Abb Irc5 Application Manual

Application manual
PROFIBUS-DP
Robot Controller
RobotWare 5.0
Application manual
PROFIBUS-DP
RobotWare 5.0
Document ID: 3HAC023008-001

Revision: C
© Copyright 2004-2005, 2007-2008 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.
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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.
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permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2004-2005, 2007-2008 ABB All rights reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1 Reference information, PROFIBUS 11

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 Reference information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2 Overview 13
2.1 PROFIBUS, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 PROFIBUS, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Definition of I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 PROFIBUS-DP Master/Slave hardware 17

3.1 Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.1 DSQC 637 PROFIBUS-DP master/slave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.2 Definition of communication boards, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2.1 Connections, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2.2 Selecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4 PROFIBUS-DP Master/Slave configuration 25

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.1.1 Software overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.1.2 Software, how to start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1.3 PROFIBUS-DP configuration software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Workflows, PROFIBUS-DP master bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.2.3 Bus configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.4 Download PROFIBUS configuration file to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3 Workflows, PROFIBUS-DP internal slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3.2 Internal slave configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.1 Digital I/O configuration example (non modular station) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.2 Modular station configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4.3 Internal slave configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.4.4 IRC5 master/slave configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4.5 IRC5 master/slave configuration example using PROFIBUS Fieldbus Adapter . . . . . . . . . . . . . . 49
5 System parameters 53
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2.1 PROFIBUS Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.3.1 Internal Slave Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.3.2 Internal Slave Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3.3 Internal Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.3.4 Product ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3HAC023008-001 Revision: C 3
4
Table of Contents
3HAC023008-001 Revision: C
Overview
Overview
About this manual

This manual is primarily a description of the PROFIBUS-DP fieldbus data communication
between the IRC5 system and its distributed I/O units. It also describes the PROFIBUS
Master/Slave configuration.
This manual does not include a description of how to install and operate a PROFIBUS system
in general.
Usage
This manual should be used during installation and configuration of the PROFIBUS, as well
as during upgrading of the PROFIBUS option.
For mechanical installation descriptions, refer to the Product manual - IRC5.
Who should read this manual?

This manual is intended for
• personnel that are responsible for installations and configurations of fieldbus
hardware/software
• personnel that configure the I/O system
• system integrators.
Prerequisites
The reader should have the required knowledge of
• the PROFIBUS system
• I/O system configuration
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 This chapter gives reference information, both to external documentation and
other ABB manuals.
2 This chapter gives an overview of the PROFIBUS fieldbus and includes
following:
• a general description of PROFIBUS and the communication protocol
• description of how the PROFIBUS master/slave unit and I/O units are
connected in a robot system
• definition of I/O units in the control cabinet and the configuration of the
control cabinet
3 This chapter describes the PROFIBUS Master/Slave board.
The chapter also describes communication units in the IRC5 controller.
4 This chapter gives an overview of the controller and configuration software and
includes following:
• Bus configuration
• Workflows
• Examples
Continues on next page

Overview
Continued
Chapter Contents
5 This chapter describes the PROFIBUS fieldbus specific system parameters.
Revisions
Revision Description
- First edition, released with IRC5 RW 5.05.
A Second edition, released with IRC5 RW 5.07.
Section GSD-file importation is added in chapter 4.2.2 Configuration overview.
Chapter 4.2.4 Download PROFIBUS configuration file to the controller is added.
B Third edition, released with IRC5 RW 5.10.
New chapter, System parameters, and new section, IRC5 master/slave config-
uration example using PROFIBUS Fieldbus Adapter, are added.
Corrections are made.
C Fourth edition, released with IRC5 RW 5.11. Information concerning DSQC 687
is added.
Important information about the internal slave is described in section Internal
slave configurations.
Minor corrections made.
6 3HAC023008-001 Revision: C
Product documentation, M2004
General
The robot documentation is divided into a number of categories. This listing is based on the
type of information contained within the documents, regardless of whether the products are
standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Product manuals
All hardware, robots and controllers, will be delivered with a Product manual that contains:
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
Technical reference manuals

The following manuals describe the robot software in general and contain relevant reference
information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID Instructions, Functions and Data types: Description and syntax for all
RAPID instructions, functions and data types.
• System parameters: Description of system parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful)
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, CD with PC software)
• How to use the application
• Examples of how to use the application

Continued
Operating manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
that is production cell operators, programmers and trouble shooters. The group of manuals
includes:
• Emergency safety information
• General safety information
• Getting started, IRC5
• IRC5 with FlexPendant
• RobotStudio
• Introduction to RAPID
• Trouble shooting, for the controller and robot
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, make sure you are familiar with
the safety regulations described in Product manual - IRC5.
10
Safety
1 Reference information, PROFIBUS
1.1. Introduction

1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the following chapters.
1.2. Reference information
1.2. Reference information
Operating manuals
References Document ID
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Operating manual - RobotStudio 3HAC032104-001
Technical reference manuals
Technical reference manual - RAPID Instructions, Functions and 3HAC16581-1
Data types
Technical reference manual - RAPID overview 3HAC16580-1
Technical reference manual - RAPID kernel 3HAC16585-1
Technical reference manual - System parameters 3HAC17076-1
Application manuals
Application manual - Robot communication and I/O control 3HAC020435-001
Product manuals
Product manual - IRC5 3HAC021313-001
Other references

References Description
International standard IEC 61158 Type 3 The PROFIBUS fieldbus standard is
International standard IEC 61784 described in the international standards.
PROFIBUS Technical Guideline Installation Guideline for PROFIBUS-DP/FMS
(Version 1.0, September 1998)
User Manual DP Configurator Manual for the PROFIBUS configuration tool
(PC software)
ET200S Distributed I/O System Manual Manual from Siemens
www.profibus.com The web site of PROFIBUS International
2 Overview
2.1. PROFIBUS, general
2 Overview
2.1. PROFIBUS, general
What is PROFIBUS?
PROFIBUS is a vendor independent open fieldbus standard for a wide range of applications,
particulary in the fields of factory and process automation. It is maintained, updated and
marketed by PROFIBUS International.
PROFIBUS is suitable for high-speed time critical applications as well as for complex
communication tasks.
PROFIBUS standardization
The PROFIBUS communication is specified in the international standard IEC 61158 Type 3,
which includes the entire range of PROFIBUS versions. All PROFIBUS devices should be
certified by the PROFIBUS User Organization (PNO) to ensure interoperability and
conformance.
PROFIBUS versions
PROFIBUS has a modular design and different PROFIBUS versions are all combinations of
modular elements from the groups transmission technology, communication protocol and
application profiles.
Here are some examples of PROFIBUS versions:
• PROFIBUS-DP - optimized for factory automation
• PROFIBUS-PA - optimized for process automation
• PROFIsafe - PROFIBUS for safety-related systems
• PROFIdrive - PROFIBUS for motion control
Communication protocols
DP (Decentralized Periphery) is the simple, fast, cyclic and deterministic communication
protocol between a bus master and the assigned slaves. The forerunner of DP was FMS
(Fieldbus Message Specification), which is obsolete today.
The original version of DP called DP-V0 has been expanded to DP-V1, and it provides a
cyclic data exchange between master and slave. A further version DP-V2 offers direct slave-
to-slave data exchange with an isochronous bus cycle.
2 Overview
2.2. PROFIBUS, IRC5
2.2. PROFIBUS, IRC5
Hardware overview
The hardware of the PROFIBUS-DP fieldbus consists of a master/slave unit, DSQC 637or
DSQC 687, and distributed I/O units (called slave units).
DSQC 637 unit

The DSQC 637 unit is connected to the PCI bus of the IRC5 robot controller. The slave units
are attached to the fieldbus network. The DSQC 637 unit supports PROFIBUS-DP with DP-
V0, which means that DP-V1 and DP-V2 are not supported.
The slave part of the DSQC 637 unit is normally controlled by an external master on a
separate PROFIBUS-DP network. This network is a different one than the network holding
the slave units for the master part of the board.
DSQC 687 unit

The DSQC 687 unit is an updated version of DSQC 637. The functionality is the same as for
DSQC 637, but some steps in the configuration procedure differ.
In this manual the Profibus master/slave unit will be referred to as DSQC 637, the information
is applicable also for DSQC 687. When there are differences between the two cards that will
be described in the text.
Slave units
The slave units can be I/O units with digital and/or analog signals. They are all controlled via
the master part of the DSQC 637 unit.
The PROFIBUS-DP network

The illustration below is an overview of the hardware, and shows the PROFIBUS network.
xx0400000851
A Line PLC, DP-Master

B IRC5 controller
C Robot

2 Overview
2.2. PROFIBUS, IRC5
Continued
D I/O unit, DP-Slave

E DP-Slave (IRC5 - DSQC 637)
F DP-Master (IRC5 - DSQC 637)
Configuration program
The configuration program PROFIBUS DP Configurator (from Softing), together with the
RobotStudio, is used to configure the bus correctly.
The configuration program must be executed on a PC according to the manual for the
program.
Specification overview, Master
Item Specification
Fieldbus type PROFIBUS-DP master with DP-V0
Addressing 1-125
Number of units The number is defined by the limitations of the general I/O
connected to master systems, see Technical reference manual - System parameters.
Number of signals The number is defined by the limitations of the general I/O
systems, see Technical reference manual - System parameters.
Baudrate The PROFIBUS-DP master is configurable for all baudrates up to
12 Mbit/s.
PROFIBUS product ID 0xB203
Specification overview, Slave
Item Specification
Fieldbus type PROFIBUS-DP slave with DP-V0
Addressing 1-125
Number of units The number is defined by the limitations of the general I/O
connected to slave systems, see Technical reference manual - System parameters.
Number of signals Max 512 digital in
Max 512 digital out
Baudrate The PROFIBUS-DP slave autobauds for all baudrates up to 12
Mbit/s.
PROFIBUS product ID DSQC 637: 0xB205
DSQC 687: 0x0B35
2 Overview
2.3. Definition of I/O units
2.3. Definition of I/O units
General
It is possible to connect any type of PROFINET compliant I/O unit on the PROFINET master
bus. All I/O units should comply with the PROFINET standard and be conformance tested by
ODVA. I/O units may be mounted inside the controller. There are no PROFINET compliant
I/O units installed in a standard version controller.
Standard configuration
In the standard form, no fieldbus is mounted to the controller.
It is possible to connect any type of PROFIBUS compliant I/O unit on the DSQC 637 master
bus. All I/O units should comply with the PROFIBUS standard and be conformance tested by
PNO/PI (PROFIBUS Nützer Organisation/PROFIBUS International).
Further information
The table gives references to additional information:
Information See
Allowed configurations of I/O units and how Technical reference manual - System
to setup the configurations. parameters.
3 PROFIBUS-DP Master/Slave hardware
3.1.1. DSQC 637 PROFIBUS-DP master/slave

3.1 Hardware description
Description
The DSQC 637 is a circuit board normally mounted in the controller.
The PROFIBUS-DP M/S unit has both a master and a slave channel on the same unit. The
master channel is used to communicate with I/O units within the robot cell and the slave
channel is used to communicate with the robot controller from a master PLC.
The master channel and the slave channel are physically separated.
Installation and configuration

For installation instructions for PROFIBUS, see the PROFIBUS specification, IEC 61158
Type 3. See also the Installation Guideline for PROFIBUS-DP/FMS published by the user
organization of PROFIBUS (PNO).
Instructions on how to configure the PROFIBUS network for the master and the slave channel
are found in the chapterPROFIBUS-DP Master/Slave configuration on page 25.
Typical applications
An example of how the DSQC 637 may be connected is illustrated in section The
PROFIBUS-DP network on page 14.

Continued
Illustration
The figure below shows the DSQC 637 board. The upper connector is the slave connector and
the lower connector is the master connector.
xx0400001188
S Indicates the status of the Slave channel. Lit when the slave is in data exchange
mode. Note that for DSQC687 this LED is never lit.

M Indicates the status of the Master channel. Lit when the master has the
PROFIBUS token.
For connection table, see section Connections, Master and Slave connector on page 19.
Technical data
Description Art. number

PROFIBUS DP master/slave, DSQC 637 3HAC023047-001
PROFIBUS DP master/slave, DSQC 687 3HAC031166-001

Continued
Connections, Master and Slave connector
xx0100000220
The table below shows the connections to the master connector and the slave connector,
which are two physically separated connectors on the DSQC 637 board.
Pin Signal Description
1 Shield Cable screen
2 Not used
3 RxD/TxD-P Receive/Transmit data; line B (red)
4 CNTR-P Control of repeater direction
5 DGND Data ground (reference voltage to VP)
6 VP Power supply +5V (for example bus ter-
mination)
7 Not used
8 RxD/TxD-N Receive/Transmit data; line A (green)
9 Not used
Termination
To reduce the reflections on the data lines it is very important that both ends of the
PROFIBUS network are terminated according to PROFIBUS-DP specification, IEC 61158

Type 3.
The termination used by PROFIBUS is an active termination as showed in the figure below:
en0400001144

Continued
After connecting the PROFIBUS network always check that the termination is in place on
both ends of the network and that there are no other terminations on the network. If a
termination is missing or an extra termination is added somewhere in the PROFIBUS
network the communication will probably fail.
Cables and connectors

Cables used to connect the PROFIBUS network must be according to PROFIBUS-DP
specification, IEC 61158 Type 3.
Drop cables are not allowed for PROFIBUS, so special D-subs must be used when the
PROFIBUS-DP unit is not the last in line. The connector must have the possibility to insert
two PROFIBUS cables in the same D-sub. It is also important that the cables are mounted
from the top of the connector, otherwise it will not fit into the limited space around the
PROFIBUS-DP unit (DSQC 637).
3.1.2. Definition of communication boards, IRC5
3.1.2. Definition of communication boards, IRC5
General
The IRC5 computer unit may include a number of communication functions. Any allowed
combination of these is specified below.
Board definition
The figure and table below specify which combinations are allowed:
xx0700000096
Description Art. no. Note Pos.

PROFIBUS DP master/ 3HAC023047-001 DSQC 637 B, C, D or
slave E
PROFIBUS DP master/ 3HAC031166-001 DSQC 687 B, C, D or
slave E
Installation of communication boards

For installation descriptions refer to Product manual - IRC5, section Replacement of PCI
cards in the Computer unit slots.
3.2.1. Connections, general
3.2 Connections
3.2.1. Connections, general
General
All devices are connected in a bus structure. Each bus segment can have a maximum of 32
active devices. In order to be able to connect a larger number of stations (masters and slaves),
the bus must be segmented. The segments are then interconnected with repeaters that amplify
and refresh the data signals. Each repeater allows the PROFIBUS system to be extended by
an additonal bus segment.
The beginning and end of each segment is fitted with an active bus terminator, see illustration
in section Termination on page 19.
3.2.2. Selecting cables
Cable parameters, PROFIBUS-DP

Electrical cables are used for data transfer. For specification of the different electrical data
cables refer to PROFIBUS Technical Guideline, see Reference information on page 12.
The cable parameters for the standard bus cables result in the maximum length of each bus
segment for the respective data transfer rate. See details for cable type A in the following
tables.
Segment lengths and data rates, cable type A
Data rate in kbit/s Max. segment length in m

9.6 1200
19.2 1200
45.45 1200
93.75 1200
187.5 1000
500 400
1500 200
3000 100
6000 100
12 000 100
Other parameters, cable type A
Parameter Value
Impedance 135 to 165 Ω
Capacity ≤ 30 pF/m
Loop resistance ≤ 110 Ω/km

Conductor cross-sectional area ≥ 0.34 mm2 (AWG 22)
4 PROFIBUS-DP Master/Slave configuration
4.1.1. Software overview

4.1 Introduction
Controller software
The IRC5 controller must be installed with a software that supports the use of the
PROFIBUS-DP network, i.e. the option for PROFIBUS-DP must be installed.
Predefined master bus and I/O unit types

When the IRC5 system is booted with the PROFIBUS option the system is started up with a
predefined master bus, Profibus1 of type PBUS.
The IRC5 controller software also contains a number of predefined I/O unit types for
PROFIBUS-DP. The I/O unit types are described in the configuration files located in the
PROFIBUS option directory, in the RobotWare release media directory.
If another I/O unit type is required, it has to be created by the user.
PC software
RobotStudio is a PC software that is used for setting up connections to robots and to work
with robots.
The configuration for the PROFIBUS-DP communication is done either manually by
RobotStudio/FlexPendant , or by loading a configuration file from RobotStudio.
For information on how to work with RobotStudio and FlexPendant refer to, respectively,
Operating manual - RobotStudio and Operating manual - IRC5 with FlexPendant, see
Reference information on page 12.
Configuration software
To correctly configure the PROFIBUS-DP option a binary configuration file must be created
using Softing PROFIBUS DP Configurator (or PROFI-KON-DP), which is an external
PROFIBUS configuration PC tool. For more information about the configuration software,
see section PROFIBUS-DP configuration software on page 28.
GSD-files
In order to configure the DSQC 637 with the PROFIBUS DP Configurator, GSD-files have
to be imported into PROFI-KON-DP. These files contain vital information about the
PROFIBUS units and they shall be supplied by the vendor/manufacturer of the specific
PROFIBUS module. The GSD-files for the DSQC 637 master/slave are supplied on the
RobotWare CD-ROM and can be found in following directory:
<CD-ROM unit>:\Utility\fieldbus\PROFIBUS\gsd\
The directory contains following files:
GSD-file Description
softb203.gsd Softing DP-Master PROFIboard (DSQC 637) and PBpro (DSQC 687)
softb205.gsd Softing DP-Slave PROFIboard (DSQC 637)
soft0b35.gsd Softing DP-Slave PBpro (DSQC 687)
Continued
GSD-file Description
abb_0600.gsd DeviceNet to PROFIBUS DP gateway (DSQC 352)
HMS_1811.gsd PROFIBUS Fieldbus Adapter (DSQC 667)
Updating DSQC 637 firmware

The firmware that is executing on the DSQC 637 board is included in the RobotWare software
package. The board is automatically updated to the actual firmware that is included in a
specific release of RobotWare, that is, there is no need for any manual procedure to update
the firmware.
During an automatic firmware upgrade of the board, lock-files are created on the flash disk.
The lock-files have names of the format /hd0a/firmwareXY.lock, where X and Y are figures
in the range 0-9.
NOTE!
File names of the specified format above are to be considered as reserved names that must not
be used by the user.
4.1.2. Software, how to start
4.1.2. Software, how to start
Step-by-step
The following procedure gives an overview of how the different software is used together.
For more detailed description, refer to section I/O configuration on page 30.
Action
1. Create a new system using RobotStudio. Make sure the PROFIBUS-DP option is
installed.
2. Import the GSD-files to Softing PROFIBUS DP Configurator and create the binary con-
figuration file, which contains the configuration of the PROFIBUS network.
3. Download the binary configuration file and the created system to the IRC5 controller
using RobotStudio.
4.1.3. PROFIBUS-DP configuration software
4.1.3. PROFIBUS-DP configuration software
Description
Softing PROFIBUS DP configurator is an external PROFIBUS configuration PC tool. The
usage of the tool is described below.
Installing PROFIBUS-DP configurator

For installation instructions refer to chapter 2 Installation in User Manual DP Configurator.
Bus parameter set - changing parameters

All the parameters that are defined in the "PROFIBUS Bus parameter set" are possible to
modify by using the Softing PROFIBUS DP Configurator. These parameters and default
values for them (depending on the baudrate) are defined in the PROFIBUS specification. The
default values are encouraged to be used and it is rarely necessary to modify these parameters.
By selecting the desired baudrate the Softing PROFIBUS DP Configurator will automatically
select the default "PROFIBUS Bus parameter set" for this baudrate. When the configuration
of the master and all slaves is finished it is recommended to use the Check Config function
in Softing PROFIBUS DP Configurator, and perform any changes that might be suggested.
How to use Check Config is described in chapter 5 Editing Projects in User Manual DP
Configurator.
Slave parameter set - changing parameters

By using the Softing PROFIBUS DP Configurator it is possible to change the parameters that
are defined in the "Slave parameter set" according to the PROFIBUS specification. It is
usually not necessary to modify the parameters in the "Slave parameter set", but in some cases
it can be interesting to change parameters (like the Watchdog Time and the UserPrm
Data).

Description of how the parameters in the "Slave parameter sets" are modified is found in the
manual for the Softing PROFIBUS DP Configurator.
NOTE!
The PROFIBUS user is strongly recommended not to change any of these parameters without
having a really good knowledge of PROFIBUS and how the changes affect the
communication.
4.2.1. Introduction
4.2 Workflows, PROFIBUS-DP master bus
4.2.1. Introduction
Configuration set-up
To set-up a PROFIBUS-DP communication, follow the workflows described in this section.
Power-up
When all configuration definitions are set, a new startup is required. The robot controller will
automatically start the communication with the DP-slaves, and the controller will report any
errors that may occur.
4.2.2. Configuration overview
Description
The PROFIBUS-DP master configuration is set according to the contents of the I/O signal
and Unit definitions.
I/O configuration
To perform a proper I/O configuration follow the steps in this procedure:
Action
1. Create a new system using RobotStudio. Make sure to install the PROFIBUS-DP
option .
2. Import the GSD-files, see GSD-file importation on page 31 for details.
3. Run Softing PROFIBUS DP Configurator to create the binary configuration file that
contains the configuration of the PROFIBUS network.
NOTE!
This step is always unique depending on the type of I/O unit to configure.
4. Download the system to the IRC5 controller.
5. Reboot the controller to start up with the new system.
6. Add the binary configuration file to the HOME directory and configure the bus.
See section Bus configuration on page 32.
7. Configure the units connected to the bus using RobotStudio or FlexPendant. See Unit
configuration on page 30.
8. Configure the signals, see Technical reference manual - System parameters.
9. Reboot the controller.
Unit configuration
The following procedure details how to configure the units connected to the bus.

Action
1. Add a new unit to the system parameters, see Technical reference manual - System
parameters.
2. Enter the unit name.
3. Select the Profibus1 bus, to which the unit is connected.
4. Select the actual unit type.
If the unit type is not predefined, it must be added.
5. Enter the Profibus Address.

Continued
GSD-file importation
The following procedure details how to import a GSD-file to the Softing PROFIBUS DP
Configurator.
NOTE!
Import the GSD-file before you create a new project or open an existing project. Otherwise
you may not find the DDB menu, which disappears when projects are open. When all projects
are closed, the DDB menu will be available again.
Action
1. Start Softing PROFIBUS DP Configurator.
2. Click the DDB menu.
3. In the DDB (DeviceDataBase) dialog, click Add.
4. An Open dialog appears. Select the GSD-file and click OK.
en0500002355
5. Now the imported GSD-file appears in the Imported DDB list.
4.2.3. Bus configuration
4.2.3. Bus configuration
Description
The configuration of the bus consists of specifying the configuration path to the PROFIBUS
configuration file, which is created using the tool Softing PROFIBUS DP Configurator.
Bus parameter
The bus parameter set is defined in the PROFIBUS standard and contains parameters that
influences the behaviour of the bus. The only way to modify the bus parameters, i.e. master
address and baudrate, is to use the Softing PROFIBUS DP Configurator and generate a new
binary configuration file.
NOTE!
The bus parameters should only be changed by a person that is familiar with the PROFIBUS-
DP specification.
Predefined bus
If the system is installed with the PROFIBUS option, a predefined bus Profibus1 is created.
The default configuration path is:
HOME/pbus_cfg.bin
HOME specifies the current system directory, for example "MySystem/Home". It is possible
to configure this path to any place on the IRC5 controller by first using the path /hd0a, which
corresponds to the system flash drive. The equivalent to HOME/pbus_cfg.bin in this example
would be /hd0a/MySystem/Home/pbus_cfg.bin.
Binary configuration file

The first step in the configuration of the bus is to create a binary configuration file using the
Softing PROFIBUS DP Configurator tool on an off-line PC. This file needs to be supplied to

the system to give a description of how the actual PROFIBUS network is physically
configured.
The binary configuration file contains all the parameters needed to get a PROFIBUS network
up and running at the lowest level, i.e. what the DSQC 637 board needs to start the data
exchange on the network.
Where to find descriptions of PROFIBUS DP configurator

How the Softing PROFIBUS DP Configurator works is described in the manual that is
delivered together with the actual configurator software package.
4.2.4. Download PROFIBUS configuration file to the controller
4.2.4. Download PROFIBUS configuration file to the controller
How to download the file

There are the following different ways to transfer the file:
Use... To...
the System Builder in perform the file transfer at the same time as the rest of a newly
RobotStudio created system is transferred from the RobotStudio PC to the
controller. While creating the system, put the binary configura-
tion file in the home directory of the created robot system by
using the Add Files to Home Directory in the System Builder of
RobotStudio.
For instructions, refer to Operating manual - RobotStudio.
the file manager in download the configuration file directly to the controller.
RobotStudio For instructions, refer to Operating manual - RobotStudio.
a third party FTP client download the configuration file directly to the controller.
4.3.1. Introduction
4.3 Workflows, PROFIBUS-DP internal slave
4.3.1. Introduction
Configuration set-up
This section describes the workflows for the necessary configurations to set-up a
PROFIBUS-DP internal slave communication.
Built-in digital slave module

The DSQC 637 unit has a built-in digital slave module with up to 512 digital inputs and 512
digital outputs.
This can be used
• to connect the IRC5 controller to a PLC.
• for connection of the slave channel of several robots to the master channel of one
controlling robot.
4.3.2. Internal slave configurations
Unit type configuration

The unit type definition for the IRC5 PROFIBUS-DP slave is called DP_SLAVE and is
predefined during system start-up. The default sizes of input and output areas for DP_SLAVE
are 16 bytes in and 16 bytes out.
EXT_DP_SLAVE is another predefined unit type, and this shall only be used for configuring
the master channel of an IRC5 controller that is connected to the slave channel of another
IRC5 controller.
I/O unit configuration

The following steps describe how to configure the system parameters for the IRC5
PROFIBUS-DP slave:
Action Description
1. Create a new unit of type DP_SLAVE.
2. If the default input size or output size for NOTE!
DP_SLAVE is not suited, edit the The internal slave is special in its
Internal Slave Output Size and/or behaviour since outputs from the master/
Internal Slave Input Size for the PLC will become inputs to the controller
unit type DP_SLAVE. and vice versa.
PLC/Master configuration
To configure the PROFIBUS master that will control the internal slave, use the GSD file
supplied on the RobotWare CD-ROM, in the directory:
The table below shows which GSD file to use, depending on board type.
Board type GSD-file

DSQC 637 softb205.gsd
DSQC 687 soft0b35.gsd
The modules to be chosen depend on the current I/O definition (input/output sizes as defined
for the Unit type).
NOTE!
When the internal slave of DSQC 687 is used and the parameter Min. slave interval is
adjustable in the master configuration tool, it must be set to a value higher than or equal to
600µs. An example of this is given in section IRC5 master/slave configuration example.
Communication status
To have control of the communication status, i.e. to know if the PLC to slave communication
is in DATA_EXCHANGE mode or not, the PROFIBUS watchdog timer should be used.
The master/PLC can set one signal during startup or within the controller loop, this signal (on
the internal slave) could then be attached to a system input in the robot controller as a
communication supervision signal. If the communication between the master/PLC and the
slave will be interrupted (i.e. the slave leaves the DATA_EXCHANGE mode), all the inputs

Continued
of the internal slave will go to fail safe state (i.e. be set to zeros only) after the specified
watchdog time. This means that the user defined communication supervision signal will also
go to zero.
NOTE!
If using DSQC 687 the watchdog time must not be set to a value lower than 20 ms.
4.4.1. Digital I/O configuration example (non modular station)
4.4 Examples
Description
This is an example of how to configure an ET200B 16 DI/16 DO unit to the master. The bus
is configured using the Softing PROFIBUS DP Configurator, with the master at address 2 and
the slave unit at address 10. The baudrate is 12 Mbit/s and the slave watchdog time is set to
100 ms.
The whole procedure for this example is described in section I/O configuration on page 30.
This example is a detailed description of step 3 in the I/O configuration section and contains
information that is unique to this example.
PROFIBUS DP configurator setup

The following procedure is a step-by-step description of how to set the configuration in the
Softing PROFIBUS DP Configurator.
Action
1. Start Softing PROFIBUS DP Configurator and import GSD-files for the Profiboard from
the RobotWare CD (that is, if the files have not been imported before).
For details, see the Softing PROFIBUS DP Configurator manual.
2. Import GSD-files for the unit that shall be used, see GSD-file importation on page 31
for details.
(GSD-file is provided by the manufacturer of the unit.)
3. On the Options menu, click Advanced Mode.
(Basic mode does not allow the user to change the watchdog time.)
4. On the Project menu, click New Project.
5. In the Master Selection List, double-click on the PROFIboard.
en0400000888

Continued
Action
6. In the DP-Master-Configuration window, set Station Address to 2 and Baudrate to 12
MBaud. Click OK.
en0400000892
7. In the Slave Selection List, double-click on the B-16DI/16DO.
en0400000889

Continued
Action
8. In the DP Slave Configuration window, click the Basic tab and set Station Address to
10.
en0400000890
9. In the DP Slave Configuration window, click the Settings tab and set Watchdog Time
to 100 ms. Click OK.
en0400000891
10. On the Download menu, choose Binary File.

Name the binary file pbus_cfg.bin (this is the default file name used by the predefined
bus, Profibus1), and download it to the IRC5 controller using either RobotStudio or a
third-party FTP client.
For description of how to download the file, see Operating manual - RobotStudio.
4.4.2. Modular station configuration example
Description
The ET200S is a modular unit. You can choose which type of modules to use and in which
order to connect them.
This is an example of how to configure an ET200S unit to the master. The bus is configured
using the Softing PROFIBUS DP Configurator, with the master at address 1 and the slave unit
at address 10. The baudrate is 12 Mbit/s.
In this example the ET200S has physically 7 modules, and these are connected in following
order:
• One Power module
• Two modules with 2 DO in each module
• Two modules with 2 DI in each module
• One module with 2 AO
• One module with 2 AI
This example contains a detailed description of step 3 in the I/O configuration section and the
information is unique to this example, see PROFIBUS DP configurator setup on page 40.
This example also contains a detailed description of step 8 in the I/O configuration section
and it is described in section Physical signal configuration on page 41.

The following procedure is a step-by-step description of how to set the configuration in
Action

the RobotWare CD (that is, if the files have not been imported before).
2. Import GSD-files for the unit that shall be used, see GSD-file importation on page 31
for details.
(GSD-file is provided by the manufacturer of the unit.)
3. On the Options menu, click Advanced Mode.
(Basic mode does not allow the user to change the watchdog time.)
5. In the Master Selection List, double-click on the Profiboard.
See figure in step 5, in section PROFIBUS DP configurator setup on page 37 (Digital I/
O configuration example).
6. In the DP-Master-Configuration window, set Station Address to 1 and Baudrate to 12.

Continued
Action
7. In the Slave Selection List, double-click the ET200S.
en0400000896
10.
See figure in step 8, in section PROFIBUS DP configurator setup on page 37 (Digital I/
O configuration example).
9. In the DP Slave Configuration window, click the Modules tab.
For module selection, follow the steps in Module selection on page 42 .
Physical signal configuration

According to the ET200S Distributed I/O System Manual (chapter 13.1.1, Analog value
representation for measuring ranges with S7) from Siemens:
• The analog values are represented in complements of two.
• The values are represented with 16 bits.
• Physical max. value: 10 V is represented by the value 27648.
• Physical min. value: -10 V is represented by the value -27648.
• The high byte is sent first, byte swap is needed.

Continued
For the configuration procedure, refer to Technical reference manual - System parameters.
Unit mapping
Unit mapping is necessary when specifying which bit(s) in the I/O memory map of the
assigned unit the signal is mapped to. All physical signals (i.e. signals connected to a physical
unit) must be mapped.
The table shows an example of unit mapping:
Signal Unit map Description
DO_1 0 Digital output signal
DI_1 0 Digital input signal
AO_1 24-31, 16-23 Analog output signal
Byte swap is needed
AO_2 40-47, 32-39 Analog output signal
Byte swap is needed
AI_1 24-31, 16-23 Analog input signal
Byte swap is needed
AI_2 40-47, 32-39 Analog input signal
Byte swap is needed
Module selection
When configuring the modules, make sure the different modules are added in correct order.

I.e. the slot numbers depend on the physical order of the modules. See the User Manual DP
Configurator for further details.
The following procedure is a detailed description of how to make the module selection.
Action
1. In the Available modules list, select the appropriate power supply module (6ES7 138-
xxxxx-xxxx) and click Add.
en0400000898

Continued
Action
2. In the Available modules list, select the appropriate module with 2 DO (6ES7 132-
en0400000897
3. Repeat step 2 to select the other module with 2 DO.

4. In the Available modules list, select the appropriate module with 2 DI (6ES7 131-
5. Repeat step 4 to select the other module with 2 DI.
6. In the Available modules list, select the appropriate module with 2 AO (6ES7 134-
7. In the Available modules list, select the appropriate module with 2 AI (6ES7 134-
4.4.3. Internal slave configuration example
4.4.3. Internal slave configuration example
Description
This is an example of how to configure the IRC5 Profibus-DP slave to address 12. The slave
unit has 128 digital inputs (16 bytes) and 128 digital outputs (16 bytes).
NOTE!
The unit type DP_SLAVE is a predefined unit type, i.e. the user does not need to make any
Unit Type definition for this slave. The default values for DP_SLAVE are 16 bytes inputs and
16 bytes outputs. The default sizes can be changed either by editing the unit type DP_SLAVE
or by creating a new unit type.
Internal slave configuration procedure

The following procedure is a step-by-step description of how to make the system parameter
configuration of the internal slave.
Action
1. Add a new unit to the system parameters.
2. Enter the unit name.
3. Select the Profibus1 bus, to which the unit is connected.
4. Select the DP_SLAVE unit type.
5. Enter the Profibus Address.
4.4.4. IRC5 master/slave configuration example
Description
This example demonstrates how two IRC5 systems can be configured to communicate with
each other, one as the master and one as a slave.
The bus is configured using the Softing PROFIBUS DP Configurator, with the master at
address 2 and with baudrate 12 Mbit/s.
Overview - how to start
Action Info
1. Start by configuring the slave system The slave system will be set up as an
according to section Internal slave con- ordinary PROFIBUS-DP slave unit with 128
figuration example on page 44. DI and 128 DO. The address is 12.
2. Configure the master system with one
unit at address 12 of type
EXT_DP_SLAVE.
NOTE!
The unit type EXT_DP_SLAVE shall be used when configuring an IRC5 PROFIBUS master
to communicate via a PROFIBUS connection to the slave channel of another IRC5 system.
The unit type DP_SLAVE shall be used for configuring of the internal PROFIBUS slave, i.e.
the definition of a DP_SLAVE unit type will determine what the internal slave will look like
when seen from the PROFIBUS side.
The unit types EXT_DP_SLAVE and DP_SLAVE are predefined unit types, i.e. the user does
not need to make any Unit Type definition for these slaves.

The following procedure is a step-by-step description of how to set the configuration in the
Action
the RobotWare CD (i.e. if the files have not been imported before).
2. On the Options menu, click Advanced Mode. (Basic mode does not allow the user to
change the Min. Slave Interval)

Continued
Action
en0400000888
5. In the DP-Master-Configuration window, set Station Address to 2 and Baudrate to 12

MBaud. If using DSQC 687 in the slave system, it is important to set Min. Slave Interval
to a value higher than or equal to 600. Click OK.
en0400000892

Continued
Action
6. If DSQC 637 is used in the slave system; double-click on the PROFIboard/PROFI104
in the Slave Selection List.
en0400000903
7. If DSQC 687 is used in the slave system; double-click on the PBpro Slave in the Slave
Selection List.
xx0800000211

Continued
Action
12.
en0400000904
9. In the DP Slave Configuration window, click the Modules tab.

In the Available Modules list, select 8 Word Out, 8 Word In and click Add.

en0400000905

11. Restart the controller.
4.4.5. IRC5 master/slave configuration example using PROFIBUS Fieldbus Adapter
Description
This example demonstrates how two IRC5 systems can be configured to communicate with
each other, one as the master and one as a slave. The master system uses the master channel
of the Profiboard (DSQC 637) and the slave system uses a PROFIBUS Fieldbus Adapter
(DSQC 667). PROFIBUS Fieldbus Adapter is available as a separate fieldbus adapter option.
The bus is configured using the Softing PROFIBUS DP Configurator, with the master at
address 2 and with baudrate 12 Mbit/s. The address of the PROFIBUS Fieldbus Adapter is
set to 10 and the input size and output size are set to 8 bytes.
Overview - how to start
Action Note/Info
1. Start by configuring the slave system as a See Slave system configuration
DP_SLAVE_FA slave unit. procedure on page 49.
2. Create the binary configuration file for the master See PROFIBUS DP configurator
system using Softing PROFIBUS DP Configurator. setup on page 50.
3. Configure the master system with an ordinary See Unit configuration on page
PROFIBUS-DP slave unit at address 10. 30.
The predefined unit type
DP_GENERIC can be used or a
new Unit Type definition can be
made
Slave system configuration procedure

The following procedure is a step-by-step description of how to make the system parameter
configuration of the PROFIBUS Fieldbus Adapter.
Action
1. Add a new unit to the system parameters.
2. Type the unit name.
3. Select the Profibus_FA bus, to which the unit is connected.
4. Select the DP_SLAVE_FA unit type.
5. Set the Profibus Address to 10.
NOTE!
The unit type DP_SLAVE_FA is a predefined unit type, i.e. the user does not need to make
any Unit Type definition for this slave. The default values for DP_SLAVE_FA are 8 bytes
inputs and 8 bytes outputs. The default sizes can be changed either by editing the unit type
DP_SLAVE_FA or by creating a new unit type. If a new unit type is created the parameter
Internal Slave should be set to Yes.

Continued

The following procedure is a step-by-step description of how to set the configuration in
theSofting PROFIBUS DP Configurator.
Action
1. Start Softing PROFIBUS DP Configurator and import the GSD-file for the master
channel of the Profiboard (i.e. if the file has not been imported before). The file is called
softb203.gsd and is supplied on the RobotWare CD-ROM, in the directory:
For details, see GSD-file importation on page 31.
2. Import the GSD-file for PROFIBUS Fieldbus Adapter. The file is called either
PBUS_FA.gsd or HMS_1811.gsd, depending on RobotWare version. It can be found on
the RobotWare CD-ROM in the same directory as the GSD file of the Profiboard.

xx0700000512

Continued
Action
5. In the DP-Master-Configuration window, set Station Address to 2 and Baudrate to12
MBaud. Click OK.
xx0700000513
6. In the Slave Selection List, double-click on the Anybus-CC PROFIBUS DP-V1.

xx0700000514

Continued
Action
10.
xx0700000515
8. In the DP Slave Configuration window, click the Modules tab.In the Available
Modules list, first select Input 4 words and click Add, and then select Output 4 words
and click Add.

xx0700000516
9. On the Download menu, click Binary File.

Name the binary file pbus_cfg.bin (this is the default file name used by thepredefined
bus, Profibus1), and download it to the IRC5 controller using eitherRobotStudio or a
For description of how to download the file, see Download PROFIBUS configuration file
to the controller on page 33.
5 System parameters
5.1. Introduction
5 System parameters
5.1. Introduction
PROFIBUS specific system parameters

There are both PROFIBUS specific parameters and more general parameters. This chapter
describes all PROFIBUS specific system parameters. The parameters are divided into the
type they belong to.
For information about other parameters refer to Technical reference manual - System
parameters.
5 System parameters
5.2.1. PROFIBUS Address
5.2 Type Unit
5.2.1. PROFIBUS Address
Parent
PROFIBUS Address belongs to the type Unit, in the topic I/O.
Cfg name
PB_Address
Description
The parameter PROFIBUS Address specifies the address of the I/O unit on the network.
Usage
PROFIBUS Address specifies the address that the I/O unit uses on the network, to which the
master should try to setup a connection.
Prerequisites
Profibus DP Master/Slave option must be installed.
Default value
The default value is 125.
Allowed values
Allowed values are the integers 0-125. The value must match the address specified for the
fieldbus adapter when configuring the PROFIBUS master.
5 System parameters
5.3.1. Internal Slave Input Size
5.3 Type Unit Type
5.3.1. Internal Slave Input Size
Parent
Internal Slave Input Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_InputSize
Description
The parameter Internal Slave Input Size defines the data size in bytes for the input area
received from the unit.
Usage
Internal Slave Input Size is a PROFIBUS specific parameter that is only available for internal
slave unit types.
Prerequisites
The Profibus DP Master/Slave option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-64, specifying the input data size in bytes. The value must
match the input size specified when configuring the PROFIBUS master.
5 System parameters
5.3.2. Internal Slave Output Size
5.3.2. Internal Slave Output Size
Parent
Internal Slave Output Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_OutputSize
Description
Internal Slave Output Size defines the data size in bytes for the output area transmitted by the
unit.
Usage
Internal Slave Output Size is a PROFIBUS specific parameter that is only available for
internal slave unit types.
Prerequisites
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-64, specifying the output data size in bytes. The value must
match the output size specified when configuring the PROFIBUS master.
5 System parameters
5.3.3. Internal Slave
5.3.3. Internal Slave
Parent
Internal Slave belongs to the type Unit Type, in the topic I/O.
Cfg name
InternalSlave
Description
This parameter specifies the type of the slave device. The built-in slave module in the
PROFIBUS master/slave card (DSQC 637) and the PROFIBUS Fieldbus Adapter (DSQC
667) are defined as internal slaves. All other slave devices are defined with this parameter set
to No.
Usage
Internal Slave is a general system parameter for fieldbuses.
Prerequisites
Default value
The default value is No.
Allowed values
Allowed values are Yes or No.
5 System parameters
5.3.4. Product ID
5.3.4. Product ID
Parent
Product ID belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_ProductId
Description
Product ID is used as an identification of the I/O unit and is only available for PROFIBUS
unit types. If the parameter is assigned the value 0 (zero), the robot controller ignores what
Product ID the connected unit has. The value of the parameter can be found in the Electronic
device data sheet (GSD) for the unit (called Ident_number in the GSD file). Note that
Ident_number is often expressed as a hexadecimal number in the GSD file.
Usage
Product ID is a PROFIBUS specific parameter.
Prerequisites
Default value
Allowed values
Allowed values are integers 0-65535.
Additional information

The I/O unit Product ID is assigned by PNO (Profibus Nützer Org.) to the vendor of the
specific I/O unit.
Index
B
Bus termination 19
C
Cable parameters 23
communication boards 21
D
DSQC 637 17
DSQC 637, Master and Slave connector 19
E
Example, ET200B unit 37
Example, ET200S unit 40
G
GSD-files 25
GSD-files, importing 31
I
I/O configuration 30
S
Softing PROFIBUS DP Configurator 15, 25, 28
system parameters
Internal Slave 57
Internal Slave Input Size 55
Internal Slave Output Size 56
Product ID 58
PROFIBUS Address 54
U
Unit configuration 30
60
Index
3HAC 023008-001, Revision C, en
ABB AB
Robotics Products
SE-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax: +46 (0) 21 132592

Abb Irc5 Application Manual

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© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

© Copyright 2004-2005, 2007-2008 ABB All rights reserved.

1 Reference information, PROFIBUS 11

3 PROFIBUS-DP Master/Slave hardware 17

4 PROFIBUS-DP Master/Slave configuration 25

4.3 Workflows, PROFIBUS-DP internal slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

About this manual

Who should read this manual?

Continues on next page

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

Product documentation, M2004

Technical reference manuals

Continues on next page

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

1 Reference information, PROFIBUS

1.2. Reference information

Technical reference manuals

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

2.2. PROFIBUS, IRC5

DSQC 637 unit

DSQC 687 unit

The PROFIBUS-DP network

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

A Line PLC, DP-Master

Continues on next page

D I/O unit, DP-Slave

Specification overview, Master

Specification overview, Slave

2.3. Definition of I/O units

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

3 PROFIBUS-DP Master/Slave hardware

3.1.1. DSQC 637 PROFIBUS-DP master/slave

Installation and configuration

Continues on next page

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

Description Art. number

Continues on next page

Connections, Master and Slave connector

PROFIBUS network are terminated according to PROFIBUS-DP specification, IEC 61158

Continues on next page

Cables and connectors

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

3.1.2. Definition of communication boards, IRC5

Description Art. no. Note Pos.

Installation of communication boards

3.2.1. Connections, general

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

3.2.2. Selecting cables

Cable parameters, PROFIBUS-DP

Segment lengths and data rates, cable type A

Data rate in kbit/s Max. segment length in m

Other parameters, cable type A

Loop resistance ≤ 110 Ω/km

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

4 PROFIBUS-DP Master/Slave configuration

4.1.1. Software overview

Predefined master bus and I/O unit types

Updating DSQC 637 firmware

© Copyright 2004-2005, 2007-2008 ABB. All rights reserved.

4.1.2. Software, how to start

4.1.3. PROFIBUS-DP configuration software