3HAC028509-001_rev-_en

Application manual

EtherNet/IP Fieldbus Adapter

Robot ControllerRobotWare 5.0

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Application manual

EtherNet/IP Fieldbus AdapterRobotWare 5.0

Document ID: 3HAC028509-001

Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

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 Robotics SE-721 68 Västerås

Sweden

Table of Contents

33HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1 Overview 11

1.1 EtherNet/IP, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 EtherNet/IP Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2 Hardware description 13

2.1 EtherNet/IP Fieldbus Adapter, DSQC 669. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 EtherNet/IP Fieldbus Adapter configuration 17

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3 Workflows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.3.1 Working with the EtherNet/IP Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4 System parameters 23

4.1 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.1.1 EtherNet/IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244.2.1 Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244.2.2 Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254.2.3 Subnet Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264.2.4 Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Index 29

Table of Contents

4 3HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Overview


© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Overview

About this manual

This manual describes the EtherNet/IP Fieldbus Adapter option and contains instructions for

the EtherNet/IP Fieldbus Adapter configuration.

Usage

This manual should be used during installation and configuration of the EtherNet/IP Fieldbus

Adapter and upgrading of the EherNet/IP Fieldbus Adapter option.

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 EtherNet/IP Fieldbus Adapter and includes following:

• A general description of EtherNet/IP

• Description of how the EtherNet/IP Fieldbus Adapter is connected in a robot system

2. This chapter describes the EtherNet/IP Fieldbus Adapter.

3. This chapter gives an overview of the EtherNet/IP Fieldbus Adapter configura-tion. The chapter also contains descriptions of workflows.

4. This chapter describes the EtherNet/IP Fieldbus Adapter specific system parameters.

Continues on next page

Overview

3HAC028509-001 Revision: -6

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

References

Document 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

References Description

www.odva.org The web site of ODVA (Open DeviceNet-Vendor Association).

Common Industrial Protocol (CIP) Edition 3.0 ODVA Specification

EtherNet/IP Specification Edition 1.2 ODVA Specification

Revision Description

- First edition. RobotWare 5.09.

Continued

Product documentation, M2004


© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.


General

The robot documentation may be 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 contain:

• 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



3HAC028509-001 Revision: -8

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

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


© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

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

3HAC028509-001 Revision: -10

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

1 Overview

1.1. EtherNet/IP, general

113HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

1 Overview

1.1. EtherNet/IP, general

What is EtherNet/IP?

EtherNet/IP is a communications link to connect industrial devices.

The EtherNet/IP (EtherNet Industrial Protocol) is managed by ODVA (Open DeviceNet

Vendors Association). It is a well established industrial ethernet communication system with

good real-time capabilities. EtherNet/IP extends commercial off-the-shelf ethernet to the CIP

(Common Industrial Protocol) — the same upper-layer protocol and object model found in

DeviceNet and ControlNet. CIP allows EtherNet/IP and DeviceNet system integrators and

users to apply the same objects and profiles for plug-and-play interoperability among devices

from multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and

EtherNet/IP promote transparency from sensors to the enterprise software.

Examples of applications

Here are some examples of EtherNet/IP applications:

• Peer-to-peer data exchange where an EtherNet/IP product can produce and consume

messages

• Master/slave operation defined as a proper subset of Peer-to-Peer

• An EtherNet/IP product can function as a client or server, or both

EtherNet/IP standardization

EtherNet/IP is standardized in the International standard IEC 61158 and EtherNet/IP devices

are certified by ODVA for interoperability and conformance.

Facts, EtherNet/IPThe following table specifies a number of facts about EtherNet/IP.

Electronic Data Sheet file

The configuration process is based on EDS files (Electronic Data Sheet) which are required

for each EtherNet/IP device. EDS files are provided by the device manufacturers and contain

electronic descriptions of all relevant communication parameters and objects of the EtherNet/

IP device.

Network type Ethernet based Control Level network with CIP application protocol

Installation Standard Off the Shelf (COTS) Ethernet cables and connectors.

Shielded 10/100 Mbit/s TX Ethernet cable or fibre optics.

RJ45, M12 or fibre optic connectors.

Speed 10, 100, 1000 Mbit/s

1 Overview

1.2. EtherNet/IP Fieldbus Adapter, IRC5

3HAC028509-001 Revision: -12

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

1.2. EtherNet/IP Fieldbus Adapter, IRC5

Hardware overview

The hardware of the EtherNet/IP Fieldbus Adapter, DSQC 669, consists of a slave unit. The

fieldbus adapter is connected to a Compact Flash interface on the main computer in the robot

controller, and is normally controlled by an external master on the same physical EtherNet/

IP network.

Illustration, example

The following figure illustrates an overview of the hardware.

xx0700000098

Specification overview

A PLC

B EtherNet/IP scanner

C Ethernet switch

D EtherNet/IP Fieldbus Adapter, DSQC 669

E IRC5 controller

F General EtherNet/IP unit

Item Specification

Fieldbus type EtherNet/IP

Specification revision EtherNet/IP Specification Edition 1.2

Data rate 10/100 Mbit

Connection type Cyclic

Connection size 64 byte in and 64 byte out

Transport Classes Class 1 and 3

2 Hardware description

2.1. EtherNet/IP Fieldbus Adapter, DSQC 669

133HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.



Description

The DSQC 669 is mounted in the computer module.

Installation of fieldbus adapter

For installation descriptions of the EtherNet/IP Fieldbus Adapter refer to Product manual -

IRC5, section Replacement of fieldbus adapter in computer unit DSQC 639.

The figure illustrates where the EtherNet/IP Fieldbus Adapter is located in the computer unit.

xx0700000162

Prerequisites

RobotWare 5.09 or later version is required to run the EtherNet/IP Fieldbus Adapter.

The DSQC 669 can be mounted only in the computer unit DSQC 639.

Description Art. no. Designation Pos.

EtherNet/IP Fieldbus Adapter 3HAC027652-001 DSQC 669 A




3HAC028509-001 Revision: -14

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Illustration, DSQC 669

xx0700000097

LEDs

This section describes the LEDs of the EtherNet/IP Fieldbus Adapter.

Network status LED

-

NOTE!

A test sequence is performed on this LED during start of the adapter.

NS Network status LED

MS Module status LED

LINK Link/Activity

EtherNet/IP EtherNet/IP interface

LED state Description

OFF No power or no IP address

GREEN Online, one or more connections established

GREEN, flashing Online, no connections established

RED Duplicate IP address, fatal error

RED flashing One or more connections timed out

Continued




153HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Module status LED

-

NOTE!

A test sequence is performed on this LED during start of the adapter.

Link/Activity LED

Cable lengths

Permanent link length

The total permanent link length for COTS twisted pair systems is limited to 90 m (298 ft).

The permanent link shall conform to ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP

Specification Edition 1.2.

Channel length

The total channel length for COTS twisted pair systems is 100 m (330 ft) including patch

cables as defined in ANSI/TIA/EIA-568-B1. Refer to EtherNet/IP Specification Edition 1.2.


OFF No power

GREEN Controlled by a scanner in run state

GREEN flashing Not configured, or scanner in idle state

RED Major fault (exception state, fatal error etc.)

RED flashing Recoverable fault(s)


OFF No link, no activity

GREEN Link established

GREEN flickering Activity

Continued



3HAC028509-001 Revision: -16

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

3 EtherNet/IP Fieldbus Adapter configuration

3.1. Introduction

173HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.


3.1. Introduction

Controller software

The IRC5 controller must be installed with software that supports the use of the EtherNet/IP

network, that is, the EtherNet/IP Fieldbus Adapter option must be installed.

For description of how to add the EtherNet/IP 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 EtherNet/IP communication is done either manually by

RobotStudio Online, or by loading a configuration file from RobotStudio Online. For

information about how to work with RobotStudio Online refer to Operating manual -

RobotStudio Online, see References on page 6.


3.2. Configuration overview

3HAC028509-001 Revision: -18

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.


Configuration

The EtherNet/IP 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

EtherNet/IP Fieldbus Adapter.

Predefined Unit Type

A predefined Unit Type for the fieldbus adapter (ENIP_SLAVE_FA) is defined supporting a

cyclic connection with the size of 8 input bytes and 8 output bytes of digital, analog or group

signal data, as defined in the signal configuration for the fieldbus adapter.

If another input or output size on the fieldbus adapter is required a new Unit Type must be

written or the predefined Unit Type must be changed.

Limitations

The EtherNet/IP Fieldbus Adapter has the following limitations:

• The predefined Unit Type (ENIP_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 EtherNet/IP Fieldbus Adapter both the input and output map starts at bit 0.

Related information

Technical reference manual - System parameters

Defining... Description

Bus An EtherNet/IP bus must be defined before any communication is possible, that is, define rules for the EtherNet/IP Fieldbus Adapter to communicate on the network.

Unit Type When creating a unit type some system parameters are fieldbus specific.

Unit specific values can be found in the EDS file (Electronic Data Sheet) for the unit, see Electronic Data Sheet file on page 19.

See also Type Unit Type on page 24.

Unit The only EtherNet/IP specific system parameter in the unit definition is the unit address.

See Type Unit on page 23.




193HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Electronic Data Sheet file

An EDS file (Electronic Data Sheet) for the EtherNet/IP Fieldbus Adapter, matching the

configuration of the predefined Unit Type ENIP_SLAVE_FA, is located on the RobotWare

release CD in the directory:

utility\fieldbus\EtherNetIP\eds\

If another input or output size than the predefined is used, the values in the EDS file must be

edited to match the new system parameter values.

Example, EDS file

An example from an EDS file when changing the predefined output and input sizes from 8

bytes to 16 bytes:

[Params]

Param1 =

"Output Size", $ name

0,64,16, $ min, max, default data values

Param2 =

"Input Size", $ name

0,64,16, $ min, max, default data values

I/O connection

Cyclic I/O connection is supported and the size of the I/O connection is defined by the type

Unit Type.

NOTE!

If the EtherNet/IP Fieldbus Adapter loses connection with the scanner, the configured input

signals are cleared (reset to zero).

When the connection is re-established, the scanner updates the input signals.

Continued


3.3.1. Working with the EtherNet/IP Fieldbus Adapter

3HAC028509-001 Revision: -20

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

3.3 Workflows


Usage

When the IRC5 controller is connected to an external PLC for example, it can be configured

as Illustration, example on page 20.

Prerequisites

The network address of the I/O unit must be known.

Illustration, example

The following figure illustrates an example of how to use the EtherNet/IP fieldbus adapter.

xx0700000098

How to configure the EtherNet/IP Fieldbus AdapterA configuration procedure of the EtherNet/IP Fieldbus Adapter:

A PLC

B EtherNet/IP scanner

C Ethernet switch

D EtherNet/IP Fieldbus Adapter, DSQC 669

E IRC5 controller

F General EtherNet/IP unit

Action Info

1. Add unit that has the address requested by the scanner (e.g. PLC), and with Unit Type ENIP_SLAVE_FA.

See Add unit on page 21.

2. Define the signals on the created unit. See Add signals on page 22.

3. Restart the system. Now the IRC5 controller is ready to be contacted by an EtherNet/IP scanner.




213HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

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(s) dialog box, type the values for the parameters.

xx0700000205

Continued




3HAC028509-001 Revision: -22

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

Add signals

Related information

Operating manual - RobotStudio Online

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

4.1.1. EtherNet/IP Address

233HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

4 System parameters

4.1 Type Unit

4.1.1. EtherNet/IP Address

Parent

EtherNet/IP Address belongs to the type Unit, in the topic I/O.

Cfg name

EN_Address

Description

The parameter EtherNet/IP Address specifies the address of the I/O unit on the network.

Usage

EtherNet/IP Address specifies the address that the I/O uses on the network, to which the

scanner should try to setup a connection.

Prerequisites

EtherNet/IP Fieldbus Adapter option must be installed.

Default value

The default value is:

0.0.0.0

Allowed values

The value can be:

0.0.0.0 - 255.255.255.255

There are limitations for the values set by the vendor.

4 System parameters

4.2.1. Input Size

3HAC028509-001 Revision: -24

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

4.2 Type Unit Type

4.2.1. Input Size

Parent

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

Cfg name

EN_InputSize

Description

The parameter Input Size defines the data size in bytes for the input area received from the

unit.

Usage

Input Size is an EtherNet/IP specific parameter.

Prerequisites

The EtherNet/IP Fieldbus Adapter option must be installed.

Limitations

A limitation is the maximum unit size for the Unit Type.

Default value

The default value is 8 bytes.

Allowed values

Allowed values are the integers 0-64, specifying the input data size in bytes.

4 System parameters

4.2.2. Output Size

253HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

4.2.2. Output Size

Parent

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

Cfg name

EN_OutputSize

Description

Output Size defines the data size in bytes for the output area received from the unit.

Usage

Output Size is an EtherNet/IP specific parameter.

Prerequisites


Limitations

A limitation is the maximum unit size for the Unit Type.

Default value

The default value is 8 bytes.

Allowed values

Allowed values are the integers 0-64, specifying the output data size in bytes.

4 System parameters

4.2.3. Subnet Mask

3HAC028509-001 Revision: -26

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

4.2.3. Subnet Mask

Parent

Subnet Mask belongs to the type Unit Type, in the topic I/O.

Cfg name

EN_SubnetMask

Description

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

Usage

Subnet Mask is an EtherNet/IP specific parameter.

Prerequisites


Default value


255.255.255.0

Allowed values

The value can be:

0.0.0.0 - 255.255.255.255

4 System parameters

4.2.4. Gateway

273HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

4.2.4. Gateway

Parent

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

Cfg name

EN_Gateway

Description

Gateway specifies the node on the network that serves as an entrance to another network.

Usage

Gateway is an EtherNet/IP specific parameter.

Prerequisites


Default value


0.0.0.0

Allowed values

The value can be:

0.0.0.0 - 255.255.255.255

Index

293HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

BBus 18

Ccables

length 15connections

size 12type 12

DDSQC 669 14

EEDS file 19EDS file, example 19

Ffieldbus adapter 13files, EDS 19

Iillustrations

DSQC 669 14hardware overview 12

LLED

link/activity 15module status 15network status 14

Ssystem parameters

Bus 18EtherNet/IP Address 23Gateway 27Input Size 24Output Size 25Subnet Mask 26Unit 18, 23Unit Type 18, 24

UUnit 18, 23Unit Type 18, 24

Index

30 3HAC028509-001 Revision: -

© C

opyr

ight

200

7 A

BB

. All

righ

ts r

eser

ved.

3HA

C 0

2850

9-00

1, R

evis

ion

-, e

n

ABB RoboticsS-721 68 VÄSTERÅSSWEDENTelephone: +46 (0) 21 344000Telefax: +46 (0) 21 132592

Documents

3HAC028509-001_rev-_en