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3HAC065546 AM PROFINET Controller Device With IO Configurator RW 6-En
3HAC065546 AM PROFINET Controller Device With IO Configurator RW 6-En
Application manual
PROFINET Controller/Device with IO
Configurator
Trace back information:
Workspace R18-2 version a11
Checked in 2018-10-11
Skribenta version 5.3.008
Application manual
PROFINET Controller/Device with IO Configurator
RobotWare 6.08
Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation .................................................................................................................... 9
Safety ................................................................................................................................................ 11
Network security ............................................................................................................................... 12
Terminology ...................................................................................................................................... 13
1 Introduction 15
1.1 What is PROFINET? .......................................................................................... 15
1.2 PROFINET for IRC5 ........................................................................................... 16
2 Hardware overview 19
2.1 Main computer .................................................................................................. 19
2.2 Ethernet switches .............................................................................................. 26
2.3 I/O devices ....................................................................................................... 27
3 Software overview 29
3.1 Information about the internal device .................................................................... 29
3.2 Information about the internal controller ................................................................ 31
3.3 Software for configuring a device ......................................................................... 32
8 System parameters 65
8.1 Introduction ...................................................................................................... 65
8.2 Type Industrial Network ...................................................................................... 67
8.2.1 Connection ............................................................................................ 67
8.2.2 PROFINET Station Name .......................................................................... 68
8.3 Type PROFINET Device ..................................................................................... 69
8.3.1 PROFINET Station Name .......................................................................... 69
8.3.2 Fast Device Startup ................................................................................. 70
8.3.3 Port 1 .................................................................................................... 71
8.3.4 Port 2 .................................................................................................... 72
8.3.5 Port 3 .................................................................................................... 73
8.3.6 Port 4 .................................................................................................... 74
8.3.7 Energy Saving ........................................................................................ 75
8.4 Type Signal ...................................................................................................... 76
8.4.1 Transfer To Device .................................................................................. 76
8.4.2 Output Offset on Destination Device ........................................................... 77
8.4.3 Transfer From Device .............................................................................. 78
8.4.4 Input Offset on Source Device ................................................................... 79
9 Troubleshooting 83
9.1 Scenarios ........................................................................................................ 83
Index 93
Note
Not all aspects of working with PROFINET is described in this manual. It may be
necessary to also read Application manual - PROFINET Controller/Device.
Usage
This manual should be used during installation and configuration of the PROFINET
options when using the tool IO Configurator.
Prerequisites
The reader should have the required knowledge of:
• PROFINET network
• I/O system
• IRC5 controller
• RobotStudio
References
ABB documents
Reference Document ID
Technical reference manual - System parameters 3HAC050948-001
Product manual - IRC5 3HAC047136-001
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Reference Document ID
Operating manual - RobotStudio 3HAC032104-001
Application manual - PROFINET Anybus Device 3HAC050968-001
Application manual - PROFIenergy Device 3HAC050967-001
Application manual - PROFINET Controller/Device 3HAC050969-001
Application manual - Functional safety and SafeMove2 3HAC052610-001
Other references
Reference Description
International standard IEC 61158 Type 3 In- The PROFINET industrial network standard
ternational standard IEC 61784 is described in the international standards.
PROFINET Cabling and Interconnection Installation Guideline for PROFINET (Version
Technology 2.00, September 1998)
Commissioning PC Stations - Manual and Release 12/2006 C79000-G8976-C156-08
Quick Start
ET200S Distributed I/O System Manual from Siemens
www.profinet.com The web site of PROFINET International
Revisions
Revision Description
A First edition.
Released with RobotWare 6.07.
B Released with RobotWare 6.08.
• Added information about missing or duplicated GSDML definitions to
section Troubleshooting on page 83.
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
All documents can be found via myABB Business Portal, www.myportal.abb.com.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.
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, software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
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:
• Devices inside the controller, for example I/O devices, 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, ensure you are familiar
with the safety regulations described in Operating manual - General safety
information 1 .
1 This manual contains all safety instructions from the product manuals for the manipulators and the controllers.
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface, It is your sole responsibility to provide and continuously
ensure a secure connection between the product and to your network or any other
network (as the case may be). You shall establish and maintain any appropriate
measures (such as but not limited to the installation of firewalls, application of
authentication measures, encryption of data, installation of anti-virus programs,
etc) to protect the product, the network, its system and the interface against any
kind of security breaches, unauthorized access, interference, intrusion, leakage
and/or theft of data or information. ABB Ltd and its entities are not liable for
damages and/or losses related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
Terminology
Terms
Term Explanation
Controller The PROFINET master is referred to as PROFINET
controller.
Device In this manual the term device is used to describe a
physical unit.
External controller Describes a PROFINET controller on the PROFINET
network connected to the IRC5 controller (not the robot
controller acting as PROFINET controller).
External device Describes a PROFINET device on the PROFINET
network connected to the IRC5 controller (not the robot
controller acting as PROFINET device).
Fast Device Startup Functionality for shortening the connection time with
an I/O device.
Other manufacturers refer to this functionality as Fast
Start Up (FSU) or Prioritized Startup.
GSDML file A GSDML file contains information about a PROFINET
device.
(Generic Station Description Markup Language)
Internal controller Describes when the IRC5 robot controller acts as a
PROFINET controller on the PROFINET network.
Internal device Describes when the IRC5 robot controller acts as a
PROFINET device on the PROFINET network.
LAN Port/connector for Local Area Network.
PROFINET configuration file XML file created using an external PROFINET config-
uration tool
Reduction ratio Poll rate
WAN Port/connector for Wide Area Network.
1 Introduction
1.1 What is PROFINET?
General
PROFINET is an open standard for Industrial Ethernet. PROFINET satisfies
requirements for automation technology. PROFINET solutions can be implemented
for factory and process automation, for safety applications, and for the entire range
of drive technology right up to clock-synchronized motion control.
Standardization
The use of open standards, simple operation, and the integration of existing system
segments have driven the definition of PROFINET from the beginning. PROFINET
is standardized in IEC 61158 and IEC 61784. The continual further development
of PROFINET offers users a long term perspective for the implementation of their
automation tasks.
Communication profiles
PROFINET has a modular design and different PROFINET communication profiles
are all combinations of modular elements from the groups transmission technology,
communication protocol, and application profiles.
Here are some examples of PROFINET communication profiles:
• PROFINET-IO - Distributed I/O (Remote I/O). Here, the familiar I/O view of
PROFIBUS is retained, in which the user data from the field devices are
periodically transmitted into the process model of the control system.
• PROFINET-CBA - Based on the object-oriented modelling of technological
modules. Based on the object model, machines and installations are
structured in PROFINET in the form of technological modules.
• PROFIsafe - Defines how safety-oriented devices (emergency shutoff
switches, light grids, overfill protection systems, etc.) can communicate
safety control information over a network securely enough that they can be
used in safety-oriented automation tasks up to EN954's KAT4, AK6, or SIL3
(Safety Integrity Level).
• PROFIdrive - The PROFIdrive profile covers application scenarios from simple
frequency converters to highly dynamic servo drivers.
• PROFIenergy - A profile of the PROFINET communications protocol that
allows the power consumption of automation equipment in manufacturing
(such as robot assembly cells, laser cutters and sub-systems such as paint
lines) to be managed over a PROFINET network. It offers an open and
standardized means of controlling energy usage during planned and
unplanned breaks in production. See also Application manual - PROFIenergy
Device.
General
The PROFINET network is running on the IRC5 main computer and does not require
any additional hardware. PROFINET as described in this manual requires main
computer DSQC1000 or newer (e.g. DSQC1018).
Options
With option PROFINET Controller/Device, the IRC5 controller can act as a controller,
device, or both on the PROFINET network.
With option PROFINET Device, the IRC5 controller can only act as a device.
Tip
Note
Note that the network settings are set for the Connection, i.e. the physical
connector on the main computer used for the PROFINET network.
This means that the network settings are shared between the internal device and
the internal controller if the IRC5 controller acts as both on the PROFINET
network. This is also the interface used when scanning the network for PROFINET
devices, using the scan editor.
Compatibility
For RobotWare 6.06 and later, the PROFINET device is certified by PROFIBUS &
PROFINET International (PI) with conformance class B/ NetLoad Class II and the
device profiles; PROFIenergy and PROFIsafe.
PROFINET device is certified for the PROFINET version 2.33.
Item Specification
Number of I/O devices connected to control- Maximum 50 I/O devices
ler
Connection size Maximum 256 input bytes and 256 output
bytes per device.
Item Specification
GSDML file See GSDML file on page 29.
PROFINET Version 2.33
Item Specification
Slot configuration Slot 1-4: Digital input or output modules of
variable size
Connection size Maximum 256 input bytes and 256 output
bytes per device.
Default gateway
There are multiple default gateways in the system. And hence, it is possible to
have two different default gateways in the system, one for the non-PROFINET
traffic and one that only manages the PROFINET interface and its traffic. So while
using option PROFINET Controller/Device the LAN 3 port is used only for PROFINET
traffic.
Device replacement
PROFINET controller supports the device replacement mechanism. When a device
fails, a new, identical device can replace the failed one if plugged in the same
topology location. And this does not need any engineering tool. The new device
is automatically assigned the same parameters and name as the previous one.
The conditions for device replacement to work are:
• You must replace a previously connected device by an identical device with
an empty station name at the same topology location. For example, the new
device is plugged in the same port as previously in a switch.
• This feature requires all switches and devices to support Link Layer Discovery
Protocol (LLDP). The easiest way to achieve this is to only use Conformance
Class B devices and switches in the PROFINET network.
2 Hardware overview
2.1 Main computer
Connections
The I/O network can be connected to one of the the Ethernet ports WAN, LAN 2,
or LAN 3 on the main computer.
The following figure illustrates where the Ethernet port connectors, are placed on
the main computer.
Note
It is not supported to connect multiple ports of the main computer (X2 - X6) to
the same external switch, unless static VLAN isolation is applied on the external
switch.
Note
The isolated LAN 3 cannot be used to connect to any HMI device (RobotStudio,
Robot Web Services, or PC SDK client) since it does not support the protocol
needed for communication.
Robot Controller
An alternative configuration is that LAN 3 is part of the private network. The ports
Service, LAN 1, LAN 2, and LAN 3 then belong to the same network and act just
as different ports on the same switch. This is configured by changing the system
parameter Interface, in topic Communication and type Static VLAN, from "LAN 3"
to "LAN". See Technical reference manual - System parameters.
Robot Controller
Private Public
Cell I/O
PLC
I/O I/O
PROFINET
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
Camera
Factory Network
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
PROFINET PROFINET
Switch Switch
Robot I/O
Robot I/O
I/O Camera
PLC I/O
I/O Sensor
I/O
Factory Network
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
Cell I/O
I/O I/O
Sensor Camera
PLC
PLC
Factory Network
PROFINET PROFINET
Anybus Anybus
adapter adapter
Robot Controller 1 Robot Controller 1
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
PROFINET PROFINET
PLC
PROFINET
Industrial Network
Factory Network
FBA FBA
Robot Controller 1 Robot Controller 1
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
PROFINET PROFINET
Prerequisites
It is recommended that switches used in the I/O network support Quality of Service
(QoS).
I/O devices mark their packets with a priority value. The priority value is used in
order to get better I/O data throughput and shorter delays on the network.
Switches and routers are then able to differentiate the device's critical from the
other non-critical traffic. To do this, the switches and routers must support Quality
of Service.
Limitations
It is possible to connect any type of PROFINET-IO compliant I/O device on the
PROFINET controller network. All I/O devices should comply with the PROFINET
standard and be conformance tested by PROFINET international. I/O devices may
be mounted inside the IRC5 controller.
3 Software overview
3.1 Information about the internal device
General
To use the PROFINET internal device, the IRC5 controller must be installed with
either the option 888-2 PROFINET Controller/Device or 888-3 PROFINET Device.
The PROFINET internal device can be used to:
• connect a PLC to the IRC5 controller.
• connect the IRC5 controller to another IRC5 controller which acts as a master.
Predefined network
When the robot system is installed with the PROFINET option, a predefined network
with the name PROFINET is created at system startup.
Use RobotStudio or other recommended tool to configure the PROFINET network
for initial use. For example, by setting the correct network name and IP settings.
GSDML file
In order to configure a PROFINET network with an external PROFINET configuration
tool, a GSDML file for each I/O device needs to be imported into the tool. These
files contains vital information about the PROFINET I/O devices and they shall be
supplied by the vendor/manufacturer of the specific PROFINET module.
For information on where to find the GSDML file for the IRC5 controller, see Location
of GSDML files on page 32.
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder.
Tip
If a configuration mismatch between the connecting PLC and the internal device
occurs, an event message is generated on the FlexPendant. This event message
informs the user of the present slot configuration of the internal device.
Note
The Input Size sets the size on digital outputs and Output size sets the size on
digital inputs, seen from the PLC’s point of view.
General
To use the PROFINET internal controller, the IRC5 controller must be installed with
the option PROFINET Controller/Device.
The PROFINET internal controller can be used to:
• connect PROFINET devices to the IRC5 controller.
• connect the IRC5 controller to another IRC5 controller which acts as a device.
GSDML files
In order to configure a PROFINET network with an external PROFINET configuration
tool, GSDML files need to be imported into the tool. These files contains vital
information about the PROFINET I/O devices and they shall be supplied by the
vendor/manufacturer of the specific PROFINET module.
General
The PROFINET internal device does not need any type of PC software to be
activated, but the connecting PLC / PROFINET controller might need a PC software
tool to configure all connection parameters used to connect to the IRC5 system.
Parts Description
A Ribbon Displays command buttons organized in a logical sequence of
function.
B Configuration Displays the I/O configuration tree with information of I/O sys-
browser tem and its parameters.
C Output window Displays the information about the events that occur in control-
ler and I/O devices.
Parts Description
D Signal Editor Displays the signals assigned to the I/O device. Enables to add
or delete signals of I/O device.
E Scan Editor Displays the information of the I/O devices that are found on
the network.
F Properties browser Displays all available properties and settings of the selected
I/O device or Configuration nodes. The following tabs are
available:
• Properties tab - displays the properties of the selected
I/O device.
• Device Catalogue tab - displays the device catalogues
used for configuring the I/O devices.
Introduction
The Configuration browser displays hierarchical structure of controller and
configuration elements in the I/O Configurator tab. The following figure displays
the Configuration browser that contains Communication and I/O System node in
tree structure. You can click each node to view the parameters and edit the selected
parameter in the Properties tab.
Note
Correct the validation error on each element in the Configuration browser before
writing the configuration to the controller.
Communication node
The Communication node contains parameters for configuring the main computer's
connectivity using Ethernet ports. For more information on parameters, refer to
section Communication of Technical reference manual - System parameters.
The parameters are organized in the following elements:
Element Description
Ethernet Port Used for configuring the Ethernet ports on the main com-
puter. You can edit ports X2, X3, X4, X5, and X6 in the
Properties tab.
Element Description
IP Setting Used to set an address to a network interface of the main
computer. The parameters in the IP setting is visible in the
Properties tab. It includes Label, IP, Subnet, and Interface
parameters.
Right-click to add new Industrial networks.
Static VLAN Used to configure grouping of physical Ethernet ports into
static VLAN groups. Ports in the same group are also a part
of the same network interface in the main computer. You
can configure only port X5 in Properties tab.
Symbols
The following symbols display the status of the I/O device, controller or entity.
Symbol Explanation
Indicates incomplete information. You can enter the pending
information in the Properties tab.
xx1700001175
Symbol Explanation
Indicates that a signal is defined as protected basic config-
uration by the safety module. See Application manual - Func-
xx1800000404
tional safety and SafeMove2.
Note
Point to the entity with error to view the corresponding validation error.
Right-click menu
Within the Configuration browser tree structure, you can right-click the device or
module to show a shortcut menu with various operations (not all are available for
all devices):
Setting Description
Delete Removes the device from the Configuration browser tree structure.
However, the slot position is available for a new or another slot,
which can be inserted in the controller.
Properties tab
The Properties tab displays the parameters of the Communication node and I/O
System node. You can configure the parameters visible in the Properties tab. For
more information about Communication parameters, see section Communication
in the Technical reference manual - System parameters.
Overview
The Signal Editor tab displays the signals assigned to the I/O device. It is used to
view the signals and to add new signals to the I/O device. For more information
about attributes of signal, refer to Technical reference manual - System parameters.
Overview
The Scan Editor tab displays the I/O devices discovered in the controller network
scan. It displays information such as MAC, Station Name, IP, Subnet, Gateway,
Vendor Id, and Device Id.
When scan network is run, Scan Editor displays all the I/O devices in the network.
You can then configure the I/O devices that are found but not already configured
in the controller. For example, in the Communication node, if LAN3 is configured
as the network interface and the scan network is run. Then the LAN3 interface is
used as the scan interface and devices are identified with the device details. For
more information, see to Scan the network on page 46.
Note
PROFINET station name follows the PROFINET naming convention. It uses lower
case alphabets for naming station name.
Right-click menu
Within the Scan Editor, you can right-click the device row to show a menu of
options:
Setting Description
Add as Selects a device and add it to the configuration tree.
Blink Blink with the device status LEDs in order to identify it.
Factory Reset Resets the IP settings of the device to factory reset.
Configure IP settings
1 In the Configuration browser, select PROFINET Network.
Note: This is the name of the internal device as it appear on the PROFINET
network. E.g. detectable by a PLC.
2 Select the GSDML file for the I/O device to add to the network.
Tip
Use the Blink functionality to detect the correct unit when multiple devices
are connected.
2 Add the detected device by right-clicking the device and selecting Add as.
Select the configuration that corresponds to the physical device. The device
is now displayed in the Configuration browser under the PROFINET /
Controller node.
3 The properties for the device are added automatically in the Properties
browser. Make sure these are correct.
4 In the Properties tab, specify the properties for the communication module.
The ones with a red frame around must be specified (current value is invalid).
2 For safe I/O modules, select the I/O module in the Configuration browser
and configure the properties:
Setting Description
Source Address The PROFIsafe address Source Address combined with the
Destination Address uniquely identifies the module. Both ad-
dresses are decimal values.
Destination Ad- The Destination Address should be the same as the address
dress switch on the I/O module.
Timeout A valid current safety message frame must arrive within the
monitoring time.
SIL Safety level (SIL1 - SIL3 or NoSIL).
Version Parameters that are automatically retrieved from the GSDML
file for the device.
CRC Length
BlockId
I Par CRC The iParameter Cyclic Redundancy Check (iParCrc) is a hexa-
decimal checksum which makes it possible to recognize and
trace any modification of the device that was not authorized.
Vendor Tool (but- Starts the vendor specific tool to calculate the iParCrc hexa-
ton) decimal checksum.
The vendor specific CRC-calculator tool is installed separately
and can be started from the Vendor tool button if it supports
the TCI-interface.
For each safe module, click the Vendor Tool button to open the iParCrc
checksum tool and calculate the IParCrc value for the module. Copy the
hexadecimal value into the Safe IO Configurator.
Note
3 Select the sub-module in the Configuration browser and configure the module
settings in the Properties browser. These properties are extracted from the
GSD file for the I/O module.
Note
Note that the channel configuration for all inputs and outputs may by default
be disabled and may have to be activated before an input or output can
be used on the specific channel.
Edit signals
1 In the ribbon, click on Signal Editor.
2 In the Configuration browser, select an I/O module to configure signals for.
3 In the column Name, type the name each signal should have.
Save configuration
When the configuration is finished, save the configuration to the robot controller.
If you do not already have write access, click Request Write Access in the ribbon
to be allowed to configure the controller.
In the ribbon, click Write config. When asked if you would like to restart the
controller, answer Yes for the new configuration to take effect.
Note
The communication to the safe modules is now established which may also be
indicated by status diodes on the devices.
Note
If a signal is used by the safety module, for example in the combinatory logic, it
cannot be renamed or removed from the signal editor. This is displayed with a
shield symbol. For information about the safety module, see Application
manual - Functional safety and SafeMove2.
Note
The I/O device with FSU functionality is connected with the IRC5 controller. When
the power of the I/O device is switched off and switched on again, the IRC5
controller establishes contact with the I/O device using the fast startup sequence.
In this alternative the PROFINET controller connects to the I/O device via a switch.
Enable fast device startup and select 100 MBit (full duplex) on port 1. The port
number is usually displayed upon the I/O device itself.
In this alternative, both I/O devices are disconnected at the connection point. Both
port 1 and port 2 on the first device (D) and port 1 on the second device (E) needs
to be configured to support Fast Device Startup.
C
A
D
In this alternative there is a direct cable between the PROFINET controller and the
I/O device. Enable fast device startup and select 100 MBit (full duplex) on the port.
A crossed Ethernet cable needs to be used.
The default internal device is of type Internal Basic. If you want to replace
this, see Change type of internal device on page 56.
By default, PN_Internal_Device is configured with four I/O modules:
DO_64_bytes, DI_64_bytes, SDO_8_bytes, and SDI_8_bytes. If you want
to replace any of the I/O modules, see Change I/O modules on page 57.
3 Click on the tab Device Catalogue to show a list of available internal devices.
3 Click on the tab Device Catalogue to show a list of available I/O modules.
Note
There are a set of rules for which type of I/O modules that are allowed for each
slot. Only the the modules presented in the Device Catalogue are allowed to
select for that slot.
Note
All unconfigured slots are configured in numerical order. For example, if the
modules are deleted from slot 1 and 2, you may have to select a DO in slot 1
before being able to select a DI in slot 2.
Note
A yellow marking beside the module symbol indicates a safe I/O module. If any
safe module is included in the internal device, a yellow marker is shown by the
internal device as well.
Edit signals
1 In the ribbon, click on Signal Editor.
2 In the Configuration browser, select an I/O module to configure signals for.
3 In the column Name, type the name each signal should have.
Save configuration
When the configuration is finished, save the configuration to the robot controller.
If you do not already have write access, click Request Write Access in the ribbon
to be allowed to configure the controller.
In the ribbon, click Write config. When asked if you would like to restart the
controller, answer Yes for the new configuration to take effect.
Note
If a signal is used by the safety module, for example in the combinatory logic, it
cannot be renamed or removed from the signal editor. This is displayed with a
shield symbol.
The default internal device is of type Internal Basic. If you want to replace
this, see Change type of internal device on page 62.
3 Click on the tab Device Catalogue to show a list of available internal devices.
Edit signals
Signals are edited in Visual SafeMove, see Application manual - Functional safety
and SafeMove2.
Save configuration
When the configuration is finished, save the configuration to the robot controller.
If you do not already have write access, click Request Write Access in the ribbon
to be allowed to configure the controller.
In the ribbon, click Write config. When asked if you would like to restart the
controller, answer Yes for the new configuration to take effect.
8 System parameters
8.1 Introduction
PROFINET Device
These parameters belong to the type PROFINET Device in the topic I/O System.
Parameter For more information, see ...
Name Technical reference manual - System parameters
PROFINET Station Name PROFINET Station Name on page 69
Connected to Industrial Technical reference manual - System parameters
Network
State at System Restart Technical reference manual - System parameters
Identification Label Technical reference manual - System parameters
Trust Level Technical reference manual - System parameters
Simulated Technical reference manual - System parameters
Vendor Name Technical reference manual - System parameters
Recovery Time Technical reference manual - System parameters
Fast Device Startup Fast Device Startup on page 70
Port1, 2, 3, 4 Fast Device Startup on page 70
Energy Saving Energy Saving on page 75
Signal
These parameters belong to the type Signal in the topic I/O System.
Parameter For more information, see ...
Name Technical reference manual - System parameters
Type of Signal PROFINET Station Name on page 69
8.2.1 Connection
Parent
Connection belongs to the type Industrial Network, in the topic I/O System.
Cfg name
Connection
Description
The parameter Connection specifies the IP Setting that the PROFINET industrial
network shall use.
Default value
PROFINET Network
Allowed values
Valid instances of IP Setting
Additional information
The Public Network or the Private Network cannot be edited by external controllers
or tool, such as NetNames+.
Parent
PROFINET Station Name belongs to the type Industrial Network, in the topic I/O
System.
Cfg name
StationName
Description
PROFINET Station Name specifies the PROFINET station name on the network of
the IRC5 controller.
Usage
The parameter PROFINET Station Name is used to identify a PROFINET device
on the network. The name must be unique on the network.
The parameter PROFINET Station Name can also be changed with an external
PROFINET configuration tool or a connecting PROFINET controller.
Prerequisites
The option PROFINET Controller/Device or PROFINET Device must be installed.
Default value
The default value is an empty string.
Allowed values
A string with maximum 80 characters.
Allowed characters:
• 0-9 (numerical)
• a-z (lowercase letters)
• - (hyphen)
• . (full stop)
Parent
PROFINET Station Name belongs to the type PROFINET Device, in the topic I/O
System.
Cfg name
StationName
Description
PROFINET Station Name specifies the PROFINET station name on the network of
the external I/O device.
Usage
The parameter PROFINET Station Name is used to identify a PROFINET device
on the network. The name must be unique on the network.
Prerequisites
The option PROFINET Controller/Device or PROFINET Device must be installed.
Default value
The default value is an empty string.
Allowed values
The station name follows the PROFINET naming convention for IO devices.
Parent
Fast Device Startup belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
FastDeviceStartup
Description
The parameter Fast Device Startup specifies if the I/O device should use a faster
connection attempt algorithm or not.
Usage
The parameter Fast Device Startup is used mainly to speed up tool change
applications. The usual PROFINET connection attempt takes a few seconds to
complete, but with Fast Device Startup enabled devices, this time is shortened to
less than a second. For more information, see Using Fast Device Startup on
page 53.
Prerequisites
The option PROFINET Controller/Device must be installed.
Limitations
The Ethernet switches between the IRC5 controller and the I/O device that uses
the Fast Device Startup functionality. It must be configured to disable the auto
crossover and automatic speed detection functions on used connectors. The speed
rate is set to 100Mbps (full duplex).
Default value
The default value is Deactivated.
Allowed values
• Deactivated
• Activated
• Support
Note
Select Support to set the desired port speed. For port speed, select 100 Mbps
and the port speed is adjusted to 100Mbps, and auto negotiation is turned off
for the port.
Hence, it is possible to change the settings on a built-in switch for a PROFINET
I/O device.
8.3.3 Port 1
Parent
Port 1 belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
FastDeviceStartup_Port1
Description
The parameter Port 1 specifies fast device startup port 1 in the I/O device.
Usage
The parameter Fast Device Startup is configured at port 1 of the I/O device.
Prerequisites
The parameter Fast Device Startup must be activated.
Default value
The default value is Deactivated.
Allowed values
• Deactivated
• 100 Mbps
8.3.4 Port 2
Parent
Port 2 belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
FastDeviceStartup_Port2
Description
The parameter Port 2 specifies fast device startup port 2 in the I/O device.
Usage
The parameter Fast Device Startup is configured at port 2 of the I/O device.
Prerequisites
The parameter Fast Device Startup must be activated.
Default value
The default value is Deactivated.
Allowed values
• Deactivated
• 100 Mbps
8.3.5 Port 3
Parent
Port 3 belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
FastDeviceStartup_Port3
Description
The parameter Port 3 specifies fast device startup port 3 in the I/O device.
Usage
The parameter Fast Device Startup is configured at port 3 of the I/O device.
Prerequisites
The parameter Fast Device Startup must be activated.
Default value
The default value is Deactivated.
Allowed values
• Deactivated
• 100 Mbps
8.3.6 Port 4
Parent
Port 4 belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
FastDeviceStartup_Port4
Description
The parameter Port 4 specifies fast device startup port 4 in the I/O device.
Usage
The parameter Fast Device Startup is configured at port 4 of the I/O device.
Prerequisites
The parameter Fast Device Startup must be activated.
Default value
The default value is Deactivated.
Allowed values
• Deactivated
• 100 Mbps
Parent
Energy Saving belongs to the type PROFINET Device, in the topic I/O System.
Cfg name
Energy Saving
Description
The parameter Energy Saving specifies if the I/O device should respond to energy
saving command or not.
Usage
The parameter Energy Saving is used mainly to activate energy saving mode.
Prerequisites
The option PROFINET Controller/Device and PROFIenergy must be installed.
Default value
The default value is Activated.
Allowed values
• Activated
• Deactivated
Parent
Transfer To Device belongs to the type Signal, in the topic I/O System.
Cfg name
TransferToDevice
Description
The parameter Transfer To Device specifies that the signal shall be transferred to
the internal device starting at the offset specified in the parameter Output Offset
On Destination Device.
Prerequisites
The option PROFINET Controller/Device must be installed.
Limitations
Only signals of type Digital Output/ Digital Input/ Group Output/ Group Input can
be transferred. The destination I/O device can only be the PROFINET internal
device.
Allowed values
The allowed value is the PROFINET internal device.
Parent
Output Offset On Destination Device belongs to the type Signal, in the topic I/O
System.
Cfg name
TransferOutputOffset
Description
The parameter Output Offset On Destination Device specifies the output start bit
on the PROFINET internal device set by the transfer signal.
Prerequisites
The option PROFINET Controller/Device must be installed.
Limitations
The destination I/O device can only be the PROFINET internal device.
Default value
The default value is -1. This means that no Output Offset On Destination Device
is defined.
Allowed values
The values are in the range of -1 to 65535.
Additional information
The parameter Output Offset On Destination Device specifies the start bit on the
internal device. And, for bits specified in a group are transferred starting with the
first bit.
Parent
Transfer From Device belongs to the type Signal, in the topic I/O System.
Cfg name
TransferFromDevice
Description
The parameter Transfer From Device specifies that the bit value for the internal
device (starting at the offset specified in the parameter Input Offset On Destination
Device) shall be transferred to the signal.
Prerequisites
The option PROFINET Controller/Device must be installed.
Limitations
Only the input bits from the PROFINET internal device can be transferred to the
signals of type digital output and group output.
Allowed values
The allowed value is the PROFINET internal device.
Parent
Input Offset on Source Device belongs to the type Signal, in the topic I/O System.
Cfg name
TransferInputOffset
Description
The parameter Input Offset on Source Device specifies the input start bit PROFINET
internal device that will be transferred to the defined signal.
Prerequisites
The option PROFINET Controller/Device must be installed.
Limitations
The transfer is possible only to the signals of type digital output and group output.
For all cases, it is possible to transfer information from the internal device to signals
defined on other PROFINET I/O devices only.
Default value
The default value is -1. This means that Input Offset on Source Device is not defined.
Allowed values
The values are in the range of -1 to 65535.
Additional information
The parameter Input Offset On Destination Device specifies the start bit on the
internal device. The bits specified in a group are transferred starting with the first
bit.
Parent
Input Size belongs to the type PROFINET Internal Device, in the topic I/O System.
Cfg name
InputSize
Description
The parameter Input Size is used to configure the input slot configuration of the
PROFINET internal device.
Usage
It will configure the input slot size for the PROFINET internal device. This size must
match the connecting PLC’s or other PROFINET controller’s defined output slot
size. For more information, see Input and output size on page 30.
Prerequisites
The option PROFINET Controller/Device or PROFINET Device must be installed.
Default value
The default value is 64 bytes (512 signal bits).
Allowed values
8, 16, 32, 64, 128 or 256 bytes (64, 128, 512, 1024 or 2048 signal bits).
Parent
Output Size belongs to the type PROFINET Internal Device, in the topic I/O System.
Cfg name
OutputSize
Description
The parameter Output Size is used to configure the output slot configuration of
the PROFINET internal device.
Usage
The parameter Output Size is only valid for the PN_Internal_Device. It will configure
the output slot size for the PROFINET internal device. This size must match the
connecting PLC’s or other PROFINET controller’s defined input slot size. For more
information, see Input and output size on page 30.
Prerequisites
The option PROFINET Controller/Device or PROFINET Device must be installed.
Default value
The default value is 64 bytes (512 signal bits).
Allowed values
8, 16, 32, 64, 128 or 256 bytes (64, 128, 512, 1024 or 2048 signal bits).
9 Troubleshooting
9.1 Scenarios
Take Controller Configuration will read the system parameters from the robot
controller to the IO Configurator memory. This means that any configurations made
in IO Configurator but not yet written to the robot controller will be lost.
Keep local I/O Configuration will not apply any changes to the IO Configurator
memory. This means that when the configuration is written to the robot controller,
the changes made in another tool will be overwritten.
Note
If the back plane of the device is light colored, select Enable new potential group
(light BaseUnit).
xx1800001534
xx1800001535
Limitations
• This option is using PROFIsafe F-Host, but it does not have full F-Host
functionality since it is limited to the specific safe I/O devices from ABB.
Prerequisites
In addition to RobotStudio, the following tools are needed to be able to configure
the ABB S500 safe I/O devices:
• Download and install the ABB_AC500-S F_iPar_CRC Calculator tool from
the RobotStudio Online Community, where it is included in the Tools and
Utilities package. Once installed, it is started from the Vendor Tool button
in the Safe IO Configurator in Visual SafeMove.
Tip
Use the Blink functionality to detect the correct unit when multiple devices
are connected.
5 Add the detected device by right-clicking the device and selecting Add as.
Select the configuration that corresponds to the physical device. The device
is now displayed in the Configuration browser under the
PROFINET/Controller node.
6 Add safe modules to the device from the Device Catalogue browser by
double-clicking. When adding safe modules, they are also added in the Safe
IO Configurator in Visual SafeMove.
7 Select the sub-module in the Configuration browser and configure the module
settings in the Properties browser, i.e. channel configuration, input delay,
etc.
8 Configure the properties for the safe modules in the Properties browser.
Set the following default values for each S500 safe module:
• Source Address: 1
• Set the decimal Destination Address to the same address that is set
on the rotary switches on the device. Note that the values on the rotary
switches are hexadecimal.
• Click the Vendor Tool button to open the ABB_AC500-S F_iPar_CRC
Calculator tool and calculate the IParCrc value for the module. Copy
the hexadecimal value into the Safe IO Configurator.
Note
Note that the I Par CRC checksum must be recalculated if the module
configuration is changed, i.e. channel configuration, delay filter, etc.
Note
Note that the channel configuration for all inputs and outputs are by default
disabled and must be activated before an input or output can be used on
the specific channel.
9 The next step is to configure signals, see Configure signals on the ABB S500
safe I/O devices on page 91.
Note
10 Request write access and write the configuration to the controller. Restart
the controller.
Note
This requires that some basic SafeMove conditions are met, for example
a tool must have been created. For more information, see Application
manual - Functional safety and SafeMove2.
The communication to the S500 safe modules is now established which is also
indicated by the status diodes on the devices.
Note
If a signal is used by the safety module, for example in the combinatory logic, it
cannot be renamed or removed from the signal editor. This is displayed with a
shield symbol.
Index O
Output Size, 30, 66, 81
Output window, 33
1
1241-1, 7 P
Prioritized Startup, 13, 53
9 private network, 22
997-2, 7
PROFINET
997-1, 7
controller, 16
C device, 16
CI502 PROFINET IO device, 89 internal device, 29
communication profiles, 15 standardization, 15
compatibility, 16 PROFINET versions
configuration browser, 33 PROFIdrive, 15
configuration file, 13 PROFIenergy, 15
Connection, 65, 67 PROFINET-CBA, 15
controller, 16 PROFINET-IO, 15–16
PROFIsafe, 15
D properties browser, 34
device, 13, 16
Q
E QoS, 26
Energy Saving, 75 Quality of Service, 26
et200sp, 84
external controller, 13 R
external device, 13 reduction ratio, 13, 84
ribbon, 33
F
Fast Device Startup, 53, 65–66, 70 S
Fast Start Up, 13, 53 safety, 11
FSU, 13, 53 scan editor, 34
Scan Editor, 41
G Siemens et200sp, 84
GSDML, 13 signal editor, 34
GSDML file, 29, 31–32 Station Name, 65, 68
symbols, 38
I system parameters, 65
industrial Ethernet, 15
Input Size, 30, 66, 80 T
internal controller, 13 template I/O configuration file, 29
internal device, 13 topic I/O System
Device, 65
M Industrial Network, 65
master, 13 Internal Device, 66
predefined internal device, 29
N predefined network, 29
network security, 12
U
user interface, 33
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC065546-001, Rev B, en