You are on page 1of 38

Application manual

PROFIBUS Fieldbus Adapter


Robot Controller
RobotWare 5.0


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Application manual
PROFIBUS Fieldbus Adapter
RobotWare 5.0
Document ID: 3HAC029338-001
Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2007 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Vsters
Sweden
Table of Contents
3 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1 Overview 11
1.1 PROFIBUS, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 PROFIBUS Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2 Hardware description 15
2.1 PROFIBUS Fieldbus Adapter, DSQC 667. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3 PROFIBUS Fieldbus Adapter configuration 21
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3 Working with the PROFIBUS Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4 System parameters 27
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2.1 PROFIBUS Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3.1 Internal Slave Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3.2 Internal Slave Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.3.3 Internal slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.3.4 Product ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Index 33
Table of Contents
4 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Overview
5 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Overview
About this manual
This manual describes the PROFIBUS Fieldbus Adapter option and contains instructions for
the PROFIBUS Fieldbus Adapter configuration.
Usage
This manual should be used during installation and configuration of the PROFIBUS Fieldbus
Adapter.
Who should read this manual?
This manual is intended for
Personnel that are responsible for installations and configurations of fieldbus
hardware/software
Personnel that make the configurations of the I/O system
System integrators
Prerequisites
The reader should have the required knowledge of
Mechanical installation work
Electrical installation work
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1. This chapter gives an overview of the PROFIBUS Fieldbus Adapter and
includes the following:
A general description of PROFIBUS
Description of how the PROFIBUS Fieldbus Adapter is connected in a
robot system
2. This chapter describes the PROFIBUS Fieldbus Adapter.
3. This chapter gives an overview of the PROFIBUS Fieldbus Adapter configura-
tion. The chapter also contains descriptions of workflows.
4. This chapter describes the PROFIBUS Fieldbus Adapter specific system
parameters.
Continues on next page

Overview
3HAC029338-001 Revision: - 6


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
References
ABB documents, references
Other references
Revisions
Reference Document ID
Operating manual - RobotStudio Online 3HAC18236-1
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Product manual - IRC5 3HAC021313-001
Technical reference manual - System
parameters
3HAC17076-1
Product specification - IRC5 with FlexPendant 3HAC021785-001
Reference Description
International standard IEC 61158 Type 3
International standard IEC 61784
The PROFIBUS fieldbus standard is
described in the international standards.
PROFIBUS Technical Guideline Installation Guideline for PROFIBUS-DP/
FMS (Version 1.0, September 1998).
www.profibus.com The web site of PROFIBUS International.
Revision Description
- First edition. RobotWare 5.09.02.
Continued
Product documentation, M2004
7 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
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
Continues on next page

Product documentation, M2004
3HAC029338-001 Revision: - 8


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
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
Getting started - IRC5 and RobotStudio Online
IRC5 with FlexPendant
RobotStudio Online
Trouble shooting - IRC5 for the controller and robot
Continued
Safety
9 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
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.

Safety
3HAC029338-001 Revision: - 10


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
1 Overview
1.1. PROFIBUS, general
11 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
1 Overview
1.1. 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.
Facts, PROFIBUS-DP
The following table specifies a number of facts about PROFIBUS-DP.
Network type Multi-Master/Slave communication system
Installation Linear bus, terminated at both ends.
Shielded twisted pair cables.
9-pin D-sub or M12 connectors.
Speed 9.6 Kbps - 12 Mbps
Continues on next page
1 Overview
1.1. PROFIBUS, general
3HAC029338-001 Revision: - 12


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Electronic device data sheet
The configuration process is based on electronic device data sheet (GSD files), which are
required for each PROFIBUS device. GSD files are provided by the device manufacturers
and contain electronic descriptions of all relevant communication parameters of the
PROFIBUS device.
Continued
1 Overview
1.2. PROFIBUS Fieldbus Adapter, IRC5
13 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
1.2. PROFIBUS Fieldbus Adapter, IRC5
Hardware overview
The hardware of the PROFIBUS Fieldbus Adapter, DSQC 667, consists of a PROFIBUS-DP
slave unit. The fieldbus adapter is connected to a CompactFlash interface on the main
computer in the robot controller, and is normally controlled by an external master on the same
physical PROFIBUS network.
Illustration, example
The following figure illustrates an overview of the hardware.
xx0700000382
Specification overview
A PROFIBUS-DP Master
B General PROFIBUS unit, DP-Slave
C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer
module.
D IRC5 controller
Item Specification
Fieldbus type PROFIBUS DP-V1
Data rate 9.6 Kbps - 12 Mbps
Connection size Maximum 64 input bytes and 64 output bytes
1 Overview
1.2. PROFIBUS Fieldbus Adapter, IRC5
3HAC029338-001 Revision: - 14


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
2 Hardware description
2.1. PROFIBUS Fieldbus Adapter, DSQC 667
15 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
2 Hardware description
2.1. PROFIBUS Fieldbus Adapter, DSQC 667
Description
The DSQC 667 is mounted in the computer module.
Installation of fieldbus adapter
For installation descriptions of the PROFIBUS Fieldbus Adapter refer to Product manual -
IRC5, section Replacement of fieldbus adapter in computer unit DSQC 639.
The figure illustrates where the PROFIBUS Fieldbus Adapter is located in the computer unit.
xx0700000162
NOTE!
It is recommended to shield the fieldbus adapter cable to the wall of the controller cabinet if
the computer unit is placed in a disturbance environment.
Prerequisites
RobotWare 5.09.02 or later version is required to run the PROFIBUS Fieldbus Adapter.
The DSQC 667 can be mounted only in the computer unit DSQC 639.
Description Art. no. Designation Pos.
PROFIBUS Fieldbus Adapter 3HAC026840-001 DSQC 667 A
Continues on next page
2 Hardware description
2.1. PROFIBUS Fieldbus Adapter, DSQC 667
3HAC029338-001 Revision: - 16


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Illustration, DSQC 667
xx0700000396
LEDs
This section describes the LEDs of the Fieldbus Adapter.
Operation mode LED
Status LED
OP Operation mode LED
ST Status LED
PROFIBUS DP-V1 PROFIBUS connector
LED state Description
OFF Not online/No power
GREEN Online, data exchange
GREEN, flashing Online, clear
RED, flashing (1 flash) Parametrization error
RED, flashing (2 flashes) PROFIBUS configuration error
LED state Description
OFF No power or not initialized
GREEN Initialized
GREEN, flashing Initialized, diagnostic event(s) present
RED Exception error
Continued
Continues on next page
2 Hardware description
2.1. PROFIBUS Fieldbus Adapter, DSQC 667
17 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
PROFIBUS Fieldbus Adapter connector
xx0700000392
The following table describes the connections to the PROFIBUS Fieldbus Adapter connector.
Pin Signal Description
1 Not used
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 termination)
7 Not used
8 RxD/TxD-N Receive/Transmit data; line A (green)
9 Not used
Housing Cable shield Internally connected to the fieldbus adapter
protective earth via cable shield filters according to
the PROFIBUS standard.
Continued
2 Hardware description
2.2. Connections
3HAC029338-001 Revision: - 18


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
2.2. Connections
General
All PROFIBUS 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 additional bus segment. A maximum of 126 PROFIBUS devices
can be connected to the bus.
The beginning and end of each segment is fitted with an active bus terminator, see illustration
in section Termination on page 19.
Cables and connectors
Cables used to connect the PROFIBUS network must be according to PROFIBUS-DP
specification IEC 61158 Type 3. See Other references on page 6.
Drop cables are not allowed for PROFIBUS, thus special D-sub connectors 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.
Cable parameters
Electrical cables are used for data transfer. For specification of the different electrical data
cables refer to PROFIBUS Technical Guideline. See Other references on page 6.
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
Other parameters, cable type A
Data rate, kilobits per second Maximum segment length, meters
9.6 1200
19.2 1200
45.45 1200
93.75 1200
187.5 1000
500 400
1500 200
3000 100
6000 100
12000 100
Parameter Value
Impedance 135 to 165
Capacity 30 pF/m
Loop resistance 110 /km
Conductor cross-sectional area 0.34 mm
2
(AWG 22)
Continues on next page
2 Hardware description
2.2. Connections
19 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Termination
To reduce the reflections on the data lines it is very important that both ends of the
PROFIBUS network are terminated according to the PROFIBUS-DP specification IEC
61158 Type 3.
Illustration
The termination used by PROFIBUS is an active termination as showed in the following
figure:
en0400001144
NOTE!
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.
Continued
2 Hardware description
2.2. Connections
3HAC029338-001 Revision: - 20


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
3 PROFIBUS Fieldbus Adapter configuration
3.1. Introduction
21 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
3 PROFIBUS Fieldbus Adapter configuration
3.1. Introduction
Controller software
The IRC5 controller must be installed with software that supports the use of the PROFIBUS
network, that is, the PROFIBUS Fieldbus Adapter option must be installed.
For description of how to add the PROFIBUS Fieldbus Adapter option, see Operating
manual - RobotStudio Online, section Adding RobotWare option.
PC software
RobotStudio Online is PC software that is used to set up connections to robots and to work
with robots.
The configuration for the PROFIBUS communication is done either manually by
RobotStudio Online, or by loading a configuration file from RobotStudio Online or the
FlexPendant. For information about how to work with RobotStudio Online refer to Operating
manual - RobotStudio Online, see References on page 6.
3 PROFIBUS Fieldbus Adapter configuration
3.2. Configuration overview
3HAC029338-001 Revision: - 22


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
3.2. Configuration overview
Configuration
The PROFIBUS Fieldbus Adapter is configured as an ordinary I/O unit.
The following table gives descriptions of defining the types Bus, Unit Type and Unit for the
PROFIBUS Fieldbus Adapter.
Predefined bus
When the system is installed with the PROFIBUS Fieldbus Adapter option, a predefined bus
Profibus_FA1 is created.
Predefined Unit Type
A predefined Unit Type for the fieldbus adapter, DP_SLAVE_FA, is defined supporting a
connection with the size of 8 input bytes and 8 output bytes as defined in the signal
configuration for the fieldbus adapter.
If another input or output size on the fieldbus adapter is required, the predefined Unit Type
must be changed or a new Unit Type must be created.
Limitations
The PROFIBUS Fieldbus Adapter has the following limitations:
The predefined Unit Type (DP_SLAVE_FA) has 8 input bytes and 8 output bytes, but
this number can be increased or decreased to the restriction in the I/O system (see
Product Specification for IRC5 controller).
For the PROFIBUS Fieldbus Adapter both the input and output map starts at bit 0.
Related information
Technical reference manual - System parameters
Defining... Description
Bus A PROFIBUS bus must be defined before any communication is
possible, that is, define rules for the PROFIBUS Fieldbus
Adapter to communicate on the network.
Unit Type When creating a unit type some system parameters are fieldbus
specific.
See Type Unit Type on page 29.
Unit The only PROFIBUS specific system parameter in the unit
definition is the unit address.
See Type Unit on page 28.
Continues on next page
3 PROFIBUS Fieldbus Adapter configuration
3.2. Configuration overview
23 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Electronic device data sheet
A GSD file (Electronic device data sheet) for the PROFIBUS Fieldbus Adapter is located on
the RobotWare release CD in the directory:
utility\Fieldbus\Profibus\GSD\
The file is called either PBUS_FA.gsd or HMS_1811.gsd, depending on RobotWare version.
This file is used to configure the PROFIBUS master that will control the fieldbus adapter. In
the GSD file, and consequently in the PROFIBUS master configuration tool, the PROFIBUS
Fieldbus Adapter is called Anybus-CC PROFIBUS DP-V1.
NOTE!
If the PROFIBUS Fieldbus Adapter loses connection with the master, the configured input
signals are cleared (reset to zero).
When the connection is re-established, the master updates the input signals.
Continued
3 PROFIBUS Fieldbus Adapter configuration
3.3. Working with the PROFIBUS Fieldbus Adapter
3HAC029338-001 Revision: - 24


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
3.3. Working with the PROFIBUS Fieldbus Adapter
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be configured
as Illustration, example on page 24.
Prerequisites
The network address of the PROFIBUS Fieldbus Adapter must be known.
Illustration, example
The following figure illustrates an example of how to use the PROFIBUS Fieldbus Adapter.
xx0700000382
How to configure the PROFIBUS Fieldbus Adapter
A configuration procedure of the PROFIBUS Fieldbus Adapter:
A PLC Master
B General PROFIBUS unit, DP-Slave
C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.
D IRC5 controller
Action Info
1. Add a unit that has the address requested by the
master (e.g. PLC), and with Unit Type DP_SLAVE_FA.
If a new Unit Type should be used instead of the
predefined, it must be created before adding the unit.
See Add unit type on page 25
and Add unit on page 25.
2. Define the signals on the created unit. See Add signals on page 26.
3. Restart the system. Now the IRC5 controller is ready to
be contacted by a PROFIBUS master.
Continues on next page
3 PROFIBUS Fieldbus Adapter configuration
3.3. Working with the PROFIBUS Fieldbus Adapter
25 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Add unit type
Add unit
Action
1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration
node for the controller.
2. Double-click I/O. The Configuration Editor appears.
3. In the Configuration Editor, click Unit. Then right-click in the workspace and click Add
Unit.
4. In the Edit Unit Type(s) dialog box, type the values for the parameters. The parameter
Internal Slave should be set to Yes.
xx0700000428
Action
1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration
node for the controller.
2. Double-click I/O. The Configuration Editor appears.
3. In the Configuration Editor, click Unit Type. Then right-click in the workspace and click
Add Unit Type.
Continued
Continues on next page
3 PROFIBUS Fieldbus Adapter configuration
3.3. Working with the PROFIBUS Fieldbus Adapter
3HAC029338-001 Revision: - 26


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
Add signals
Related information
Operating manual - RobotStudio Online
4. In the Edit Unit(s) dialog box, type the values for the parameters.
xx0700000398
Action
Action
1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration
node for the controller
2. Double-click I/O. The Configuration Editor appears.
3. In the Configuration Editor, click Signal. Then right-click in the workspace and click
Add Signal.
4. In the Edit Signal(s) dialog box, type the values for the parameters.
xx0700000206
Continued
4 System parameters
4.1. Introduction
27 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4 System parameters
4.1. 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.
4 System parameters
4.2.1. PROFIBUS Address
3HAC029338-001 Revision: - 28


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4.2 Type Unit
4.2.1. 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 Fieldbus Adapter 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.
4 System parameters
4.3.1. Internal Slave Input Size
29 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4.3 Type Unit Type
4.3.1. 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.
Prerequisites
The PROFIBUS Fieldbus Adapter option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 1-64, specifying the input data size in bytes. The value must
match the input size specified when configuring the PROFIBUS master.
4 System parameters
4.3.2. Internal Slave Output Size
3HAC029338-001 Revision: - 30


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4.3.2. 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.
Prerequisites
The PROFIBUS Fieldbus Adapter option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 1-64, specifying the output data size in bytes. The value must
match the output size specified when configuring the PROFIBUS master.
4 System parameters
4.3.3. Internal slave
31 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4.3.3. Internal slave
Parent
Internal Slave belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_InternalSlave
Description
This parameter specifies the type of the slave device. The PROFIBUS Fieldbus Adapter
(DSQC 667) and the built-in slave module in the PROFIBUS master/slave card (DSQC 637)
are defined as internal slaves. All other slave devices are defined with this parameter set to
No.
Usage
Internal Slave is a PROFIBUS specific parameter.
Prerequisites
The PROFIBUS Fieldbus Adapter option must be installed.
Default value
The default value is No.
Allowed values
Allowed values are Yes or No.
4 System parameters
4.3.4. Product ID
3HAC029338-001 Revision: - 32


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
4.3.4. 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
The PROFIBUS Fieldbus Adapter option must be installed.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Index
33 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
B
Bus 22
C
cable parameters 18
cables
data rates 18
lengths 18
connection size 13
connectors 11, 17, 18
D
DSQC 667 16
F
fieldbus adapter 15
files, GSD 12, 23
G
GSD file 12, 23
I
illustrations
DSQC 667 16
hardware overview 13
L
LED
operation mode 16
status 16
S
signals, adding 26
system parameters
Bus 22
Internal slave 31
Internal Slave Input Size 29
Internal Slave Output Size 30
Product ID 32
PROFIBUS Address 28
Unit 22, 28
Unit Type 22, 29
T
termination 19
U
Unit 22
Unit Type 22
unit types, adding 25
units, adding 25
Index
34 3HAC029338-001 Revision: -


C
o
p
y
r
i
g
h
t

2
0
0
7

A
B
B
.

A
l
l

r
i
g
h
t
s

r
e
s
e
r
v
e
d
.
ABB AB
Robotics Products
S-721 68 VSTERS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax: +46 (0) 21 132592
3
H
A
C
0
2
9
3
3
8
-
0
0
1
,

R
e
v
i
s
i
o
n

-
,

e
n

You might also like