve this. One way is to let RobInstall perform the file transfer at the same time as the rest of a newly created system is transferred from the RobInstall PC to the robot controller. The other way is to use a third party FTP client and download the configuration file directly to the controller. If the controller has a floppy drive installed it is of course also possible to transfer the file using a floppy disc. To use RobInstall for the transfer of the configuration file is only possible when the system is being installed with a new software system. The transfer is made by putting the configuration file in the home-directory of the created robot system (On a PC with RobInstall installed at C:\Program Files and with a software system called MySystem, the path will be C:\Program Files\ABB Robotics\RobInstall\system\MySystem\home). Putting the file in the home directory should be done AFTER the new system has been created, but BEFORE the new system has been down loaded to the controller.

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To use a third party ftp-client is the most easy way to download a new or modified configuration file to a software system that already has been down loaded to the robot controller.

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DeviceNet Slave

DeviceNet Slave
This section is a description of the DeviceNet field bus data communication between the S4Cplus DeviceNet slave and another DeviceNet master. In the S4Cplus controller all the DeviceNet slave signals are handled and addressed in the same way as any other distributed I/O signal.

4.1

System Overview
The S4Cplus DeviceNet slave use the same connectors as the S4Cplus master. When using the slave the DeviceNet bus becomes a multi master bus. The slave part of S4Cplus are controlled by an external master on the same DeviceNet network as the S4Cplus DeviceNet master. The slave part have digital in- and output as well as analogue in- and output I/O with up to 128 digital in- 128 digital out- 3 analogue in- and 3 analogue outsignals.

Teach Pendant S4Cplus - DeviceNet I/O System

1 0

DeviceNet-Master/Slave DeviceNet-Slaves

CAN2

BASE

DeviceNet-Slave

PLC DeviceNet-master

Figure 9

The two DeviceNet networks

A configuration program for the external master (if not another S4Cplus system) together with the teach pendant is used to configure the slave and the PLC correctly, in some cases an external text editor is also required. The configuration program must be executed on a PC according to the manual for the program. 4.1.1 Specification Overview The lowest addresses are reserved for ABB Robotics internal use i.e. for safety board, master addresses and special applications. Addresses available for customer use Are

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6-63 on BASE.
Item Field Bus Type Addressing Specification DeviceNet DeviceNet master channel 1 (BASE) fixed address 2. DeviceNet slave channel 1 (BASE) configurable between 663. DeviceNet master channel 2 (CAN2) configurable between 0 - 63. DeviceNet slave channel 2 (CAN2) configurable between 0 63. Number of Units connected to master Number of signals Signal types Baudrate Maximum two slaves per DeviceNet channel. Users Guide Baseware, chapter I/O data specification restrictions also apply. see Users Guide Baseware, chapter I/O data specification. AI, AO, DI and DO The DeviceNet channel 1 (BASE) are fixed to a baudrate of 500 Kbit/s. The DeviceNet channel 2 (CAN2) are configurable 125/250/ 500 Kbit/s. DeviceNet slave uses S4Cplus master baudrate. Profile Slave type Slave connection ABB Vendor specific (100) General purpose mixed signal I/ O. Group 2 only slave according to DeviceNet specification. Polled only.

4.1.2

DeviceNet connectors in S4Cplus The DeviceNet slave use the same connectors as the S4Cplus DeviceNet master. See section 3.1.2 <Italic>DeviceNet connectors in S4Cplus

4.2

Controller Software
The S4Cplus controller must be booted with the software option IO Plus that supports the use of the DeviceNet slave. When the S4Cplus system is booted with IO Plus option the system is started up with predefined unit types for the DeviceNet internal slave. See section 4.3.2 <Italic>Unit Type Configuration.

4.2.1

Configuration Software To correctly configure the external master (if not another S4Cplus system) a third party configuration software are required, for example RSNetWorx could be used. This Software is not supplied by ABB Robotics AB and not needed for configuring DeviceNet in the S4Cplus system.

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Figure 10 Rocwell software RSNetWorx

4.2.2

Slave EDS-file The EDS-files used by RSNetWorx or any other configuration software is located on the RobotWare release CD in the directory: <CD-ROM unit>:\Utility\fieldbus\DeviceNet\eds\ This directory contains the following file: - slave.edsS4Cplus DeviceNet slave unit.

4.3
4.3.1

S4Cplus DeviceNet Internal Slave

Introduction The S4Cplus DeviceNet channels have built-in digital slave modules with up to 128 digital inputs and 128 digital outputs as well as 3 analogue inputs and 3 analogue outputs. This can be used to connect the S4Cplus controller to, for example, a PLC. See Users Guide Baseware OS, chapter I/O data specification for system data. It can also be used for connection of the slave channel of one or several robots to the master channel of one controlling robot. Maximum two slaves could be configured on one DeviceNet channel if more signals are required. It is a recommendation to primarily use the slave functionality on CAN2 due to the additional configuration possibilities compared to the BASE bus, and the fact that the safety board is located on the BASE bus.

4.3.2

Unit Type Configuration The unit type definition for the S4Cplus DeviceNet slave is called DNET_SLAVE and is predefined during system start-up if the IO Plus option is installed. Another predefined unit type is called EXT_DNET_SLAVE, this unit type shall only be used for configuring the master channel of a S4Cplus controller that is connected to the slave on another S4Cplus controller. Note! If two S4Cplus controllers are connected together do NOT connect V-, V+ and the drain in the DeviceNet cable to avoid ground loops.

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See chapter 4.6 <Italic>Internal Slave Configuration Example for examples on how to use the internal DeviceNet slave. 4.3.3 I/O Unit Configuration To configure the S4Cplus DeviceNet slave, create a new unit of DNET_SLAVE type (see section 3.3.1 <Italic>Configuration Overview from the Teach Pendant). The size of the S4Cplus DeviceNet internal slave is set by changing the Digout, Digin, Anin and Anout parameters of the unit. The size of the input and output area as seen from the DeviceNet master side is the least number of bytes containing the specified amount of signals. E.g. If a DNET_SLAVE unit has been configured to have -Digout 13 and -Digin 60, shall the unit be configured from the master side (the PLC) to have 2 bytes in and 8 bytes out (remember that the internal slave is special in its behaviour since outputs from the master/PLC will become inputs to the controller and vice versa). Slave Unit Parameter Definition
Entry Name Type Bus Address Meaning Name of the unit. Is used later when defining I/O signals. Name of unit type Name of the bus Slave unit address. Make sure you dont use the same address as for master Number of logical digital in signals Number of logical digital out signals Number of logical analog in signals Number of logical analog out signals The unit is disabled after boot DNET_SLAVE CAN2 or BASE 0 - 63 Values Name one the Teach Pendant Unit Name Unit Type Unit Bus Address

Digin Digout Anin Anout Disabled

0 - 128 0 - 128 0-3 0-3

Digital Inputs Digital Outputs Analog Inputs Analog Outputs Disabled

See 2.1.2 <Italic>Defining an IO module type (EIO_UNIT_TYPE) for a more detailed description of the parameters. Slave Analogue signal description
Entry Type EncType Meaning Type of the signal under consideration, e.g. AI for analog input Specifies how a signals value has to be estimated from the value that is in the data area i.e data representation Length LogMax PhMax Length of analogue signal Logical maximum value Physical maximum value 16 bit any value 1 Values AI, AO UNSIGNED

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Entry LogMin PhMin

Meaning Logical minimum value Physical minimum value

Values any value 0

Slave Signal mapping The analog signals will always be mapped first, followed by the digital signals.

4.4

PLC configuration
To configure the DeviceNet master that will control the internal slave, to configure the external master (if not another S4Cplus system) use the EDS file supplied on the RobotWare CD, in the directory: <CD-ROM unit>:\Utility\fieldbus\DeviceNet\EDS\slave.EDS

4.5

Communication status
The control of the communication status (i.e. to know if the PLC to slave communication is running). The S4Cplus DeviceNet slave behaves like any other unit towards the S4Cplus I/O system regarding trustlevels, error messages generation etc.

4.6

Internal Slave Configuration Example

In this section some examples of how to configure the S4Cplus DeviceNet slave are shown.

4.6.1

Setting up a S4Cplus DeviceNet slave. This example configure the S4Cplus DeviceNet slave to address 10 on the second DeviceNet channel (CAN2). The slave unit will have 128 digital inputs, 128 digital outputs, 3 analogue inputs and 3 analogue outputs. The S4Cplus DeviceNet master on CAN2 will have the default values address 1 and baudrate 500. An external PLC could then be configured to connect to the S4Cplus DeviceNet slave. Note: The unit type DNET_SLAVE is a predefined unit type. That means the user should use this unit type and does not need to make any EIO_UNIT_TYPE definition for the slave.

File: EIO.CFG EIO:CFG_1.0:3:0:: # EIO_UNIT: - Name "Slave_CAN2" -Type "DNET_SLAVE" -Bus "CAN2" -Address "10" \ - Digin 128 -Digout 128 -Anin 3 -Anout 3

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# EIO_USER_SIGNAL = EIO_SIGNAL: - Name "SC_di_1" -Type "DI" -Unit "Slave_CAN2" -Phsig 1 - Name "SC_do_1" -Type "DO" -Unit "Slave_CAN2" -Phsig 1 - Name "SC_di_128" -Type "DI" -Unit "Slave_CAN2" -Phsig 128 - Name "SC_do_128" -Type "DO" -Unit "Slave_CAN2" -Phsig 128 - Name SC_ao_1 -Type AO -Unit Slave_CAN2 -Phsig 1 \ - LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0 - Name SC_ai_1 -Type AI -Unit Slave_CAN2 -Phsig 1 \ - LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0

4.6.2

Connecting two S4Cplus systems using the S4Cplus DeviceNet slave. In this example two S4Cplus systems will be connected together using the second DeviceNet channel (CAN2) and the slave functionality. Remember to disskonnect V+, V- and the shield on the DeviceNet cable between the systems to aviod ground loops. First S4Cplus system. The S4Cplus DeviceNet slave will be configured to address 10 on the second DeviceNet channel (CAN2). The slave unit will have 128 digital inputs, 128 digital outputs, 3 analogue inputs and 3 analogue outputs. The S4Cplus DeviceNet master on CAN2 will be configured to address 3 and baudrate 500, to aviod duplicate addresses with master on the second system. File: EIO.CFG EIO:CFG_1.0:3:0:: # EIO_BUS_USER: - Name CAN2 \ - Driver "/BASE2:" \ - CfgPath "HOME/can2_cfg.txt" # EIO_UNIT: - Name "Slave_CAN2" -Type "DNET_SLAVE" -Bus "CAN2" -Address "10" \ - Digin 128 -Digout 128 -Anin 3 -Anout 3 # EIO_USER_SIGNAL = EIO_SIGNAL: - Name "SC_di_1" -Type "DI" -Unit "Slave_CAN2" -Phsig 1 - Name "SC_do_1" -Type "DO" -Unit "Slave_CAN2" -Phsig 1

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- Name "SC_di_128" -Type "DI" -Unit "Slave_CAN2" -Phsig 128 - Name "SC_do_128" -Type "DO" -Unit "Slave_CAN2" -Phsig 128 - Name SC_ao_1 -Type AO -Unit Slave_CAN2 -Phsig 1 \ - LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0 - Name SC_ai_1 -Type AI -Unit Slave_CAN2 -Phsig 1 \ - LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0

File: can2_cfg.txt # This is a comment. Configuration file for Second DeviceNet channel # Parameter to set master address on CAN2 to 3. # The syntax is "-MacId X" were X is a integer between 0 and 63. - MacId 3 # Parameter to set CAN2 baudrate to 125 kbps. # The syntax is "Baudrate Y" were Y is a valid DeviceNet baudrate (125, 250,500). - Baudrate 500

Second S4Cplus system. This will configure a unit of type EXT_DNET_SLAVE to connect to the slave on the first system, the size and address should match the slave on the first system. The S4Cplus DeviceNet master on CAN2 will have the default values address 1 and baudrate 500. Note! The unit type EXT_DNET_SLAVE is a predefined unit type. That means the user should use this unit type and does not need to make any EIO_UNIT_TYPE definition for the slave.

File: EIO.CFG EIO:CFG_1.0:3:0:: # EIO_UNIT: - Name "Ext_Slave_CAN2" -Type "EXT_DNET_SLAVE" -Bus "CAN2" -Address "10" \ - Digin 128 -Digout 128 -Anin 3 -Anout 3 # EIO_USER_SIGNAL = EIO_SIGNAL: - Name "SB_di_1" -Type "DI" -Unit "Ext_Slave_CAN2" -Phsig 1 - Name "SB_do_1" -Type "DO" -Unit "Ext_Slave_CAN2" -Phsig 1

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- Name "SB_di_128" -Type "DI" -Unit "Ext_Slave_CAN2" -Phsig 128 - Name "SB_do_128" -Type "DO" -Unit "Ext_Slave_CAN2" -Phsig 128 - Name SB_ao_1 -Type AO -Unit Ext_Slave_CAN2 -Phsig 1 \ - LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0 Name SB_ai_1 -Type AI -Unit Ext_Slave_CAN2 -Phsig 1 \ LogMax 10 -LogMin 0 -PhMax 1 -PhMin 0 Resulting DeviceNet Network This configuration will result in the folowing units on the DeviceNet bus (CAN2) operating on 500 kbps.
unit S4Cplus DeviceNet master S4Cplus DeviceNet master S4Cplus DeviceNet slave address 1 3 10

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