1、Application manual DeviceNet Master/SlaveTrace back information: Workspace R15-1 version a3 Checked in 2015-03-25 Skribenta version 4.1.349Application manual DeviceNet Master/Slave RobotWare 6.01 Document ID: 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved.The information in
2、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 wa
3、rranty 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
4、without ABBs 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. Copyright 2013-2015 ABB. All rights reserved. ABB AB Robotics Products Se-721 68
5、 Vsters SwedenTable of contents 7 Overview of this manual . 9 Product documentation, IRC5 11 Safety 12 Network security . 13 Terminology 15 1 Introduction 15 1.1 What is DeviceNet? . 17 1.2 DeviceNet for IRC5 19 2 Hardware overview 19 2.1 Main computer DSQC1000 21 2.2 Cables and connections . 21 2.2
6、.1 Shield grounding and power 23 2.2.2 Termination resistors . 24 2.2.3 Cabling . 25 2.2.4 Selecting cables 26 2.2.5 Repeaters 28 2.3 Devices . 29 3 Software overview 29 3.1 Information about the internal slave device 31 3.2 Information about the internal master 33 4 Configuring the internal slave d
7、evice 33 4.1 Recommended working procedure . 34 4.2 Configuring the internal slave device 36 4.3 Configuring the external master . 37 5 Configuring the internal master 37 5.1 Recommended working procedure . 38 5.2 Configuring the IRC5 controller 39 5.2.1 Manual configuration of I/O devices in RobotS
8、tudio . 41 5.2.2 Manual configuration of I/O devices after a network scan 42 5.2.3 Automatic configuration of I/O devices 43 5.2.4 Configuration of third party devices 45 5.3 Communication between two IRC5 controllers 47 6 Boards and devices 47 6.1 General . 47 6.1.1 DeviceNet network and I/O board
9、status LED description . 49 6.1.2 DeviceNet network status LEDs at power-up 50 6.1.3 External devices . 51 6.1.4 Coil neutralization . 52 6.1.5 Setting DeviceNet network ID 54 6.2 Device descriptions . 54 6.2.1 Introduction 55 6.2.2 DSQC 351B, DeviceNet/INTERBUS gateway 62 6.2.3 DSQC 377B, Queue tra
10、cking device 71 6.2.4 DSQC 378B, DeviceNet/CCLink gateway . 79 6.2.5 DSQC 651, AD combi I/O 85 6.2.6 DSQC 652, Digital I/O . 91 6.2.7 DSQC 653, Digital I/O with relay outputs Application manual - DeviceNet Master/Slave 5 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Table
11、of contents97 7 System parameters 97 7.1 Introduction 99 7.2 Type Industrial Network 99 7.2.1 Address . 100 7.2.2 DeviceNet Communication Speed 101 7.3 Type DeviceNet Device 101 7.3.1 Address . 102 7.3.2 Vendor ID 103 7.3.3 Product Code . 104 7.3.4 Device Type . 105 7.3.5 Production Inhibit Time 106
12、 7.3.6 Connection Type . 107 7.3.7 Poll Rate 108 7.3.8 Connection Output Size 109 7.3.9 Connection Input Size 110 7.3.10 Quick Connect 111 7.4 Type DeviceNet Internal Device . 111 7.4.1 Connection Input Size 112 7.4.2 Connection Output Size 113 7.5 Type DeviceNet Command 113 7.5.1 Path 115 7.5.2 Ser
13、vice 117 8 Trouble shooting 117 8.1 Bus off 118 8.2 Bus Scan . 119 Index 6 Application manual - DeviceNet Master/Slave 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Table of contentsOverview of this manual About this manual This manual describes the option DeviceNet Master
14、/Slave and contains instructions for the configuration. It also describes the configuration of boards and devices. Usage This manual should be used during installation and configuration of the DeviceNet network and upgrading of the option DeviceNet Master/Slave. Who should read this manual? This man
15、ual is intended for: Personnel that are responsible for installations and configurations of industrial network hardware/software Personnel that make the configurations of the I/O system System integrators Prerequisites The reader should have the required knowledge of: Mechanical installation work El
16、ectrical installation work System parameter configuration References Document references Document ID References 3HAC050993-001 Application manual - DeviceNet Anybus Slave 3HAC050991-001 Application manual - Conveyor tracking 3HAC050997-001 Application manual - EtherNet/IP Anybus Adapter 3HAC050798-0
17、01 Application manual - Controller software IRC5 3HAC050941-001 Operating manual - IRC5 with FlexPendant 3HAC032104-001 Operating manual - RobotStudio 3HAC047136-001 Product manual - IRC5 3HAC041344-001 Product specification - Controller IRC5 with FlexPendant 3HAC050948-001 Technical reference manua
18、l - System parameters 3HAC050917-001 Technical reference manual - RAPID Instructions, Functions and Data types Other references Description References The web site of ODVA (Open DeviceNet Vendor Association). www.odva.org Continues on next page Application manual - DeviceNet Master/Slave 7 3HAC05099
19、2-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Overview of this manualDescription References Specification from ODVA (Open DeviceNet Vendor Associations). ODVA DeviceNet Specification, revision 2.0 Revisions Description Revision First edition. - Released with RobotWare 6.0. Released
20、 with RobotWare 6.01. Minor corrections. System parameter Connection removed from Industrial Network. A 8 Application manual - DeviceNet Master/Slave 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Overview of this manual ContinuedProduct documentation, IRC5 Categories for u
21、ser documentation from ABB Robotics The user documentation from ABB Robotics 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.
22、The documents listed are valid for IRC5 robot systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware is delivered with a Product manual that generally contains: Safety information. Installation and commissioning (descriptions of mechanical installation or ele
23、ctrical 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 standa
24、rds, 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 prod
25、ucts. 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
26、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. Contin
27、ues on next page Application manual - DeviceNet Master/Slave 9 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Product documentation, IRC5Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application
28、 manual can describe one or several applications. An application manual generally contains information about: The purpose of the application (what it does and when it is useful). What is included (for example cables, I/O boards, RAPID instructions, system parameters, DVD with PC software). How to in
29、stall 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
30、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
31、 - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Trouble shooting IRC5, for the controller and manipulator. 10 Application manual - DeviceNet Master/Slave 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Product documentation, IRC5 ContinuedSafety Sa
32、fety of personnel When working inside the robot controller it is necessary to be aware of voltage-related risks. A danger of high voltage is associated with the following parts: Devices inside the controller, for example I/O devices, can be supplied with power from an external source. The mains supp
33、ly/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. T
34、he 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 mec
35、hanical and/or electrical installations, ensure you are familiar with the safety regulations described in Operating manual - General safety information 1 . 1 This manual contains all safety instructions from the product manuals for the manipulators and the controllers. Application manual - DeviceNet
36、 Master/Slave 11 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. SafetyNetwork security Network security This product is designed to be connected to and to communicate information and data via a network interface, It is your sole responsibility to provide and continuously en
37、sure a secure connection between the product and to your network or any other network (as the case may be). You shall establish and maintain any appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of
38、 anti-virus programs, etc) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB Ltd and its entities are not liable for damages and/or losses related to
39、such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information. 12 Application manual - DeviceNet Master/Slave 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. Network securityTerminology Terms Explanation Term I/O device
40、 that is controlled by a master in a DeviceNet network. Slave A built-in device in the robot controller. Internal Slave Device Common Industrial Protocol. CIP Protocol that DeviceNet and EtherNet/IP are based on. See term Master. Client Some documents use the term client, whereas the ABB documentati
41、on use the term Master for DeviceNet industrial network. Electronic Data Sheet. EDS EDS files contain the configuration details relevant to CIP devices. An explicit message is a request or response oriented communication with other devices. These messages are mostly configuration data. Explicit Mess
42、ages Controls other devices (nodes) in a DeviceNet network. Master Open DeviceNet Vendor Association. ODVA Organization for networks built on CIP, for example DeviceNet and EtherNet/IP. See term Slave. Server Some documents use the term server, whereas the ABB documentation use the term slave for De
43、viceNet network. Application manual - DeviceNet Master/Slave 13 3HAC050992-001 Revision: A Copyright 2013-2015 ABB. All rights reserved. TerminologyThis page is intentionally left blank1 Introduction 1.1 What is DeviceNet? General DeviceNet is a communications link to connect industrial devices. It
44、is a simple networking solution that reduces both cost and time to wire and install industrial automation devices, and the direct connectivity provides improved communication between devices. DeviceNet is an open network standard. Here are some examples of applications: Peer-to-peer data exchange wh
45、ere a DeviceNet product can produce and consume messages Master/slave operation defined as a proper subset of Peer-to-Peer A DeviceNet product can function as a client or server, or both DeviceNet specification The DeviceNet specification defines a network communication system for moving data betwee
46、n elements of an industrial control system. Communication protocol connections The user must establish a connection with a device in order to exchange information with that device. DeviceNet defines the following two different types of messaging: Description Type of message Explicit messages provide
47、 multi-purpose and point-to-point com- munication paths between two devices. Explicit messages provide the typical request/response oriented network communications used to perform node configuration and problem diagnosis. Explicit messages I/O messages are for time-critical and control-oriented data
48、, and they provide a dedicated and special-purpose communication path between a producing application and one or more consuming ap- plications. I/O messages I/O messages - connection types The following table describes the different types of I/O connections: Description Type of I/O connection This t
49、echnique is used for any amount of I/O data. Each slave receives a query from the master and may or may not respond before the next device has received a query. A slave can only respond to a request from the master. Polled connection A single multicasting request. Quick exchange of a small amount of I/O data between a master and its slaves. The master sends one message that contains one bit of output data to each slave that has a strobe connection. This will result in a synchr
