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ABB Robotics

Application manualPROFINET Master and Slave SW

Trace back information:Workspace RW 5-15-01 version a4Checked in 2013-04-03Skribenta version 4.0.006

Application manualPROFINET Master and Slave SW

5.15

Document ID: 3HAC039906-001Revision: D

© Copyright 2013 ABB. All rights reserved.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

© Copyright 2013 ABB. All rights reserved.ABB AB

Robotics ProductsSE-721 68 Västerås

Sweden

Table of contents7Overview of this manual ...................................................................................................................9Product documentation, M2004 .......................................................................................................

11Safety ................................................................................................................................................

131 Introduction to PROFINET131.1 PROFINET, general ...........................................................................................141.2 PROFINET SW, IRC5 .........................................................................................171.3 Terminology .....................................................................................................

192 Hardware description192.1 PROFINET connections ......................................................................................222.2 Connections, general .........................................................................................

233 Configuration233.1 Configuration types ...........................................................................................243.2 Configure the Profinet_SW bus ............................................................................253.3 Using NetNames+ .............................................................................................273.4 Master configuration ..........................................................................................273.4.1 Introduction ............................................................................................273.4.1.1 Software overview .......................................................................283.4.2 Configuration overview .............................................................................283.4.2.1 PROFINET master .......................................................................293.4.3 Workflows ..............................................................................................293.4.3.1 Configuring PROFINET master ......................................................303.4.3.2 Creating PROFINET configuration file .............................................413.4.3.3 Configuring the IRC5 controller ......................................................423.4.3.4 Using Fast Unit Startup .................................................................443.5 Slave configuration ............................................................................................443.5.1 Introduction ............................................................................................443.5.1.1 Software overview .......................................................................453.5.2 Configuration overview .............................................................................453.5.2.1 PROFINET internal slave ..............................................................473.5.3 Workflows ..............................................................................................473.5.3.1 Configuring PROFINET internal slave ..............................................483.5.4 Examples ..............................................................................................483.5.4.1 Configuring PROFINET internal slave ..............................................

534 System parameters534.1 Introduction ......................................................................................................554.2 Type Bus .........................................................................................................554.2.1 Path to Bus Configuration File ...................................................................564.2.2 IP Address .............................................................................................574.2.3 Subnet Mask ..........................................................................................584.2.4 Gateway ................................................................................................594.2.5 Station Name .........................................................................................604.2.6 Auto Configuration ..................................................................................614.2.7 Connector ID ..........................................................................................624.3 Type Unit .........................................................................................................624.3.1 Fast Unit Startup .....................................................................................634.4 Type Unit Type .................................................................................................634.4.1 Input Size ..............................................................................................644.4.2 Output Size ............................................................................................

655 Troubleshooting655.1 Scenarios ........................................................................................................

3HAC039906-001 Revision: D 5© Copyright 2013 ABB. All rights reserved.

Table of contents

67Index

6 3HAC039906-001 Revision: D© Copyright 2013 ABB. All rights reserved.

Table of contents

Overview of this manualAbout this manual

This manual describes the following options and contains instructions how toconfigure them in an IRC5 system.

• PROFINET Master/Slave SW (SoftWare), option number 888-2• PROFINET Slave SW (SoftWare), option number 888-3

UsageThis manual should be used during installation and configuration of the PROFINETSW options.

Who should read this manual?This manual is intended for:

• Personnel that are responsible for installations and configurations of fieldbushardware/software.

• Personnel that make the configurations of the I/O system.• System integrators.

PrerequisitesThe reader should have the required knowledge of:

• PROFINET fieldbus• I/O system configuration• IRC5 controller• Robot Studio

References

Document IDReference

3HAC17076-1Technical reference manual - System parameters

3HAC021313-001Product manual - IRC5

3HAC16590-1Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

Other references

DescriptionReference

The PROFINET fieldbus standard is describedin the international standards.

International standard IEC 61158 Type 3 In-ternational standard IEC 61784

Installation Guideline for PROFINET (Version2.00, September 1998)

PROFINET Cabling and InterconnectionTechnology

Release 12/2006 C79000-G8976-C156-08Commissioning PC Stations - Manual andQuick Start

Manual from SiemensET200S Distributed I/O System

The web site of PROFINET Internationalwww.profinet.com

Continues on next page3HAC039906-001 Revision: D 7


Overview of this manual

Revisions

DescriptionRevision

First edition. Released with RobotWare 5.14.-

Updated for the RW 5.14.02 release.• Updated the Auto configuration system parameter.

A

Added section Installing PC WORX on page 35 for RW 5.14.03 release.B

Updated for the RW 5.15 release.• Changed the maximum number of I/O units conntected to master from

20 to 50 in section PROFINET SW, IRC5 on page 14.

C

Updated the subnet mask allowed values from "255.255.255.0 -255.255.255.254" to "128.0.0.0 - 255.255.255.252" in Subnet Mask on page57for the RW 5.15.01 release.

D


Overview of this manual

Continued

Product documentation, M2004Categories for manipulator documentation

The manipulator documentation is divided into a number of categories. This listingis based on the type of information in the documents, regardless of whether theproducts are standard or optional.All documents listed can be ordered from ABB on a DVD. The documents listedare valid for M2004 manipulator systems.

Product manualsManipulators, controllers, DressPack/SpotPack, and most other hardware will bedelivered 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).

Technical reference manualsThe technical reference manuals describe reference information for roboticsproducts.

• Technical reference manual - Lubrication in gearboxes: Description of typesand volumes of lubrication for the manipulator gearboxes.

• Technical reference manual - RAPID overview: An overview of the RAPIDprogramming language.

• Technical referencemanual - RAPID Instructions, Functions and Data types:Description and syntax for all RAPID instructions, functions, and data types.

• Technical reference manual - RAPID kernel: A formal description of theRAPID programming language.

• Technical reference manual - System parameters: Description of systemparameters and configuration workflows.

Application manualsSpecific applications (for example software or hardware options) are described inApplication manuals. An application manual can describe one or severalapplications.



Product documentation, M2004

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 manualsThe operating manuals describe hands-on handling of the products. The manualsare aimed at those having first-hand operational contact with the product, that isproduction 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• Operatingmanual - Trouble shooting IRC5, for the controller and manipulator.


Product documentation, M2004

Continued

SafetySafety of personnel

When working inside the robot controller it is necessary to be aware ofvoltage-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 powerfrom 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 doingmechanical and electrical installation work.

Safety regulationsBefore beginning mechanical and/or electrical installations, ensure you are familiarwith the safety regulations described in Product manual - IRC5.


Safety

This page is intentionally left blank

1 Introduction to PROFINET1.1 PROFINET, general

What is PROFINET?PROFINET is an open standard for Industrial Ethernet. PROFINET satisfiesrequirements for automation technology. PROFINET solutions can be implementedfor factory and process automation, for safety applications, and for the entire rangeof drive technology right up to clock-synchronized motion control.

PROFINET standardizationThe use of open standards, simple operation, and the integration of existing systemsegments have driven the definition of PROFINET from the beginning. PROFINETis standardized in IEC 61158 and IEC 61784. The continual further developmentof PROFINET offers users a long term perspective for the implementation of theirautomation tasks.

PROFINET versionsPROFINET has a modular design and different PROFINET versions are allcombinations of modular elements from the groups transmission technology,communication protocol, and application profiles.Here are some examples of PROFINET versions:

• PROFINET-IO - Distributed I/O (Remote I/O). Here, the familiar I/O view ofPROFIBUS is retained, in which the user data from the field devices areperiodically transmitted into the process model of the control system.

• PROFINET-CBA - Based on the object-oriented modelling of technologicalmodules. Based on the object model, machines and installations arestructured in PROFINET in the form of technological modules.

• PROFIsafe - Defines how safety-oriented devices (emergency shutoffswitches, light grids, overfill protection systems, etc.) can communicatesafety control information over a network securely enough that they can beused in safety-oriented automation tasks up to EN954's KAT4, AK6, or SIL3(Safety Integrity Level).

• PROFIdrive - The PROFIdrive profile covers application scenarios from simplefrequency converters to highly dynamic servo drivers.

• PROFIenergy - A profile of the PROFINET communications protocol thatallows the power consumption of automation equipment in manufacturing(such as robot assembly cells, laser cutters and sub-systems such as paintlines) to be managed over a PROFINET network. It offers an open andstandardized means of controlling energy usage during planned andunplanned breaks in production.


1 Introduction to PROFINET1.1 PROFINET, general

1.2 PROFINET SW, IRC5

Hardware overviewPROFINET SW is a software solution running on the IRC5 main computer. Itcommunicates via distributed I/O units.The PROFINET network is connected to an Ethernet connection on the maincomputer in the IRC5 controller. For option PROFINET Master/Slave SW (888-2),the IRC5 controller can act as a master, slave or both on the PROFINET network.For option PROFINET Slave SW (888-3), the IRC5 controller can only act as aslave.

I/O unitsIt is possible to connect any type of PROFINET-IO compliant I/O unit on thePROFINET master bus. All I/O units should comply with the PROFINET standardand be conformance tested by PROFINET international. I/O units may be mountedinside the IRC5 controller. There are no PROFINET compliant I/O units installedin a standard version IRC5 controller.

Main computerPROFINET SW requires the main computer DSQC 639.

PROFINET version compatibilityPROFINET SW supports the PROFINET version PROFINET-IO RT ver.V2.2conformance class A (see PROFINET versions on page 13).

Continues on next page14 3HAC039906-001 Revision: D


1 Introduction to PROFINET1.2 PROFINET SW, IRC5

PROFINET networkThe following figure illustrates an example overview of the PROFINET network.

xx1000001087

Line PLC, PROFINET masterA

IRC5 controllerB

I/O unitC

Ethernet board (optional)D

Ethernet switch (optional, order number: 3HAC034884-001)E

Configuration programsTo be able to configure the PROFINET master, an external PROFINET configurationtool is needed. There are two different versions available: PROFINET-IOConfigurator Express and PROFINET-IO Configurator Professional. Supplied onthe RobotWare DVD is the Express version. The Professional version have someadditional features and can be bought separately. It is also possible to use the toolPC WORX from Phoenix.The PROFINET internal slave does not require any external configuration tool forthe IRC5 controller. A connecting PLC or other master needs to use the providedGSDML file and its vendor specific configuration tool to be able to connect to thePROFINET internal slave.

Specification overview, master

SpecificationItem

Maximum 50 I/O unitsNumber of I/O units connected to master




Continued

SpecificationItem

Maximum 8192 I/O signalsNumber of I/O signals

Specification overview, slave

SpecificationItem

See GSDML files on page 45.GSDML file

V2.2PROFINET Version

Slot 1-2: Digital input or output modules of variable sizeSlot configuration

Not supportedPROFINET-IO Routing

1024 digital inNumber of I/O signals1024 digital out



Continued

1.3 Terminology

Terms

ExplanationTerm

Ethernet board (optional but also supplied withother options, for example MultiMove)

DSQC 612

XML file created using an external PROFINETconfiguration tool

PROFINET configuration file

PROFINET-IO Configurator ExpressExternal PROFINET configuration toolorPROFINET-IO Configurator ProfessionalorPC WORXSee Configuration programs on page 15.

Generic Station Description Markup LanguageGSDMLA GSDML file contains information about aPROFINET I/O unit.

PROFINET controllerMaster

Poll rateReduction ratio

PROFINET deviceSlave, I/O unit

Functionality for shortening the connection timewith an I/O unit.

Fast Unit Startup

Other manufacturers refer to this functionality asFast Start Up (FSU) or Prioritized Startup.


1 Introduction to PROFINET1.3 Terminology

2 Hardware description2.1 PROFINET connections

Connection portsThe PROFINET network is connected to an Ethernet port on the main computer.The LAN port or any port on the Ethernet board is possible to configure as aPROFINET capable Ethernet port.

DescriptionPort

Use the same physical port, but a different IP address than usedby the factory LAN.

LAN port

The Ethernet board is optional (option 905-1 Ethernet port).Any port on Ethernetboard (DSQC 612) It is possible to share the board with other options (such as Mul-

tiMove). Up to 2 Ethernet boards are supported.

Connecting to the LAN portIf the LAN port is used, the PROFINET traffic use the same physical network contactas the traffic on the factory LAN. However, the port has a specific IP address forthe PROFINET traffic that allows the switch to separate the PROFINET and factoryLAN traffic directly.

IRC5

PLC

LAN

I/O I/O

Factory LAN

Switch

Robot I/OLAN IP PROFINET IP

xx1000001095




The following figure illustrates where to connect the Ethernet cable for thePROFINET network to the LAN port of the computer module.

SERVICE

TPU

AXC 1

PANEL UNIT

DSQC 612

ETHERNET1

ETHERNET3

ETHERNET 2

xx1000001097

LAN portA

Connecting to an Ethernet boardSchematic picture of the network when connecting the PROFINET network to theEthernet board of the main computer:

en1000001099

The following figure illustrates where to connect the Ethernet cable for thePROFINET network to an Ethernet board of the computer module. It can beconnected to any unused port on the Ethernet board. It is only possible to use one




Continued

Ethernet port at a time to be PROFINET capable. The master and slave share thatport.

DSQC 612

ETHERNET1

ETHERNET3

ETHERNET 2

xx1100000152

Ethernet board (DSQC 612)A

Cables and connectorsCables used to connect the PROFINET network must comply with the standarddefined by PROFINET Cabling and Interconnection Technology available fromwww.profinet.com.

LimitationsThe switches used together with PROFINET SW must support Quality of Service(QoS).The PROFINET I/O units mark their packets with a priority value. Switches androuters are then able to differentiate the PROFINET traffic from the non-criticaltraffic. To do this, the switches and routers must support Quality of Service.



Continued

2.2 Connections, general

GeneralAll I/O units are connected to Industrial Ethernet switches in a tree structure. SomeI/O units have built-in Ethernet switches allowing I/O units to be connected in acascade structure.

xx0800000133

SwitchA

I/O unitB

I/O unit with built-in switchC


2 Hardware description2.2 Connections, general

3 Configuration3.1 Configuration types

TypesThe following table provides descriptions of how to define the types Bus, Unit Typeand Unit.

DescriptionDefining...

A PROFINET bus must be defined before any communication is possible, thatis, define rules for PROFINET to communicate on the network.

Bus

See Type Bus on page 55.

When creating a unit type some system parameters are fieldbus specific.Unit TypeSee Type Unit Type on page 63.

The only PROFINET specific system parameter in the unit definition is FastUnit Startup.

Unit

See Type Unit on page 62.

See Technical reference manual - RAPID Instructions, Functions and Datatypes.

Signal

Predefined BusWhen the system is installed with the option PROFINET Master/Slave SW, apredefined I/O bus, Profinet_SW, is created.


3 Configuration3.1 Configuration types

3.2 Configure the Profinet_SW bus

Bus visible on the networkWhen the IRC5 system is started, the Profinet_ SW bus is visible on the PROFINETnetwork for all other nodes.Use a PROFINET network browser tool, like NetNames+ (included), to verify thatall nodes have a unique station name and IP address.

The system parametersThe parameters that configure the Profinet_SW bus representation on the networkare found in the type Bus system parameter for the Profinet_SW bus (see TypeBus on page 55). These parameters are used both by the master and slave partof the Profinet_SW bus.TheBus parameters can be changed from the IRC5 system itself or with an externalconfiguration program. A PLC / PROFINET master that connects to the PROFINETinternal slave can also change some of the parameters during the connectionattempt.

Do not configure parameters with external tool while exchanging I/O dataIf an external configuration tool is used, it is important to make sure that theProfinet_SW bus is not involved in any I/O data exchange.If, for example, the PROFINET internal slave is exchanging I/O data with a PLC, itis not possible to change the IP address etc. of the Profinet_SW bus, using anexternal tool.


3 Configuration3.2 Configure the Profinet_SW bus

3.3 Using NetNames+

About NetNames+Included in the PROFINET-IO Configurator package is a program called NetNames+.It is used to manage the PROFINET network and organize the PROFINET devicesto avoid duplicated IP addresses and station names.

Location of program on PCNetNames+ is included in the PROFINET-IO Configurator Express package availableon the RobotWare DVD (Utility\Fieldbus\Profinet).

Setup NetNames+

Action

Select Network Adapter to the Ethernet adapter used on the PC that connects to thePROFINET network.

1

Click Options and make sure that Save IP Addresses permanently is selected. Thismakes sure that a name or IP address change sent down from NetNames+ is savedby the PROFINET device.

2



3 Configuration3.3 Using NetNames+

Action

Click the Refresh button.3Now NetNames+ will list all PROFINET devices that are reachable on the network.Using this view, it is possible to change a device configuration parameters.To change a device's parameters, simply click on that device and fill in the values thatneed to be changed. When done, click the Send button.

Note

To set the Default Gateway address to Not Used, the Default Gateway needs to beset to the same value as the IP Address.

Fault indicationIf there is a problem with a device, like duplicated IP address, the device will bemarked red.

Flashing On functionalitySometimes it is difficult to distinguish devices in the NetNames+ list from eachother. A useful function in such a case is the Flashing On functionality. To use it,select a device from the list and click the Flashing On button. This will send arequest to the selected device to flash its status LEDs.


3 Configuration3.3 Using NetNames+

Continued

3.4 Master configuration

3.4.1 Introduction

3.4.1.1 Software overview

Controller softwareTo be able to use the PROFINET master, the IRC5 controller must be installed withthe option PROFINET Master/Slave SW (888-2).

PC softwareTo configure the PROFINET network in the IRC5 controller, a PROFINETconfiguration file needs to be created and downloaded to the IRC5 controller. ThisPROFINET configuration file is created using the supplied PROFINET-IOConfigurator Express software found on the RobotWare DVD(Utility\Fieldbus\Profinet) or by using PROFINET-IO ConfiguratorProfessional, that can be bought separately. It is also possible to create thisPROFINET configuration file using the PCWORX PC software from Phoenix Contact.


3 Configuration3.4.1.1 Software overview

3.4.2 Configuration overview

3.4.2.1 PROFINET master

Predefined Unit TypeWhen the system is installed with the option PROFINET Master/Slave SW, apredefined unit type PN_GENERIC is created. This I/O unit type is used for all I/Ounits controlled by the PROFINET master part.

GSDML filesIn order to configure a PROFINET network with an external PROFINET configurationtool, GSDML files need to be imported into the tool. These files contains vitalinformation about the PROFINET I/O units and they shall be supplied by thevendor/manufacturer of the specific PROFINET module.


3 Configuration3.4.2.1 PROFINET master

3.4.3 Workflows

3.4.3.1 Configuring PROFINET master

DescriptionTwo types of configuration must be performed for the master. First an externalPROFINET configuration tool is used to create a PROFINET configuration file thatdescribes the PROFINET network. This file is downloaded to the IRC5 controller.Secondly the system parameters of the IRC5 controller must be configured.

Configuration procedure

NoteAction

Described in sectionCreating PROFINETconfiguration file onpage 30.

Use the external PROFINET configuration tool to create aproject that contains the configuration of the PROFINETnetwork. If the I/O units are not available in the configurationtool, import the GSDML files.

Note

This step is always unique depending on the type of I/O unitto configure.

1

Download the PROFINET configuration file to the IRC5controller.

2

SeeConfiguring the IRC5controller on page 41.

Configure the I/O units connected to the Profinet_SW bususing RobotStudio or FlexPendant.

Note

It is recommended to always use the parameterAuto Config-uration. See Auto Configuration on page 60.

3

See Technical referencemanual - System para-meters.

Configure the I/O signals.4

Perform a warm start of the IRC5 controller.5


3 Configuration3.4.3.1 Configuring PROFINET master

3.4.3.2 Creating PROFINET configuration file

OverviewThis section describes two methods of creating a PROFINET configuration file.

• The standard method is to use the tool PROFINET-IO Configurator Express,which is included on the RobotWare DVD.

• The alternative method is to use the tool PC WORX. This tool is not suppliedby ABB.

Installing PROFINET-IO Configurator ExpressThe PROFINET-IO Configurator Express tool runs on the following operatingsystems (64-bit not supported):

• Windows XP• Windows Vista• Windows 7

Use this procedure to install PROFINET-IO Configurator Express.

Action

Locate the zip file PROFINET-IO Configurator Express.zip on the RobotWareDVD (Utility\Fieldbus\Profinet), and unzip it.

1

If PROFINET-IO Configurator Professional is used, locate the installation setup file onthe supplied CD.

Run the setup.exe file to install the program.2

When the installation is completed, restart the computer.3

Creating PROFINET configuration file using PROFINET-IO Configurator ExpressThe following example is performed using PROFINET-IO Configurator Express.This example demonstrates how to create a PROFINET configuration file for oneI/O unit, a Siemens ET200s with 5 DO 2-bit modules and 1 DI 2-bit module.

Action

Start PROFINET-IO Configurator Express.1

In PROFINET-IO Configurator Express, click File and select New to create a newempty project.

2

Click File and select Save to save the new project. Use the name "TestProject".3

In the Bus Structure window, make sure that the "TestProject" node is selected.4



3 Configuration3.4.3.2 Creating PROFINET configuration file

Action

In the Device Details window, set the PROFINET IP range for this project by settingthe following parameters:

• Last IP-Address: 192.168.5.254• First IP-Address: 192.168.5.2• Subnetmask: 255.255.255.0

en1100000063

5

In the Device Catalog window, expand the nodes KW-Software, I/O and PLC.

en1100000064

6

Right-click on KW-Software PROFINET IO Rev and select Insert Device into Busstructure.

7

This node now represents the IRC5 controller master.

In theBus Structurewindow, selectKW-Software PROFINET IO to bring up theDeviceDetails window.

en1100000065

8

These values does not have any effect on the IRC5 controller settings, but could befilled with data to reflect the settings of the IRC5 controller that is using this configur-ation.




Continued

Action

Install the GSDML file for the ET200s Standard device by right-clicking in the DeviceCatalog window and select Import GSD file.

en1100000251

9

In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.This version of the PROFINET-IO Configurator Express support V2.2 syntax andearlier versions for the GSDML files.The installation of the GSDML file may take several minutes and the program mightappear to be unresponsive during that time.




Continued

Action

Make sure that the PROFINET node is selected in the Bus Structure window.10Add an ET200s ST (standard) head module by expanding the SIEMENS / I/O / ET 200Snode in the Device Catalog window.Right-click in the window and select Edit Catalog Representation. Move the OrderNumber item from Available to Used and click OK. The window will no be sorted withorder numbers as well.Select and right-click the node (for example IM151-3 PN ST V6.0 Rev.) and chooseInsert Device into Bus structure.In this example we use a version 6.0 module with order number 6ES7-151 3AA23-0AB0.

en1100000253




Continued

Action

Select the added node in the Bus Structure window.11In the Device Details window, set the device properties to reflect the units propertieson the PROFINET network. See Using NetNames+ on page 25.In this example we set:

• DNS/PROFINET Device Name: unit1.cell2• IP Address: 192.168.5.65• Reduction ratio: 8 ms

en1100000254

Note

The DNS/PROFINET Device Name is using a much longer string length and a syntaxthat is not allowed in the IRC5 controller for an I/O unit name. The DNS/PROFINETDevice Name is matched against the system parameterName for an I/O unit definitionin the IRC5 controller. Therefore the DNS/PROFINET Device Name must be uniquefor the first 32 letters or up to the first "." (full stop character).In this example the units name in the Robot controller will be "unit1", but on thePROFINET network it will be displayed with the name "unit1.cell2". Therefore it is re-commended to use the system parameter Auto Configuration when adding new unitsin the IRC5 controller. See Auto Configuration on page 60.

Select the node 0 @IM151-3 PN ST V6.0 in the Bus Structure window.12Now the Module Catalog window displays all possible modules to insert at Slot 1 forthis device. Add the power module. Sort this window as well based on order number.Add a power module with order number 6ES7 138-4CA01-0AA0 by selecting it anddrop it in the Bus Structure window on the text 0 @IM151-3 PN ST V6.0.

Note

It is very important for some I/O units that the firmware/hardware version on the I/Ounit exactly matches the version used in the configuration (for example V 6.0).

Add the rest of the digital input and output modules by repeating the previous step.Select the node 1 PM-E DC24V. Sort the Module Catalog window on order number.Add a 2-bit DO module with order number 6ES7 132-4BB01-0AA0 by dragging anddropping it on the 1 PM-E DC24V node.

13




Continued

Action

When all modules are added, right-click the node PROFINET in the Bus Structurewindow and select Parameterize to compile the configuration project and create theippnio.xml file.

en1100000255

14

Download the ippnio.xml file to the HOME directory of the currently used RobotWaresystem using an FTP client.

15

Installing PC WORX

Note

Prior to installation, close all open Windows applications.PC WORX is part of the AUTOMATIONWORX Software Suite.

Use this procedure to install PC WORX.

Action

Insert the AUTOMATIONWORX Software Suite CD in your CD-ROM drive and run thesetup.exe file.

1

Follow the installation instructions.2

When the installation is completed, restart the computer.3




Continued

Creating PROFINET configuration file using PC WORXThe following example is performed using PC WORX version 6.0 with Service pack3 and hotfix 1.This example demonstrates how to create a PROFINET master configuration filefor a Siemens ET200s I/O unit that later can be downloaded to the IRC5 controller.

Action

Start the program PC WORX 6.00.25 SP 3.73.1The program can be found in the Windows Start menu, under Phoenix Contact andthen AUTOMATIONWORX Software Suite 2009 1.50

Click on the menu View and select Bus Configuration.2This changes the program view to Bus Configuration.

Click File and select New Project.3

Select the project type RFC 470 PN-3TX ... and click OK.

en1100000067

4

In theDevice detailswindow, specify the IP address range that the PROFINET masteroperates within.

5

For example, if the PROFINET I/O bus system parameter IP Address is specified to192.168.5.33:First IP-Address can be 192.168.5.2Last IP- Address can be 192.168.5.254.System parameter IP Address is described in section IP Address on page 56.

en1100000071




Continued

Action

In the Bus Structure window, select the node RFC 470 .... Set the same IP addressas specified in the system parameter IP Address for the PROFINET I/O bus in theIRC5 controller.

en1100000072

6

This specifies the IP address of the IRC5 controller PROFINET master.

Activate the Device Catalog window, right-click and select Import GSD file.

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7

This installs the GSDML file for the ET200s device.

Select the GSD file.8In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.This version of the PCWORX support V2.2 syntax and below for the GSDML files.It may take a few minutes to install a GSDML file.




Continued

Action

Make sure the PROFINET node in the Bus Structurewindow is selected. Double-clickon the ET200s module in the Device Catalog window to add it.

9

In this example we add a ET200S of version V6.1 with order number 6ES7-151 3AA23-0AB0.

en1100000074

Note

It is very important for some I/O units that the firmware/hardware version on the I/Ounit exactly matches the version used in the configuration (for example V 6.1).

Set the I/O unit’s PROFINET name using the program NetNames+. See Using Net-Names+ on page 25.

10

The selected name must exactly match the name the I/O unit got on the PROFINETnetwork.

Note

The selected name is also used as the name of this I/O unit in the IRC5 controller.However, a '-' sign is expressed as a '_' in the IRC5 controller.




Continued

Action

In the Device Details window, set a value for IP Address.11Also, in the program NetNames+, set the same value for the IP address.

en1100000081

If the default values are not suitable, set new values for Reduction ratio input andReduction ratio output in the Device Details window.

12

In the Bus Structure window, make sure the node IM151... is selected.13In the Module Catalog window, locate the module that is in slot 1 on the I/O unit.

Tip

To easier find the module, right-click in the Module Catalog window and select EditCatalog Representation. In the pop up window select to sort it based onOrder number.




Continued

Action

Drag and drop the module to the module in the preceding slot in the Bus Structurewindow.

14

In this example, drag module PM-E DC24V to node 0 @IM151-3 PN…

en1100000085

Add the rest of the modules that the ET200s is equipped with.

Tip

Copy and paste can be used to add modules of the same type.

15

Click the Build menu and select Rebuild Project.16This builds the project and creates the PROFINET configuration file.A successful build will always generate 2 warnings.The default path to the generated PROFINET configuration file is: C:\Documentsand Settings\All Users\Documents\PCWORX\Projects\TestProj\C\STD_CNF\R\STD_RES\_s49PNIO\IPPNIO.xml

Download the ippnio.xml file to the HOME directory of the currently used RobotWaresystem using an FTP client.

17



Continued

3.4.3.3 Configuring the IRC5 controller

DescriptionThis configuration example uses the PROFINET configuration file created in sectionCreating PROFINET configuration file on page 30. It shows how to use thePROFINET configuration file and how to add the configuration definitions to thesystem parameters.

Configuring the IRC5 system parametersUse this procedure to configure the PROFINET master in the IRC5 controller, usingRobotStudio.

Action

Start RobotStudio and connect to the IRC5 controller. Request write access.1

Click Configuration Editor and select I/O.2

In the type list, click Bus and then right-click in the workspace on theProfinet_SW item and select Edit Bus.

3

Enter the parameter values for the bus.• Connector ID: Select used Ethernet port• Path to Bus Configuration File: Set to ippnio.xml• IP Address: Set to the PROFINET subnet range• Station name: This robots PROFINET name id on the PROFINET network• Auto Configuration: Select group signals

Click OK.

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4

Perform a warm start of the IRC5 controller.5The auto configuration functionality now adds all I/O units found in the ippnio.xmlfile to the system parameters.In this example, the et200_test I/O unit (found in the example file ippnio.xml) isadded.

If needed, change the signal names on the added I/O unit.6

Perform a warm start of the IRC5 controller to connect to the configured I/Ounit.

7


3 Configuration3.4.3.3 Configuring the IRC5 controller

3.4.3.4 Using Fast Unit Startup

About Fast Unit StartupThe Fast Unit Startup functionality is used in tool changing applications to shortenthe connection time between the PROFINET master and an I/O unit. To be able touse this functionality, the I/O unit needs to support this functionality. Somemanufacturers also call this functionality Fast Start Up (FSU) or Prioritized Startup.To activate Fast Unit Startup against an I/O unit, set the system parameter FastUnit Startup to the Ethernet port number on the I/O unit that connects the incomingEthernet traffic from the PROFINET master. See Fast Unit Startup on page 62.

Three alternative connections

I/O unit connected via a switch

xx1100000093

IRC5 controller acting as PROFINET masterA

SwitchB

Connection pointC

I/O unitD

Port 1 on the I/O unitF

Port 2 on the I/O unitG

In this alternative, which is the most common, the PROFINET master connects toI/O unit via a switch. If the I/O unit shall be configured with Fast Unit Startup, theonly Port that loses its power at the connection point, is Port 1 on the I/O unit (ifthe Ethernet cable is connected to this Port from the switch). Therefore the onlyconfiguration needed in this scenario is to set the system parameter Fast UnitStartup on the I/O unit’s configuration to "Port 1".



3 Configuration3.4.3.4 Using Fast Unit Startup

Two I/O units connected in serial via a switch

xx1100000094


SwitchB

Connection pointC

I/O unitD

I/O unitE

In this alternative, booth I/O units are disconnected at the connection point. In thiscase booth Port 1 and Port 2 on the first I/O unit (D) and Port 1 on second I/O unit(E) needs to be configured to support Fast Unit Startup. This cannot be done usingthe system parameter Fast Unit Startup. In this scenario the first I/O unit (D) needsto be manually configured. Check your vendor specific application manual abouthow to perform such a configuration.

I/O unit connected without a switch

A

C

D

xx1100000095


Connection pointC

I/O unitD

I/O unitE

In this alternative there is a direct cable between the PROFINET master and theI/O unit. In this case, the system parameter Fast Unit Startup needs to be set to"Port 1" and a crossed Ethernet cable needs to be used.


3 Configuration3.4.3.4 Using Fast Unit Startup

Continued

3.5 Slave configuration

3.5.1 Introduction

3.5.1.1 Software overview

Controller softwareTo be able to use the PROFINET internal slave, the IRC5 controller must be installedwith the optionPROFINETMaster/Slave SW (888-2) orPROFINETSlave SW (888-3).

PC softwareThe PROFINET internal slave does not need any type of PC software to be activated,but the connecting PLC / PROFINET master might need a PC software tool toconfigure all connection parameters used to connect to the IRC5 system.The provided GSDML file for the IRC5 PROFINET SW slave is used to inform theconnecting PLC / PROFINET master of supported connection parameters. SeeGSDML files on page 45.


3 Configuration3.5.1.1 Software overview

3.5.2 Configuration overview

3.5.2.1 PROFINET internal slave

ConfigurationPROFINET SW has an internal slave with maximum 1024 digital input signals andmaximum 1024 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 acts as a

master.

Predefined Unit TypeA predefined unit type PN_INTERNAL_SLAVE is available. This unit type is usedto define the PROFINET internal slave in the IRC5 controller, which will enable aPLC to connect to the IRC5 controller. There can only be one I/O unit with this unittype defined in the IRC5 controller.

GSDML filesIn order to configure a PROFINET network with an external PROFINET configurationtool, GSDML files need to be imported into the tool. These files contains vitalinformation about the PROFINET I/O units and they shall be supplied by thevendor/manufacturer of the specific PROFINET module.The GSDML file,GSDML-V2.1-ABB-Robotics-PNSW-Device-20110120.xml, for thePROFINET internal slave can be obtained from the RobotWare DVD, PC, or IRC5controller.

• On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFINET\GSDML\• OnthePCwheretheRobotWareisinstalled: ...\ABBIndustrialIT\

RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\GSDML\• On the IRC5 Controller:

\hd0a\<RobotWare_xx.xx.xxxx>\utility\service\GSDML\

Input and output sizeThe unit type PN_INTERNAL_SLAVE has two system parameters, Input Size andOutput Size. Input Size is used to configure the input size of the PROFINET internalslave and Output Size configures the output size. A connecting PLC needs to havea slot configuration created in the external PROFINET configuration tool thatmatches the configuration of the PROFINET internal slave.The following table shows a few examples of how the Input Size and Output Sizeunit type parameters can be used to create different slot configurations of aconnecting PLC:

Step 7 ConfigurationOutput SizeInput Size

Slot 1: DI 8 bytes8 bytes8 bytesSlot 2: DO 8 bytes

Slot 1: DI 16 bytes16 bytes8 bytesSlot 2: DO 8 bytes



3 Configuration3.5.2.1 PROFINET internal slave

Step 7 ConfigurationOutput SizeInput Size

Slot 1: DI 32 bytes32 bytes64 byteSlot 2: DO 64 bytes

If a configuration mismatch between the connecting PLC and the PROFINET internalslave occurs, the event message 71489 is generated on the FlexPendant. Thisevent message informs the user of the present slot configuration of the PROFINETinternal slave.

Note

The Input Size sets the size on digital outputs and Output size sets the size ondigital inputs, seen from the PLC’s point of view.


3 Configuration3.5.2.1 PROFINET internal slave

Continued

3.5.3 Workflows

3.5.3.1 Configuring PROFINET internal slave

DescriptionWhen the IRC5 controller is connected, for example, to an external PLC, the IRC5controller acts as an ordinary slave I/O unit on the PROFINET network. The PLCconnects to the PROFINET internal slave to exchange data.

Configuration

NoteAction

Described in section ConfiguringPROFINET internal slave onpage 48.

Use the PROFINET master vendor specific config-uration tool to create a project for the master, forexample a PLC, that contains the configuration ofthe PROFINET network.

1

Described in section ConfiguringPROFINET internal slave onpage 48.

In the tool, configure the master to connect to thePROFINET internal slave that represents the IRC5controller.

2

SeeConfiguringPROFINET intern-al slave on page48 andOperatingmanual - IRC5 with FlexPendant.

Configure the PROFINET internal slave in the IRC5controller using RobotStudio or FlexPendant.

3

See Technical reference manu-al - System parameters.

Add I/O signals to the PROFINET internal slave.4

SeeOperatingmanual - IRC5 withFlexPendant.


Communication statusTo control the communication status between the master (for example a PLC) andthe PROFINET internal slave, the following scheme is used:

1 Configure the master to set an I/O signal during the startup or within thecontroller loop.

2 Configure the PROFINET internal slave to attach the I/O signal to a RAPIDtrap function in the IRC5 controller. The I/O signal then functions as acommunication supervision signal.

If the communication between the master and the PROFINET internal slave isinterrupted, all the inputs of the PROFINET internal slave will go to the fail safestate (that is, input value will be zero). This means that the user definedcommunication supervision signal will also have the value zero.


3 Configuration3.5.3.1 Configuring PROFINET internal slave

3.5.4 Examples

3.5.4.1 Configuring PROFINET internal slave

DescriptionThis is a configuration example for a PROFINET internal slave with 32 byte inputand 32 byte output size. The example also shows how to configure a PLC thatconnects against the PROFINET internal slave.This example uses the Siemens Step7 PC tool. The procedure can be used withother tools as well. See the documentation for your PLC configuration tool.To create a connection between an IRC5 PROFINET master and an IRC5 PROFINETinternal slave, see Configuring PROFINET master on page 29 and use the sameprocedure with the PROFINET internal slave as any other I/O unit.

Configuring PROFINET internal slaveUse this procedure to configure a Siemens PLC to connect to the PROFINETinternal slave, using Siemens Step 7.

Action

Start Simatic Manager and create a new PLC project. Open the HW Config windowfor the PLC hardware configuration.

en1000001189

1

Make sure the PROFINET network connected to the PLC is the same as the networkconnected to the IRC5 controller’s PROFINET network port. Also make sure that theyare on the same logical subnet IP address range. See Configure the Profinet_SW buson page 24.

2




Action

Install the GSDML file for the PROFINET internal slave.

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3

Expand PROFINET IO \ Additional Field Devices \ I/O \ IRC5 PNIO-Device in thecatalog view to the right, to find the PROFINET internal slave device. Add the IRC5PNIO-Device to the PLC project.

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4




Continued

Action

Add a DI 32 bytes module on Slot 1 and a DO 32 bytes module on Slot 2.

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5

Double-click on the ABB icon to bring up thePropertieswindow. Make sure thatDevicename is set to the same name as the IRC5’s Profinet_SW bus parameterStation Name(see Station Name on page 59). Also make sure that IP Address is the same as thesystem parameter IP Address for the Profinet_SW bus (see IP Address on page 56).

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6

Download the configuration to the PLC.7




Continued

IRC5 controller I/O configuration setupUse this procedure to configure the PROFINET internal slave in the IRC5 controller,using Robot Studio.

Action

Start RobotStudio and connect to the IRC5 controller. Request write access.1

Click Configuration Editor and select I/O.2

In the type list, click Unit and then right-click in the workspace and select Add Unit.3

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_SW.

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4

Click and edit the parameters on theUnit Type named PN_INTERNAL_SLAVE. ChangeInput Size and Output Size to 32 bytes.

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5

Add I/O signals.6




Continued

Action

Make sure allBus type parameters for the PROFINET SW bus are the same as specifiedin the PLC project.

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7




Continued

4 System parameters4.1 Introduction

About the system parametersThere are both PROFINET SW specific parameters and more general parameters.This chapter describes all PROFINET SW specific system parameters. Theparameters are divided into the type they belong to. For information about otherparameters, see Technical reference manual - System parameters.

PROFINET SW system parameters

BusThese parameters belong to the type Bus in the topic I/O.

For more information, see ...Parameter

Technical reference manual - System parametersName

Technical reference manual - System parametersType of Bus

Connector ID on page 61Connector ID

Technical reference manual - System parametersLabel of Fieldbus Connect-or

Technical reference manual - System parametersUnit Recovery Time

Path to Bus Configuration File on page 55Path to Bus ConfigurationFile

IP Address on page 56IP Address

Subnet Mask on page 57Subnet Mask

Gateway on page 58Gateway

Station Name on page 59Station Name

Auto Configuration on page 60Auto Configuration

UnitThese parameters belong to the type Unit in the topic I/O.



Technical reference manual - System parametersType of Unit

Technical reference manual - System parametersConnect to Bus

Technical reference manual - System parametersUnit Identification Label

Technical reference manual - System parametersUnit Trustlevel

Technical reference manual - System parametersUnit Startup State

Technical reference manual - System parametersStore Unit State at PowerFail

Technical reference manual - System parametersRegain CommunicationReset

Fast Unit Startup on page 62Fast Unit Startup




Unit TypeThese parameters belong to the type Unit Type in the topic I/O.



Technical reference manual - System parametersType of Bus

Technical reference manual - System parametersVendor Name

Technical reference manual - System parametersProduct Name

Technical reference manual - System parametersInternal Slave

Input Size on page 63Input Size

Output Size on page 64Output Size



Continued

4.2 Type Bus

4.2.1 Path to Bus Configuration File

ParentPath to Bus Configuration File belongs to the type Bus, in the topic I/O.

Cfg nameCfgPath

DescriptionPath to Bus Configuration File specifies the path to an XML file that is located onthe IRC5 system. This file is created and edited with the program PROFINET-IOConfigurator Express, PROFINET-IO Configurator Professional or PCWORX (seeCreating PROFINET configuration file on page 30).

UsageThe Path to Bus Configuration File system parameter is used to point out whereto find the PROFINET SW configuration file. This file is only used by the masterpart. If the file is placed in the HOME directory of the system, it is enough to writethe file name.If the PROFINET configuration file is placed in the HOME directory, it will also beincluded in backups.

PrerequisitesThe option PROFINET Master/Slave SW (888-2) must be installed.

Default valueThe default value is an empty string.

Allowed valuesA string with maximum 80 characters.


4 System parameters4.2.1 Path to Bus Configuration File

4.2.2 IP Address

ParentIP Address belongs to the type Bus, in the topic I/O.

Cfg namePN_IPAddress

DescriptionThe parameter IP Address specifies the address of the PROFINET network node.The PROFINET master and the PROFINET internal slave share the same address.

UsageThe parameter IP Address is used to set the PROFINET IP address of the IRC5controller on the used Ethernet network interface (decided with the Connector IDparameter). The IP Address parameter can also be changed with an externalPROFINET configuration tool or a connecting PROFINET master.If the PROFINET SW network is connected to the LAN port, the IP address mustnot be on the same logical sub network as the LAN IP address. For example, if thefactory LAN use IP address 192.168.8.23 for the LAN port, the PROFINET networkcan use IP address 192.168.5.41 for the LAN port.If the PROFINET SW network is connected to a port on the Ethernet board, the IPaddress must belong to another subnet than the address of the LAN port or AXCports. For example, if the IP address of the LAN port is 111.122.133.144, the IPaddress for the port on the Ethernet board cannot be 111.122.133.145, but it canbe 111.122.134.145.

PrerequisitesThe option PROFINETMaster/Slave SW or PROFINET Slave SWmust be installed.

Default valueThe default value is 0.0.0.0

Allowed valuesThe value can be 0.0.0.0 - 255.255.255.255.


4 System parameters4.2.2 IP Address

4.2.3 Subnet Mask

ParentSubnet Mask belongs to the type Bus, in the topic I/O.

Cfg namePN_SubnetMask

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

UsageThe parameter Subnet Mask is used to divide the network into logical subnets.Since all Ethernet ports on the main computer DSQC 639 are internally connected,it is possible to configure a Subnet Mask less than 255.255.255.XXX.The Subnet Mask parameter can also be changed with an external PROFINETconfiguration tool or a connecting PROFINET master.


Default valueThe default value is 255.255.255.0.

Allowed valuesAllowed values are between 128.0.0.0 - 255.255.255.252.


4 System parameters4.2.3 Subnet Mask

4.2.4 Gateway

ParentGateway belongs to the type Bus, in the topic I/O.

Cfg namePN_Gateway

DescriptionGateway specifies the node on the network that serves as an entrance to anothernetwork.

UsageThe parameter Gateway does not have any effect on the PROFINET-IO traffic,since PROFINET uses the MAC address instead of the IP address at I/O dataexchange. The asynchronous PROFINET-IO traffic, like data records, is affected.It is recommended to keep this parameter at its default value: Not Used.The parameter Gateway can also be changed with an external PROFINETconfiguration tool or a connecting PROFINET master.


Default valueThe default value is: Not Used

Allowed valuesThe value can be 0.0.0.0 - 255.255.255.255or Not Used.


4 System parameters4.2.4 Gateway

4.2.5 Station Name

ParentStation Name belongs to the type Bus, in the topic I/O.

Cfg namePN_StationName

DescriptionStation Name specifies the PROFINET station name on the network of the IRC5controller.

UsageThe parameterStation Name is used to identify a PROFINET I/O unit on the network.The name must be unique on the network.The parameter Station Name can also be changed with an external PROFINETconfiguration tool or a connecting PROFINET master.


Default valueThe default value is: irc5-pnio

Allowed valuesA string with maximum 80 characters.Allowed characters:

• 0-9 (numerical)• a-z (lowercase letters)• - (hyphen)• . (full stop)


4 System parameters4.2.5 Station Name

4.2.6 Auto Configuration

ParentAuto Configuration belongs to the type Bus, in the topic I/O.

Cfg namePN_AutoConfig

DescriptionThe parameter Auto Configuration specifies if the PROFINET master should automap I/O units defined in the PROFINET configuration file directly into the IRC5 I/Osystem.

UsageThe parameter Auto Configuration is used to map all defined I/O units and its I/Osignals directly into the IRC5 I/O system. If the I/O unit is already defined in theIRC5 I/O system, it will not be added or changed. Only I/O units that have previouslynot been defined in the I/O system will be added. It is possible to specify threedifferent approaches for Auto Configuration:

• Without Signals - Only adds I/O unit definitions without any I/O signals.• Group Signals - Add I/O unit definitions with 1-byte wide group signals.• Single Bit Signals - Add I/O unit definitions with 1-bit signals defined.


Default valueThe default value is: Deactivated

Allowed values

DescriptionValue

Do not add any I/O units or signals.Deactivated

Only adds I/O unit definitions without any I/O signals.Without Signals

Add I/O unit definitions with 1-byte wide group signals.Group Signals

Add I/O unit definitions with 1-bit signals defined.Single Bit Signals


4 System parameters4.2.6 Auto Configuration

4.2.7 Connector ID

ParentConnector ID belongs to the type Bus, in the topic I/O.

Cfg nameConnectorID

DescriptionThe parameter Connector ID specifies the hardware interface (connection port)that the PROFINET option shall use. See Connection ports on page 19.

UsageTheConnector ID parameter is used to select one of the available connection portsto use. PROFINET SW supports the use of the LAN Port or any of the Ethernetports on Ethernet board 1 or 2.

PrerequisitesThe option PROFINET Master/Slave SW (888-2) or PROFINET Slave SW (888-3)must be installed.

LimitationsEthernet boards are not standard on the IRC5 controller. To be able to use any ofthe ports on board 1 or 2, the main computer needs to be equipped with one ortwo Ethernet boards.

Default valueLAN PortFirst Board

Allowed values

DescriptionValue

LAN port on the computer module.LAN Port

Port 1 on the first Ethernet board from the left.Ethernet Port 1



Port 1 on the second Ethernet board from the left.Ethernet Port 1 on Board 2




4 System parameters4.2.7 Connector ID

4.3 Type Unit

4.3.1 Fast Unit Startup

ParentFast Unit Startup belongs to the type Unit, in the topic I/O.

Cfg namePN_FastUnitStartup

DescriptionThe parameter Fast Unit Startup specifies if the I/O unit should use a fasterconnection attempt algorithm or not.

UsageThe parameter Fast Unit Startup is used mainly to speed up tool changeapplications. The normal PROFINET connection attempt takes a few seconds tocomplete, but with Fast Unit Startup enabled devices, this time is shorted to about1 second. For more information, see Using Fast Unit Startup on page 42.


LimitationsThe Ethernet switches between the IRC5 controller and the I/O unit that uses theFast Unit Startup functionality must be configured to disable the auto cross overand automatic speed detection functions on used ports, if the switch itself ispowered of during a tool change.

Default valueDeactivated

Allowed values• Deactivated• Port 1• Port 2• Port 3• Port 4


4 System parameters4.3.1 Fast Unit Startup

4.4 Type Unit Type

4.4.1 Input Size

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

Cfg namePN_InputSize

DescriptionThe parameter Input Size is used to configure the input slot configuration of thePROFINET internal slave.

UsageThe parameter Input Size is only valid for the PN_INTERNAL_SLAVE unit type. Itwill configure the input slot size for the PROFINET internal slave. This size mustmatch the connecting PLC’s or other PROFINET master’s defined output slot size.For more information, see Input and output size on page 45.


Default value64 Bytes

Allowed values8, 16, 32, 64, or 128 Bytes


4 System parameters4.4.1 Input Size

4.4.2 Output Size

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

Cfg namePN_OutputSize

DescriptionThe parameter Output Size is used to configure the output slot configuration ofthe PROFINET internal slave.

UsageThe parameter Output Size is only valid for the PN_INTERNAL_SLAVE unit type.It will configure the output slot size for the PROFINET internal slave. This size mustmatch the connecting PLC’s or other PROFINET master’s defined input slot size.For more information, see Input and output size on page 45.


Default value64 Bytes

Allowed values8, 16, 32, 64, or 128 Bytes


4 System parameters4.4.2 Output Size

5 Troubleshooting5.1 Scenarios

Problem assigning IP address or station nameIf an external PROFINET configuration tool is used to set IP address or stationname for a master or slave, it may not be possible to perform that operation. Insuch a case, make sure that the I/O unit or PLC is not involved in any I/O dataexchange. If, for example, an I/O unit or PLC is exchanging data with another I/Ounit or PLC, it is not possible to change the IP address or station name of thoseunits.

Unable to connect to a slave I/O unitIf all parameters are correct, but it is still not possible to connect to an I/O unitusing the PROFINET master, make sure that the slave I/O unit does not alreadyhave an active connection with another master. Most I/O units do not accept thattwo masters are connected against the same I/O unit at the same time.

Connections are lost randomlyLost connections can occur for a number of reasons.

• Bad network• Overloaded Ethernet switches• Ethernet cable problems

Another possible reason is that the IRC5 PROFINET SW is not able to process allthe PROFINET requests within the specified time frame. If, for example, 20 I/Ounits are used with 1 ms reduction ratio (poll rate), the slightest variation of CPUload on the main computer might cause a protocol disturbance which can lead toa connection timeout. The maximum possible I/O units that can be used dependson the reduction ratios used, CPU load and data lengths transferred at every datacycle.


5 Troubleshooting5.1 Scenarios

IndexAAuto Configuration, 29, 34, 53, 60

Ccables, 21configuration file, 17Connector ID, 61connectors, 21controller software, 27, 44

DDSQC 612, 19

EEtherNet/IP network, 20Ethernet board, 17, 20Ethernet board port, 20

Ffail safe state, 47Fast Start Up, 17, 42Fast Unit Startup, 42, 53, 62FSU, 17, 42

GGateway, 58GSDML, 17GSDML file, 28, 45

II/O unit, 17industrial ethernet, 13, 22Input Size, 45, 63internal slave, 45, 47–48IP Address, 36, 50, 53, 56

Mmaster, 15, 17, 28MultiMove, 19

NNetNames+, 25network overview, 15

OOutput Size, 45, 64

PPath to Bus Configuration File, 53, 55

Prioritized Startup, 17, 42PROFINET, 13

cables, 21configuration tool, 17connectors, 21internal slave, 45, 47–48master, 15, 28network, 15predefined unit type, 28predefined Unit Type, 45slave, 16, 45standardization, 13versions, 13

PROFINET:predefined bus, 23PROFINET Master/Slave SW, 7PROFINET Slave SW, 7PROFINET SW, 7PROFINET versions, 13

compatibility, 14PROFIdrive, 13PROFIenergy, 13PROFINET-CBA, 13PROFINET-IO, 13–14PROFIsafe, 13

QQuality of Service, 21

Rreduction ratio, 17, 39, 65

Ssafety, 11slave, 16–17, 45Station Name, 50, 53, 59Subnet Mask, 57SW, 7system parameters, 53

Tterminology, 17topic I/O type

Bus, 53Unit, 53Unit Type, 54

topic I/O type:Bus, 23topic I/O type:Unit, 23topic I/O type:Unit Type, 23


Index

Contact us

ABB ABDiscrete Automation and MotionRoboticsS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsDiscrete Automation and MotionBox 265N-4349 BRYNE, NorwayTelephone: +47 51489000

ABB Engineering (Shanghai) Ltd.5 Lane 369, ChuangYe RoadKangQiao Town, PuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

ABB Inc.Discrete Automation and MotionRobotics1250 Brown RoadAuburn Hills, MI 48326USATelephone: +1 248 391 9000

www.abb.com/robotics

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