95394 Rev 02 Smart Change DeviceNet Ethernet Manual

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648 Saratoga RoadGlenville, NY 12302 USAPhone: 518 384 1000Fax: 518 384 1200www.appliedrobotics.com

DeviceNet Ethernet Modulesfor SmartChange

Tool Change Systems

MANUAL 95394 Rev 02

December 14, 2009
http://www.appliedrobotics.com/http://www.appliedrobotics.com/


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SmartChangeDeviceNet Ethernet Module Manual - 95394 Rev 02 2

Revision

Revision Date Author Description

00 09-16-2009 JW 1st Revision; SmartChange DeviceNet Ethernet Modules

01 11-23-2009 JW 2nd Revision; minor changes

02 12-14-2009 JW Modified Ethernet Pin out to Schematic


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Contents1 Precautions ........................................................................................................................................................... 5

2 Introduction .......................................................................................................................................................... 6

3 DeviceNet Ethernet Modules Specifications ..................................................................................................... 8

3.1 Module to SmartChange Interface...........................................................................................83.2 Coupled / Uncoupled Status Signals.......................................................................................... 93.3 TSM (Tool Stand Monitor) & Tool Stand Switch Jumper ........................................................93.4 Spring Pin Replacement ............................................................................................................103.5 Water Resistance........................................................................................................................103.6 Robot Side LEDs.........................................................................................................................113.7 Tool Side LEDs............................................................................................................................153.8 MAC ID Address, Baud Rate, & Terminating Resistor Slide Switch Settings....................173.9 Line, Robot, Tool ID DIP Switches ..........................................................................................193.10 Cable Connectors - Robot & Tool Side ................................................................................. 20

4 Robot Side and Tool Side Operations .............................................................................................................224.1 Robot Side Module Functional Description ............................................................................. 22

4.2 Tool Side Module &SmartChargeFunctional Description ..................................................244.3 First Time DeviceNet Connect Scan .......................................................................................244.4 DeviceNet Network Setup........................................................................................................244.5 Connection Times ..................................................................................................................... 25

5 Ethernet Diagnostics .......................................................................................................................................... 265.1 Webpage Overview - Home Page ............................................................................................265.2 Network Page, Setup, & Ethernet Cabling.............................................................................. 285.3 Configuration Page..................................................................................................................... 305.4 XML Report..................................................................................................................................325.5 Accelerometer Page ................................................................................................................... 345.6 Histogram Page ..........................................................................................................................35

6 Robot Side Object Model...................................................................................................................................366.1 Identity Object............................................................................................................................366.2 DeviceNet Object........................................................................................................................376.3 Assembly Object........................................................................................................................386.4 Connection Object...................................................................................................................... 406.5 Scanlist Object............................................................................................................................42

7 Tool Side Object Module ...................................................................................................................................447.1 Identity Object............................................................................................................................447.2 DeviceNet Object........................................................................................................................467.3 Assembly Object.........................................................................................................................477.4 Connection Object...................................................................................................................... 487.5 Ack Handler.................................................................................................................................497.6 Tool Changer ..............................................................................................................................49

8 Modbus/TCP Industrial Ethernet ...................................................................................................................... 508.1 Modbus/TCP Register ................................................................................................................50

9 Drawings ............................................................................................................................................................. 529.1 Robot Side Module SMR-E-DN ................................................................................................ 529.2 Tool Side Module SMT-E-DN ................................................................................................... 539.3 Schematic, SMR-E-DN ..............................................................................................................549.4 Schematic, SMT-E-DN ..............................................................................................................55


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All rights reserved. Copyright 19862009 Applied Robotics Inc.

The use of this document is reserved exclusively for the use of Applied Robotics Incorporatedcustomers and personnel. The information and drawings contained herein are the sole property of

Applied Robotics Incorporated and shall not be divulged to any third party without the prior writtenconsent of Applied Robotics Inc. The information in this document is subject to change without

notice. Applied Robotics makes no warranty of any kind with regard to this users guide, including butnot limited to, implied warranties or fitness for a particular purpose. Applied Robotics Inc. shall not beliable for any errors contained herein or for incidental or consequential damages in connection withthe performance or use of this material.


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1 Precautions

DANGER NOTICE Indicates an imminently hazardous situation which, if not avoided, will result in

serious injury or death.

WARNING NOTICE Indicates a potentially hazardous situation which, if not avoided, could result in

serious injury or death.

CAUTION NOTICE Indicates a potentially hazardous situation which, if not avoided, will or could resultin minor or moderate injury; also used where the risk applies only to property damage.

The Smart Change DeviceNet Modules contain components that are suscepti-ble to damage from Electro Static Discharge. Observe precautions for Electro-static Sensitive Devices when working with these modules.

IGNORING INFORMATION ABOUT POTENTIAL HAZARDS CAN LEAD TO SERIOUS HARM TO

PERSONNEL AND/OR DAMAGE TO THE EQUIPMENT, AND MAY RESULT IN THE

NULLIFICATION OF THE MANUFACTURERS EQUIPMENT WARRANTY.

XCHANGE TOOL CHANGER NOTE

This product is designed for robotic use only.Coupling and Uncoupling requires interface surface parallelism. This is difficult to manually

maintain due to the forces generated by electrical contacts, pneumatic and hydraulic fittings.Your robot will maintain the required parallelism of the Robot and Tooling adaptor faces.Please review this manual before attempting to use this system.


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2 Introduction

The DeviceNet Ethernet Modules (0901-D33A Robot Side & 0901-D34A Tool Side) attach to Applied

Robotics Inc SmartChange Tool Changers. They enable the Tool Changers to be linked to the DeviceNet

network to exchange data, as well as provide I/O capabilities and diagnostics. The Robot Side Module is a

DeviceNet Slave to the Robots Master network. The Robot Side Module can scan up to seven DeviceNet

Slave devices (ARI Tool Side Module & other nodes) and exchanges DeviceNet data to the Robot Master.

The Ethernet Diagnostics provide a webpage to view diagnostic information such as lifetime cycle counts,

maintenance counter, timing of tool change functions, a histogram of timing trends and more.

Robot Side DeviceNet Ethernet Module: 0901-D33A

Tool Side DeviceNet Ethernet Module: 0901-D34A


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Robot Side

&Tool Side Modules

withSmartChange

Tool Changers

Robot Side Module

and SmartChangeTool Changer

The DeviceNet Ethernet Modules can also operate through Modbus/TCP.

The Robot Side Module has an on-board 3 axis accelerometer. See Section 5.5 for more details.

The Tool Side Module has a unique feature to retain charge for a limited time to decrease connection times

during fast tool changes; it essentially eliminates the power up reset time from the equation.

Tool Present signal aids in preventing dropped tools.


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3 DeviceNet Ethernet Module Specifications

This module is for use on the Smart Change Tool Changer Systems.

The DeviceNet Ethernet Robot Side Module must be mounted on position 1 of the Smart Change Tool

Changer. The module attaches via the dovetail, and is screwed in from the bottom to the dovetail.

Being placed on Position 1 of the Tool Changer is required to allow the Tool Changer Interface Connectors to

supply the Coupled and Uncoupled status signals from the tool changer to the module.

Robot Side DeviceNet

Ethernet Module:

Tool Changer to Module

Interface Connectors;

for Coupled and Uncoupled

Signal Communication.

Exploded view of

the module

attaching to the

dovetail feature onPosition 1 of Tool

Changer:

3.1 Module to Smart Change Interface


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3.2 Coupled / Uncoupled Status Signals

The outputs sent to Couple / Uncouple the Tool Changer go through the M12 connector to the Tool Changer

through the Valve module.

The inputs to confirm that the Tool Changer has responded to the outputs are called Coupled / Uncoupled.

In order to verify the Tool Changer has Coupled / Uncoupled, the status signal sensors in the Tool Changerconfirm this. The coupled / uncoupled status signals are communicated to the DeviceNet Ethernet Module via

the Tool Changer Interface Connectors pictured on the previous page.

To know if the Tool Changer is Coupled or Uncoupled, please refer to the LEDs on the front window of the

Robot Side Module. See section 3.6 for more information on the LEDs.

3.3 TSM (Tool Stand Monitoring) & Tool Stand Switch Jumper Plug

Item 1 is the Tool Stand Switch Jumper Plug, part number 0905-B78A. It connects to the connector (Item 2) on

the tool side module when there is no tool stand switch. This jumpers the signal that typically goes through the

tool stand switch for the TSM (Tool Stand Monitoring) Circuit.

This jumper should be inplace if there is no tool

stand switch installed to

sense tool stand presence.

This allows the uncouple

signal to work properly.

The Tool Stand Plug

jumpers pins 1 and 3.

1 = Coupled LED 2 = Uncoupled LED

21


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3.4 Spring Pin Replacement

Pin Removal:

The spring pins in the DNET module are field replaceable. They should not need replacement unless worn or

damaged. The pins are removed by placing a small screwdriver or tool under the head of the pin and gently

prying it upward until free.

New Pin Installation:

New pins are inserted by simply pressing the new pin into the hole until it bottoms out. Once the new pin is

inserted, be sure it is flush with the other pins and has spring compliance.

3.5 Water Resistance

The Applied Robotics DNET module has been tested in a spray down environment. The unit showed no

malfunction when sprayed down with water.

It is rated IP65.


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3.6 Robot Side Module LEDs

The Robot Side DeviceNet Ethernet Module has 12 LEDs on it, visible through a clear cover.

LEDs 1-6 and 9-12 are bi-colored LEDs, meaning they can be red, green, or a combination (amber).

LED 7 is amber and LED 8 is green.

Most importantly the Coupled and Uncoupled LEDs in the top left indicate the Coupled / Uncoupled Status asdiscussed in section 3.2 of this manual.

Slave Network Status indicates the status of the network between robot and robot side module.

Master Network Status indicates the status of the network between robot side module and tool side module (and

downstream nodes).

The operation of the bicolor LEDs are described in the following tables:

#1 - Coupled LED

COLOR STATE INDICATION

None Off Couple & Coupled both OFF

Red Solid TBD

Red Flashing Couple & Coupled do not match

Green Solid Couple & Coupled both on

Green Flashing TBD

Red / Green Alternating TBD

C U

1 2 3 4 5 6

7 8 9 10 11 12


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None Off Uncouple and Uncoupled both OFF

Red Solid TBD

Red Flashing Uncouple and Uncoupled do not match

Green Solid Uncouple and Uncoupled both ON

Green Flashing TBD


#2 - Uncoupled LED

#3 - Ready To Couple

#4 - Factory Maintenance LED


None Off TBD

Red Solid Factory Maintenance Required

Red Flashing TBD

Amber Solid Factory Maintenance required within 500 cycles

Amber Flashing TBD

Green Solid No Factory Maintenance Required

Green Flashing TBD



None Off Ready-To-Couple (RTC) is disabled

Red Solid TBD

Red Flashing All Enabled RTC inputs are NOT Ready

Amber Solid Some enabled RTC inputs are NOT Ready

Amber Flashing TBD

Green Solid All enabled RTC inputs are Ready

Green Flashing TBD



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None Off Maintenance Indicator Disabled

Red Solid User Maintenance Required

Red Flashing TBD

Amber Solid User Maintenance required within 500 cycles

Amber Flashing TBD

Green Solid No User Maintenance Required

Green Flashing TBD


#5 - User Maintenance LED


None Off TBD

Red Solid TBD

Red Flashing TBD

Green Solid TBD

Green Flashing TBD


#6 - I/O Active LED


None Off TBD

Red Solid TBD

Red Flashing TBD

Green Solid TBD

Green Flashing TBD


#9 - Diagnostic LED

#7 - Ethernet LINK LED

#8 - Ethernet Activity LED

The Ethernet LINK LED is amber and works as a standard Ethernet LINK LED, on and blinking

at times. If the LED is not on at all, there is no Ethernet Connection.

The Ethernet ACTIVITY LED is green and works as a standard Ethernet Activity LED, on and

blinking at times. If the LED is not on at all, there is no Ethernet Activity.


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None Off No tool connected

Red Solid TBD

Red Flashing Tool Present, I/O Timeout

Green Solid DeviceNet I/O established

Green Flashing DeviceNet connection in-progress

Red / Green Alternating Slave List Full. More than 8 tools have been connected.Reset or cycle power on Robot Board.

#11 - Master Network Status LED

#12 - Module Status LED


None Off No Power

Red Solid Unrecoverable Fault

Red Flashing Recoverable Fault

Green Solid Normal operation

Green Flashing Device Master has an empty scan list



None Off No PowerRed Solid Unrecoverable Fault


I/O Connection Timed Out

Green Solid Normal runtime operation

Green Flashing Device is idle or not allocated to a master

Red / Green Alternating Identify (Offline Connection Set)

#10 - Slave Network Status LED


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3.7 Tool Side Module LEDs

The LEDs for the Tool Side Module are on the board, visible through the clear cover.

The Tool Side Module Board has 3 bicolor LEDs: Network Status (D1), Module Status (D2), and Diagnostic

(D3).

It also has a 4th LED that is amber colored for Activity (D4), which indicates the SmartCharge power state ofthe board. See section 4.2 Tool Side Functional Description for more details on the Activity LED.

The operation of the bicolor LEDs are described in the following tables:

D1 - DeviceNet Network Status LED


None Off No Power

Red Solid Unrecoverable Fault

Red Flashing Recoverable Fault, I/O Connection Timed Out

Amber Solid Powerup from sleep state

Amber Flashing TBD

Green Solid Normal runtime operation

Green Flashing Device is idle or not allocated to a master

Red / Green Alternating Identify (offline connection set)

D1

D2

D3

D4


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None Off No Power

Red Solid TBD

Red Flashing Unrecoverable Fault Code


Amber Flashing TBD

Green Solid Normal operationGreen Flashing TBD


D3 - Diagnostic LED

D4 - SmartCharge LED


None Off No Power

Amber Solid TBD

Amber Flashing 1 Hz Normal Operation

Amber Flashing 1/4 Hz Sleeping


None Off No PowerRed Solid Unrecoverable Fault



Amber Flashing TBD

Green Solid Normal operation

Green Flashing DeviceNet Master has an empty scan list


D2 - Module Status LED


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3.8 Slide DIP Switch Settings: MAC ID, Baud Rate, & Terminating Resistor

One 10-position slide switch configures the DeviceNet MAC address and baud rate on each module.

Six slide switches (1-6) configure the DeviceNet Mac ID from node address 1 to 63.

Two slide switches (7 & 8) configure the baud rate to 125k, 250k, 500k, or software setting. Softwareconfigurable baud rate configures the baud rate to the last baud rate the device was powered up at and allows

software configuration tools to modify the baud rate.

For the Robot Side Module, the remaining two (9 & 10) are the terminating resistor switches, 9 for the Robot

Side and 10 for the Tool Side.

For the Tool Side Module the remaining two switches (9 & 10) are different than the Robot Side Module.

Switch 9 is for enabling Diagnostics. Switch 10 enables termination on the DeviceNet Network.

Slide Switch layout:

MAC ID configuration:

See next page for full MAC ID chart Baud Rate configuration:

Labels that come on modules:


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MAC ID Address Configuration Table:

On signifies Dip switch is On, and in

the Up position.

All others are considered Off, in the

Down position.


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3.9 Rotary DIP Switch Settings: Line, Robot, and Tool ID

On the Tool Side Module, there are 5 Rotary Switches which are readable by a DeviceNet Master using a single

input assembly.

Switch 1 is for Line Designation.

Switch 2 is for Robot Designation.

Switches 3 - 5 are for Tool ID Designation.

SW1 SW2 SW3 SW4 SW5

LINE ROBOT TOOL 100s TOOL 10s TOOL 1s


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Robot Side Module Connectors:

3.10 Cable ConnectorsRobot Side & Tool Side

Auxiliary Power Connector: 4 pin male Turck Minifast

Pinout:1=Aux+ (24 VDC)

2=Spare 1

3=Spare 2

4=Aux- (0 VDC)

DeviceNet Connector: 5 pin male Turck Minifast

Pinout:1=SHIELD

2=V+ (24 VDC)

3=V- (0 VDC)

4=CAN_H5=CAN_L

Pinout:

1=TX+

2=TX-

3=RX+

4=RX-

Pinout:

1=NC

3=Uncouple Output

4=V Aux- (0 VDC)

Ethernet Connector: 4 socket female Binder M12 D-coded.

Valve Connector: 3 socket female Turck Picofast M8

Pinout Uncoupled:

1=V+ (24 VDC)3=V- (0 VDC)

4=Uncoupled Input

Tool Changer Interface Connectors (qty 2)

: 3 socket female Turck Picofast M8

Pinout Coupled:

1=V+ (24 VDC)

3=V- (0 VDC)4=Coupled Input


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Tool Side Module Connectors:

DeviceNet Connector:

5 socket female Turck Minifast

Pinout:

1=SHIELD2=V+ (24 VDC)

3=V- (0 VDC)4=CAN_H5=CAN_L

Auxiliary Power Connector:

4 socket female Turck Minifast

Pinout:

1=Aux+ (24 VDC)

2=Spare 1

3=Spare 24=Aux- (0 VDC)

Tool Stand Connector:

4 socket female Turck Eurofast M12

Pinout:

1=Uncouple Output

2=Vaux-

3=Sense Uncouple Input4=NC


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4 Robot Side and Tool Side Operation

The Robot Side Module uses Applied Robotics proprietary sub-network to communicate with the Tool Side

Module and Tool nodes / slaves. The connected Tool Side Module and IO node information is stored in the

Robot Side Module, to be accessed by the robot/plc. The Robot / PLC can communicate with the Tool SideModule and Nodes, just through the Robot Side I/O Assembly instead of directly through the Tool. This

enables fast connection times.

The DeviceNet Master (industrial PLC or robot) will have to recognize one DeviceNet slave device (the Robot

Side DeviceNet Module) with 60 bytes of I/O. This connection on the robot side will be maintained at all

times, regardless of activity on the tool side. The tool side information is in the robot side assembly when the

tool is connected.

The robot side module has a single I/O Assembly with 7 data bytes in each direction for each of 7 possible

slaves on a single tool. It will also have 4 status bytes in each direction, totaling 60 bytes. The data istransferred regardless of the number of DeviceNet slaves / nodes connected to the robot side module via the

tool side module. The number of slaves connected can be read using Class Attribute 100 of the Assembly

Object. The number of Output Registers is specified using Class Attribute 102 of the Assembly Object.

4.1 Robot Side Module Functional Description

Robot (PLC)

60 Bytes IO

DNET Master

Robot Side Tool Changer

60 bytes IO

DNET Slave to Robot

ARI subnet to Tool Nodes

Tool 1

Node 1

ID 1

Tool 1

Node 2

ID 2

Tool 1

Node 3

ID 3

Tool 1

Node 4

ID 4

Tool 1

Node 5

ID 5

Tool 1

Node 6

ID 6

Tool 1

Node 7

ID 7

Inputs Outputs


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Below shows the full 60 Byte IO of Robot Board Input to illustrate how the charts on the previous page expand.

Note that Node 1 in this example is the Tool Side Module. If a Tool Side Module were not used it would look

similar to Nodes 2-7 listing the generic byte data.

Please see Chapter 6: Object Model for full details on Inputs and Outputs.


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4.4 DeviceNet Network Setup

4.3 First Time DeviceNet Connect Scan

After power up of the robot side module, the first time it connects to a tool that it has not been connected to

before, it will wait up to 5 seconds (configurable parameter on the webpage under maximum first time

devicenet connect time) for all slaves / nodes on that tool to respond. It will then remember that I/O

configuration until the robot side module is power-cycled or reset. All subsequent connections after the first 5second connection will connect quickly.

The robot side module has 4 discrete inputs and 4 discrete outputs. Their data is stored in the 4th byte of the

assembly object. It may also be accessed in the Scanlist Object at the class level as attribute 3.

It is important to note the tool side I/O values are not stored in the 60 byte I/O when a tool is not attached. That

could lead to confusion about whether a robot in fact is attached to a tool or not. The robot side stores

information regarding each tool (and any additional nodes) in order to connect to it more quickly. This

information that is acquired and stored during the First Time DeviceNet Connect Scan is the tool side vendor,

the serial number, and how many additional nodes go with it.

Please allow enough time on the first time connect after robot side module power up to be able to complete this

scan. If it is necessary to decrease the time for the First Time DeviceNet Connect Scan depending onapplication, the time can easily be changed via the webpage, on the Configuration Page. Make sure to reset

robot side module power after making such changes.

4.2 Tool Side Module & SmartChargeFunctional Description

The tool side must be set to MAC ID 1, and for downstream nodes, the MAC IDs sequentially should be set upto number 7. The image above shows a tool side board DIP switch set for MAC ID 1 at 500 kbaud.

The I/O of each slave will be mapped into one I/O assembly on the robot side. No tool-side slave may havemore than 8 data bytes in its I/O in each direction. The robot board will remember the I/O configuration of upto 7 slave devices.

In order to store the tool side data, the uniqueness of each tool side is determined by a combination of the serial

number of the tool side board at MAC ID 1 and the Line/Robot/Tool IDs on the tool side board. This unique

ID is also displayed on the webpage along with the Tool ID.

The Tool Side Module has the patented SmartChargefeature which provides a very fast DeviceNetconnection between the robot side and tool side modules by allowing a warm start to occur on the tool side

board. The SmartCharge LED D4 on the Tool Side board shows the power state of the board to indicate ifSmartCharge is enabled (a 1/4Hz amber blink). SmartChargeis enabled on the Tool Side Module up to twominutes on its own without receiving external power from the Robot Side Module.

As described in the Robot Side Module Functional Description, section 4.1, to setup a DeviceNet network, it is

only necessary to add the robot side module, as all the tool side information is accessible through the robot sidemodules 60 byte I/O. The robot side module acts as a devicenet slave to the robot or PLC master, and it acts as

a DeviceNet master to the tool side module to be able to acquire the tool data.


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4.5 Connection Times

Connection Times will vary depending on each node, its characteristics, and the manufacturer.Below are results attained through engineering testing at Applied Robotics, Inc to provide an idea of typical

times for connection from our Robot Side Module 0809-D82A to our Tool Side Module 0809-D83A.

One Tool Node: Applied Robotics Tool Side Module

SmartChargedisabled - diode D4 is not blinking)

DeviceNet Connect: 150 msec

SmartCharge enabled - diode D4 is blinking @ 1/4 Hz)

DeviceNet Connect: 60 msec

Note: due to the recessed Tool Present spring pin on the module, the DeviceNet Connect Time displayed on thewebpage is accurate only to 50 milliseconds. The above listed times include the addition of this potential

offset to eliminate any discrepancies.

Under Timing on the Webpage, the times Coupled to Uncoupled and Uncoupled to Coupled are

measurements of the timing of our Tool Changers cams. It is calculated by the switching of the proximitysensors inside the Tool Changer. These timings are affected by the air pressure used.

The Couple to Coupled Time is the time from which the board sends the signal to the time in which the

Coupled Proximity Sensor Turns on. This is the Total Tool Changer Time from signal to solenoid to valve to

cams to proximity sensors.


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5 Ethernet Diagnostics

The Ethernet Diagnostics provide a series of web pages to view diagnostic information such as lifetime cycle

counts, maintenance counter, timing of tool change functions, a histogram of timing trends and more.

There are also LEDs on the module that correspond to some of this information.

Besides diagnostics, the webpage also allows the user to set and read specific items that affect the Tool Changer

such as the valve type (single or dual), calibrating the on-board accelerometer, and downloading XML files

with time and date stamp of current module info.

5.1 Webpage Overview - Home Page

The image on the next page shows the home webpage of a Robot Side Module, uncoupled.

Current I/O Status displays the following for SmartChange DeviceNet Ethernet Module:Auxiliary PowerTool Present SignalTool Stand (Sense Uncouple)Output 1 CoupleOutput 2 UncoupleInput 1 CoupledInput 2 Uncoupled

Connected Device Status shows tools

and/or nodes connected with tool ID.

Maintenance Status:

Coupled Counter (lifetime):

This is a non-resettable count of how many times the module has seen the Coupled Inputfrom the Tool Changers proximity sensor turn on.

Factory Maintenance:

When the Lifetime Coupled Counter reaches 1 million cycles, the Factory Maintenance bit

will turn on. The status is visible both on the webpage and also on the module as an LED (See section 3.6 for

LED location and indications).Maintenance Counter:

This is a resettable counter (set on the Configuration page).

Maintenance Interval:

A settable value set and changeable by the user. When the Maintenance Counter reaches thevalue in the Interval, the User Maintenance Required bit will turn on.

User Maintenance:

The status is visible both on the webpage and also on the module as an LED (See section 3.6

for LED location and indications).

Timing is useful in defining potential problems by analyzing various timings in the system. Using the Show

Histogram webpage elaborates on this data by showing general recent trends in timing.DeviceNet ConnectCoupled to Uncoupled (See Section 4.5 for Timing Descriptions)Uncoupled to CoupledCouple to CoupledUncouple to UncoupledMax Uncouple to Uncoupled

Some sections of the webpage will require a login and password to change and setinformation such as IP Address, Valve Type, and Maintenance Counters.

User: ARIPassword: Appl ied


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5.2 Network Page, Setup, & Ethernet Cabling

Select the CommSettings Button on the Home page to direct to the Network Setup Page.

Default Values are shown below. Default ARI IP Address is 192.168.2.240. Specific IP Address settings can

be requested at time of order.

To change parameters, simply enter new ones in fields and select Apply.


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To change IP Address from ARI default:

Apply power to robot side module (DeviceNet V+ and V-: see Cable Connections section 3.10)

Plug a crossover Ethernet cable directly into a non-networked computer and to the robot sidemodule.

Change IP Address of computer to 192.168.2.241 under Network Connections.

Go to web browser, and enter http://192.168.2.240

On the robot side modules webpage, select CommSettings

Change IP Address to desired address that will work on your network and select Apply and cycle

power on robot side module.

Reserve static address on server if necessary.

Remember to change IP Address back on the computer under Network Connections.

Suggestions on Initial Network Setup of Robot Side Module:

Ethernet Cable:

Only a 2 pair cable is necessary.

The Ethernet Cable to be connected to your network will need an ODVA approved M12 D Coded 4pin connector on the module end, and the other end will need to fit to your particular setup.

Applied Robotics has tried with success both the Binder field-wireable M12 D-Coded 4 pinconnector as well as the MURR M12 D-Coded 4 pin field-wireable with harax rapid termination. Theother end of the Applied Robotics test Ethernet Cable is terminated with a standard RJ-45 thatplugs into a switch that is on our internal network.

If permanently connecting the Ethernet Cable to the Robot Side Module, the cable will need to beable to withstand the motions of the robot.

Applied Robotics used the Etherline 2 pair Cat5/5e Continuous-Flex Halogen-Free cable fromLapp. Below is an image of our wiring and connectors. Our cable is straight through since it

goes to a switch. We use a standard RJ-45 on one end and a Binder field wireable 4 contact M12 DCoded on the other end. A standard M12 industrial Ethernet cable will work with our pin out.

1=TX+ (o)

2=RX+ (g)

3=TX- (O)

4=RX- (G)
http://192.168.2.240/http://192.168.2.240/


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5.3 Configuration Page

The configuration page allows for many of the diagnostic settings to be changed.

The Maintenance Counter can be set.

The name and description of the module can be set to appear on the home webpage and in the report.

The Report button gives a time and date stamped XML file of current status data.

For customers not using the single solenoid valve, they can change the Hardware Configuration to double,

which allows the couple and uncouple outputs and LEDs to function properly with a double solenoid.

The SmartChange DeviceNet Ethernet Robot Side Module has one Ready To Couple sensor input, so that

section will remain 1.

The accelerometer axes can be calibrated on this page. (see Section 5.5 for more accelerometer data).

Cycle Counters and Maintenance Bits:

There are two coupled cycle counters on the Robot Side Module. One is settable and one is lifetime.

It is recommended to keep the module on the same tool changer if possible. If a change or move is required, itis recommended that a Report be done both before and after the change to help in calculating lifetime cycles of

a tool changer. (See Section 5.4 Report for how to generate a report).

There are two maintenance bits:

One turns on when the lifetime counter reaches 1 million cycles. Contact Applied Robotics to turn off the

Lifetime Required Maintenance Bit once maintenance is complete at one million cycles.

The other maintenance bit turns on when the settable cycle counter reaches the Module Maintenance

Interval. It is to be used as a reminder of when to perform maintenance on the Tool Changers, any of the

modules, or even to set any reminder related to the robot or cell if desired.

It is recommended to generate a report at least after every maintenance performed. See Section 5.4 on Reports.

Please refer to Chapter 7 Maintenance of the most current revision of the SmartChange Tool Change System

Manual for maintenance requirements.


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Configuration Page


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5.4 Report

To track and save data on the module and tool changer, a report can be generated in XML format from theConfiguration Page. It is recommended to create a report at least after every maintenance.

Such data is stored as the MAC ID, the IP Address, the Serial Number, the Date and Time the Report was

created, the Cycle Counts, The Uncouple to Uncoupled Timing, and the max acceleration values.

Please generate a report at first installation and email to Applied Robotics in either XML or excel format. This

will give us baseline data to help us if you need support in the future.

The following instructions will explain how to generate the report, save and import it into an Excel spreadsheet.

On the Configuration Page, in the MaintenanceStatus section, select the Report button.

A new webpage will open with the XML file. (seepage 33 for an image of a typcal xml report).

Go to File > Save As

Name and Save file with an .xml format todesired location.

To import into Excel: Open Excel.

Go to Data > Import External Data > ImportData and select XML file.

Example Excel Spreadsheet with Imported XML file:

Creating Schemasand Mapping can

expand how the XML

imports into Excel.

The example to the

right shows how they

can be used.


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Example XML Report:


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5.5 Accelerometer Page

See the Scanlist Object in Section 6.5 and/or the ModbusTCP Register in Chapter 8 for accessing the 3 axis

Accelerometer Data. Partial Image of Scanlist shown below.

There is a 3 axis Accelerometer on the Robot Side Modules board.

Its values and max values can be viewed on the webpage, and are also accessible through the DeviceNet

Scanlist Object (see below).

The Accelerometer can be Calibrated on the Config page (see Section 5.3).

Accelerometers are helpful in a number of ways. Measuring acceleration in control systems can aide in

correcting changing dynamic conditions. Accelerometer values can be used to calculate tilt and orientation,

impact detection and logging, and to follow / determine recommended g forces.


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5.6 Histogram Page

Couple to Coupled Histograms:

Last 25 Measurements:

Graphs the last 25 couple to coupled timesin milliseconds.

Measurement Every 250 Cycles:

Records a Couple to Coupled Value every250 cycles and graphs it to get a timing

trend.

The histogram page provides Timing Data on Couple to Coupled and Uncouple to Uncoupled.

There are two graphs regarding Couple to Coupled. One is of the last 25 times, and the other is an over timetrend, where it shows one time recorded for every 250 cycles.

The Uncouple to Uncoupled timing is listed instead of graphed. The data should be similar to that of Couple to

Coupled. The average time, max time, min time are listed.

These times may be helpful in identifying problems with the solenoid, valve, tool changer, air pressure,

proximity sensors and more.

Similar values are in the XML Report, if graphs over longer periods of time are desired.


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6 Robot Side Object Model

DeviceNet Gateway object model:

Identity Object (01HEX - 1 Instance)

Message Router Object (02HEX - 1 Instance) (no supported attributes) DeviceNet Object (03HEX - 1 Instance)

Assembly Object (04HEX - 2 Instances)

Connection Object (05HEX - 2 Instances)

Scanlist Object (66HEX - 8 Instances)

6.1 Identity Object (01HEX - 1 Instance)

Instance Attribute ID Name DNET data

type

Data Value Access Rule

Class

Instance 0

1 Revision UINT 1 Get

Instance 1 1 Vendor number UINT 50DEC Get

2 Device type UINT 00HEX Get

3 Product code number UINT 51302 Get

4 Product major revision

Product minor revision

USINT

USINT

01

01

Get

5 Status WORD See below Get

6 Serial number UDINT Unique 32 bit

value

Get

7 Product name SHORT

STRING 32

Applied Robotics

SmartChange

Get


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6.2 DeviceNet Object (03HEX - 1 Instance)

Instance Attribute ID Name DNET data

type


Class

Instance 0


Instance 1 1 Vendor number USINT 50 Get/Set*

2 Baud rate USINT 0=125kbps

1=250 kbps2=500 kbps

Get/Set*

5 Structure of

allocation choice byte

Master MAC ID

Byte

USINT

0xFF

0

Get

6 MAC ID switch changed BOOL 0=No Change

1=Change

Get

7 Baud rate switch changed BOOL 0=No Change

1=Change

Get

8 MAC ID switch value USINT 0-63 Get

9 Baud rate switch value USINT 0-3 Get

10 Quick Connect BOOL 0 Get/Set*

* When switches are used to set the MAC ID or baud rate, these attributes are not settable over theDeviceNet network. These values are stored to NVRAM.


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6.3 Assembly Object (04HEX - 2 Instances)

Instance Attribute

ID

Name DNET data

type


Class

Instance 0


2 Max Instance UINT 112 Get

100 I/O Input assembly instance UINT 100 Get

101 I/O Input produce length

(30 words)

UINT 60 Get

102 I/O Output assembly instance UINT 112 Get

103 I/O Output consume length

(30 words)

UINT 60 Get

Input

Instance

100

[T2O #1]

3 DeviceNet input USINT [60] 0 Get

Output

Instance

112[O2T #1]

3 DeviceNet output USINT [60] 0 Get/Set


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Assembly Objects common services


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6.4 Connection Object (DeviceNet only) (05HEX - 2 Instances)

Instance Attribute

ID

Name DeviceNet

Data Type


Class

Instance 0


Instance 1Explicit

connection

1 State USINT 0 = nonexistent3 = established

5 = deferred

delete

Get

2 Instance type USINT 0 Get

3 Transport trigger USINT 83HEX Get

4 Produced connection ID UINT 10xxxxxx011BIN

xxxxxx = node

address

Get

5 Consumed connection ID UINT 10xxxxxx100BINxxxxxx = node

address

Get

6 Initial comm. character USINT 21HEX Get

7 Produced connection size UINT varies Get

8 Consumed connection size UINT varies Get

9 Expected packet rate UINT 2500 msec Get/Set

12 Watchdog timeout action USINT 1=delete Get/Set

13 Produced connection path length UINT 0 Get

14 Produced connection path USINT

Array

Null Get

15 Consumed connection path length UINT 0 Get

16 Consumed connection path USINT

Array

Null Get


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Instance Attribute

ID

Name DeviceNet

Data Type


Instance 2Polled I/O

1 State USINT 0 = nonexistent1 = configuring

3 = established

4 = timed out

Get

2 Instance type USINT 1 Get

3 Transport trigger USINT 82HEX Get

4 Produced connection ID UINT 01111xxxxxxBINXxxxxx = node

address

Get

5 Consumed connection ID UINT 10xxxxxx100BIN

xxxxxx = node

address

Get

6 Initial comm. character USINT 01HEX Get

7 Produced connection size UINT varies Get

8 Consumed connection size UINT varies Get

9 Expected packet rate UINT 0 Get

12 Watchdog timeout action USINT 0 = timeout Get/Set

13 Produced connection path length UINT 6 Get/Set

14 Produced connection path USINT

Array

0x20 0x04 0x24

0x690x30 0x03

Get

15 Consumed connection path length UINT 6 Get

16 Consumed connection path USint

Array

0x20 0x04 0x24

0x75 0x30 0x03

Get


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Instance Attribute

ID

Name DeviceNet

Data Type


Class

Instance 0


2 Max instance UINT 7 Get

3 Number of instances UINT 7 Get

4 Pass-through timeout (100-2000) in

milliseconds (round up based on

CPU resolution)

UINT 500 Get/Set*

10 Status Byte USINT 0 Get/Set*

11 Connected node status USINT 0 Get

12 Missing Node status USINT 0 Get

100 Board I/O input data UINT 0 Get

101 Board I/O input data size USINT 0 Get

102 Board I/O output data USINT 0 Get/Set*

103 Board I/O output data size USINT 0 Get

120 Average time to uncouple UINT 0 Get

121 Maximum time to uncouple from

node 1

UINT 0 Get

122 Minimum time to uncouple UINT 0 Get

123 Cycle count at maximum time to

uncouple

UDINT 0 Get

124 Number of times Coupled UDINT 0 Get/Set*

125 Total Number of times Coupled UDINT 0 Get

126 Total hours since reset UDINT 0 Get/Set*

127 Total running hours UDINT 0 Get

200 Accelerometer Value UINT 0 Get

201 Accelerometer Max Value UINT 0 Get/Set*

202 Accelerometer Raw Value UINT 0 Get

203 Accelerometer Offset Value UINT 0 Get/Set*

6.5 Scanlist Object (66HEX - 7 Instances)


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Instance Attribute

ID

Name DeviceNet

Data Type

Data

Value

Access Rule

Instance 1-7 1 Slave Vendor Number UINT Get

2 Slave Device Type UINT Get

3 Slave Product code number UINT Get

4 Slave Product major revision

Slave Product minor revision

USINT

USINT

Get

5 Slave error status USINT Get

6 Slave serial number UDINT Get

7 Slave product name SHORT STRING32 Get

9 Slave configuration consistency

Value (NVRAM CRC Usedwith ADR)

UINT Get

10 Slave Produced connection size USINT Get

11 Slave consumed connection size USINT Get

20 Slave I/O data, 1-8 bytes. USINT[8] 0 Get/Set

** Any change to Instances 1-8 Attributes is effective immediately.


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7 Tool Side Object Model

7.1 Identity Object (01HEX - 1 Instance)

Instance Attribute

ID

Name DeviceNet

Data Type


Class

Instance 0


Instance 1 1 Vendor Number UINT 50DEC Get

2 Device Type UINT 0HEX Get

3 Product Code Number UINT 28701 Get

4 Product Major Revision

Product Minor Revision

USINT

USINT

01

01

Get

5 Status WORD See Below Get

7 Product Name SHORTSTRING32

Applied RoboticsToolboard

Get

Bits Called Description

0 Owned TRUE indicates the device (or an object within the device) has an owner.

Within the Master/Slave paradigm the setting of this bit means that the

Predefined Master/Slave Connection Set has been allocated to a master.

Outside the Master/Slave paradigm, the meaning of this bit is TBD.

1 Reserved, shall be 0

2 Configured TRUE indicates the application of the device has been configured to do

something different than the out-of-box default. This shall not include

configuration of the communications.

3 Reserved, shall be 0

4-7 Extended Device Status Vendor-specific or as defined by Extended Device Status Table below. The

EDS shall indicate if the device follows the public definition for these bits.

8 Minor Recoverable Fault TRUE indicates the device detected a problem with itself, which is thoughtto be recoverable. The problem does not cause the device to go into one of

the faulted states.

9 Minor Unrecoverable Fault TRUE indicates the device detected a problem with itself, which is thoughtto be unrecoverable. The problem does not cause the device to go into one

of the faulted states.

10 Major Recoverable Fault TRUE indicates the device detected a problem with itself, which caused the

device to go into the Major Recoverable Fault state.

11 Major Unrecoverable Fault TRUE indicates the device detected a problem with itself, which caused the

device to go into the Major Unrecoverable Fault state.

12-15 Reserved, shall be 0

Status Values:


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Extended Device Status Values:

Bits 4-7: Extended Device Status Description

0 0 0 0 Self-Testing or Unknown

0 0 0 1 Firmware Update in Progress

0 0 1 0 At least one faulted I/O connection

0 0 1 1 No I/O connection established

0 1 0 0 Non-Volatile Configuration bad

0 1 0 1 Major Faulteither bit 10 or bit 11 is TRUE (1)

0 1 1 0 At least one I/O connection in run mode

0 1 1 1 At least one I/O connection established, all in idle mode

1 0 0 0

1 0 0 1

Reserved, shall be 0

1 0 1 0

thru

1 1 1 1

Vendor / Product specific

Common Services:


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7.2 DeviceNet Object (03HEX - 1 Instance)

Instance Attribute

ID

Name DNET data

type


Class

Instance 0


Instance 1 1 MAC ID USINT Node Address: Range 0-63 Get/Set

2 Baud Rate Value USINT 0 = 125 kbps

1 = 250 kbps

2 = 500 kbps

Get/Set

3 BOI BOOL 0x00 Fault Get/Set

4 Bus-Off Counter USINT 0x00 Get/Set

5 Structure Of:

Allocation Choice Byte

STRUCT Allocate Service Get

6 MAC ID switch Changed BOOL 0 = No Change

1 = Change

Get

7 Baud Rate Switch Changed BOOL 0 = No Change1 = Change

Get

8 MAC ID Switch Value USINT Range 0-63 Get

9 Baud Rate Switch Value USINT Range 0-3 Get

10 Quick Connect BOOL 0 = Disable

1 = Enable

Get/Set


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7.3 Assembly Object (04HEX - 1 Instance)

Instance Attribute

ID

Name DNET data

type


ClassInstance 0 1 Revision UINT 2 Get

2 Max Instance UINT 112 Get

3 I/O Input assembly instance UINT 100 Get

100 I/O Input produce length

(30 words)

UINT 60 Get

101 I/O Output assembly instance UINT 112 Get

Input

Instance103

(0x66)

3 DeviceNet input

See Tool Changer Input Assembly below

USINT [60] 0 Get

Input Data Mapping:

Tool Changer Input Assembly:

* Least significant 4 bits of attribute of type USINT


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7.4 Connection Object (05HEX - 2 Instances)


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7.5 Ack Handler (2BHEX - 1 Instance)

7.6 Tool Changer (69HEX - 1 Instance)


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8 Modbus/TCP Industrial Ethernet

Using Modbus/TCP Industrial Ethernet on the Robot Side DeviceNet Ethernet Module:

The Robot Side will communicate via Modbus/TCP with the Robot / PLC.

The Tool Side Data and nodes will be accessible via the Robot Side Modbus/TCP Register.

The Robot Side will communicate with the Tool Side via DeviceNet.

Modbus/TCP cabling will go to the Robot Side M12 D-coded Ethernet connector.

The Robot Side 4 pin minifast connector for Auxiliary Power needs to be connected.

The Robot Side 5 pin minifast DeviceNet connector would need to be wired just for V+ and V.

Use a Non-Auxiliary Power +24V and 24V to pins 2 and 3.

This is just to power the boards.

8.1 Modbus/TCP Register


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* For reference from Chapter 6 Assembly Object:


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9 Drawings


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Documents

95394 Rev 02 Smart Change DeviceNet Ethernet Manual