Application Manual DeviceNet Master-Slave PDF
Application Manual DeviceNet Master-Slave PDF
Application Manual DeviceNet Master-Slave PDF
DeviceNet Master/Slave
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Workspace R15-1 version a3
Checked in 2015-03-25
Skribenta version 4.1.349
Application manual
DeviceNet Master/Slave
RobotWare 6.01
Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation, IRC5 .......................................................................................................... 9
Safety ................................................................................................................................................ 11
Network security ............................................................................................................................... 12
Terminology ...................................................................................................................................... 13
1 Introduction 15
1.1 What is DeviceNet? ........................................................................................... 15
1.2 DeviceNet for IRC5 ............................................................................................ 17
2 Hardware overview 19
2.1 Main computer DSQC1000 .................................................................................. 19
2.2 Cables and connections ..................................................................................... 21
2.2.1 Shield grounding and power ...................................................................... 21
2.2.2 Termination resistors ............................................................................... 23
2.2.3 Cabling ................................................................................................. 24
2.2.4 Selecting cables ...................................................................................... 25
2.2.5 Repeaters .............................................................................................. 26
2.3 Devices ........................................................................................................... 28
3 Software overview 29
3.1 Information about the internal slave device ............................................................ 29
3.2 Information about the internal master .................................................................... 31
7 System parameters 97
7.1 Introduction ...................................................................................................... 97
7.2 Type Industrial Network ...................................................................................... 99
7.2.1 Address ................................................................................................. 99
7.2.2 DeviceNet Communication Speed .............................................................. 100
7.3 Type DeviceNet Device ...................................................................................... 101
7.3.1 Address ................................................................................................. 101
7.3.2 Vendor ID .............................................................................................. 102
7.3.3 Product Code ......................................................................................... 103
7.3.4 Device Type ........................................................................................... 104
7.3.5 Production Inhibit Time ............................................................................ 105
7.3.6 Connection Type ..................................................................................... 106
7.3.7 Poll Rate ................................................................................................ 107
7.3.8 Connection Output Size ............................................................................ 108
7.3.9 Connection Input Size .............................................................................. 109
7.3.10 Quick Connect ........................................................................................ 110
7.4 Type DeviceNet Internal Device ........................................................................... 111
7.4.1 Connection Input Size .............................................................................. 111
7.4.2 Connection Output Size ............................................................................ 112
7.5 Type DeviceNet Command .................................................................................. 113
7.5.1 Path ...................................................................................................... 113
7.5.2 Service .................................................................................................. 115
Index 119
Usage
This manual should be used during installation and configuration of the DeviceNet
network and upgrading of the option DeviceNet Master/Slave.
Prerequisites
The reader should have the required knowledge of:
? Mechanical installation work
? Electrical installation work
? System parameter configuration
References
Document references
References Document ID
Other references
References Description
References Description
ODVA DeviceNet Specification, revision 2.0 Specification from ODVA (Open DeviceNet
Vendor Associations).
Revisions
Revision Description
- First edition.
Released with RobotWare 6.0.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
? Safety information.
? Installation and commissioning (descriptions of mechanical installation or
electrical connections).
? Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
? Repair (descriptions of all recommended repair procedures including spare
parts).
? Calibration.
? Decommissioning.
? Reference information (safety standards, unit conversions, screw joints, lists
of tools).
? Spare parts list with exploded views (or references to separate spare parts
lists).
? Circuit diagrams (or references to circuit diagrams).
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, DVD with PC software).
? How to install included or required hardware.
? How to use the application.
? Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
? Operating manual - Emergency safety information
? Operating manual - General safety information
? Operating manual - Getting started, IRC5 and RobotStudio
? Operating manual - Introduction to RAPID
? Operating manual - IRC5 with FlexPendant
? Operating manual - RobotStudio
? Operating manual - Trouble shooting IRC5 , for the controller and manipulator.
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:
? Devices inside the controller, for example I/O devices, 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, ensure you are familiar
with the safety regulations described in Operating manual - General safety
1
information .
1 This manual contains all safety instructions from the product manuals for the manipulators and the controllers.
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface, It is your sole responsibility to provide and continuously
ensure a secure connection between the product and to your network or any other
network (as the case may be). You shall establish and maintain any appropriate
measures (such as but not limited to the installation of firewalls, application of
authentication measures, encryption of data, installation of anti-virus programs,
etc) to protect the product, the network, its system and the interface against any
kind of security breaches, unauthorized access, interference, intrusion, leakage
and/or theft of data or information. ABB Ltd and its entities are not liable for
damages and/or losses related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
Terminology
Terms
Term Explanation
1 Introduction
1.1 What is DeviceNet?
General
DeviceNet is a communications link to connect industrial devices. It is a simple
networking solution that reduces both cost and time to wire and install industrial
automation devices, and the direct connectivity provides improved communication
between devices. DeviceNet is an open network standard.
Here are some examples of applications:
? Peer-to-peer data exchange where a DeviceNet product can produce and
consume messages
? Master/slave operation defined as a proper subset of Peer-to-Peer
? A DeviceNet product can function as a client or server, or both
DeviceNet specification
The DeviceNet specification defines a network communication system for moving
data between elements of an industrial control system.
I/O messages I/O messages are for time-critical and control-oriented data, and
they provide a dedicated and special-purpose communication path
between a producing application and one or more consuming ap-
plications.
Polled connection This technique is used for any amount of I/O data. Each slave
receives a query from the master and may or may not respond
before the next device has received a query. A slave can only
respond to a request from the master.
Change-Of-State (COS) con- Devices are configured to produce data upon a change of
nection I/O data. This technique can improve system throughput
significantly. Data messages must be acknowledged by the
receiver before new messages can be sent. Heart beat mes-
sages are used to tell the receiver that the device is still alive
even if no data has changed state for a long time.
Change-Of-State with ac- Devices are configured to produce data upon a change of
knowledge suppression application data. This technique can improve system
throughput significantly. No acknowledge is required - that
is, the receiver of data must be able to consume the data at
the same rate as it is produced by the sending device.
General
The DeviceNet network for IRC5 is running on a single channel PCI Express board
in the IRC5 main computer.
The DeviceNet board, DSQC1006, requires the main computer DSQC1000.
Options
With option DeviceNet Master/Slave , the IRC5 controller can act as a master, slave,
or both on the DeviceNet network.
Note
Note that the network settings are shared between the slave and the master if
the IRC5 controller acts as both on the DeviceNet network.
Note
If only DeviceNet slave functionality is required, then the option DeviceNet Anybus
Slave can also be used.
For more information see Application manual - DeviceNet Anybus Slave .
Devices
Several I/O devices and gateways for DeviceNet communication are available from
ABB, see Device descriptions on page 54.
Specification overview
Item Specification
2 Hardware overview
2.1 Main computer DSQC1000
Connections
The I/O network is connected to the DeviceNet PCI Express board, DSQC1006, on
the main computer. The DeviceNet PCI Express board is a single channel board
that can act both as a master and a slave simultaneously on the DeviceNet network.
The following figure illustrates the location of the PCI Express board in the main
computer unit.
A
xx1300001968
xx0200000292
A
xx1300000697
COMM Flashing green Online - that is, board is communicating on the net-
work but no configured devices are found.
COMM Solid green Online and configured - that is, board is communic-
ating on the network and at least one configured
device is found.
COMM Solid red Bus off - that is, board unable to communicate on
network.
HLT Solid red Board is not running, an error occurred during board
firmware load or a fatal runtime error occurred.
Note
General
The DeviceNet shield and V- should be interconnected and grounded at only one
place in the DeviceNet network. For more advanced connections with several
power supplies refer to the DeviceNet Specification , see References on page 7.
Power supply
The DeviceNet network needs to be powered by a separate power supply. The
power supply can be located either inside or outside of the IRC5 controller.
Some I/O devices may also require separate power supply for the I/O signals.
xx1300000696
F IRC5 controller.
Grounding
The following illustration shows an example of cable grounding:
xx0300000525
General
Each end of the DeviceNet network must be terminated with a 121 ohm resistor.
The two terminating resistors should be as far apart as possible.
The technical specification of the termination resistor is:
? 121 ohm, 1 %, 0.25 W metal film resistor
The termination resistor is placed in the cable connector. There is no internal
termination on the DeviceNet PCI Express board.
xx0400000674
Illustration
The illustration below shows an example of how to terminate the DeviceNet network.
B
B
C C C A
xx1300000698
B Termination resistor
C I/O device
2.2.3 Cabling
xx0400000849
xx0300000579
A Terminator
B Trunk line
C Drop line
D Tap
E Zero drop
F Node
G Short drop
H T-connector
DeviceNet network
The end-to-end network distance varies with data rate and cable thickness. For
information about cable length dependency on cable type and data rate, see the
following tables. For specification of the designations on the different cable types,
see ODVA DeviceNet Specification .
2.2.5 Repeaters
Usage
Repeaters are used for the following purposes:
? To avoid disturbances such as ESD/EFT, which may otherwise propagate to
other parts of the network.
? To isolate noisy segments.
? When using several power supplies a repeater could be used to isolate the
supplies from each other to avoid voltage potential differences and ground
currents.
TR TR
IRC5
REP-DN
Repeater
Network A Network B
PS PS
en0400000724
Control Controller
TR Terminating resistor
PS Power supply
IRC5 TR TR
Network A
PS
REP-DN
Repeater
TR
PS Network B
TR
en0400000725
Control Controller
TR Terminating resistor
PS Power supply
2.3 Devices
General
It is possible to connect any type of DeviceNet compliant device on the DeviceNet
master network. All devices should comply with the DeviceNet standard and be
conformance tested by ODVA.
Devices may be mounted inside the controller.
For details about devices, see Boards and devices on page 47 .
Further information
The table gives references to additional information:
Information See
Allowed configurations of devices and how Technical reference manual - System para-
to setup the configurations. meters .
3 Software overview
3.1 Information about the internal slave device
General
To use the DeviceNet internal slave device, the IRC5 controller must be installed
with the option 709-1 DeviceNet Master/Slave .
The DeviceNet internal slave device can be used to:
? connect the IRC5 controller to a PLC.
? connect the IRC5 controller to another IRC5 controller which acts as a master.
The DeviceNet internal slave device shares address and physical connector with
the master.
Predefined Network
When the robot system is installed with the DeviceNet option, a predefined industrial
network with the name DeviceNet is created at system startup.
EDS file
An Electronic Data Sheet file, EDS file, is available for the internal slave device,
matching the configuration of the predefined internal slave device.
The EDS file, IRC5_Slave_DSQC1006.eds , for the internal slave device can be
obtained from the PC or the IRC5 controller.
? On the PC where the RobotWare is installed :
%LocalAppData%\ABB Industrial IT\Robotics
Note
An example from the EDS file where the predefined input and output sizes are
changed from 8 bytes to 16 bytes is shown below:
[IO_Info]
Default = 0x0000;
Input1 = 16 ;
Output1 = 16 ;
I/O connection
The internal slave device supports both Polled and Change-of-State (COS)
connection. Size and connection type supported are defined in parameter DeviceNet
Internal Device, see Type DeviceNet Internal Device on page 111 .
Note
When using Polled Connection on a DeviceNet device, the output signals of the
device will be updated directly.
Note
If the DeviceNet internal slave device loses connection with the master, for
example if the connection is interrupted, the input signals of the slave device are
cleared (reset to zero).
Limitations
The DeviceNet internal slave device has the following limitations:
? The predefined internal slave device DN_Internal_Device is supporting a
polled connection with the size of 8 digital input bytes and 8 digital output
bytes but can be increased to the maximum value, which is 64 digital input
bytes and 64 digital output bytes.
? Both the input and output map starts at bit 0 and ends at bit 63.
General
To be able to use the DeviceNet internal master, the IRC5 controller must be
installed with the option 709-1 DeviceNet Master/Slave .
The DeviceNet internal master can for example be used to:
? connect DeviceNet I/O devices to the IRC5 controller.
? connect the IRC5 controller to another IRC5 controller which acts as a slave.
Predefined Network
When the robot system is installed with the DeviceNet Master/Slave option, a
predefined industrial network with the name DeviceNet is created at system startup.
Device Templates
There is a set of predefined device templates available for the internal master.
These device templates can be used when defining a new device by using the
Configuration Editor in RobotStudio or FlexPendant, see Internal master
configuration on page 38. Examples of present device templates are:
? ABB DeviceNet Slave Device is used on the master side to connect to an
IRC5 DeviceNet slave using the DeviceNet PCI Express board.
? ABB DeviceNet Anybus Slave Device is used on the master side to connect
to an IRC5 DeviceNet slave using the DeviceNet Anybus Slave.
? DeviceNet Generic Device is used on the master side to connect to an I/O
device when the EDS file is unavailable, using Change Of State connection.
For more information see Configuration of third party devices on page 43.
Note
The DeviceNet Generic Device template should only be used when installing
and commissioning new I/O devices because it will increase the startup time.
When restarting the system, the identification of the I/O device will be lost and
there will not be any information if the I/O device is replaced with another I/O
device, which has other functionality or size.
Note
For more information about the DeviceNet devices from ABB Robotics , see Boards
and devices on page 47.
Note
The internal slave device is not counted as an user defined I/O device.
ABB I/O devices and I/O devices from other vendors can be used. No additional
software option, except for the DeviceNet Master/Slave option, is required to run
I/O devices from other vendors.
General
The internal slave device is pre-installed at the system startup. However, the input
and output size of the device can be changed.
This section describes the recommended working procedure when installing and
configuring an internal slave device. The working procedure helps to understand
the dependencies between the different steps.
When the IRC5 controller is connected to an external master, the IRC5 controller
acts as an ordinary device on the DeviceNet network.
Note
Basic steps
Use this procedure to install and configure a DeviceNet slave.
Action See
Configure the internal slave device in the Configuring the internal slave device on
IRC5 controller using RobotStudio or the page 34
FlexPendant.
Action Note
2 Open the Configuration Editor and select For more information about the paramet-
I/O System . ers, see System parameters on page 97 .
Note
xx1400001531
Note that the network settings are shared
between the internal slave device and the
internal master if the IRC5 controller acts
as both on the DeviceNet network.
xx1400001532
Action Note
xx1400001533
Note
For the DeviceNet internal slave device, both the input and output map starts at
bit 0 and ends at bit 63.
General
The external master is configured using the vendor specific configuration tool that
is delivered, or bought, together with the master.
The tool is used in order to specify all the devices in the DeviceNet network. One
of the devices is the internal slave device of the IRC5 controller. To be able to
create such a device, the EDS file describing the internal slave device has to be
imported into the vendor specific configuration tool, see EDS file on page 29 .
All other I/O devices used in the network also has to have its EDS file imported.
Action
General
This section describes the recommended working procedure when installing and
configuring a DeviceNet internal master. The working procedure helps to understand
the dependencies between the different steps.
Basic steps
Use this procedure to install and configure a DeviceNet master.
Action See
1 Configure the master in the IRC5 con- Configuring the IRC5 controller on page 38
troller using RobotStudio or the Flex-
Pendant.
Additional configuration
Action See
Setting up communication between two IRC5 Communication between two IRC5 controllers
controllers. on page 45 .
Action Note
2 Click Configuration Editor and select I/O For more information about the paramet-
System . ers, see System parameters on page 97 .
Note
5 Add I/O devices to the DeviceNet master. See step 2 of Manual configuration of
I/O devices in RobotStudio on page 39 .
Procedure
Use this procedure to configure the I/O devices in RobotStudio.
Action Note
2 If required, change the address of the Devi- See step 3 of Internal master configura-
ceNet network. tion on page 38 .
xx1400001541
4 Enter the parameter values for the device. DSQC 652 example:
? Name , user defined.
? Connected to Industrial Network ,
shall be DeviceNet .
? Address , the address of the device.
? Other parameters as well can be
changed if applicable.
Click OK .
xx1400001542
Action Note
xx1400001543
Procedure
Use this procedure to configure the I/O devices by using network scan.
Action Note
5 For each I/O device that the scan operation See Manual configuration of I/O devices
discovered, which should be configured in in RobotStudio on page 39 .
the IRC5 system.
Procedure
Use this procedure to configure the I/O devices by using Auto Configuration.
Action Note
2 Connect the I/O devices physically to the See step 3 of Internal master configura-
DeviceNet network that needs to be con- tion on page 38 .
figured.
Note
5 If needed, change the parameters for the in- See step 4 of Manual configuration of
cluded I/O devices and remap or change the I/O devices in RobotStudio on page 39 .
signals added on the I/O device to reflect the
meaning of the data bits.
Usage
When new DeviceNet I/O devices should be configured and the information available
is not sufficient to create a new device, then the template DeviceNet Generic Device
could be used to retrieve necessary information. This could be the case when third
party devices should be configured and the EDS file is missing.
Note
When using the template DeviceNet Generic Device , you accept any type of
device as long as the address matches - that is, make sure to use the correct
address.
Prerequisites
The network address of the I/O device must be known and the baud rate must
match the master.
Action Note
Action Note
3 Add new DeviceNet Device and select the For information see Operating manu-
DeviceNet Generic Device template from al - RobotStudio .
the Use values from template drop-down
list.
xx1400002213
5 View event log that shows device identific- For information see Operating manu-
ation parameters and connection support al - RobotStudio and/or Operating manu-
information. al - IRC5 with FlexPendant .
Two event messages appear in the Event
Log window in RobotStudio.
6 Create a new I/O device by using informa- See Manual configuration of I/O devices
tion from the event log. in RobotStudio on page 39 .
Usage
When two IRC5 controllers are connected to each other via DeviceNet, one of them
must be configured as a master and the other one must be configured as a slave.
Note
Limitations
The DeviceNet address cannot be the same on the two controllers since they shall
be interconnected.
Note
At startup, both controllers will have the same default value for the DeviceNet
address. One address needs to be changed.
Illustration
The figure illustrates DeviceNet communication between two IRC5 controllers.
C
D
xx1300000700
Action Note
1 Configure the IRC5 DeviceNet internal Configuring the internal slave device on
slave device in controller B according to page 34
the configuration procedure for the internal
slave device.
? Change the DeviceNet address on
the IRC5 DeviceNet slave device.
? Use the predefined internal slave
device with the name DN_Intern-
al_Device .
2 Configure the IRC5 DeviceNet master in Configuring the IRC5 controller on page 38
controller A to connect to the IRC5 Devi-
ceNet internal slave device in controller B,
according to the configuration procedure
for the internal master.
? Use the default value for the Devi-
ceNet address.
? Use the DeviceNet device template
DN_Device when adding the slave
in the master controller.
4 Physically interconnect the two IRC5 con- Cables and connections on page 21
trollers.
6 Restart the master controller. The master will now connect to the slave
controller.
General
Each of the devices connected to the DeviceNet network includes LED indicators
which indicate the condition of the device and the function of the network
communication.
LEDs
The LEDs found on the devices connected may be divided into two categories.
Common LEDs
The following LEDs can be found on all devices:
? MS - Module status
? NS - Network status
Specific LEDs
Certain devices also include the following LEDs:
? DeviceNet Tx - DeviceNet network transmit
? DeviceNet Rx - DeviceNet network receive
MS - Module status
The bicolor (green/red) LED indicates the status of the device. It indicates whether
or not the device has power and is operating properly. The LED is controlled by
software. The following table shows the different states of the MS LED.
RED steady The device has an unrecoverable Device may need replacing.
fault.
RED/GREEN flashing The device is running self test. If flashing for more than a few
seconds, check hardware.
NS - Network status
The bicolor (green/red) LED indicates the status of the communication link. The
LED is controlled by software. The following table shows the different states of the
NS LED.
GREEN steady The device is online and has connection If no light, check other LED
in the established state. modes.
For a group 2 device only: the device is
allocated to a master.
For a UCMM capable device: the device
has one or more established connec-
tions.
GREEN flash- Device is online, but has no connections Check that other nodes in the
ing in the established state. network are operative.
The device has passed the Dup_MAC_ID Check parameter to see whether
test, is online, but has no established module has correct ID.
connections to other nodes.
For a group 2 device only: the device is
not allocated to a master.
For a UCMM capable device: the device
has no established connections.
RED flashing One or more I/O connections are in the Check system messages.
time-out state.
RED steady Failed communication device. The Check system messages and
device has detected an error rendering parameters.
it incapable of communicating on the
network.
(Duplicate MAC_ID, or Bus-off).
GREEN steady Physically connected to the Devi- If no light, check network and
ceNet Rx line. connections.
Process
The system performs a test of the MS and NS LEDs during startup. The purpose
of this test is to check that all LEDs are working properly. The test runs as follows:
Additional LEDs
If a device has other LEDs, each LED is tested in sequence.
General
Up to 20 I/O devices can be connected to the same controller.
Requirements
External devices
External relay coils, solenoids, and other devices that are connected to the controller
must be neutralized. The following sections describe how this can be done.
Note
The turn-off time for DC relays increases after neutralization, especially if a diode
is connected across the coil. Varistors give shorter turn-off times. Neutralizing
the coils lengthens the life of the switches that control them.
xx0100000163
xx0100000164
xx0100000165
Description
Each device is given a unique address (ID).
xx0100000245
A Connector X5
B Address pins
C Address key
Note
Connector X5
Connector X5 is a DeviceNet connector. The following table shows the connections
to connector X5.
3 Shield
6 Logic GND
8 Board ID bit 1
9 Board ID bit 2
10 Board ID bit 3
11 Board ID bit 4
6.2.1 Introduction
Overview
This section includes descriptions of the different I/O devices that support DeviceNet
communication. The following devices are described:
DSQC 653 Digital I/O with relay outputs Distributed I/O device 3HAC025918-001
There are template I/O configuration files available for the above devices. For more
information, see Template I/O configuration files on page 32.
Description
The DSQC 351 is a circuit board normally mounted in the control module. As an
option, it may also be mounted in an external I/O device.
The device handle input and output signals between the DeviceNet system and
the INTERBUS system.
Communication concept
The INTERBUS system is able to communicate with a number of external devices,
depending on the number of process words occupied by each device. The robot
controller may be equipped with several DSQC 351 boards. The INTERBUS inputs
and outputs are accessible in the robot controller as general inputs and outputs.
The following figure is an outline diagram of the communication concept:
xx0100000224
F 64 inputs/64 outputs
Note
A link is connected between pin 5 and 9 in the plug on the interconnection cable
connected to the OUT connector (connector X21) of each device. The link informs
the INTERBUS device that more devices are connected further out in the chain.
(The last device does not have a cable connected and therefore no link.)
xx0100000225
Parts
The table below refers to Illustration of DSQC 351 on page 56.
Item Description
X5 DeviceNet connector
Technical data
Supply
The INTERBUS gateway must be fed externally to avoid shutting down the
INTERBUS net if a robot cell is switched off. The 24V power supply must be fed
from an external power source and be connected to connector X3.
Connector X3
xx0100000221
NC 2 Not connected
NC 4 Not connected
Connector X5
xx0100000244
Connector X20
xx0100000220
NC 4 Not connected
NC 5 Not connected
NC 8 Not connected
NC 9 Not connected
Connector X21
xx0100000220
NC 4 Not connected
+5V 5 + 5 VDC
NC 8 Not connected
RBST 9 Synchronization
Note
POWER-24 VDC GREEN Indicates that a supply voltage is present, and has a level
(upper indicator) above 12 VDC.
If there is no light, check that voltage is present on power
module. Check also that power is present in power con-
nector. If it is not, check cables and connectors.
If power is applied to device but device does not work,
replace device.
POWER- 5 VDC GREEN Lit when both 5 VDC supplies are within limits, and no re-
(lower indicator) set is active.
If there is no light, check that voltage is present on power
module. Check also that power is present in power con-
nector. If it is not, check cables and connectors.
If power is applied to device but device does not work,
replace device.
RBDA RED Lit when this INTERBUS station is last in the INTERBUS
network. If it is not, verify the INTERBUS configuration.
General LEDs
The significance of the LEDs are specified in section DeviceNet network and I/O
board status LED description on page 47.
Input map
The figure below shows the digital input mapping.
en0400000799
m The number of words (16 bit) that the device has been configured to, using the
DeviceNet Command DataWidth .
INTER- The status of the INTERBUS communication can be monitored using the signal
BUS INTERBUS Status . When INTERBUS Status is set it indicates that the device is
Status in data communication with the PLC/master controlling it, i.e. network is active
(the BA LED is lit).
N.U. Not used. The signal position is reserved for future use and shall not be used.
The INTERBUS Status signal is located in the last bit of the last byte of the input
area. For example, if the DataWidth is set to 4 (words) there are 8 bytes of input
data (bit 0-63), and the INTERBUS Status is located in the last bit of the 9th byte
i.e. bit 71.
Output map
The figure below shows the digital output mapping.
en0400000800
m The number of words (16 bit) that the device has been configured to, using the
DeviceNet Command DataWidth .
DeviceNet Command
Following table gives necessary data on the DeviceNet Command for DeviceNet
communication.
Additional information
The data areas of the gateway are "byte-consistent", which means that signals
within the same byte (groups of 8 bits) are handled as one piece and are guaranteed
to belong to the same network-cycle. Normally this does not cause any problems,
but if a group signal has been defined across the byte boundaries as e.g. a 16 bit
group signal this needs to be considered. It is important to make sure that undesired
behaviors are avoided in the case when the group signal is updated at exactly the
same time as the gateway is being polled/scanned by one of the masters.
The values for the DeviceNet Command are stored in flash memory of the gateway
module. Any change of these values requires a reset (or power cycle) of the gateway
module before it actually assumes these new values.
Note
Description
The encoder device DSQC 377 provides connection for one encoder and one digital
input (synchronization switch), and includes queue tracking functions.
Usage
The encoder device is normally used for installation on a conveyor to enable the
robot programs to synchronize to the motion (position) of the conveyor (conveyor
tracking).
The digital input is used for synchronization switch (also called sync signal), which
means conveyor synchronization point.
xx0400000751
Parts
Item Description
X5 DeviceNet connector
Technical data
Encoder connections
The wiring diagram in the figure below shows how to connect the encoder and
sync signal switch to the encoder device. As can be seen from the illustration, the
encoder is supplied with 24 VDC and 0 V. The encoder has two channels. The main
device uses quadrature decoding to compute position and direction information.
xx0100000234
AC Encoder
AD Sync switch
AG Galvanic isolation
Connector X3
xx0100000221
NC 2 Not connected
NC 4 Not connected
Connector X5
xx0100000244
Connector X20
xx0100000235
24 VDC supply 1
0V 2
Encoder 1 - 24VDC 3
Encoder 1 - 0V 4
Encoder 1 - Phase A 5
Encoder 1 - Phase B 6
Digital input 1 - 0 V 8
Not used 10
Not used 11
Not used 12
Not used 13
Not used 14
Not used 15
Not used 16
POWER, 24 VDC Green Indicates that a supply voltage is present, and has a level
above 12 VDC.
If there is no light, check that voltage is present on power
device and in connector X20. If not, check cables and con-
nectors.
If power is applied to the device but it does not work, replace
the device.
NS/MS Green/red Network and module status LEDs. See section DeviceNet
network and I/O board status LED description on page 47 .
CAN Tx/CAN Rx Green/red See section DeviceNet network and I/O board status LED
description on page 47 .
ENC 1A/1B Green Indicates phase 1 and 2 from encoder. Flashes at each En-
coder pulse. At frequencies higher than a few Hz, flashing
can no longer be observed (light will appear weaker).
If there is no light, there is an error due to one or more of
the following reasons:
? Faulty power supply for input circuit (internal or ex-
ternal).
? Defective input circuit on board.
? Short circuit or broken wire in external wiring or con-
nectors.
? Internal error in device.
Constant light indicates constant high level on input and
vice versa.
No light on one LED indicates fault in one encoder phase.
Input map
The following figure shows the input mapping.
Note
Pay attention to the order of the bits for the analog signals.
en0400000816
Note
Generally PosInJobQ concerns only the queue tracking mode. All signals on the
DSQC 377 are available even in DSQC 354-mode (c1PosInJobQ=0). The only thing
c1PosInJObQ disables, is that the object position is not sent to the main controller.
The following table specifies the input signals.
PassStw DI 107 Set when an object has gone outside the start window
or has fallen off the conveyor.
NewObjStrobe DI 108 New position from the encoder node to enter the job
queue.
The bit is valid for DSQC 377-mode, i.e. when PosIn-
JobQ is set to 1.
ScaleEncPulse DI 114 The encoder pulse scaled down by the factor given
by the command ScalingFactor .
TimeStamp GI 120-151 Holds the time when following signals were last
sampled:
? Position
? Speed
? Connected
? NullSpeed
Output map
The figure below shows the output signals mapping.
en0400000817
Note
Generally PosInJobQ concerns only the queue tracking mode. All signals on the
DSQC 377 are available even in DSQC 354 mode (c1PosInJobQ=0). The only thing
c1PosInJObQ disables, is that the object position is not sent to the main controller.
The following table specifies the output signals.
Additional information
For detailed information on using the DSQC 377 in an application refer to Application
manual - Controller software IRC5 .
Note
Different application specific parameters for the DSQC 377B device can be set
by using DeviceNet Command.
For detailed information refer to Application manual - Conveyor tracking .
Description
The DSQC 378 device offer an interface between the CCLink network and the
DeviceNet network as used on the robot system. The devices are regarded as
intelligent devices by the CCLink PLC.
Communication concept
The CCLink can communicate with a number of external devices, depending on
the number of stations occupied by each device. There is a maximum of 64 stations,
each capable of up to 32 I/O points and 8 points word data. The devices are setup
to have between 1 and 4 occupied stations each. The CCLink device is connected
to the CCLink PLC by a twisted pair cable with shield.
The CCLink inputs and outputs are accessible in the robot controller as general
inputs and outputs.
Following figure is an outline diagram of the communication concept:
xx0400000826
B Robot 1 controller
C Robot 2 controller
D Robot 3 controller
F Connector X8 controller
Note
The CCLink cable must be terminated with termination resistors (110 ohm) in
both ends.
xx1000001343
Parts
Item Description
X5 DeviceNet connector
Technical data
Device setup
The device must be given an ID address, and setup parameters must be entered
into the system.
Connector X3
xx0100000221
NC 2 Not connected
NC 4 Not connected
Connector X5
xx0100000244
Connector X8
xx0200000265
DA 2 Signal line, A
DB 4 Signal line, B
NC 5 Not connected
POWER-24 VDC Green Indicates that a supply voltage is present, and has a level
above 12 VDC.
If there is no light, check that voltage is present on power
module. Check also that power is present in power con-
nector. If it is not, check cables and connectors.
If power is applied to device but device does not work,
replace device.
RUN (ON: H output) ON: Receive both refresh and polling signals or just the
refresh signal normally, after joining the network.
See figure below this table.
OFF:
1 Before joining the network.
2 Unable to detect carriers neither for channel 1 or
2.
3 Time out.
4 Resetting hardware.
ERR ON:
1 CRC error. Check setup in both robot controller and
PLC.
2 Switch setting error during cancellation of reset (0,
65, or greater is set including the number of occu-
pied stations).
3 Baud rate switch setting error during cancellation
of reset (5 or greater).
OFF:
1 Normal communication.
2 Resetting hardware.
BLINKING: The switch setting has been changed from
the setting at the reset cancellation (blinks for 0.4 sec.).
Note
Read the figure line by line. The Operation column describes the operation status
depending on the status of the four LEDs.
en0400000827
General LEDs
The significance of the LEDs are specified in section DeviceNet network and I/O
board status LED description on page 47.
Input map
The following figure shows the digital input mapping.
en0400000823
m The size in bytes (8 bit) that the device has been configured to, using the Devi-
ceNet Commands OccStat and BasicIO . .
CCLink The status of the CCLink communication can be monitored using the signal
Status CCLink Status . When CCLink Status is set it indicates that the CCLink commu-
nication is OK.
N.U. Not used. The signal position is reserved for future use and shall not be used.
The CCLink Status signal is located at the last bit of the last byte of the input area.
For example, if OccStat is set to 2 and BasicIO is set to 0 there are 6 bytes of
input data (bit 0-47), and the CCLink Status is located in the last bit of the 7th byte
i.e. bit 55.
Output map
The figure below shows the digital output mapping.
en0400000824
m The size in bytes (8 bit) that the device has been configured to, using the Devi-
ceNet Commands OccStat and BasicIO . .
DeviceNet Command
Following table gives necessary data on the DeviceNet Command for DeviceNet
communication.
Value of OccStat No. of bits when No. of bytes No. of bits when No. of bytes
BasicIO = 0 when BasicIO = BasicIO = 1 when BasicIO =
0 1
1 16 2 80 10
2 48 6 176 22
3 80 10 272 34
4 112 14 368 46
Additional information
The data areas of the gateway are "byte-consistent", which means that signals
within the same byte (group of 8 bits) are handled as one piece and are guaranteed
to belong to the same network-cycle. Normally this does not cause any problems,
but if a signal group has been defined across the byte boundaries as e.g. a 16 bit
group signal this needs to be considered. It is important to make sure that undesired
behaviors are avoided in the case when the group signal is updated at exactly the
same time as the gateway is being polled/scanned by one of the masters.
The values for the DeviceNet Command are stored in flash memory of the gateway
module. Any change of these values requires a reset (or power cycle) of the gateway
module before it actually assumes these new values.
Note
Description
The DSQC 651 is a circuit board normally mounted inside the robot controller. As
an option, it may also be mounted in an external I/O module.
The combi I/O device handles digital and analog communication between the robot
system and any external systems.
xx0600002853
Parts
Item Description
A Status LEDs
X1 Digital outputs
X3 Digital inputs
X5 DeviceNet connector
X6 Analog outputs
Technical data
Analog outputs Number of analog outputs: 2 (galvanically isolated from the controller
electronics)
Short-circuit protected outputs
Output voltage:
? 0-10 VDC
Load Impedance:
? min 2 kohm
Resolution:
? 12 bits
Inaccuracy (Over temperature range + 5 C to +70 C):
? maximum 25 cmV (0.5 % of full scale)
Baud rate Autodetect; the device will detect the baud rate automatically.
Note
When the master baud rate is changed disconnect the power to the
device(s) before the system is restarted, reconnect the power when
the master is up and running.
Device setup
The device must be given an address, and setup parameters must be entered into
the system.
Connector X1
If supervision of the supply voltage is required, a bridge connection can be made
to an optional digital input. This also requires the particular device to have a
separate power supply, in order to be able to monitor the regular power supply
voltage.
The supervision instruction must be written in the RAPID program.
xx0200000264
Connector X3
xx0200000264
The input current is 5.5 mA (at 24 V) on the digital inputs. A capacitor connected
to ground, to prevent disturbances, causes a short rush of current when setting
the input.
When connecting outputs, sensitive to pre-oscillation current, a series resistor (100
Ohms) may be used.
Connector X5
xx0100000244
Connector X6
xx0200000265
- 1 No connection
- 2 No connection
- 3 No connection
LEDs
The significance of the LEDs are specified in section DeviceNet network and I/O
board status LED description on page 47.
Input map
The following figure shows the digital input mapping.
0 DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 0-7
Output map
The following figure shows the analog and digital output mapping.
Note
Pay attention to the order of the bits for the analog signals.
en0600002851
LSB The least significant bit of the binary number representing the analog signal.
MSB The most significant bit of the binary number representing the analog signal.
Numerical format
The numerical representation of the values are described in the following table:
AO 1-AO 2 +5 V 0x7FFF
Additional information
The following table shows the physical type of the signals, resolution, and so on.
Description
The DSQC 652 is a circuit board normally mounted inside the robot controller. As
an option, it may also be mounted in an external I/O module.
The device handles digital input and output signals between the robot system and
any external systems.
xx0600002855
Parts
Item Description
A Status LEDs
X1 Digital outputs
X2 Digital outputs
X3 Digital inputs
X4 Digital inputs
X5 DeviceNet connector
Technical data
Baudrate Autodetect; the device will detect the baud rate automatically.
Note
Device setup
The device must be given an address, and setup parameters must be entered into
the system.
Connector X1
If supply voltage supervision is required, a bridge connection can be made to an
optional digital input. The supervision instruction must be written in the RAPID
program.
xx0200000264
Connector X2
If supply voltage supervision is required, a bridge connection can be made to an
optional digital input. The supervision instruction must be written in the RAPID
program.
xx0200000264
Connector X3
xx0200000264
The input current is 5.5 mA (at 24 V) on the digital inputs. A capacitor connected
to ground, to prevent disturbances, causes a short rush of current when setting
the input.
When connecting outputs, sensitive to pre-oscillation current, a series resistor (100
Ohms) may be used.
Connector X4
xx0200000264
The input current is 5.5 mA (at 24 V) on the digital inputs. A capacitor connected
to ground, to prevent disturbances, causes a short rush of current when setting
the input.
When connecting outputs, sensitive to pre-oscillation current, a series resistor (100
ohms) may be used.
Connector X5
xx0100000244
LEDs
The significance of the LEDs are specified in section DeviceNet network and I/O
board status LED description on page 47.
Input map
The following figure shows the digital input mapping.
xx0300000613
Output map
The following figure shows the digital output mapping.
en0400000716
Description
The DSQC 653 is a circuit board normally mounted inside the robot controller. As
an option, it may also be mounted in an external I/O module.
The device handles input and output signals between the robot system and any
external systems through relay outputs and digital inputs.
xx0600002857
Parts
Item Description
A Status LEDs
X1 Relay outputs
X3 Digital inputs
X5 DeviceNet connector
Technical data
Baud rate Autodetect; the device will detect the baud rate automatically.
Note
When the master baud rate is changed disconnect the power to the
device(s) before the system is restarted, reconnect the power when
the master is up and running.
Device setup
The device must be given an address, and setup parameters must be entered into
the system.
en0500001565
The following illustration shows how to connect the digital inputs for the connector
X3.
en0500001566
Connector X1
xx0100000235
Connector X3
xx0100000235
In ch 1 1
In ch 2 2
In ch 3 3
In ch 4 4
In ch 5 5
In ch 6 6
In ch 7 7
In ch 8 8
0 v for inputs 9
Not used 10
Not used 11
Not used 12
Not used 13
Not used 14
Not used 15
Not used 16
The input current is 5.5 mA (at 24 V) on the digital inputs. A capacitor connected
to ground, to prevent disturbances, causes a short rush of current when setting
the input.
When connecting outputs, sensitive to pre-oscillation current, a series resistor (100
Ohms) may be used.
Connector X5
xx0100000244
LEDs
The significance of the LEDs are specified in section DeviceNet network and I/O
board status LED description on page 47.
Input map
The following figure shows the digital input mapping.
en0600002850
Output map
The following figure shows the digital output mapping.
en0600002849
7 System parameters
7.1 Introduction
Industrial Network
These parameters belong to the type Industrial Network in the topic I/O System .
DeviceNet Device
These parameters belong to the type DeviceNet Device in the topic I/O System .
DeviceNet Command
These parameters belong to the type DeviceNet Command in the topic I/O System .
7.2.1 Address
Parent
Address belongs to the type Industrial Network , in the topic I/O System .
Cfg name
Address
Description
Address is mandatory for a DeviceNet industrial network and decides what address
the DeviceNet master and the internal slave device should use to communicate
with other devices on the DeviceNet network.
Usage
This address is the address that the DeviceNet master and the internal slave device
uses to communicate.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
The Address should not use the same address as another I/O device on the network.
Default value
The default value is 2.
Allowed values
Allowed values are the integers 0-63.
Parent
DeviceNet Communication Speed belongs to the type Industrial Network , in the
topic I/O System .
Cfg name
BaudRate
Description
DeviceNet Communication Speed is mandatory for a DeviceNet industrial network
and decides what communication speed (baud rate) the DeviceNet master and the
internal slave device should use to communicate with other devices on the
DeviceNet network.
Usage
The baud rate is the signalling speed of the communication, and determines the
maximum speed of the data transfer in serial channels. The higher the baud rate
is, the faster the communication can be.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
When using DeviceNet Communication Speed , all devices on the same physical
network must use the same baud rate.
Default value
The default value is 500.
Allowed values
Allowed values are 125, 250, and 500, specifying the baud rate in Kbps (kilobits
per second).
7.3.1 Address
Parent
Address belongs to the type Device , in the topic I/O System .
Cfg name
Address
Description
Address specifies the address that the I/O device is assumed to be using on the
network, and which the master should try to setup a connection against.
Usage
Address is a DeviceNet specific parameter that is only available for DeviceNet
devices.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
All addresses on a DeviceNet network must be unique, the only exception is that
the master and the internal slave device share the same address.
Default value
The default value is 63.
Allowed values
Allowed values are the integers 0-63.
7.3.2 Vendor ID
Parent
Vendor ID belongs to the type Device , in the topic I/O System .
Cfg name
VendorId
Description
Vendor ID is used as an identification of the I/O device to secure communication
to the correct type of device.
Usage
This parameter is used as an identification of the I/O device to secure
communication to the correct device.
The value of Vendor ID can be found in the Electronic Data Sheet (EDS) for the
device (called VendCode in EDS file), or by using a predefined device template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Additional information
The I/O device vendor number is assigned by Open DeviceNet Vendor Associations
(ODVA) to the vendor of the specific I/O device.
Parent
Product Code belongs to the type Device , in the topic I/O System .
Cfg name
ProductCode
Description
Product Code is used as an identification of the I/O device to secure communication
to the correct I/O device.
Usage
This parameter is used as an identification of the I/O device to secure
communication to the correct device.
The value of Product Code can be found in Electronic Data Sheet (EDS) for the
device (called ProdCode in EDS file), or by using a predefined device template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
Default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Additional information
The device product code is defined by the vendor of the device and shall be unique
for the actual product type.
Parent
Device Type belongs to the type Device , in the topic I/O System .
Cfg name
DeviceType
Description
The parameter Device Type specifies the device type of this I/O device as defined
by the Open DeviceNet Vendor Association.
Usage
This parameter is used as an identification of the I/O device to secure
communication to the correct device.
The value of this parameter can be found in the Electronic Data Sheet (EDS) for
the device (called ProdType in EDS file), or by using a predefined device template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Parent
Production Inhibit Time belongs to the type Device , in the topic I/O System .
Cfg name
ProductionInhibitTime
Description
Production Inhibit Time specifies the minimum time, expressed in milliseconds,
between network messages sent by the device.
Usage
Production Inhibit Time is used to control the minimum time between transmissions
from the I/O device in order to prevent overloading of the DeviceNet network.
This parameter is only applicable when connection type is set to Change-Of-State
(COS) connection or Change-Of-State with acknowledge suppression.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
Maximum and minimum values might be constrained by the device.
This parameter is not applicable when connection type is set to polled or strobe
connection.
Default value
The default value is 10.
Allowed values
Allowed values are the integers 0-65535.
Parent
Connection Type belongs to the type Device , in the topic I/O System .
Cfg name
ConnectionType
Description
Connection Type specifies the type of the first connection that should be established
to the device.
Usage
Connection Type is used to define the communication scheme used towards the
I/O device. The different connection types are described in the ODVA DeviceNet
specification (Open DeviceNet Vendor Associations).
The type of connection supported by the I/O device can either be found in the
[IO_Info] section of the Electronic Data Sheet (EDS) for the device, or by using a
predefined device template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
All connection types may not be supported by device.
Default value
The default value is Polled connection.
Allowed values
Allowed values are:
? Polled connection
? Strobe connection
? Change-Of-State (COS) connection
? Cyclic connection
? Change-Of-State with Acknowledge Suppression
? Cyclic with Acknowledge Suppression
Parent
Poll Rate belongs to the type Device , in the topic I/O System .
Cfg name
PollRate
Description
Poll Rate defines the cyclicity of the communication over the first connection.
Usage
Poll Rate is used to optimize network bandwidth and I/O update rates.
Note
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
Maximum and minimum values might be constrained by the device.
Default value
The default value is 1000.
Allowed values
Allowed values are the integers 0-65535, specifying the time in milliseconds.
Parent
Connection Output Size belongs to the type Device , in the topic I/O System .
Cfg name
OutputSize
Description
Connection Output Size defines the data size that is transmitted to the device over
the first connection.
Usage
The value of Connection Output Size can either be found in the [IO_Info] section
of the Electronic Data Sheet (EDS) for the device, or by using a predefined device
template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
Maximum and minimum values might be constrained by the device.
Default value
Default value is 0.
Allowed values
Allowed values are the integers 0-64 (0-512 signal bits), specifying the data size
in bytes.
For devices that can give the device size itself by an explicit message, the value
-1 is also allowed.
Parent
Connection Input Size belongs to the type Device , in the topic I/O System .
Cfg name
InputSize
Description
Connection Input Size defines the data size received from the device over the first
connection.
Usage
The value of Connection Input Size can either be found in the [IO_Info] section of
the Electronic Data Sheet (EDS) for the device, or by using a predefined device
template.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Limitations
Maximum and minimum values might be constrained by the device.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-64 (0-512 signal bits), specifying the data size
in bytes.
For devices that can give the device size itself by an explicit message, the value
-1 is also allowed.
Parent
Quick Connect belongs to the type Device , in the topic I/O System .
Cfg name
QuickConnect
Description
The Quick Connect parameter enables the quick connect option on the master
side of a connection to a device.
Usage
Quick Connect is used to shorten the time when an I/O device is activated from a
deactivated state.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
Default value is Deactivated.
Allowed values
Activated or Deactivated.
Additional information
To be able to use this option completely, the I/O device must support Quick Connect
according to the ODVA DeviceNet Specification.
Parent
Connection Input Size belongs to the type DeviceNet Internal Device , in the topic
I/O System .
Cfg name
InputSize
Description
Connection Input Size defines the data size in bytes for the input area received
from the connected DeviceNet master.
Usage
Connection Input Size is a DeviceNet specific parameter.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
The default value is 8.
Allowed values
Allowed values are the integers 0-64, specifying the data size in bytes.
Parent
Connection Output Size belongs to the type DeviceNet Internal Device , in the topic
I/O System .
Cfg name
OutputSize
Description
Connection Output Size defines the data size in bytes for the output area sent to
the DeviceNet master.
Usage
Connection Output Size is a DeviceNet specific parameter.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
Default value is 8.
Allowed values
Allowed values are the integers 0-64, specifying the data size in bytes.
7.5.1 Path
Parent
Path belongs to the type DeviceNet Command , in the topic I/O System .
Cfg name
Path
Description
Path defines the path to DeviceNet object instance or attribute. Information about
how to define this can usually be found in the [param] section of the EDS file.
Usage
Path is used to describe the path to the instance or attribute, the data type identifier
and the data size that are to be affected by the explicit message.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
The default value is an empty string.
Allowed values
A string with maximum 30 characters.
Related information
ODVA DeviceNet Specification 2.0.
Example
6,20 01 24 08 30 01,C6,1
Description of example:
? 6 is the length of the path - that is, the number of hexadecimal figures until
the next comma.
? Path (20 01 24 08 30 01) is a software description of DeviceNet class, instance
and attribute. A further description can be found in the ODVA DeviceNet
Specification 2.0.
? C6 is the hexadecimal value for the data type identifier.
? 1 is the data size - that is, the number of bytes as a hexadecimal value.
7.5.2 Service
Parent
Service belongs to the type DeviceNet Command , in the topic I/O System .
Cfg name
Service
Description
Service defines the explicit service that should be performed on DeviceNet object
instance or attribute pointed out in Path .
Usage
Service is used to define the type of action to be used.
Prerequisites
The option DeviceNet Master/Slave must be installed.
Default value
The default value is Set_Attribute_Single .
Allowed values
Following values are allowed:
? Reset
? Create
? Apply_Attributes
? Set_Attribute_Single
Related information
Path on page 113.
8 Trouble shooting
8.1 Bus off
Description
The master/slave channel goes bus off when an excessive number of
communication errors are detected and the CAN chip automatically goes off-line.
An event message will inform the users that bus off has occurred. The master/slave
channel will automatically try to recover from bus off and if succeeded an event
message will inform the user that the master/slave channel has recovered from
bus off.
The network can be restarted from FlexPendant or RobotStudio. When the
DeviceNet network is in error state, tap the Start button under Industrial Network
in FlexPendant.
Consequences
Bus off indicates a serious communication fault such as incorrect baud rate or
physical layer error (short, open etc.).
Possible causes
The symptom is caused by:
? Different baud rates on the master and some I/O devices (the I/O devices do
not support auto baud rate).
? No power or faulty power on the network.
? Short circuit between CAN high and CAN low.
? Cable length on trunk cables and drop cables.
? Faulty terminations.
Recommended actions
In order to remedy the symptom, the following actions are recommended:
Cause Action/Info
Different baud rates on the master and Cycle the power of the devices or manually
some devices. (The I/O devices do not change the baud rate of the devices.
support auto baud rate.)
No power or faulty power on the network. Refer to Shield grounding and power on page 21
Cable length on trunk cables and drop Refer to Selecting cables on page 25 or Repeat-
cables. ers on page 26 .
Note
If the master/slave channel goes bus off, the devices on the network also can
go bus off. The only way to recover these devices is to cycle the power on the
device (the behavior may be different depending on the manufacturer of the
device).
Overview
When a bus scan or automatic configuration operation is activated, the DeviceNet
master will send requests to all valid network addresses. If the device is already
configured against another DeviceNet master, or operating at wrong baud rate, or
is not online, the device can not be contacted for the data gathering of the required
configuration parameters. If the device is not found with automatic configuration,
it might still be possible that the device will work if it is manually added.
polled connection, 15
Index strobe connection, 15
INTERBUS gateway, 55
B internal DeviceNet slave
bus off, 117
configuration, 46
causes, 117
I/O connection, 30
consequences, 117
limitations, 30
remedy, 117
internal slave device
C predefined internal slave device, 29
cable length, 25 Internal slave device, 13
CCLink gateway, 71
coil neutralization, 51 L
LED, 47
connector X5, 52
common LEDs, 47
D DeviceNet Rx, 48
DeviceNet, 15 DeviceNet Tx, 48
connector, 52 module status, 47
I/O devices, 54 network status, 48
master, 38 specific LEDs, 47
network, 23 test run, 49
network ID, 52 Limitation
predefined network, 31 I/O devices, 32
specification overview, 17
DeviceNet/CCLink gateway, 71
N
network security, 12
DeviceNet/INTERBUS gateway, 55
DeviceNet cable, 25 P
incoming, 24 predefined device template, 43
outgoing, 24 predefined network, 29, 31
DeviceNet generic device template, 31, 43
DeviceNet master Q
configuration, 38, 46 queue tracking unit, 62
Device Template, 31
distributed I/O device, 54 R
drop line, 24 repeaters, 26
extending the length, 27
DSQC 351B, 55 S
DSQC 377B, 62 safety, 11
DSQC 378B, 71 shield grounding, 21
DSQC 651, 79 system parameters
DSQC 652, 85 Connection Input Size, 109
DSQC 653, 91 Connection Output Size, 108
Connection Type, 97, 106
E DeviceNet Address, 99, 101
encoder interface units, 54 DeviceNet Communication Speed, 100
explicit messages, 15 Device Type, 104
Path, 113
G Poll Rate, 107
gateway Product Code, 103
DeviceNet/CCLink gateway, 71 Production Inhibit Time, 105
DeviceNet/INTERBUS gateway, 55 Quick Connect, 110
Service, 115
I Vendor ID, 102
I/O devices, 28, 54
distributed I/O device, 54 T
DSQC 351B, 55 T-connector, 24
DSQC 377B, 62 template I/O configuration file, 32
DSQC 378B, 71 termination resistor, 23, 26
DSQC 651, 79 topic I/O System, 29
DSQC 652, 85 Device, 97
DSQC 653, 91 DeviceNet Command, 98
encoder interface devices, 54 device template, 31
I/O messages, 15 Industrial Network, 29, 97
change-of-state connection, 16 trouble shooting, bus off, 117
change-of-state with acknowledge suppression, 16 trunk line, 24
cyclic connection, 16 extending the length, 26
cyclic with acknowledge suppression, 16
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Discrete Automation and Motion v
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