Manual de Aplicação EtherNet-IP Master-Slave RW 5.15

ABB Robotics
Application manual
EtherNet/IP Master/Slave
Trace back information:
Workspace RW 5-15-01 version a4
Checked in 2013-04-03
Skribenta version 4.0.006
Application manual
EtherNet/IP Master/Slave
RobotWare 5.15
Document ID: 3HAC033466-001

Revision: G
© Copyright 2008-2013 ABB. All rights reserved.

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

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of contents
Table of contents
Manual overview ............................................................................................................................... 7
Product documentation, M2004 ....................................................................................................... 10
Safety ................................................................................................................................................ 12
Terminology ...................................................................................................................................... 13
1 Introduction to EtherNet/IP 15
1.1 General ........................................................................................................... 15
1.2 EtherNet/IP Master/Slave, IRC5 ........................................................................... 16
2 Hardware descriptions 17
2.1 EtherNet/IP connections ..................................................................................... 17
3 Configuration 21
3.1 Introduction to configuration ................................................................................ 21
3.2 EtherNet/IP master ............................................................................................ 28
3.2.1 Configuration overview for EtherNet/IP master .............................................. 28
3.2.2 Working with the EtherNet/IP master ........................................................... 30
3.2.3 QuickConnect ......................................................................................... 35
3.3 EtherNet/IP internal slave ................................................................................... 37
3.3.1 Configuration overview for internal slave ..................................................... 37
3.3.2 Working with the EtherNet/IP internal slave .................................................. 38
3.3.3 EtherNet/IP communication between two IRC5 controllers .............................. 43
4 System parameters 49
4.1 Introduction ...................................................................................................... 49
4.2 Type Bus ......................................................................................................... 51
4.2.1 EtherNet/IP Address ................................................................................ 51
4.2.2 EtherNet/IP Subnet Mask .......................................................................... 53
4.2.3 EtherNet/IP Gateway ................................................................................ 54
4.2.4 EtherNet/IP Destination ............................................................................ 55
4.2.5 Port Speed ............................................................................................. 56
4.2.6 Connector ID .......................................................................................... 57
4.3 Type Unit Type ................................................................................................. 58
4.3.1 Vendor ID .............................................................................................. 58
4.3.2 Product Code ......................................................................................... 59
4.3.3 Device Type ........................................................................................... 60
4.3.4 Output Size ............................................................................................ 61
4.3.5 Input Size .............................................................................................. 62
4.3.6 Output Assembly .................................................................................... 63
4.3.7 Input Assembly ....................................................................................... 64
4.3.8 Configuration Assembly ........................................................................... 65
4.3.9 Configuration Size ................................................................................... 66
4.3.10 Configuration Data .................................................................................. 67
4.3.11 Ownership ............................................................................................. 68
4.3.12 Input Connection Type ............................................................................. 69
4.3.13 Request Packet Interval ............................................................................ 70
4.3.14 QuickConnect ......................................................................................... 71
4.3.15 Connection Priority .................................................................................. 72
4.4 Type Unit ......................................................................................................... 73
4.4.1 EtherNet/IP Address ................................................................................ 73
5 Trouble shooting 75
5.1 Frequently asked questions ................................................................................ 75
5.2 Trouble shooting ............................................................................................... 76
3HAC033466-001 Revision: G 5
Table of contents
Index 77
6 3HAC033466-001 Revision: G
Manual overview
Manual overview
About this manual
This manual describes the EtherNet/IP Master/Slave option and contains instructions
for the EtherNet/IP Master/Slave configuration.
Usage
This manual should be used during installation and configuration of the EtherNet/IP
Master/Slave and upgrading of the EtherNet/IP Master/Slave option.
Who should read this manual?

This manual is intended for
• Personnel responsible for installations and configurations of fieldbus
hardware/software
• Personnel responsible for I/O system configuration
• System integrators
Prerequisites
The reader should have the required knowledge of
• Mechanical installation work
• Electrical installation work
• System parameters and how to configure them
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 Provides an overview of the EtherNet/IP Master/Slave and includes the fol-
lowing:
• A general description of EtherNet/IP
• Description of how the EtherNet/IP Master/Slave is connected in a robot
system
2 Describes the EtherNet/IP Master/Slave connections and indications.
3 Provides an overview of the EtherNet/IP Master/Slave configuration. The
chapter also contains descriptions of workflows.
4 Describes the EtherNet/IP Master/Slave specific system parameters.
5 Provides troubleshooting guidance for the most common problems.
References
Document references
Reference Document ID
Operating manual - RobotStudio 3HAC032104-001
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Product manual - IRC5 3HAC021313-001
Technical reference manual - System parameters 3HAC17076-1
Continues on next page

Manual overview
Continued
Reference Document ID
Technical reference manual - RAPID Instructions, Functions 3HAC16581-1
and Data types
Application manual - DeviceNet 3HAC020676-001
Application manual - Robot communication and I/O control 3HAC020435-001
Product specification, IRC5 with FlexPendant 3HAC021785-001
Other references
Reference Description
www.odva.org The web site of ODVA (Open DeviceNet Vendor
Association).
EtherNet/IP Specification Edition 1.2 ODVA Specification
Revisions
Revision Description
- First edition. RobotWare 5.12.
A Released with IRC5 RW 5.12.02.
A new section for the EtherNet/IP Destination system parameter is added
under Type Bus in the System parameters chapter.
The Limitations section is added in the Hardware descriptions chapter.
More questions and answers are added to the Frequently asked questions
section in the Trouble shooting chapter.
B Updated for the RW 5.13 release.
Added the new section EtherNet/IP communication between two IRC5
controllers on page 43 in the Configuration chapter.
Added cross reference to Operating manual - IRC5 with FlexPendant in
the section How to configure the EtherNet/IP master on page 30 in the
Configuration chapter.
C Updated for the RW 5.14 release.
Updated the images in the sections Adding Unit Type on page 31, Editing
Unit Type on page 39, Adding Unit on page 40, and Adding unit with the
Unit Type EN_INTERNAL_SLAVE on page 45.
Added the definition of the following terms in the section Terminology on
page 13.
• Explicit Messages
• Implicit Messages
The value for the Connection size is updated in the table in the subsection
Specification overview on page 16.
Information about the location of EDS files in the RobotWare DVD, PC,
and IRC5 controller is added in the following section:
• Electronic Data Sheet file on page 37.
Added the new system parameters Ownership on page 68 and Configur-
ation Assembly on page 65.
Added the new step Verify if the I/O unit need the configuration assembly,
see the EDS file in the procedure Error log "71367 No contact with unit"
is shown after startup on page 76.

Manual overview
Continued
Revision Description
D Updated for the RW 5.14.02 release.
• Removed the system parameter Product Type from the System
Parameters chapter.
• Added the system parameter Configuration Size on page 66.
• Updated the system parameters Configuration Assembly on page 65
and Request Packet Interval on page 70.
E Updated for the RW 5.14.03 release.
• Moved the Terminology section after Safety section.
• Update the Terminology on page 13.
• Updated the contents and images in sections Connecting to the
LAN port, Connecting to an Ethernet board, and MultiMove in Eth-
erNet/IP connections on page 17.
• Updated the image in section Editing Bus in Working with the Eth-
erNet/IP master on page 30.
• Updated the images in sections Illustration and Changing address
on the IRC5 EtherNet/IP internal slave in EtherNet/IP communication
between two IRC5 controllers on page 43.
• Added the new system parameter Port Speed on page 56.
• Added the new system parameter QuickConnect on page 71.
• Updated the Usage, Default value, and Allowed values in Ether-
Net/IP Address on page 51.
• Updated the Usage, Default value, and Allowed values in Ether-
Net/IP Subnet Mask on page 53.
• Updated the Usage and Allowed values in EtherNet/IP Gateway on
page 54.
• Updated the Usage and Allowed values in EtherNet/IP Destination
on page 55.
• Updated the Default value and Allowed values in Connector ID on
page 57.
• Updated the Frequently asked questions on page 75.
F Added a new system parameter Connection Priority on page 72 for 5.15
release.
G Updated for the RW 5.15.01 release.
• Updated the Limitations section in EtherNet/IP connections on
page 17.
• Added the section Explicit Messaging services under Introduction
to configuration on page 21.
• Added a new section block Fieldbus commands via RAPID on
page 25.
• Added a new section QuickConnect on page 35.
• The subnet mask allowed values are changed from "255.255.255.0
- 255.255.255.254" to "128.0.0.0 - 255.255.255.252" in EtherNet/IP
Subnet Mask on page 53.
• Added a new section Configuration Data on page 67.
• Added a new Error log "71058" in the section Trouble shooting on
page 76.
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
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools ).
• Spare parts list with exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals

The technical reference manuals describe reference information for robotics
products.
• Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
• Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
• Technical reference manual - 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 the
RAPID programming language.
• Technical reference manual - 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.

Continued
An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
• Operating manual - Emergency safety information
• Operating manual - General safety information
• Operating manual - Getting started, IRC5 and RobotStudio
• Operating manual - Introduction to RAPID
• Operating manual - IRC5 with FlexPendant
• Operating manual - RobotStudio
• Operating manual - Trouble shooting IRC5, for the controller and manipulator.
Safety
Safety
Safety of personnel
When working inside the robot controller it is necessary to be aware of
voltage-related risks.
A danger of high voltage is associated with the following parts:
• Units inside the controller, for example I/O units, can be supplied with power
from an external source.
• The mains supply/mains switch.
• The power unit.
• The power supply unit for the computer system (230 VAC).
• The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
• The drive unit (700 VDC).
• The service outlets (115/230 VAC).
• The power supply unit for tools, or special power supply units for the
machining process.
• The external voltage connected to the controller remains live even when the
robot is disconnected from the mains.
• Additional connections.
Therefore, it is important that all safety regulations are followed when doing
mechanical and electrical installation work.
Safety regulations
Before beginning mechanical and/or electrical installations, ensure you are familiar
with the safety regulations described in Product manual - IRC5.
Terminology
Terminology
Terms
Term Explanation
Adapter See Slave.
Documentation of EtherNet/IP often use the term "adapter", whereas
the ABB documentation use the term "slave" for all fieldbuses.
CIP Common Industrial Protocol.
Protocol that DeviceNet and EtherNet/IP are based on.
Client See Master.
Some documents use the term "client", whereas the ABB documentation
use the term "master" for all fieldbuses.
EDS Electronic Data Sheet.
EDS files contain the configuration details relevant to CIP devices.
Explicit Messages An explicit message is a request or response oriented communication
with other devices. These messages are mostly configuration data.
Implicit Messages Implicit messages are exchanged between I/O connections. No mes-
saging protocol is contained within the message data as with Explicit
messaging. Implicit messages can be point to point (unicast) or multicast
and are used to transmit application specific I/O data.
M12 Ethernet contact with IP67 classification.
Master Controls other I/O units (slaves) in an Ethernet network.
ODVA Open DeviceNet Vendor Association.
Organization for networks built on CIP, for example DeviceNet and
EtherNet/IP.
RJ45 Standard Ethernet contact.
Scanner See Master.
Documentation of EtherNet/IP often use the term "scanner", whereas
the ABB documentation use the term "master" for all fieldbuses.
Server See Slave.
Some documents use the term "server", whereas the ABB documentation
use the term "slave" for all fieldbuses.
Slave I/O unit that is controlled by a master in an Ethernet network.
This page is intentionally left blank
1 Introduction to EtherNet/IP
1.1 General
1.1 General
What is EtherNet/IP?
EtherNet/IP is a communications link to connect industrial devices.
The EtherNet/IP (EtherNet Industrial Protocol) is managed by ODVA (Open
DeviceNet Vendors Association). It is a well established industrial Ethernet
communication system with good real-time capabilities. EtherNet/IP extends
commercial off-the-shelf Ethernet to the CIP (Common Industrial Protocol)— the
same upper-layer protocol and object model found in DeviceNet and ControlNet.
CIP allows EtherNet/IP and DeviceNet system integrators and users to apply the
same objects and profiles for plug-and-play interoperability among devices from
multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and
EtherNet/IP promote transparency from sensors to the enterprise software.
Examples of applications
Here are some examples of EtherNet/IP applications:
• Peer-to-peer data exchange where an EtherNet/IP product can produce and
consume messages
• Master/slave operation defined as a proper subset of peer-to-peer
• An EtherNet/IP product can function as a client or server, or both
EtherNet/IP standardization
EtherNet/IP is standardized according to the International standard IEC 61158 and
EtherNet/IP devices are certified by ODVA for interoperability and conformance.
Facts, EtherNet/IP
The following table specifies a number of facts about EtherNet/IP.
Network type Ethernet based Control Level network with CIP application protocol
Installation Standard Off the Shelf (COTS) Ethernet cables and connectors.
10/100/1000 Mbit/s TX Ethernet cable or fibre optics.
RJ45, M12 or fibre optic connectors.
Speed 10, 100, 1000 Mbit/s
Electronic Data Sheet file

The configuration process is based on EDS files (Electronic Data Sheet) which are
required for each EtherNet/IP device. EDS files are provided by the device
manufacturers and contain electronic descriptions of all relevant communication
parameters and objects of the EtherNet/IP device.
1.2 EtherNet/IP Master/Slave, IRC5
1.2 EtherNet/IP Master/Slave, IRC5
Hardware overview
The EtherNet/IP network is connected to an Ethernet connection on the main
computer in the robot controller. The robot controller can act as a master, slave
or both on the EtherNet/IP network.
Illustration, example
The following figure illustrates an overview of the hardware.
xx0900000002
A PLC
B EtherNet/IP master
C Ethernet switch
D IRC5, slave to PLC (A), master to I/O unit (E)
E I/O unit, slave to IRC5 (D)
Specification overview
Item Specification
Fieldbus type EtherNet/IP
Specification revision EtherNet/IP Specification Edition 1.13
Data rate 10/100 Mbit
Connection type Cyclic
Connection size Maximum 128 input bytes and 128 output bytes
Transport Class Class 1 I/O implicit
2 Hardware descriptions
2.1 EtherNet/IP connections
Two ways of connecting

The robot controller can be connected to the EtherNet/IP network in the following
two ways:
• LAN port: Use the same physical port, but a different IP address than used
by the factory LAN.
• Any port on Ethernet board (DSQC 612): The Ethernet board is optional
(option EtherNet/IP Port (905-1)). It is possible to share the board with other
options (such as MultiMove). Up to 2 Ethernet boards are supported.
Connecting to the LAN port

If the LAN port is used, the EtherNet/IP traffic uses the same physical network
contact as the traffic on the factory LAN. However, the port has a specific IP address
for the EtherNet/IP traffic that allows the switch to separate the EtherNet/IP and
factory LAN traffic directly. The following figure illustrates the network when
connecting EtherNet/IP to the LAN port of the main computer:
en0900000004

Continued
The following figure illustrates where to connect the Ethernet cable for the
EtherNet/IP network to the LAN port of the computer module.
DSQC 612
SERVICE ETHERNET1
TPU ETHERNET 2
AXC 1 ETHERNET3
PANEL UNIT
xx0900000007
A LAN port
Connecting to an Ethernet board

The following figure illustrates the network when connecting EtherNet/IP to the
Ethernet board of the main computer:
en0900000005

Continued
The following figure illustrates where to connect the Ethernet cable for the
EtherNet/IP network to an Ethernet board of the computer module. This requires
an extra Ethernet board (DSQC 612) of the computer module.
xx0900000008
A Ethernet board (DSQC 612)
MultiMove
If connecting to an Ethernet board on a system with the option MultiMove, two
separate Ethernet boards must be used (both DSQC 612). The first Ethernet board
(the left one) is used for connecting axis computers 2 to 4. The second Ethernet
board (the right one) is used to connect the EtherNet/IP network.
xx0900000006

Continued
A Connection to axis computer 2

B Connection to axis computer 3
C Connection to axis computer 4
D Second Ethernet board (DSQC 612)
Limitations
The EtherNet/IP I/O units mark their packets with a priority value. Switches and
routers are then able to differentiate the EtherNet/IP traffic from the non-critical
traffic. Therefore, we recommend to use switches and routers that support Quality
of Service (QoS).
3 Configuration
3.1 Introduction to configuration
3 Configuration
Controller software
The IRC5 controller must be installed with software that supports the use of the
EtherNet/IP network, that is, the EtherNet/IP Master/Slave option must be installed.
For a information on how to add the EtherNet/IP Master/Slave option, see Operating
manual - RobotStudio.
PC software
RobotStudio is a PC software that is used to setup connections to robots and to
work with robots.
The configuration for the EtherNet/IP communication is done either manually using
RobotStudio, or by loading a configuration file from RobotStudio. For information
on how to work with RobotStudio, see Operating manual - RobotStudio.
Explicit Messaging services

It is possible to configure I/O units through explicit messaging services. This could
be done either at startup by defining the Fieldbus Commands to the configured
unit, or at runtime from RAPID through the Fieldbus Command Interface (FCI). For
more information, refer to Technical reference manual - RAPID Instructions,
Functions and Data types, and Application manual - Robot communication and I/O
control, section Fieldbus Command Interface.
For the explicit messaging at startup:
1 Use RobotStudio to define a Fieldbus Command type that is general to the
unit type and could be used by many EtherNet/IP units of this unit type.
2 Use RobotStudio to define a Fieldbus Command that is specific to a certain
unit and that specifies the unit specific data to be send to the unit. The
Fieldbus Command is linked to a certain unit. The data defined in the value
parameter should fit the instance or attribute size on the EtherNet/IP unit.
The EtherNet/IP specific system parameters in the Fieldbus Command type are:
• Path (-EN_Path)
• Service (-EN_Service)
For more information, refer to the EtherNet/IP Specification or the Application
manual - Robot communication and I/O control.

3 Configuration
Continued
Following is a configuration file example that sends four Fieldbus Commands at

startup to the I/O unit ‘SafeTrigger’ of UnitType "ABB_type".
xx1300000350
xx1300000349

3 Configuration
Continued
xx1300000348
xx1300000351

3 Configuration
Continued
xx1300000347
The preceding example shows how to use the -EN_Path and -EN_Service
parameters. If a Class, Instance, or Attribute below 0x10 is specified, it is important
to include a "0" before the value. For example, the value 8 is written as 08 in the
-EN_Path string.
Following is a short description of the syntax used in the -EN_Path parameter.
"Path length, 20 Class 24 Instance 30 Attribute, Data type, Data type
length"
The following table provides a description of the parameters used in the syntax:
Parameter Description
Path length The byte count for the "20 64 24 01 30 05" string.
This is an optional parameter.
Class The EtherNet/IP Class number.
Instance The instance number of the class.
Attribute The attribute of the specified instance.
Data type The data format of the attribute.
This is an optional parameter.
Data type length The length in bytes of the specified Data type. The highest al-
lowed value is 0x20 (32 bytes).
This parameter is ignored, but is accepted if entered.
Data Type Value Description

CIP_EXPL_BOOL C1 Logical Boolean with values TRUE and FALSE
CIP_EXPL_SINT C2 Signed 8-bit integer value
CIP_EXPL_INT C3 Signed 16-bit integer value

3 Configuration
Continued
Data Type Value Description

CIP_EXPL_USINT C6 Unsigned 8-bit integer value
CIP_EXPL_UINT C7 Unsigned 16-bit integer value
CIP_EXPL_UDINT C8 Unsigned 32-bit integer value
CIP_EXPL_REAL CA 32-bit floating point value
CIP_EXPL_STRING D0 Character string (1 byte per character)
CIP_EXPL_BYTE D1 Bit string - 8-bits
CIP_EXPL_WORD D2 Bit string - 16-bits
CIP_EXPL_DWORD D3 Bit string - 32-bits
CIP_EXPL_SHORT_STRING DA Character string (1 byte per character, 1 byte length indicator)
Array values
Data Type Description Example
CIP_EXPL_BOOL The values are delimited by "123 214 125 2 44"
CIP_EXPL_SINT space. An array of 5 elements. The
CIP_EXPL_INT Data Type specifies the type
of each element.
CIP_EXPL_USINT
CIP_EXPL_UINT
CIP_EXPL_UDINT
CIP_EXPL_REAL
CIP_EXPL_BYTE
CIP_EXPL_WORD
CIP_EXPL_DWORD
CIP_EXPL_STRING The values are delimited by "Hello;This;Is;My;Name"
CIP_EXPL_SHORT_STRING semicolon. An array of 5 elements of
string type.
The -EN_Service parameter describes what type of operation that should be

performed against the specified -EN_Path parameter.
Following are the allowed values for -EN_Service:
Operation Value Description
Set 16 Set the value specified in '-DefValue' or EIO_COMMAND.
Get 14 Get the specified parameter.
Reset 5 Performs a reset of the specified I/O unit.
The-OrderNr parameter is used to specify in what order the commands are send
to the I/O unit.
If an FCI command is rejected by the I/O unit, the EtherNet/IP master will generate
an event message with the error code returned by the I/O unit.
Fieldbus commands via RAPID

In this example, data packed as a rawbytes variable is read from an EtherNet/IP
I/O unit.
PROC get_quickconnect_value()
VAR iodev dev;
VAR rawbytes rawdata_out;

3 Configuration
Continued
VAR rawbytes rawdata_in;

VAR num input_int;
VAR byte return_status;
VAR byte return_errcodecnt;
VAR num return_errcode;
VAR byte value;
! Empty contents of rawdata_out and rawdata_in
ClearRawBytes rawdata_out;
ClearRawBytes rawdata_in;
! Add Fieldbus command header to rawdata_out with

! service "GET_ATTRIBUTE_SINGLE" and
! path to QuickConnect attribute on I/0 unit.
PackDNHeader "0E", "6,20 F5 24 01 30 0C",
rawdata_out;
! Open FCI device

Open "/FCI1:" \File:="TheUnit", dev \Bin;
! Write the contents of rawdata_out to dev

WriteRawBytes dev, rawdata_out
\NoOfBytes := RawBytesLen(rawdata_out);
! Read the answer from dev

ReadRawBytes dev, rawdata_in;
! Close FCI device

Close dev;
! Unpack rawdata_in to the variable return_status

UnpackRawBytes rawdata_in, 1, return_status
\Hex1;
! The first byte is always the general status byte. 0 means

success, see the CIP standard error codes.
IF return_status = 0 THEN
TPWrite "Status OK from device. Status code: "
\Num:=return_status;
! Unpack the read data value that follows the status byte.
UnpackRawBytes rawdata_in, 2, value \Hex1;
TPWrite "Read value: " \Num:=value;
ELSE
! If the general status was not ok there is extended error
information that can be retreived. First byte, after the
general status byte, tells
! how many extended error words can be found.
UnpackRawBytes rawdata_in, 2, return_errcodecnt
\Hex1;
! Unpack the number of extended status words. In this example
only the first one is unpacked.

3 Configuration
Continued
UnpackRawBytes rawdata_in, 3, return_errcode

\IntX := UINT;
TPWrite "Error code from device: "

\Num:=return_status;
TPWrite "Additional error code count from device: "
\Num:=return_errcodecnt;
TPWrite "Additional error code from device: "
\Num:=return_errcode;
ENDIF
ENDPROC
3 Configuration
3.2.1 Configuration overview for EtherNet/IP master
3.2 EtherNet/IP master
Configuration overview
The following table provides descriptions of how to define the types Bus, Unit Type
and Unit for EtherNet/IP Master/Slave.
Defining... Description
Bus An EtherNet/IP bus must be defined before any communication is
possible, that is, define rules for EtherNet/IP Master/Slave to com-
municate on the network.
Unit Type When creating a unit type some system parameters are fieldbus
specific.
Unit specific values can be found in the EDS file (Electronic Data
Sheet) for the unit, see Electronic Data Sheet file on page 37.
See also Type Unit Type on page 58.
Unit The only EtherNet/IP specific system parameter in the unit definition
is the unit address.
See Type Unit on page 73.
Signal See Technical reference manual - System parameters.
Predefined Bus
When the system is installed with EtherNet/IP Master/Slave option, a predefined
bus EtherNetIP1 is created.
Predefined Unit Type

A predefined Unit Type for EtherNet/IP, EN_SLAVE, is used when connecting to
another IRC5 Controller, see Illustration on page 29. EN_SLAVE supports a cyclic
connection with the size of 8 input bytes and 8 output bytes, as defined in the signal
configuration for EtherNet/IP.
If another input or output size on EtherNet/IP is required, the predefined Unit Type
must be modified or a new Unit Type must be created.
Limitations
The EtherNet/IP Master/Slave has the following limitations:
• The predefined Unit Type (EN_SLAVE) has 8 input bytes and 8 output bytes,
but this number can be increased or decreased to a maximum of 128 bytes,
see Input Size on page 62 and Output Size on page 61.
• For the EtherNet/IP Master/Slave both the input and output map starts at bit
0.
The input and output assemblies are used by the EtherNet/IP master to locate the
input and output data in the I/O unit. The assembly values for different I/O units
are available in the EDS file and in the User Manual. We recommend you to refer
the User Manual for the assembly values of the I/O unit.
Related information
Technical reference manual - System parameters

3 Configuration
Continued
Configuration
The maximum number of I/O units that can be defined in the IRC5 system is
described in Technical reference manual - System parameters.
The following units are counted as I/O units:
• All EtherNet/IP slave units connected to the IRC5 EtherNet/IP master.
• The internal EtherNet/IP slave.
• Simulated I/O units and other I/O units connected to other IRC5 fieldbuses.
You can use ABB I/O units or units from other vendors. No additional software
option, except for the EtherNet/IP Master/Slave option, is required to run I/O units
from other vendors.
Connecting two IRC5 systems

When connecting two IRC5 systems, the internal slave should be seen and
configured as any other ordinary I/O unit from the other IRC5 system, which is
acting as a master. See Working with the EtherNet/IP internal slave on page 38.
Illustration
The following picture illustrates how to use the predefined Unit Types.
en0800000274
3 Configuration
3.2.2 Working with the EtherNet/IP master
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be
configured as shown in Illustration, example on page 30.
Prerequisites
The network address of the EtherNet/IP slave must be known.
The following figure illustrates an example of how to use the IRC5 Controller as
an EtherNet/IP master.
xx0900000019
A IRC5 controller acting as master

B Ethernet switch
C General EtherNet/IP I/O unit
How to configure the EtherNet/IP master

A configuration procedure of the EtherNet/IP master:
Action Info
1. Edit a bus and set the parameters EtherNet/IP Ad- See Editing Bus on page 31.
dress, Subnet Mask, Gateway, and Destination.
2. Add a Unit Type or use and existing Unit Type. See Adding Unit Type on
page 31.
3. Add an I/O unit that has the address requested by See Adding Unit on page 32.
the master.
4. Define the signals on the created unit. See Adding Signal on page 33.
5. Restart the system. Now the IRC5 controller is ready
to contact the I/O unit.

3 Configuration
Continued
Note
For information about configuring I/O using FlexPendant, refer to the Configuring
I/O section in the Handling inputs and outputs, I/O chapter in Operating
manual - IRC5 with FlexPendant
Editing Bus
Action
1. In RobotStudio, click Configuration Editor and select I/O.
2. Click Bus, then double-click in the bus you want to edit.
3. In the Edit Bus dialog box, type the values for the parameters.
en0900000108
NOTE:
If gateway is not used, leave the EtherNet/IP Gateway and EtherNet/IP Destination
fields empty. For more info about the Gateway and Destination parameters, see Eth-
erNet/IP Gateway on page 54 and EtherNet/IP Destination on page 55.
Adding Unit Type
Action
2. Click Unit Type, then right-click in the work space and select Add Unit Type.

3 Configuration
Continued
Action
3. In the Edit Unit Type dialog box, type the values for the parameters.
en0900000109
Adding Unit
Action
2. Click Unit, then right-click in the work space and select Add Unit.

3 Configuration
Continued
Action
3. In the Edit Unit dialog box, type the values for the parameters.
en0900000011
Adding Signal
Action
2. Click Signal, then right-click in the work space and click Add Signal.

3 Configuration
Continued
Action
3. In the Edit Signal dialog box, type the values for the parameters.
en0900000010
Related information
Technical reference manual - System parameters
3 Configuration
3.2.3 QuickConnect
3.2.3 QuickConnect
Overview
The QuickConnect functionality gives the connection between the EtherNet/IP
master and the I/O unit capabilities to quickly disconnect and reconnect to the
Ethernet network, both mechanically and logically. With the QuickConnect
functionality activated, the I/O unit will be connected and operational by the
EtherNet/IP Master under 500 ms.
Requirements
A QuickConnect system requires an electrical lock signal that indicates when power
has been applied to the QuickConnect I/O units. This signal must be implemented
by the system builder and is used to start the QuickConnect sequence.
Additional system component requirements:
• Managed network switch(es)
• QuickConnect I/O unit(s):
A QuickConnect I/O unit has QuickConnect functionality disabled as default.
This functionality must be enabled for proper function.
It can be done using:
- Configuration data via the configuration assembly (see Configuration
Assembly on page 65)
- Fieldbus commands (see Explicit Messaging services on page 21)
- QuickConnect parameter on unit type (see QuickConnect on page 71)
- Third party tool before connecting the module to IRC5 controller
Ethernet/IP master
Note
When connecting QuickConnect I/O units, it is essential that network switches

allow gratuitous ARP to exist on the network. Gratuitous ARP is issued by
QuickConnect I/O units during startup to inform other network devices that they
are ready to join the network.
Sequence
1 The IRC5 controller deactivates current connections to QuickConnect I/O
units, and the robot arm physically disengages the current tool.
2 The robot arm physically attaches to the new QuickConnect I/O units.
3 The new QuickConnect I/O units power up.
4 The IRC5 controller acknowledges a successful attachment to a new tool via
an electrical lock signal.
5 Upon receiving the electrical lock signal, the IRC5 controller waits a specific
time * for the QuickConnect I/O units to power up before activating the units.

3 Configuration
3.2.3 QuickConnect
Continued
Note
*
The QuickConnect time can be found in the EDS file for the QuickConnect I/O
unit.
3 Configuration
3.3.1 Configuration overview for internal slave
3.3 EtherNet/IP internal slave
3.3.1 Configuration overview for internal slave
Predefined bus
When the system is installed with EtherNet/IP Master/Slave option, a predefined
bus EtherNetIP1 is created.
Predefined Unit Type

A predefined Unit Type for EtherNet/IP, EN_INTERNAL_SLAVE, is used when the
IRC5 controller is a slave to an external master. EN_INTERNAL_SLAVE supports
a cyclic connection with the size of 8 input bytes and 8 output bytes as defined in
the signal configuration for EtherNet/IP.
If another input or output size on EtherNet/IP is required, the predefined Unit Type
must be modified or a new Unit Type must be created.
Electronic Data Sheet file

An EDS file, enip.eds, for the EtherNet/IP Master/Slave, matching the configuration
of the predefined Unit TypeEN_INTERNAL_SLAVE, is located at the following
locations:
• On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\EtherNetIP\EDS\
• On the PC where the RobotWare is installed: ...\ABBIndustrialIT\
RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\EDS\
• On the IRC5 Controller: \hd0a\<RobotWare_xx.xx.xxxx>\utility\service\EDS\
Assembly
Following are the value of the internal slave assemblies.
Assembly Value
Output 112
Input 100
Configuration 0
I/O connection
Cyclic I/O connection is supported and the size of the I/O connection is defined by
the type Unit Type.
Note
If the EtherNet/IP internal slave loses connection with its master, the configured
input signals are cleared (reset to zero).
When the connection is re-established, the master updates the input signals.
3 Configuration
3.3.2 Working with the EtherNet/IP internal slave
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be
configured as shown in Illustration, example on page 38.
Prerequisites
The network address of the EtherNet/IP internal slave must be known.
The following figure illustrates an example of how to use the EtherNet/IP internal
slave.
xx0900000002
A PLC
B EtherNet/IP master
C Ethernet switch
D IRC5 controller, slave to the PLC (A)
E General EtherNet/IP unit
How to configure the EtherNet/IP internal slave

A configuration procedure of the EtherNet/IP internal slave:
Action Info
1. Edit the Bus. The address specified here will be the See Editing Bus on page 39.
address for the internal slave.
2. If the size needs to be changed, edit the Unit Type
EN_INTERNAL_SLAVE.
3. Add a unit with Unit Type EN_INTERNAL_SLAVE. See Adding Unit on page 40.
4. Define the signals on the created unit. See Adding Signal on page 41.
5. Restart the system. Now the IRC5 controller is ready
to be contacted by an EtherNet/IP master.

3 Configuration
Continued
Editing Bus
Action
2. Click Bus, then double-click on the bus you want to edit.
3. In the Edit Bus dialog box, type the values for the parameters.
en0900000108
The internal slave will receive the address specified in EtherNet/IP Address.
Editing Unit Type
Action
2. Click Unit Type, then double-click on the Unit Type you want to edit.

3 Configuration
Continued
Action
3. In the Edit Unit Type dialog box, type the values for the parameters.
en0900000116
Adding Unit
Action
2. Click Unit, then right-click in the workspace and select Add Unit.

3 Configuration
Continued
Action
en0900000077
Adding Signal
Action
2. Click Signal, then right-click in the workspace and click Add Signal.

3 Configuration
Continued
Action
3. In the Edit Signal dialog box, type the values for the parameters.
en0900000078
Related information
Operating manual - RobotStudio.
3 Configuration
3.3.3 EtherNet/IP communication between two IRC5 controllers
Usage
When two IRC5 controllers are connected to each other through EtherNet/IP, one
of them must be configured as an internal slave and the other one must be
configured as a master. See Illustration on page 43.
Limitations
The EtherNet/IP address specified in the Type bus section cannot be the same on
the two controllers since they shall be interconnected.
Illustration
The following figure illustrates EtherNet/IP communication between two IRC5
controllers.
en0900001002
A IRC5 EtherNet/IP master

B IRC5 EtherNet/IP internal slave
Note
It is possible to configure both the EtherNet/IP master and an internal slave in

the same IRC5 controller.
Note
If no switch is used, a crossed Ethernet cable has to be used.

3 Configuration
Continued
Configuring the EtherNet/IP master/slave controllers

The following procedures describe the configuration of a hardware setup like the
one illustrated in the section Illustration on page 43. There are references to the
hardware through the capital letters associated with the respective hardware in
the figure.
Action Info/Note
1. Configure the EtherNet/IP bus address See How to configure the EtherNet/IP internal
for both of the IRC5 controllers. The slave on page 38 and Changing address on
addresses must be different. the IRC5 EtherNet/IP internal slave on page 44.
Be sure to use different EtherNet/IP addresses
for the two IRC5 controllers to avoid duplicated
addresses on the interconnected network.
2. Configure the EtherNet/IP internal slave See How to configure the EtherNet/IP internal
(B) according to the configuration pro- slave on page 38 and Adding unit with the Unit
cedure for the internal EtherNet/IP Type EN_INTERNAL_SLAVE on page 45.
slave.
3. Configure the EtherNet/IP master (A) to See Adding unit to the EtherNet/IP master on
connect to the internal EtherNet/IP page 46.
slave (B).
4. Configure signals on the created unit.
5. Physically interconnect the two IRC5
controllers.
6. Restart the slave controller.
7. Restart the master controller. The master will try to connect to the internal
slave controller.
8. Now it is possible to set output signals The output signals shall appear as inputs on
on one controller. the other controller.
Changing address on the IRC5 EtherNet/IP internal slave
Action
2. Click Bus, then right-click on the bus and select Edit Bus.

3 Configuration
Continued
Action
3. In the Edit Bus dialog box, type the EtherNet/IP Address for EtherNetIP1. Choose
an address that is different from the EtherNet/IP master address (B).
en0900000991
Adding unit with the Unit Type EN_INTERNAL_SLAVE
Action

3 Configuration
Continued
Action
en0900001003
Note
The EtherNet/IP address used by this unit on the EtherNet/IP network is the same
as the chosen EtherNet/IP address under the edit bus (see Changing address
on the IRC5 EtherNet/IP internal slave on page 44, Action 3).
Adding unit to the EtherNet/IP master
Action
Add a unit of the Unit Type EN_SLAVE that corresponds to the Unit Type EN_INTERN-
AL_SLAVE on the EtherNet/IP internal slave IRC5 controller (B).

3 Configuration
Continued
Action
3. In the Edit Unit dialog box, type the values for the parameters. Set the address to
the same value that was chosen as the EtherNet/IP Address of the internal slave (B).
en0900001004
4 System parameters
4.1 Introduction
4 System parameters
4.1 Introduction
About the system parameters

There are both EtherNet/IP specific parameters and more general parameters. This
chapter describes all EtherNet/IP specific system parameters. The parameters are
divided into the type they belong to. For information about other parameters, see
Technical reference manual - System parameters.
EtherNet/IP system parameters

Bus
These parameters belong to the type Bus in the topic I/O.
Parameter For more information, see ...
Name Technical reference manual - System parameters
Type of Bus Technical reference manual - System parameters
Connector ID Technical reference manual - System parameters
Label of Fieldbus Connect- Technical reference manual - System parameters
or
Unit Recovery Time Technical reference manual - System parameters
EtherNet/IP Address EtherNet/IP Address on page 51
EtherNet/IP Subnet Mask EtherNet/IP Subnet Mask on page 53
EtherNet/IP Gateway EtherNet/IP Gateway on page 54
EtherNet/IP Destination EtherNet/IP Destination on page 55
Port Speed Port Speed on page 56
Unit Type
These parameters belong to the type Unit Type in the topic I/O.
Type of Bus Technical reference manual - System parameters
Vendor Name Technical reference manual - System parameters
Product Name Technical reference manual - System parameters
Vendor ID Vendor ID on page 58
Product Code Product Code on page 59
Device Type Device Type on page 60
Output Size Output Size on page 61
Input Size Input Size on page 62
Output Assembly Output Assembly on page 63
Input Assembly Input Assembly on page 64
Configuration Assembly Configuration Assembly on page 65

4 System parameters
4.1 Introduction
Continued

Configuration Size Configuration Size on page 66
Configuration Data Configuration Data on page 67
Ownership Ownership on page 68
Input Connection Type Input Connection Type on page 69
Request Packet Interval Request Packet Interval on page 70
Quick Connect QuickConnect on page 71
Connection Priority Connection Priority on page 72
Unit
These parameters belong to the type Unit in the topic I/O.
Type of Unit Technical reference manual - System parameters
Connect to Bus Technical reference manual - System parameters
Unit Identification Label Technical reference manual - System parameters
Unit Trustlevel Technical reference manual - System parameters
Unit Startup State Technical reference manual - System parameters
Store Unit State at Power Technical reference manual - System parameters
Fail
Regain Communication Technical reference manual - System parameters
Reset
EtherNet/IP Address EtherNet/IP Address on page 73
4 System parameters
4.2.1 EtherNet/IP Address
4.2 Type Bus
Parent
EtherNet/IP Address belongs to the type Bus, in the topic I/O.
Cfg name
EN_Address
Description
The parameter EtherNet/IP Address specifies the IP address of the EtherNet/IP
master and internal slave on the network. The master and the internal slave share
the same IP address.
This IP address is used by an external master to set up a connection to the internal
slave.
The IP address must belong to another subnet than the IP address of any other
port on the IRC5.
Note
If the IP address of the LAN port is for example 192.168.131.XXX and you are
using the EtherNet/IP Subnet Mask 255.255.255.0, then the EtherNet/IP address
cannot be 192.168.131.YYY.
Note
The following IRC5 controller subnets are reserved:

- 192.168.125.0
- 192.168.126.0
- 192.168.127.0
- 192.168.128.0
- 192.168.129.0
- 192.168.130.0
Prerequisites
The option EtherNet/IP Master/Slave must be installed.
Default value
The default value is 0.0.0.0.

4 System parameters
Continued
Allowed values
Allowed values are between 0.0.0.0 - 255.255.255.255.
Note
If the IP address of the LAN port is left empty, the EtherNet/IP Master/Slave will
use the already assigned IP address for the IRC5 controller.
4 System parameters
4.2.2 EtherNet/IP Subnet Mask
4.2.2 EtherNet/IP Subnet Mask
Parent
EtherNet/IP Subnet Mask belongs to the type Bus, in the topic I/O.
Cfg name
EN_SubnetMask
Description
The EtherNet/IP Subnet Mask is used to determine what subnet the IP address
belongs to.
Usage
The parameter EtherNet/IP Subnet Mask is used to divide the network into logical
subnets.
EtherNet/IP Subnet Mask is an EtherNet/IP specific parameter.
Prerequisites
Default value
The default value is 255.255.255.0.
Allowed values
Note
If the Subnet Mask of the LAN port is left empty, the EtherNet/IP Master/Slave
will use the already assigned Subnet Mask for the IRC5 controller.
4 System parameters
4.2.3 EtherNet/IP Gateway
4.2.3 EtherNet/IP Gateway
Parent
EtherNet/IP Gateway belongs to the type Bus, in the topic I/O.
Cfg name
EN_Gateway
Description
EtherNet/IP Gateway specifies the node on the network that serves as an entrance
to another network.
Usage
Use this parameter if the EtherNet/IP traffic needs to be routed to another
sub-network. The parameter value is the address to a physical gateway on the
EtherNet/IP network.
EtherNet/IP Gateway is an EtherNet/IP specific parameter.
For more details, see Frequently asked questions on page 75 and EtherNet/IP
Destination on page 55.
Note
A destination address must be specified if the gateway address is specified.
Prerequisites
Default value
If the EtherNet/IP traffic does not need to be routed or no physical gateway exist,
EtherNet/IP Gateway can be left empty. No changes will be made in the routing
table and the default gateway for the LAN port in your IRC5 system will be used
for EtherNet/IP.
Allowed values
Note
The EtherNet/IP Gateway can be left empty. The master and internal slave will
then keep the existing gateway of the IRC5 controller.
4 System parameters
4.2.4 EtherNet/IP Destination
4.2.4 EtherNet/IP Destination
Parent
EtherNet/IP Destination belongs to the type Bus, in the topic I/O.
Cfg name
EN_Destination
Description
EtherNet/IP Destination is used if a new route should be added to the system
routing table.
Usage
Specify a destination if a new route should be added. The default gateway will not
be changed.
Prerequisites
The option EtherNet/IP Master/Slave must be installed. This parameter is ignored
if the EtherNet/IP Gateway parameter is not specified.
Default value
Empty
Examples
Example 1
Gateway "192.168.20.10"
Destination "192.168.20.0"
The routing table will be updated with a new route to the 192.168.20.0 network
through 192.168.20.10 gateway.
Allowed values
4 System parameters
4.2.5 Port Speed
4.2.5 Port Speed
Parent
Port Speed belongs to the type Bus, in the topic I/O.
Cfg name
EN_PortSpeed
Description
The parameter Port Speed specifies the transmission speed for the Ethernet port
that the option EtherNet/IP Master/Slave will use. The following three values are
defined:
• Autonegotiation: The Ethernet port will choose the highest performance
transmission speed the connecting devices support.
• 10 Mbit/s: The transmission speed on the Ethernet port will be fixed to 10
Mbit/s.
• 100 Mbit/s: The transmission speed on the Ethernet port will be fixed to 100
Mbit/s.
Note
Only full duplex mode is supported.

Only the Ethernet port specified as connector ID for EtherNet /IP Master/Slave
will be affected.
Note
If using the LAN port for EtherNet/IP the Port Speed will affect all clients using
the LAN port.
Prerequisites
The option EtherNet/IP Master/Slave (841-1) must be installed.
Default value
Autonegotiation
Allowed values
Autonegotiation
10 Mbit/s
100 Mbit/s
4 System parameters
4.2.6 Connector ID
4.2.6 Connector ID
Parent
Connector ID belongs to the type Bus, in the topic I/O.
Cfg name
ConnectorID
Description
The parameter Connector ID specifies the hardware interface (connection port)
that the option EtherNet/IP Master/Slave shall use.
Usage
The Connector ID parameter is used to select one of the available connection ports
to use.
Prerequisites
Default value
LAN Port
Ethernet Port 1 (if the option EtherNet/IP Port (905-1) is installed)
Allowed values
LAN Port
Ethernet Port 1
Ethernet Port 2
Ethernet Port 3
Ethernet Port 1 on Board 2
4 System parameters
4.3.1 Vendor ID
4.3 Type Unit Type
4.3.1 Vendor ID
Parent
Vendor ID belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_VendorId
Description
Vendor ID is used as an identification of the I/O unit to secure communication to
the correct type of device.
Usage
This parameter is used as an identification of the I/O unit to secure communication
to the correct device.
The value of Vendor ID can be found in the Electronic Data Sheet (EDS) for the
unit (called VendCode in EDS file).
Prerequisites
EtherNet/IP Master/Slave option must be installed.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Additional information
The I/O unit vendor number is assigned by Open DeviceNet Vendor Associations
(ODVA) to the vendor of the specific I/O unit.
4 System parameters
4.3.2 Product Code
4.3.2 Product Code
Parent
Product Code belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_ProductCode
Description
Product Code is used as an identification of the I/O unit to secure communication
Usage
The value of Product Code can be found in Electronic Data Sheet (EDS) for the
unit (called ProdCode in EDS file).
Prerequisites
Default value
Default value is 0.
Allowed values
Additional information
The I/O unit product code is defined by the vendor of the unit and shall be unique
for the actual product type.
4 System parameters
4.3.3 Device Type
4.3.3 Device Type
Parent
Device Type belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_DeviceType
Description
The parameter Device Type specifies the device type of this I/O unit as defined by
the Open DeviceNet Vendor Association.
Usage
The value of this parameter can be found in the Electronic Data Sheet (EDS) for
the unit (called ProdType in EDS file).
Prerequisites
Default value
Allowed values
4 System parameters
4.3.4 Output Size
4.3.4 Output Size
Parent
Output Sizebelongs to the type Unit Type, in the topic I/O.
Cfg name
EN_OutputSize
Description
Output Size defines the data size in bytes for the output area received from the
unit.
Usage
Output Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-128, specifying the output data size in bytes.
4 System parameters
4.3.5 Input Size
4.3.5 Input Size
Parent
Input Size belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_InputSize
Description
The parameter Input Size defines the data size in bytes for the input area received
from the unit.
Usage
Input Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-128, specifying the input data size in bytes.
4 System parameters
4.3.6 Output Assembly
4.3.6 Output Assembly
Parent
Output Assembly belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_OutputAssembly
Description
Output Assembly specifies where the output data for an I/O unit is located. The
output assembly is vendor specific and can be found in the electronic data sheet
(EDS) file.
Prerequisites
Default value
Allowed values
Integer between 0 and 65535.
4 System parameters
4.3.7 Input Assembly
4.3.7 Input Assembly
Parent
Input Assembly belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_InputAssembly
Description
Input Assembly specifies where the input data for an I/O unit is located. The input
assembly is vendor specific and can be found in the electronic data sheet (EDS)
file.
Prerequisites
Default value
Allowed values
4 System parameters
4.3.8 Configuration Assembly
4.3.8 Configuration Assembly
Parent
Configuration Assembly belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_ConfigAssembly
Description
The Configuration Assembly parameter specifies where the configuration data for
an I/O unit is located.
Usage
Configuration Assembly is optional and is used if an I/O unit needs some extra
configuration parameters. The Configuration Assembly parameter is vendor specific
and can be found in the electronic data sheet (EDS) file.
Prerequisites
Default value
The default value is 0 (means that this parameter is ignored).
Allowed values
4 System parameters
4.3.9 Configuration Size
4.3.9 Configuration Size
Parent
Configuration Size belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_ConfigSize
Description
Configuration Size specifies the size of the configuration assembly.
Usage
The Configuration Size is optional and is used if the configuration assembly is
specified.
Prerequisites
Default value
Allowed values
4 System parameters
4.3.10 Configuration Data
4.3.10 Configuration Data
Parent
Configuration Data belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_ConfigData
Description
Configuration Data specifies the data for the configuration assembly.
Usage
Configuration data is optional and is used if the configuration assembly as well as
the configuration size is specified.
Data is entered in the parameter as a space separated string.
Prerequisites
Default value
The default value is all zeros (0,0,0,0,0,0,0,0,0,0).
Allowed values
Byte values (0 to 255 or 0x0 to 0xFF) delimited by comma.
Example: 1,56,0x4A,0,0,0,1
4 System parameters
4.3.11 Ownership
4.3.11 Ownership
Parent
Ownership belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_Ownership
Description
The Ownership parameter specifies how the I/O connection shall act between the
master and the I/O unit. There are three different types of Ownership:
• Exclusive Owner: An I/O connection where the data of a device can be
controlled only by one master.
• Input Only: An I/O connection where only the master can receive input data
from a device. There is no output data.
• Listen Only: An I/O connection where only the master can receive input data
from a device. This type of Ownership can only be attached to an connection
of type; Exclusive Owner or Input Only. If this underlying connection closes,
then the connection with Ownership of type; Listen Only will also be closed.
There is no output data.
Note
Some EtherNet/IP I/O units might not support the Input Only connection.
Prerequisites
The option EtherNet/IP master/slave must be installed.
Default value
The default value is Exclusive Owner.
Allowed values
Exclusive Owner, Input Only, or Listen Only.
4 System parameters
4.3.12 Input Connection Type
4.3.12 Input Connection Type
Parent
Input Connection Type belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_InputConnectionType
Description
The Input Connection Type parameter specifies how I/O data is send from the I/O
unit to the master. There are two different connection types:
• Point-to-point (Unicast): A connection where the data is send from one point
to another point. In this case there is just one sender and one receiver.
• Multicast: A connection where the data is send from one or more points to
a set of other points. In this case there is one sender and multiple receivers.
Note
Some EtherNet/IP I/O units might not support Point-to-point as input connection
type. The Output Connection Type is always set to Point-to-point and is not
possible to change.
Prerequisites
Default value
The default value is Multicast.
Allowed values
Multicast or Point-to-point
4 System parameters
4.3.13 Request Packet Interval
4.3.13 Request Packet Interval
Parent
Request Packet Interval belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_RPI
Description
Request Packet Interval is the time between I/O packets requested from the
receiving I/O unit to the master (input data) or from the master to the I/O unit (output
data).
Usage
The Request Packet Interval is specified in milliseconds between 0 and 65535.
The output data and the input data will always have the same Request Packet
Interval.
Note
Use low values with caution. It is not recommended to have more than two I/O
units with a request packet rate of 10 ms.
An I/O unit will report lost-contact after 8 times the output Request Packet Interval
if no I/O data is received during this time, however no less than 100 ms.
Example:
RPI 30 x 8 = 240 ms
RPI 10 x 8 = 80 => 100 ms
RPI 2 x 8 = 16 => 100 ms
Prerequisites
Default value
Allowed values
Integer between 0 and 65535 (ms).
4 System parameters
4.3.14 QuickConnect
4.3.14 QuickConnect
Parent
QuickConnect belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_QuickConnect
Description
The QuickConnect functionality give the connection between the EtherNet/IP master
and the I/O unit capabilities to quickly disconnect and reconnect, both mechanically
and logically, to the Ethernet network. With the QuickConnect functionality activated
the I/O unit will be connected and operational by the EtherNet/IP Master under 500
ms.
Usage
The parameter QuickConnect specifies if the QuickConnect attribute shall be set
or not on the I/O unit.
There are three different alternatives:
1 Not Used: QuickConnect will not be used and the EtherNet/IP Master will not
care about the QuickConnect attribute on the I/O unit.
2 Activated: The EtherNet/IP Master will try to activate the QuickConnect
attribute on the I/O unit.
3 Deactivated: The EtherNet/IP Master will try to deactivate the QuickConnect
attribute on the I/O unit.
Note
If using QuickConnect be sure to turn off autonegotiation on the link that is

disconnected, for example, in the port on the switch (or in the port for the IRC5
controller) and in the port on the I/O unit.
An error message will appear if trying to activate or deactivate the QuickConnect
functionality on a I/O unit that does not support QuickConnect.
Prerequisites
Default value
Not Used
Allowed values
Not Used
Activated
Deactivated
4 System parameters
4.3.15 Connection Priority
4.3.15 Connection Priority
Parent
Connection Priority belongs to the type Unit Type, in the topic I/O.
Cfg name
EN_ConnectionPriority
Description
The Connection Priority parameter specifies how I/O data is prioritized on the
network.
Note
Some EtherNet/IP I/O units might not support all kinds of values configured for
the Connection Priority parameter.
Prerequisites
Default value
The default value is Low.
Allowed values
Low
High
Schedule
Urgent
4 System parameters
4.4 Type Unit
Parent
EtherNet/IP Address belongs to the type Unit, in the topic I/O.
Cfg name
EN_Address
Description
The parameter EtherNet/IP Address specifies the address of the I/O unit on the
network.
Usage
EtherNet/IP Address specifies the address that the I/O uses on the network, to
which the master should set up a connection.
Prerequisites
Default value
Empty
Allowed values
The value can be between 0.0.0.0 - 255.255.255.255.
There are limitations for the values set by the vendor of the I/O unit.
5 Trouble shooting
5.1 Frequently asked questions
5 Trouble shooting
5.1 Frequently asked questions
What happens if I leave the gateway empty?

The default gateway for the IRC5 system will be used. If you do not have a physical
gateway you shall leave the gateway empty.
I do not have a physical gateway on my network. What should I specify as the gateway?
You can leave this field empty.
Can I configure the LAN port and the Ethernet1 port on the Ethernet board on the same subnet?
No, the EtherNet/IP address for the LAN port must belong to another subnet than
the address of the Ethernet1 port.
For example, if the address of the LAN port is 111.122.133.144, the address for
the port on the Ethernet board cannot be 111.122.133.145 if you are using a subnet
mask 255.255.255.0 (but it can be 111.122.134.145).
How do I identify my EtherNet/IP units on the bus?

There are two ways to help you identify the EtherNet/IP units on the bus.
You can get a list with the unit names, IP addresses and corresponding MAC
addresses. In the window Inputs and Outputs, tap View and select I/O Buses.
Select your EtherNet/IP bus and tap Unit Identification in the command bar. A
window will be displayed with all your I/O units on the selected EtherNet/IP bus
and their corresponding IP and MAC addresses.
Another way is to open the Inputs and Outputs window, tap View and select I/O
Units. Select the EtherNet/IP unit you would like to identify, tap Actions in the
command bar and select Unit Identification. A message box will be shown
displaying the MAC address for the selected unit.
My Ethernet/IP network and factory network is on the same logical network but i want to have one
logical network for factory LAN and one logical network for Ethernet/IP and have a switch separate
the traffic. How do I do?
1 In the I/O configuration under I/O bus, configure the IP address, subnet mask,
gateway and destination of the Ethernet/IP network.
2 Do an X-start.
3 Change the network settings (these are used for the LAN port) and choose
the correct system.
4 Make sure that these two networks are on separate subnets.
5 Restart the controller.
5 Trouble shooting
5.2 Trouble shooting
5.2 Trouble shooting
Error log "71367 No contact with unit" is shown after startup
Action
1 Check cabling.
2 Make sure the I/O unit address matches the configuration.
3 Make sure all addresses are unique, and not used by more than one I/O unit.
4 If you changed the address, the power supply to the I/O unit must be cycled (switched
OFF and then back ON) to make sure the address has been changed.
5 Verify that the configured Input assembly and Output assembly correspond to the data
in the EDS file for your I/O device.
6 Verify your configured Input size and Output size.
7 Verify if the I/O unit needs the configuration assembly. See the EDS file.
Too low Request Packet Interval is configured. See the manual of I/O unit.
Error log "71201 Unknown bus" is shown after startup
Action
1 Make sure the I/O bus option EtherNet/IP Master/Slave is installed.
2 Check your EtherNet/IP address.
3 Check your gateway settings.
4 If you are using the Ethernet1 port on the Ethernet board make sure to configure the
LAN port and Ethernet1 port on separate subnets.
Error log "71058 Lost communication with I/O unit" is shown when activating QuickConnect I/O units
This error occurs when connecting to the I/O unit when it is not ready to join the
network.
Action
1 Check that the QuickConnect I/O unit is enabled for QuickConnect functionality.
2 Check if the electrical lock signal is working as expected.
3 Check if the IRC5 controller waits for sufficient amount of time after electrical lock has
been engaged before connecting to the I/O unit.
4 Check if the network allows the gratuitous ARP request correctly. This is essential
when doing QuickConnect on I/O units with the same IP address. The Spanning Tree
Protocol should be disabled at the switch.
Index
Index
A cyclic, 37
Assembly I/O units, 29
internal slave, 37 ABB I/O units, 29
axis computer, 19 internal DeviceNet slave
configuration, 44
C
CIP, 15 M
Connector ID, 57 MultiMove, 19
controller software, 21
ControlNet, 15 O
cyclic I/O connection, 37 ODVA, 15
D P
DeviceNet, 15 predefined Bus, 28
DeviceNet master predefined Unit Type, 28–29, 37
configuration, 44
DSQC 612, 19 Q
QuickConnect, 9, 35
E
EDS file, 15, 37 S
EtherNet/IP, 15 safety, 12
configuration, 21 Spanning Tree Protocol, 76
I/O units, 29–30 system parameters, 49
limitations, 28 Device Type, 60
master, 28, 30 EtherNet/IP Address, 51, 73
master/slave, 16, 20 EtherNet/IP Destination, 55
predefined Bus, 28 EtherNet/IP Gateway, 54
predefined Unit Type, 28 EtherNet/IP Subnet Mask, 53
slave, 29, 37 Input Assembly, 64
specification, 15–16 Input Connection Type, 50, 69
standardization, 15 Input Size, 62
EtherNet/IP master, 16, 28, 30 Output Assembly, 63
configuration, 30 Output Size, 61
EtherNet/IP network, 19 Product Code, 49, 59
Ethernet board port, 17–18 Vendor ID, 49, 58
LAN port, 17–18
EtherNet/IP slave, 37–38 T
configuration, 37–38 topic I/O type
I/O connection, 37 Bus, 28, 31, 39, 49
predefined Unit Type, 37 Unit, 28, 32, 40, 50
Ethernet switch, 30, 38 Unit Type, 28, 31, 39, 49
trouble shooting, 76
I
I/O connection, 37
Contact us
ABB AB
3HAC033466-001, Rev G, en
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Box 265
N-4349 BRYNE, Norway
Telephone: +47 51489000
ABB Engineering (Shanghai) Ltd.

5 Lane 369, ChuangYe Road
KangQiao Town, PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics

Manual de Aplicação EtherNet-IP Master-Slave RW 5.15

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Manual de Aplicação EtherNet-IP Master-Slave RW 5.15

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Who should read this manual?

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Product documentation, M2004

Technical reference manuals

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An application manual generally contains information about:

Electronic Data Sheet file

1.2 EtherNet/IP Master/Slave, IRC5

Two ways of connecting

Connecting to the LAN port

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Connecting to an Ethernet board

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A Ethernet board (DSQC 612)

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A Connection to axis computer 2

Explicit Messaging services

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Following is a configuration file example that sends four Fieldbus Commands at

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Data Type Value Description

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Data Type Value Description

The -EN_Service parameter describes what type of operation that should be

Fieldbus commands via RAPID

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VAR rawbytes rawdata_in;

! Add Fieldbus command header to rawdata_out with

! Open FCI device

! Write the contents of rawdata_out to dev

! Read the answer from dev

! Close FCI device

! Unpack rawdata_in to the variable return_status

! The first byte is always the general status byte. 0 means

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UnpackRawBytes rawdata_in, 3, return_errcode

TPWrite "Error code from device: "

3.2 EtherNet/IP master

3.2.1 Configuration overview for EtherNet/IP master

Predefined Unit Type

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Connecting two IRC5 systems

3.2.2 Working with the EtherNet/IP master

A IRC5 controller acting as master

How to configure the EtherNet/IP master

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Adding Unit Type

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When connecting QuickConnect I/O units, it is essential that network switches

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3.3 EtherNet/IP internal slave

3.3.1 Configuration overview for internal slave

Predefined Unit Type

Electronic Data Sheet file

3.3.2 Working with the EtherNet/IP internal slave

How to configure the EtherNet/IP internal slave