Manual Profinet 3HAC031975-001 RevC En
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Application manual PROFINET master/slave Robot Controller RobotWare 5.13
Application manual PROFINET master/slave RobotWare 5.13 Document ID: 3HAC031975-001
© Copyright 2008-2010 ABB. All rights reserved.
Revision: C
The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
© Copyright 2008-2010 ABB All rights reserved. ABB AB Robotics Products SE-721 68 Västerås Sweden
© Copyright 2008-2010 ABB. All rights reserved.
Additional copies of this manual may be obtained from ABB at its then current charge.
Table of Contents
Manual overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1 Introduction to PROFINET
11
1.1 PROFINET, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.2 PROFINET, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.3 Definition of I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2 Hardware description
17
2.1 PROFINET master/slave, DSQC 678 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.2 LAN connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.3 Connections, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.4 PROFINET-IO Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3 PROFINET Master/Slave configuration
25
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1.1 Software overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2.1 PROFINET master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.2.2 IRC5 internal PROFINET slave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.2.3 Step 7 Configuration files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.2.4 Automatic firmware upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.3 Workflows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.3.1 Configuring PROFINET master. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.3.2 Configuring IRC5 internal PROFINET slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 3.3.3 Configuring PROFINET-IO Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.4.2 Configuring digital I/O, example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.4.3 Configuring IRC5 internal PROFINET slave, example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 3.4.4 Configuring PROFINET-IO Routing, example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
© Copyright 2008-2010 ABB. All rights reserved.
4 System parameters
57
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.2 Type Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.1 Path to Bus Configuration File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.2.2 Automatic Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.3 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3.1 Profinet Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.4 Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.4.1 Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.4.2 Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5 Trouble shooting
65
5.1 Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Index
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3
© Copyright 2008-2010 ABB. All rights reserved.
Table of Contents
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Manual overview
Manual overview About this manual This manual describes the PROFINET master/slave option and contains instructions how to configure the PROFINET master/slave in an IRC5 system. Usage This manual should be used during installation and configuration of the PROFINET fieldbus. Who should read this manual? This manual is intended for: •
Personnel that are responsible for installations and configurations of fieldbus hardware/software.
•
Personnel that make the configurations of the I/O system.
•
System integrators.
Prerequisites The reader should have the required knowledge of •
the PROFINET system
•
I/O system configuration
•
IRC5 Controller
•
Robot Studio
© Copyright 2008-2010 ABB. All rights reserved.
References Reference
Document ID
Technical reference manual - System parameters
3HAC17076-1
Product manual - IRC5
3HAC021313-001
Operating manual - IRC5 with FlexPendant
3HAC16590-1
Operating manual - RobotStudio
3HAC032104-001
Other references Reference
Description
International standard IEC 61158 Type 3 International standard IEC 61784
The PROFINET fieldbus standard is described in the international standards.
PROFINET Cabling and Interconnection Technology
Installation Guideline for PROFINET (Version 2.00, September 1998)
Commissioning PC Stations - Manual and Quick Start
Release 12/2006 C79000-G8976-C156-08
ET200S Distributed I/O System
Manual from Siemens
www.profinet.com
The web site of PROFINET International
Operating instructions CP1616
Manual from Siemens
Continues on next page 3HAC031975-001 Revision: C
5
Manual overview Continued Revisions Description
-
First edition. RobotWare 5.11
A
Released with RobotWare 5.12. PROFINET version changed to 2.2. Updated examples of PROFINET Master/Slave configuration.
B
Added two new scenarios in the Trouble Shooting chapter. Information about the PROFINET Version V2.2 is added in the Specification Overview section. Added a NOTE in the Prerequisites section about the Robotware version and firmware version in the Hardware Description chapter.
C
Updated the section Specification overview, Slave on page 14. Added the RobotWare version compatability information in the NOTE that is available in the section Prerequisites on page 17. Added information about Step 7 configuration files in the Configuration sub-section in the section PROFINET master on page 26. Updated the Input and output size sub-section in the section IRC5 internal PROFINET slave on page 27. Updated the Communication status sub-section in the section Configuring IRC5 internal PROFINET slave on page 32. Added the new Type Bus system parameters Path to Bus Configuration File on page 58 and Automatic Firmware Upgrade on page 59. Updated the Addition information section for the Type Unit Type system parameters Input Size on page 61 and Output Size on page 63. Added the new sections Step 7 Configuration files on page 29 and Automatic firmware upgrade on page 30 in the PROFINET Master/Slave Configuration chapter.
© Copyright 2008-2010 ABB. All rights reserved.
Revision
6
3HAC031975-001 Revision: C
Product documentation, M2004
Product documentation, M2004 Categories for manipulator documentation The manipulator documentation is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for M2004 manipulator systems. Product manuals All hardware, manipulators and controllers will be delivered with a Product manual that contains: •
Safety information.
•
Installation and commissioning (descriptions of mechanical installation, electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures including intervals).
•
Repair (descriptions of all recommended repair procedures including spare parts).
•
Additional procedures, if any (calibration, decommissioning).
•
Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards).
•
Parts list.
•
Foldouts or exploded views.
•
Circuit diagrams.
Technical reference manuals
© Copyright 2008-2010 ABB. All rights reserved.
The technical reference manuals describe the manipulator software in general and contain relevant reference information. •
RAPID Overview: An overview of the RAPID programming language.
•
RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types.
•
RAPID Kernel: A formal description of the RAPID programming language.
•
System parameters: Description of system parameters and configuration workflows.
Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications. An application manual generally contains information about: •
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system parameters, CD with PC software).
•
How to use the application.
•
Examples of how to use the application. Continues on next page
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Product documentation, M2004 Continued 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: Emergency safety information
•
General safety information
•
Getting started, IRC5 and RobotStudio
•
IRC5 with FlexPendant
•
RobotStudio
•
Introduction to RAPID
•
Trouble shooting, for the controller and manipulator.
© Copyright 2008-2010 ABB. All rights reserved.
•
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Safety
Safety Safety of personnel When working inside the robot controller it is necessary to be aware of voltage-related risks. A danger of high voltage is associated with the following parts: •
Units inside the controller, for example I/O units can be supplied with power from an external source.
•
The mains supply/mains switch.
•
The power unit.
•
The power supply unit for the computer system (230 VAC).
•
The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
•
The drive unit (700 VDC).
•
The service outlets (115/230 VAC).
•
The power supply unit for tools, or special power supply units for the machining process.
•
The external voltage connected to the controller remains live even when the robot is disconnected from the mains.
•
Additional connections.
Therefore, it is important that all safety regulations are followed when doing mechanical and electrical installation work. Safety regulations
© Copyright 2008-2010 ABB. All rights reserved.
Before beginning mechanical and/or electrical installations, make sure you are familiar with the safety regulations described in Product manual - IRC5.
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© Copyright 2008-2010 ABB. All rights reserved.
Safety
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1 Introduction to PROFINET 1.1. PROFINET, general
1 Introduction to PROFINET 1.1. PROFINET, general What is PROFINET? PROFINET is an open standard for Industrial Ethernet. PROFINET satisfies requirements for automation technology. PROFINET solutions can be implemented for factory and process automation, for safety applications, and for the entire range of drive technology right up to clock-synchronized motion control. PROFINET standardization The use of open standards, simple operation, and the integration of existing system segments have driven the definition of PROFINET from the beginning. PROFINET is standardized in IEC 61158 and IEC 61784. The continual further development of PROFINET offers users a long term perspective for the implementation of their automation tasks. PROFINET versions PROFINET has a modular design and different PROFINET versions are all combinations of modular elements from the groups transmission technology, communication protocol, and application profiles.
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Here are some examples of PROFINET versions: •
PROFINET-IO - Distributed I/O (Remote I/O). Here, the familiar I/O view of PROFIBUS is retained, in which the user data from the field devices are periodically transmitted into the process model of the control system.
•
PROFINET-CBA - Based on the object-oriented modelling of technological modules. Based on the object model, machines and installations are structured in PROFINET in the form of technological modules.
•
PROFIsafe - Defines how safety-oriented devices (emergency shutoff switches, light grids, overfill protection systems, etc.) can communicate safety control information over a network securely enough that they can be used in safety-oriented automation tasks up to EN954's KAT4, AK6, or SIL3 (Safety Integrity Level).
•
PROFIdrive - The PROFIdrive profile covers application scenarios from simple frequency converters to highly dynamic servo drivers.
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1 Introduction to PROFINET 1.2. PROFINET, IRC5
1.2. PROFINET, IRC5 Hardware overview The hardware of the PROFINET fieldbus consists of a master/slave board, DSQC 678, and distributed I/O units. DSQC 678 The DSQC 678 is connected to the PCI bus of the IRC5 robot controller. The I/O units are attached to the fieldbus network. The slave part of the master/slave unit is normally controlled by an external master on the same physical PROFINET network. The DSQC 678 can act as a master and a slave simultaneously. The DSQC 678 has a built-in switch with four ports. The built-in switch can be powered by external power supply. This allows the switch to be used even if the IRC5 controller is powered down, see Operating instructions CP1616 for details. I/O units The I/O units can have digital and/or analog signals. They are all controlled via the master part of the DSQC 678. Main computer The DSQC 678 requires the main computer DSQC 639. NOTE! If the IRC5 controller is powered down, the DSQC 678 built-in switch will not work without external power supply. PROFINET version compatibility
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DSQC 678 supports the PROFINET version PROFINET-IO (see PROFINET versions on page 11).
Continues on next page 12
3HAC031975-001 Revision: C
1 Introduction to PROFINET 1.2. PROFINET, IRC5 Continued PROFINET network
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The following illustration is an example of a PROFINET network.
xx0800000131
A
Line PLC, PROFINET-master
B
IRC5 controller
C
I/O unit
D
DSQC 678
E
Ethernet switch
Configuration program An external PROFINET configuration tool such as Step 7 or NMPC from Siemens, together with RobotStudio is needed for the configuration of DSQC 678. The external PROFINET configuration tool should be used according to the manual for the program.
Continues on next page 3HAC031975-001 Revision: C
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1 Introduction to PROFINET 1.2. PROFINET, IRC5 Continued Specification overview, Master Item
Specification
GSDML ID
6GK1 161-6AA00
Number of I/O units connected to master
Maximum 30 I/O units
Number of I/O signals
Maximum 8192 I/O signals
Specification overview, Slave Item
Specification
GSDML ID
6GK1 161-6AA00
PROFINET Version
V2.2 or V 2.4 Migration
Slot configuration
Slot 1-4: Digital input or output modules of variable size
PROFINET-IO Routing
Supported
Number of I/O signals
512 digital in 512 digital out
Expressions Specification
DSQC 678
Siemens CP1616 PCI-card
Master
PROFINET controller
Slave, I/O unit
PROFINET device
External PROFINET configuration tool
Siemens Step7, V5.4, Service pack 5 and above
© Copyright 2008-2010 ABB. All rights reserved.
Expressions
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1 Introduction to PROFINET 1.3. Definition of I/O units
1.3. Definition of I/O units General It is possible to connect any type of PROFINET-IO compliant I/O unit on the PROFINET master bus. All I/O units should comply with the PROFINET standard and be conformance tested by PROFINET international. I/O units may be mounted inside the controller. There are no PROFINET compliant I/O units installed in a standard version controller. Further information The table gives references to additional information: See
Allowed configurations of I/O units and how to setup the configurations.
Technical reference manual - System parameters.
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Information
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1 Introduction to PROFINET
© Copyright 2008-2010 ABB. All rights reserved.
1.3. Definition of I/O units
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2 Hardware description 2.1. PROFINET master/slave, DSQC 678
2 Hardware description 2.1. PROFINET master/slave, DSQC 678 Description The DSQC 678 is a PCI card mounted in the computer module. The card has both master and slave functionality. The master functionality is used to communicate with I/O units and the slave functionality is used to communicate with the IRC5 controller from a master, e.g PLC. Prerequisites RobotWare 5.11 or later version and the PROFINET option are required to run the PROFINET master/slave board. NOTE! Robotware 5.11 is compatible only with DSQC 678 firmware version 2.1. Robotware 5.12 is compatible only with DSQC 678 firmware version 2.2. RobotWare 5.13 is compatible with DSQC 678 firmware version 2.2 or 2.4. Installation of DSQC 678
© Copyright 2008-2010 ABB. All rights reserved.
For installation instructions for PROFINET, see the PROFINET specification, IEC 61158 Type 3. See also the Commissioning PC Stations - Manual and Quick Start, chapter 6 from SIEMENS. For hardware installation refer to Product manual -IRC5, section Replacement of PCI cards in the computer unit slots.
xx0700000432
A,B,C, and D
Possible slot for DSQC 678
Continues on next page 3HAC031975-001 Revision: C
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2 Hardware description 2.1. PROFINET master/slave, DSQC 678 Continued Illustration The following figure shows the DSQC 678 PCI card.
A
LED, SF (collective error), red
B
LED, BF (bus error), red
C
External power connections
D
Link LED, green
E
Activity LED, yellow
F
Port 1-4, RJ-45 connectors
Technical data LED
Meaning
State
Remarks
B (red)
Bus error (BF)
Off
Communications connection established.
On
Link status error occurred.
Flashing slowly
I/O device cannot be addressed or duplicate IP address on the network.
Off
No error occurred or loading is in progress.
On
Diagnostic information is available.
A (red)
Collective error (SF)
Continues on next page 18
3HAC031975-001 Revision: C
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xx0800000132
2 Hardware description 2.1. PROFINET master/slave, DSQC 678 Continued LED
Meaning
State
Remarks
A and B
Bus error (BF) Collective error (SF)
Flashing slowly.
Flash test for visual identifying of boards.
Flashing quickly
Exception error occurred.
E (yellow)
Activity LED
On
Send and Receive.
D (green)
Link LED
On
Connection exists.
Article number and firmware version Article number
Firmware version
Description
3HAC030327-001
2.1.4
PROFINET master/slave, DSQC 678
3HAC033556-001
2.2.1
PROFINET master/slave, DSQC 678
Connections, RJ-45 connectors The DSQC 678 board has four standard Ethernet RJ-45 connectors. Each connector is a port to a built in switch on the DSQC 678 board. Cables and connectors
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Cables used to connect the PROFINET network must comply with Cat 5 balanced LAN requirements or better according to ISO/IEC 11801. For details see PROFINET Cabling and Interconnection Technology available from www.profinet.com.
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2 Hardware description 2.2. LAN connection
2.2. LAN connection Ethernet cable between DSQC 678 and LAN port DSQC 678 is connected with an ethernet cable to the LAN port of the main computer. The other three ethernet ports on DSQC 678 can be used for network connections such as factory LAN and PROFINET fieldbus.
xx0900000141
PROFINET in combination with option 707-1 Option 707-1 offers an ethernet port on the connection plate of the controller cabinet. A cable normally connects this ethernet port on the connection plate with the LAN port on the main computer.
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If both option 707-1 and 888-1 (PROFINET) are used, the ethernet cable from the connection plate is instead connected to a port on DSQC 678.
xx0900000145
20
A
Main computer
B
LAN port
C
DSQC 678 (option 888-1)
D
Connection plate
E
Ethernet connection on connection plate (option 707-1) 3HAC031975-001 Revision: C
2 Hardware description 2.3. Connections, general
2.3. Connections, general General All I/O units are connected to Industrial Ethernet switches in a tree structure. Some I/O units have built-in ehernet switches allowing I/O units to be connected in a cascade structure.
xx0800000133
Switch
B
I/O unit
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A
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2 Hardware description 2.4. PROFINET-IO Routing
2.4. PROFINET-IO Routing General The DSQC 678 has a built in functionality called PROFINET-IO Routing. This functionality makes it possible for a PLC that is connected to the internal slave of the DSQC 678 to read and write I/O signals on I/O units that operates as slaves under the DSQC 678 master. NOTE! In the IRC5 I/O configuration it is possible to configure digital output signals on signal bits controlled by the PLC. These output signals will not affect the digital outputs on the I/O unit, but can still be used to monitor the actual value of the digital outputs on that I/O unit. It is recommended to name these kind of output signals to reflect the fact that they are controlled by the PLC, or configure a proper access level on the signals to prevent the RAPID program to write to these kind of signals. For more information see Technical reference manual System parameters. Example
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The figure below shows a setup where the IRC5 Controller is connected to a PLC as a slave and an I/O unit as a master.
xx0800000137
A
PLC
B
DSQC 678
C
IRC5 controller
D
I/O units
Continues on next page 22
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2 Hardware description 2.4. PROFINET-IO Routing Continued With the PROFINET-IO Routing functionality it is possible to configure: Some of the I/O signals on the I/O unit to be controlled by the IRC5 controller and some by the PLC.
•
Some I/O signals to be read both by the PLC and the IRC5 controller.
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•
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2 Hardware description
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2.4. PROFINET-IO Routing
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3 PROFINET Master/Slave configuration 3.1.1. Software overview
3 PROFINET Master/Slave configuration 3.1 Introduction 3.1.1. Software overview Controller software The IRC5 controller must be installed with software that supports the PROFINET master/ slave option (that is, RobotWare 5.11 or later). NOTE! The option for PROFINET must be installed on the IRC5 controller. PC software The PROFINET communication is configured manually using RobotStudio or FlexPendant. For more information on: •
RobotStudio, refer to Operating manual - RobotStudio
•
FlexPendant, refer to Operating manual - IRC5 with FlexPendant
© Copyright 2008-2010 ABB. All rights reserved.
An external PROFINET configuration tool, such as Step7 or NMPC from Siemens, is needed to configure the DSQC 678. Refer to the respective manual for the external PROFINET configuration tools.
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3 PROFINET Master/Slave configuration 3.2.1. PROFINET master
3.2 Configuration overview 3.2.1. PROFINET master Configuration To configure the PROFINET network in the IRC5 controller, a configuration file needs to be downloaded to DSQC 678 using an external PROFINET configuration tool. It is also possible to create a configuration file (an .XDB file) in Step 7, that holds all the configuration data. This file can be downloaded directly to DSQC 678 from the IRC5 controller at the system startup. For more information see, Step 7 Configuration files on page 29. The maximum number of I/O units that can be defined in an IRC5 controller with PROFINET option is described in the section PROFINET, IRC5 on page 12. The following are counted I/O units: •
All PROFINET I/O units connected to the IRC5 PROFINET master.
•
The IRC5 internal PROFINET slave.
•
Simulated I/O units and other I/O units connected to other IRC5 fieldbuses.
Predefined I/O bus When the system is installed with the PROFINET option, a predefined I/O bus Profinet1 is created. Predefined I/O unit type When the system is installed with the PROFINET option, a predefined unit type PN_GENERIC is created. This I/O unit type is used for all I/O units except the IRC5 internal PROFINET slave.
In order to configure a PROFINET network with an external PROFINET configuration tool, GSDML files need to be imported into the tool. These files contains vital information about the PROFINET I/O units and they shall be supplied by the vendor/manufacturer of the specific PROFINET module.
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GSDML files
3 PROFINET Master/Slave configuration 3.2.2. IRC5 internal PROFINET slave
3.2.2. IRC5 internal PROFINET slave Configuration The DSQC 678 unit has an internal slave with 512 digital input signals and 512 digital output signals. This can, for example, be used: •
To connect the IRC5 controller to a PLC.
•
To connect the IRC5 controller to another IRC5 controller which act as a master.
Predefined I/O unit type When the system is installed with the PROFINET option, a predefined unit type PN_INTERNAL_SLAVE is available. This unit type is used to define the internal slave in the IRC5 controller, which will enable a PLC to connect to the IRC5 controller. There can only be one I/O unit with this unit type defined in the IRC5 controller. GSDML files The GSDML file for DSQC 678 (alias CP1616), that is included in the Step 7 software package, is needed to operate the DSQC 678 PCI board. Input and output size The unit type PN_INTERNAL_SLAVE has two unit type parameters, Input Size and Output Size. Input Size is used to configure the input size of the IRC5 internal PROFINET slave and Output Size configures the output size. A connecting PLC needs to have a slot configuration created in the external PROFINET configuration tool that matches the configuration of the IRC5 internal PROFINET slave. The available module sizes of DSQC 678 are dependent on the firmware version of DSQC 678. If firmware V2.2 is used the supported module sizes are: 4 byte, 16 byte, 20 byte and 64 byte.
© Copyright 2008-2010 ABB. All rights reserved.
If firmware V2.4 is used the supported module sizes are: 4 byte, 8 byte, 16 byte, 20 byte, 32 byte and 64 byte. The IRC5 internal PROFINET slave uses a maximum of 2 input and 2 output slots to configure the input and output size of the IRC5 internal PROFINET slave. Input Size and Output Size can be set to the values 4, 8, 16, 20, 32, and 64 (other values will be rounded up to one of these values). If firmware V2.2 is used, the value 8 results in two slots with 4 bytes each. The value 32 will result in two slots with 16 bytes each. Other values will result in one slot with 4, 16, 20, or 64 bytes. If firmware V2.4 is used, all values results in one slot with 4, 8,16, 20, 32, or 64 bytes.
-
NOTE! The Input Size sets the size on digital outputs and Output size sets the size on digital inputs, seen from the PLC’s point of view.
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3 PROFINET Master/Slave configuration 3.2.2. IRC5 internal PROFINET slave Continued The following table shows a few examples of how the Input Size and Output Size unit type parameters can be used to create different slot configurations of a connecting PLC when firmware V2.2 is used: Input Size
Output Size
Step 7 Configuration
4 bytes
4 bytes
Slot 1: DI 4 bytes Slot 2: DO 4 bytes
4 bytes
8 bytes
Slot 1: DI 4 bytes Slot 2: DI 4 bytes Slot 3: DO 4 bytes
16 bytes
4 bytes
Slot 1: DI 4 bytes Slot 2: DO 16 bytes
1 byte
20 bytes
Slot 1: DI 20 bytes Slot 2: DO 4 bytes
13 bytes
4 bytes
Slot 1: DI 4 bytes Slot 2: DO 16 bytes
32 bytes
64 bytes
Slot 1: DI 64 bytes Slot 2: DO 16 bytes Slot 3: DO 16 bytes
32 bytes
32 bytes
Slot 1: DI 16 bytes Slot 2: DI 16 bytes Slot 3: DO 16 bytes Slot 4: DO 16 bytes
64 bytes
64 bytes
Slot 1: DI 64 bytes Slot 2: DO 64 bytes
Input Size
Output Size
Step 7 Configuration
4 bytes
8 bytes
Slot 1: DI 8 bytes Slot 2: DO 4 bytes
32 bytes
64 bytes
Slot 1: DI 64 bytes Slot 2: DO 32bytes
32 bytes
32 bytes
Slot 1: DI 32 bytes Slot 2: DO 32 bytes
If a configuration mismatch between the connecting PLC and the IRC5 internal PROFINET slave occurs, the event message 71437 is generated on the FlexPendant. This event message informs the user of the present slot configuration of the IRC5 internal PROFINET slave. NOTE! The System Info menu in FlexPendant or RobotStudio can be used to view the current slot configuration of the IRC5 internal PROFINET slave. The System Info path is: "system Info/ Hardware devices/Controller/Computer System/PCI bus/PROFINET board".
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If firmware V2.4 is used the above table will differ in the following cases:
3 PROFINET Master/Slave configuration 3.2.3. Step 7 Configuration files
3.2.3. Step 7 Configuration files Configuration There are two ways to download the Step 7 configuration to DSQC 678. The most common way is to download the configuration directly from within Step 7 to DSQC 678. An alternate way is to create an .xdb configuration file in Step 7 and place this file in the HOME directory of the IRC5 controller. By specifying the configuration file name using the bus type parameter Path to Bus Configuration File (see Path to Bus Configuration File on page 58), the IRC5 controller will open and read the file at startup and send the configuration to the DSQC 678 board. This means that the current configuration in DSQC 678 is replaced by the one specified in the configuration file. Configuration File Type The configuration file of type .xdb is created by default every time a Step 7 project is compiled. The .xdb file is placed in the current project folder under the directory XDBs. By default, this file is named as pcst_1.xdb.
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It is recommended to place the configuration file in the HOME directory of the current system. If the configuration file is placed in the HOME directory it is only necessary to specify the name of the file in the Path to Bus Configuration File parameter and not the complete file path. All files in the HOME directory are included in a backup of the system.
en0900001024
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3 PROFINET Master/Slave configuration 3.2.4. Automatic firmware upgrade
3.2.4. Automatic firmware upgrade Overview It is possible to upgrade the firmware directly from within the IRC5 controller, if the current version of RobotWare is compatible with more than one firmware versions of DSQC 678. Configuration The Automatic Firmware Upgrade bus type parameter activates the upgrade function. After activation, the IRC5 controller upgrades the firmware during the next system startup.
-
NOTE! On some systems the automatic firmware upgrade can take several minutes to complete. Since this is performed at system startup, it might appear as if the IRC5 controller has stopped responding. Firmware version The firmware version is important in the Step 7 projects. A PLC configured to communicate with a V2.2 firmware might not accept that the communication partner suddenly appears as a V2.4 device. To view the current firmware version available for upgrade in the current RobotWare release, refer ‘System Info/Hardware devices/Controller/Computer system/PCI bus/Profinet board’.
-
The current configuration data in DSQC 678 is not destroyed when performing a firmware upgrade operation. If the current configuration is not compatible with the new firmware, DSQC 678 might perform illegal address operations against the IRC5 controller. This might cause a system failure. It is therefore recommended to clear the DSQC 678 configuration data before upgrading the firmware.
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NOTE!
3 PROFINET Master/Slave configuration 3.3.1. Configuring PROFINET master
3.3 Workflows 3.3.1. Configuring PROFINET master Description The PROFINET master configuration is set according to the I/O units and I/O signals definitions. Configuration Action 1. Create a new system using RobotStudio. Make sure the PROFINET option is installed.
Note See Operating manual RobotStudio.
2. Download the system to the IRC5 controller and restart. 3. Use the external PROFINET configuration tool to create a Described in section project that contains the configuration of the PROFINET Configuring digital I/O, network. If the I/O units are not available in the configuration example on page 36. tool, import the GSDML files.
NOTE! This step is always unique depending on the type of I/O unit to configure. 4. Download the configuration to the DSQC 678. 5. Restart the IRC5 controller to start up with the new system. 6. Configure the I/O units connected to the Profinet1 bus using RobotStudio or FlexPendant. 7. Configure the I/O signals.
See Technical reference manual - System parameters.
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8. Restart the IRC5 controller.
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3 PROFINET Master/Slave configuration 3.3.2. Configuring IRC5 internal PROFINET slave
3.3.2. Configuring IRC5 internal PROFINET slave Description When the IRC5 controller is connected, for example, to an external PLC, the IRC5 controller acts as an ordinary slave unit on the PROFINET network. The PLC connects to the IRC5 internal PROFINET slave to exchange data. Configuration Action
Note
1. Use the external PROFINET configuration tool to Described in section Configuring create a project for the master, for example a PLC, IRC5 internal PROFINET slave, that contains the configuration of the PROFINET example on page 46. network. 2. In the tool, configure the master to connect to the DSQC 678 internal slave that represents the IRC5 controller.
Described in section Configuring IRC5 internal PROFINET slave, example on page 46.
3. Configure the IRC5 internal PROFINET slave unit in See Configuring IRC5 internal the IRC5 controller using RobotStudio or FlexPen- PROFINET slave, example on dant. page 46 and Operating manual RobotStudio. 4. Configure the I/O signals.
See Technical reference manual System parameters.
5. Restart the IRC5 controller.
See Operating manual - IRC5 with FlexPendant.
6. Download the configuration in the external PROFINET configuration tool to the master.
Described in section Configuring IRC5 internal PROFINET slave, example on page 46.
Communication status
1. Configure the master to set a signal during the startup or within the controller loop. 2. Configure the internal PROFINET slave to attach the signal to a RAPID trap function in the robot controller. The signal then functions as a communication supervision signal. If the communication between the master and the internal PROFINET slave is interrupted, all the inputs of the internal slave will go to the fail safe state (that is, input value will be zero). This means that the user defined communication supervision signal will also have the value zero.
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To control the communication status between the master (for example a PLC) and the IRC 5 internal PROFINET slave, the following scheme is used:
3 PROFINET Master/Slave configuration 3.3.3. Configuring PROFINET-IO Routing
3.3.3. Configuring PROFINET-IO Routing General The PROFINET-IO Routing functionality is configured entirely using an external PROFINET configuration tool. It is important to remember that the PROFINET-IO Routing functionality also connects different projects in the configuration tools with each other. A configuration change in one of the projects might also change the configuration in the connected project. In order to execute changes regarding PROFINET-IO Routing, all affected projects must be downloaded to respective hardware, even if a change in configuration only was made in one of the connected projects. Prerequisites The PROFINET master and the PROFINET internal slave has to be configured, see section Configuring PROFINET master on page 31, and section Configuring IRC5 internal PROFINET slave on page 32. Master configuration Use this procedure to configure the master. Action 1. Configure the master functionality as described in Configuring PROFINET master on page 31. 2. Use an external PROFINET configuration tool to create a project and add a Simatic PC station with a CP1616 device and a network with the devices that shall be slaves to the IRC5 controller. 3. Configure the IRC5 controller I/O system and define the slave devices as I/O units. 4. Configure the IRC5 controller I/O system and define the I/O signals that shall be accessible from the IRC5 controller.
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Slave configuration Use this procedure to configure the slave. Action 1. Configure the IRC5 internal PROFINET slave functionality as described in Configuring IRC5 internal PROFINET slave on page 32 2. Add a PLC station to the project created in Configuring PROFINET master on page 31 step 1 using an external PROFINET configuration tool. 3. Add a Simatic PC Station as a slave to the PLC, make sure the name and IP address is the same as in the master configuration. 4. Configure the IRC5 controller I/O system and define a unit of type PN_INTERNAL_SLAVE to activate the IRC5 internal PROFINET slave functionality.
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3 PROFINET Master/Slave configuration 3.3.3. Configuring PROFINET-IO Routing Continued PROFINET-IO Routing configuration Configure PROFINET-IO Routing in the external PROFINET configuration tool. Action 1. In the PLC configuration select the CP1616 device and add transfer modules to slot 3 and above, as described in Configuring PROFINET-IO Routing, example on page 52.
NOTE!
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In the IRC5 I/O configuration it is still possible to configure digital output signals on signal bits controlled by the PLC. These output signals will not affect the digital outputs on the I/O unit, but can still be used to monitor the actual value of the digital outputs on that I/O unit. It is recommended to name these kind of output signals to reflect the fact that they are controlled by the PLC, or configure a proper access level on the signals to prevent RAPID programs to write to these kind of signals. For more information, see Technical reference manual - System parameters.
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3 PROFINET Master/Slave configuration 3.4.1. Overview
3.4 Examples 3.4.1. Overview About the examples
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All the examples in this section are based on the Robotware 5.11 or 5.12 systems with DSQC 678 firmware version V2.1 or V2.2. If you are using Robotware 5.12 or above, you need to use the corresponding DSQC 678 (alias CP1616) module type that corresponds to the current firmware version of your DSQC 678 board. Robotware 5.12 uses CP1616 V2.2 module type. Robotware 5.13 or above uses CP1616 V2.2 or V2.4 module type.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example
3.4.2. Configuring digital I/O, example Description This is an example of how to configure an I/O unit with four input signals and four output signals. The I/O unit used in this example is an ET200S I/O unit with five submodules attached to it: •
One power module.
•
Two modules with two DO in each module.
•
Two modules with two DI in each module.
The network is configured using Siemens Step7. PROFINET configuration setup Use this procedure to set the configuration in Siemens Step7. Action 1. Create a new empty project. 2. On the Insert menu, point to Station, and then click SIMATIC PC Station.
xx0800000138
4. Expand the SIMATIC PC Station on the right-hand side catalog tree. Expand further in the tree, find SIMATIC PC Station\CP Industrial Ethernet\CP 1616\V2.2. 5. Double-click or drag the V2.2 device from the catalog tree to slot 1 of the PC rack.
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3. In SIMATIC Manager, expand the project tree and select the created station. Right -click the station and select Open Object to open the HW Config window.
3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 6. Enter the IP address used for the DSQC 678, and then click New to create a PROFINET network.
xx0800000139
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7. Click OK on the Industrial Ethernet dialog and OK in the Properties-Ethernet interface PN-IO dialog.
xx0800000140
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 8. Double-click the X1 slot in PC rack to open the PN-IO dialog.
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9. Enter Robot1 in the Device Name text box and click OK.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 10. Expand the catalog tree view and locate the correct ET200S device, PROFINET IO\I/O\ET 200S\IMI151-3 PN ST V6.0.
xx0800000143
11. Drag the device from the catalog and drop it on the Ethernet PROFINET-IO-System.
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12. Continue expanding the catalog tree to locate the modules that are connected in the hardware device.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 13. For each module double-click or drag it to the appropriate slots of the ET200S device.
NOTE! Make sure the catalog number matches the catalog number printed on the hardware. 14. If the feature prioritized startup is desired for the ET200S, double-click on slot X1 and select Prioritized startup. This will shorten the time it takes for the device to start data exchange with the controller after losing and regaining power or after disconnection and reconnection on the bus.
© Copyright 2008-2010 ABB. All rights reserved.
en0900000001
15. On the File menu, click Save and compile.
xx0800000145
16. Make sure that you have an ethernet connection between the PC and the DSQC 678.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 17. On the PLC menu, click Download and then click OK.
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18. Click View to search the network for the DSQC 678.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 19. Select the appropriate DSQC 678 card and click OK.
xx0800000148
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20. Click OK to stop the card. This finishes the setup in the Siemens tool. Continue with configuring the IRC5 controller I/O system.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued IRC5 controller I/O configuration setup Use this procedure to setup the configuration in the IRC5 controller, using RobotStudio. Action 1. Start RobotStudio and connect to the IRC5 controller. Request write access. 2. Click Configuration Editor and select I/O. 3. In the type list, click Unit and then right-click in the workspace and select Add Unit. 4. Enter the parameter values for the unit and click OK. • Name. • Type of Unit should be PN_GENERIC. • Profinet Address should be 1, same as the device number in the Step7 project.
© Copyright 2008-2010 ABB. All rights reserved.
xx0800000152
xx0800000155
NOTE! Device number 1 in the Siemens project. 5. In the type list, click Signal and then right-click in the workspace and select Add Signal.
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3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Action 6. Enter the parameter values for the signal and click OK. • Name • Type of signal • Assign to unit • Unit mapping
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xx0800000158
7. Restart the IRC5 controller. 8. After the restart, start RobotStudio and make sure the configured I/O signals are accessible.
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The lower panel in Step7 can be a guide when specifying the parameter Unit Mapping. Select the device in the project and use the lower panel. See settings explanation in Signal mapping example on page 45.
3 PROFINET Master/Slave configuration 3.4.2. Configuring digital I/O, example Continued Signal mapping example
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The panel shows that the signals are mapped to: Slot
Module type
Module mapping in Step7
Unit mapping in IRC5 controller
2
2DO
Out 0.0..0.1
Out 0,1
3
2DO
Out 1.0..1.1
Out 8,9
4
2DI
In 0.0..0.1
In 0,1
5
2DI
In 1.0..1.1
In 8,9
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The I/O signals in the IRC5 controller should be mapped as: Name
Type of signal
Assigned to Unit
Unit mapping
DI1
Digital Input
IM151
0
DI2
Digital Input
IM151
1
DI3
Digital Input
IM151
8
DI4
Digital Input
IM151
9
DO1
Digital Output
IM151
0
DO2
Digital Output
IM151
1
DO3
Digital Output
IM151
8
DO4
Digital Output
IM151
9
This example shows that even if a 2 bit module type is used, every slot occupies atleast 1 byte. If an 8 bit module type is used, all signal bits (unit map 0-7) would have valid data.
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example
3.4.3. Configuring IRC5 internal PROFINET slave, example Description This is a configuration example for an IRC5 internal PROFINET slave with 64 byte input and 64 byte output size. The example also shows how to configure a PLC that connects against the IRC5 internal PROFINET slave. This example comes from the Step7 project in section Configuring digital I/O, example on page 36 Configuring IRC5 internal PROFINET slave Use this procedure to configure the configuring IRC5 internal PROFINET slave using Siemens Step 7. Action 1. Start Simatic Manager and open the project containing the Simatic PC Station that represents the IRC5 controller with DSQC 678. This project was created in section Configuring digital I/O, example on page 36 2. Expand the project tree and select the Simatic PC station that represents the IRC5 controller with the DSQC 678. Right-click the station and select Open Object to open the HW Config window.
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3. Double-click slot 1 in the PC Station rack to open the object properties and then select the PROFINET tab. Make sure the Enable IO device mode is selected, if not select Enable IO device mode and download the updated configuration to the DSQC 678. Click OK.
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example Continued Action 4. Click OK and add a PLC station to the project.
NOTE! If using the PROFINET-IO Routing functionality, make sure that the PLC station and the Simatic PC station are located in the same project. 5. Open the HW Config window for the PLC hardware configuration.
xx0800000160
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6. Make sure the PROFINET network connected to the PLC is the same as the network connected to the Simatic PC station representing the IRC5 controller with DSQC 678. 7. Expand PROFINET IO\I/O\SIMATIC PC-CP\CP1616\6GK1 161-6AA00 (Migration) in the catalog view to the right, to find the V2.2 device.
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example Continued Action 8. Drag the V2.2 device to the PROFINET network workspace.
xx0800000161
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9. Double-click the added CP1616 icon.
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example Continued Action 10. Make sure the device name is the same as the name selected for slot X1 in the configuration of the Simatic PC Station configuration and that Assign IP address via IO controller is cleared. Click OK.
xx0800000163
NOTE! Before clearing the Assign IP address via IO controller box, make sure the IP address is set to the IP address of the CP1616 card in the Simatic PC Station configuration.
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11. Click OK in the Properties-CP-1616 dialog and then click Yes to confirm the warning
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example Continued Action 12. Make sure the CP1616 icon is selected, expand the catalog view further to find the input modules, PROFINET IO\I/O\SIMATIC PC-CP\CD1616\6GK1 161-6AA00 (Migration)\ V2.2\DI. Double-click the 64 bytes module to insert it into slot 1 of the CP1616 card. 13. Expand the output modules in the catalog tree and double-click or drag the 64 bytes module to slot 2 of the CP1616 card.
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14. On the Station menu, click Save and Compile. 15. Make sure that you have an Ethernet connection between the PC and the PLC.
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16. On the PLC menu, click Download.
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3 PROFINET Master/Slave configuration 3.4.3. Configuring IRC5 internal PROFINET slave, example Continued IRC5 controller I/O configuration setup Use this procedure to configure the slave in the IRC5 controller, using Robot Studio. Action 1. Start RobotStudio and connect to the IRC5 controller. Request write access. 2. Click Configuration Editor and select I/O. 3. In the type list, click Unit and then right-click in the workspace and select Add Unit. 4. Enter the parameter values for the unit and click OK. • Name. • Type of Unit should be PN_INTERNAL_SLAVE. • Connected to Bus should be PROFINET 1. • PROFINET Address must be 0. (Not needed in Robotware 5.12 or above).
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5. Restart the IRC5 controller.
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3 PROFINET Master/Slave configuration 3.4.4. Configuring PROFINET-IO Routing, example
3.4.4. Configuring PROFINET-IO Routing, example Description This is an example of how to configure the DSQC 678, PROFINET-IO Routing functionality. NOTE! This example requires both configurations described in example Configuring digital I/O, example on page 36, and Configuring IRC5 internal PROFINET slave, example on page 46. PROFINET configuration setup Use this procedure to setup the configuration in Step7 (Siemens PROFINET configuration tool). Action 1. Use Siemens Simatic Manager and open the PLC configuration made in example PROFINET configuration setup on page 36. 2. Select the CP1616 icon representing the IRC5 internal PROFINET slave. 3. In SIMATIC Manager, expand the catalog tree to the right of the window. Right-click the window and find PROFINET IO\I/O\SIMATIC PC-CP\CP1616\6GK1 161-6AA00 (Migration)\V2.2\Transfer Module. 4. Drag one DI 1 byte transfer module to slot 3 of the CP1616 device.
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5. Drag one DO 1 byte transfer module to slot 4 of the CP1616 device.
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3 PROFINET Master/Slave configuration 3.4.4. Configuring PROFINET-IO Routing, example Continued Action 6. Double-click DI 1 byte transfer module in slot 3 to open the Properties dialog.
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7. In the column Device name click the first cell named Empty to open a list of devices that are controlled by the PROFINET master in the IRC5 controller. 8. Click to select the IM151 device.
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9. Click the Module (slot) cell with white background to open a list of available slot modules. This will show a list of all slot modules that the PLC can read. Then select the input module in slot 4.
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3 PROFINET Master/Slave configuration 3.4.4. Configuring PROFINET-IO Routing, example Continued Action 10. Click the next cell labeled Empty and select the IM151 module, then select the output module in slot 2. As seen in this example, it is possible to also choose to read outputs. This is generally not needed by the PLC, but shown here to illustrate that it's possible. With this configuration, the PLC can read the input signals 0 and 1, and read back the output signals 0 and 1.
xx0800000170
11. Click OK to close the Properties dialog.
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12. Double-click the DO 1 byte transfer module in slot 4 of the CP1616device.
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3 PROFINET Master/Slave configuration 3.4.4. Configuring PROFINET-IO Routing, example Continued Action 13. Configure the transfer module so that the PLC will be able to control the output signals 0 and 1 of the output module in slot 3 of the IM151 device.
xx0800000171
14. Click OK to close the Properties dialog. 15. On the Station menu, click Save and compile. 16. Open the SIMATIC PC Station configuration. 17. On the Station menu, click Save and compile.
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18. Download the PLC configuration to the PLC. 19. Download the Simatic PC Station configuration to the DSQC 678.
NOTE! In the IRC5 I/O configuration it is still possible to configure digital output signals on signal bits controlled by the PLC. These output signals will not affect the digital outputs on the I/O unit, but can still be used to monitor the actual value of the digital outputs on that I/O unit. It is recommended to name these kind of output signals to reflect the fact that they are controlled by the PLC, or configure a proper access level on the signals to prevent RAPID programs to write to these kind of signals. For more information, see Technical reference manual - System parameters.
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3 PROFINET Master/Slave configuration
© Copyright 2008-2010 ABB. All rights reserved.
3.4.4. Configuring PROFINET-IO Routing, example
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4 System parameters 4.1. Introduction
4 System parameters 4.1. Introduction PROFINET specific system parameters
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There are both PROFINET specific parameters and more general parameters. This chapter describes all PROFINET specific system parameters. The parameters are divided into the type they belong to. For information about other parameters refer to Technical reference manual - System parameters.
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4 System parameters 4.2.1. Path to Bus Configuration File
4.2 Type Bus 4.2.1. Path to Bus Configuration File Parent Path to Bus Configuration File belongs to the type Bus, in the topic I/O. Cfg name CfgPath Description Path to Bus Configuration File specifies the path to a Step 7 configuration file of type .XDB that is located on the IRC5 system. Usage The Path to Bus Configuration File system parameter is used to download a Step 7 configuration to DSQC 678 without using Step 7. If the configuration file is placed in the HOME directory of the system, it will also be included in backups. For more information see, Step 7 Configuration files on page 29. Prerequisites PROFINET option must be installed. Default value The default value is an empty string. Allowed values
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A-Z, a-z, _, .
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4 System parameters 4.2.2. Automatic Firmware Upgrade
4.2.2. Automatic Firmware Upgrade Parent Automatic Firmware Upgrade belongs to the type Bus, in the topic I/O. Cfg name PN_AutoFirmwareUpgrade Description Automatic Firmware Upgrade activates the firmware upgrade function of DSQC 678. Usage The Automatic Firmware Upgrade parameter specifies if the system should perform a firmware upgrade of DSQC 678 to the firmware version specified in the ‘System Info/ Hardware devices/Controller/Computer system/PCI bus/Profinet board’ menu. For more information, see Automatic firmware upgrade on page 30. Prerequisites PROFINET option must be installed. Limitations Not possible to upgrade to firmware version other than that included in RobotWare. Default value Deactivated. Allowed values
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Activated or Deactivated.
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4 System parameters 4.3.1. Profinet Address
4.3 Unit 4.3.1. Profinet Address Cfg name PN_Address Description The parameter Profinet Address corresponds to the device number in the external PROFINET configuration tool. Usage Profinet Address specifies the address that the I/O unit uses on the network. Prerequisites PROFINET option must be installed. Default values The default value is 0. Allowed values An integer value between 0 and 65535.
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The value must be zero (0) when configuring the internal slave.
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4 System parameters 4.4.1. Input Size
4.4 Unit Type 4.4.1. Input Size Parent Input Size belongs to the type Unit Type, in the topic I/O. Cfg name PN_InputSize Description Input Size is used to configure the input slot configuration of the IRC5 internal PROFINET slave. Input Size sets the size of the digital inputs for PN_INTERNAL_SLAVE. Prerequisites Profinet Master/Slave option must be installed. Limitations Input Size is only available for the unit type PN_INTERNAL_SLAVE. Allowed values Allowed values are the integers 0-64. The default value is 64. Additional information The values other than 4, 8, 16, 20, 32, and 64 results in digital input size rounded up to the closest of these values. © Copyright 2008-2010 ABB. All rights reserved.
If DSQC 678 firmware version 2.2 is used: The Input Size set to 8 results in two slots with 4 bytes each. The Input Size set to 32 results in two slots with 16 bytes each. For other values there will be one slot with 4, 16, 20, or 64 bytes. Input Size
Slot size
1-4
4 bytes
5-8
2 slots with 4 bytes each
9-16
16 bytes
17-20
20 bytes
21-32
2 slots with 16 bytes each
33-64
64 bytes
If DSQC 678 firmware version 2.4 is used: Input Size
Slot size
1-4
4 bytes
5-8
8 bytes
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4 System parameters 4.4.1. Input Size Continued Slot size
9-16
16 bytes
17-20
20 bytes
21-32
32 bytes
33-64
64 bytes
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Input Size
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4 System parameters 4.4.2. Output Size
4.4.2. Output Size Parent Output Size belongs to the type Unit Type, in the topic I/O. Cfg name PN_OutputSize Description Output Size is used to configure the output slot configuration of the IRC5 internal PROFINET slave. Output Size sets the size of the digital outputs for PN_INTERNAL_SLAVE. Prerequisites Profinet Master/Slave option must be installed. Limitations Output Size is only available for the unit type PN_INTERNAL_SLAVE. Allowed values Allowed values are the integers 0-64. The default value is 64. Additional information Any other values than 4, 8, 16, 20, 32, and 64 results in digital output size rounded up to the closest of these values.
© Copyright 2008-2010 ABB. All rights reserved.
If DSQC 678 firmware version 2.2 is used: The Output Size set to 8 results in two slots with 4 bytes each. The Output Size set to 32 results in two slots with 16 bytes each. For other values there will be one slot with 4, 16, 20, or 64 bytes. Output Size
Slot size
1-4
4 bytes
5-8
2 slots with 4 bytes each
9-16
16 bytes
17-20
20 bytes
21-32
2 slots with 16 bytes each
33-64
64 bytes
If DSQC 678 firmware version 2.4 is used: Output Size
Slot size
1-4
4 bytes
5-8
4 bytes
9-16
16 bytes
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4 System parameters 4.4.2. Output Size Continued Slot size
17-20
20 bytes
21-32
32 bytes
33-64
64 bytes
© Copyright 2008-2010 ABB. All rights reserved.
Output Size
64
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5 Trouble shooting 5.1. Scenarios
5 Trouble shooting 5.1. Scenarios How can I assign DSQC 678 a device name or IP address using Step 7 Sometimes the DSQC 678 hardware will not accept configuration changes when the PROFINET option software driver is running. If this situation occurs, an X-start of the IRC5 controller is needed. The IRC5 controller will then restart in a mode where the PROFINET option software driver is not running. Action 1. Perform an X-start of the IRC5 controller. 2. Download the configuration changes using Step 7. 3. When the configuration changes are downloaded, tap the Select System button on the FlexPendant. 4. Select the system that was used before the X-start. 5. Restart the IRC5 controller with the selected system by tapping the Restart Controller button on the FlexPendant.
How can I download configuration to DSQC 678 using Step 7 See the preceding scenario, How can I assign DSQC 678 a device name or IP address using Step 7 on page 65. The Ethernet switch on the DSQC 678 can be operated using an external power supply unit. Why is it not working?
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The DSQC 678 board must first be initialized by the PROFINET software option driver before the Ethernet switch can be used. When this is done, the external power supply unit can be connected to the DSQC 678 board. In Step 7 the DSQC 678 board can be "Reset to factory settings". After that the IRC5 controller cannot detect that the PCI-board is inserted. When this command is issued from Step 7, the DSQC 678 board will perform additional operations next time it reboots. This will increase the startup time of the board so much that the IRC5 controller will fail to detect it. The solution is to restart the IRC5 controller again. My digital group/analogue signal seem to be data inconsistent. With the DSQC 678 board data consistency is only guaranteed on a submodule basis. For example, an I/O unit with the following configuration: Slot 1
8 bits (1 byte)
Slot 2
8 bits (1 byte)
will not have data consistency on a 16 bit digital I/O group signal in the IRC5 controller that stretches over both slot 1 and 2.
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5 Trouble shooting 5.1. Scenarios Continued PROFINET-IO Routing is not working Make sure that the Enable PROFINET IO device operation check box is selected in the configuration that is downloaded to the DSQC 678 used as an IRC5 internal PROFINET slave. See Configuring IRC5 internal PROFINET slave on page 46. How do I upgrade/downgrade the firmware on DSQC 678? For information about upgrading/downgrading the firmware on DSQC 678, refer the technote: technote_090225_IRC5 PROFINET or refer the section Automatic firmware upgrade on page 30. What should I do when the communication between my PLC and the DSQC 678 Slave is slow?
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When configuring the communication against the DSQC 678 in your PLC project, ensure that the I/O Cycle parameter of the DSQC 678 is set correctly. In some versions of Step 7, by default, this parameter is set to 128 ms. Set this parameter to automatic or fixed update time with a more useful value.
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Index
A automatic firmware upgrade 30
B bus error 18
C collective error 18 controller software 25
D DSQC 639 12 DSQC 678 12, 20, 42 installation 17 PROFINET-IO routing 22
E
PROFINET master 14, 26 configuration 31, 33 PROFINET network 13, 37 PROFINET slave 14 configuration 33 PROFINET versions 11 compatibility 12 PROFIdrive 11 PROFINET-CBA 11 PROFINET-IO 11, 12 PROFIsafe 11 PROFINET-IO routing 14, 22, 23, 33 configuration 34, 52 trouble shooting 66
R RJ-45 connector 18, 19
ethernet RJ-45 connector 19 external PROFINET configuration tool 13, 25, 34
F fail safe state 32
G GSDML file 27 GSDML ID 14
I
S signal mapping 45 Step 7 13, 25, 36, 65 module mapping 45 Step 7 configuration file 29 system parameters 57 Input Size 27, 61 Output Size 27, 63 Profinet Address 43, 60
T
I/O units 12, 15 configuration 36 ET200S 36, 39 industrial ethernet 11, 21, 37 internal PROFINET slave 27, 32, 46 configuration 32
topic I/O type Unit 60 trouble shooting 65
U unit mapping 45
L
© Copyright 2008-2010 ABB. All rights reserved.
LED activity LED 18 bus error 18 collective error 18 link LED 18
M module mapping 45
P prioritized startup 40 PROFINET 11 cables 19 configuration 36 configuration tool 14, 25, 34 hardware 12 master 26, 31, 33 network 13, 19 option 701-1 20 option 888-1 20 predefined I/O bus 26 predefined I/O unit type 26, 27 slave 27, 32, 33, 46 standardization 11 versions 11 3HAC031975-001 Revision: C
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© Copyright 2008-2010 ABB. All rights reserved.
Index
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HAC031975-001, Revision C, en ABB AB Robotics Products S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000
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