Devicenet Lean: Application Manual

ABB Robotics
Application manual
DeviceNet Lean
Trace back information:
Workspace R12-2 version a4
Checked in 2012-09-13
Skribenta version 1171
Application manual
DeviceNet Lean
RobotWare 5.15
Document ID: 3HAC034095-001

Revision: F
© Copyright 2008-2012 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of contents
Table of contents
Manual overview ............................................................................................................................... 7
Product documentation, M2004 ....................................................................................................... 11
Safety ................................................................................................................................................ 13
1 Introduction 15
1.1 About DeviceNet Lean ....................................................................................... 15
1.2 Definition of I/O units ......................................................................................... 18
2 Hardware description 19
2.1 DeviceNet Lean card, DSQC 572 .......................................................................... 19
2.2 Connections ..................................................................................................... 22
2.2.1 Shield grounding and power ...................................................................... 22
2.2.2 Connection of the DeviceNet Lean bus ........................................................ 23
2.2.3 Selecting cables ...................................................................................... 25
3 Configuration 27
3.1 Introduction to configuration ................................................................................ 27
3.2 DeviceNet Lean configuration .............................................................................. 31
4 System parameters 37
4.1 Introduction ...................................................................................................... 37
4.2 Type Bus ......................................................................................................... 39
4.2.1 DeviceNet Lean Master Address ................................................................ 39
4.2.2 Auto Configuration .................................................................................. 40
4.2.3 Bus Scan ............................................................................................... 41
4.2.4 Connector ID .......................................................................................... 42
4.3 Type Unit Type ................................................................................................. 43
4.3.1 Vendor ID .............................................................................................. 43
4.3.2 Product Code ......................................................................................... 44
4.3.3 Production Inhibit Time ............................................................................ 45
4.3.4 Poll Rate ................................................................................................ 46
4.3.5 Quick Connect ........................................................................................ 47
4.4 Type Unit ......................................................................................................... 48
4.4.1 DeviceNet Lean Address .......................................................................... 48
5 Trouble shooting 49
5.1 Bus off ............................................................................................................ 49
5.2 Bus Scan ......................................................................................................... 50
6 Boards and units 51

6.1 General ........................................................................................................... 51
6.1.1 DeviceNet Lean Bus and I/O board status LED description ............................. 51
6.1.2 DeviceNet Lean bus status LEDs at power-up .............................................. 53
6.1.3 I/O units ................................................................................................ 54
6.1.4 Coil neutralization ................................................................................... 55
6.1.5 Setting DeviceNet Lean bus ID .................................................................. 56
6.2 Unit descriptions ............................................................................................... 58
6.2.1 Overview of I/O units ................................................................................ 58
6.2.2 DSQC 351A and 351B, DeviceNet Lean/INTERBUS gateways ......................... 59
6.2.3 DSQC 377A and DSQC 377B, Queue tracking units ....................................... 66
6.2.4 DSQC 378A and DSQC 378B, DeviceNet Lean/CCLink gateways ..................... 75
6.2.5 DSQC 651, AD combi I/O .......................................................................... 83
6.2.6 DSQC 652, Digital I/O .............................................................................. 90
6.2.7 DSQC 653, Digital I/O with relay outputs ...................................................... 98
3HAC034095-001 Revision: F 5
Table of contents
Index 105
6 3HAC034095-001 Revision: F
Manual overview
Manual overview
About this manual
This manual describes the DeviceNet Lean option and contains instructions for
the DeviceNet Lean master configuration. It also describes the configuration of
supported boards and units.
Usage
This manual should be used during installation and configuration of the DeviceNet
Lean bus and upgrading of the DeviceNet Lean option.
Who should read this manual?

This manual is intended for:
• Personnel responsible for installations and configurations of fieldbus
hardware/software
• Personnel responsible for I/O system configuration
• System integrators
Prerequisites
The reader should have the required knowledge of:
• Mechanical installation work
• Electrical installation work
• System parameter configuration
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 Provides an overview of the DeviceNet Lean fieldbus and includes the fol-
lowing:
• A general description of DeviceNet Lean and the communication
protocol
• Description of how the DeviceNet Lean master unit and I/O units are
connected in a robot system
• Definition of I/O units in the IRC5 controller and the configuration of
the controller
2 Describes the DeviceNet Lean master.
The chapter also describes:
• Communication units
• How to connect the DeviceNet Lean master to an I/O unit
• Termination
• Cable types and data rates
• Repeater functions
3 Provides an overview of the DeviceNet Lean configuration. It also contains
descriptions of workflows.
4 Describes the DeviceNet Lean specific system parameters.
5 Contains information and instructions for trouble shooting the DeviceNet
Lean connection.
Continues on next page

Manual overview
Continued
Chapter Contents
6 Provides detailed descriptions of I/O units available from ABB Robotics
that support DeviceNet Lean.
The chapter also describes:
• DeviceNet Lean bus status LEDs at power-up
• How to set the DeviceNet Lean bus address
References
Document references
References Document ID
Application manual - Conveyor tracking 3HAC16587-1
Application manual - Motion coordination and supervision 3HAC18154-1
Application manual - Robot communication and I/O control 3HAC020435-001
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Operating manual - RobotStudio 3HAC032104-001
Product manual - IRC5 3HAC021313-001
Product specification - IRC5 with FlexPendant 3HAC041344-001
Technical reference manual - System parameters 3HAC17076-1
Technical reference manual - RAPID Instructions, Functions 3HAC16581-1
and Data types
Other references
References Description
www.odva.org The web site of ODVA (Open DeviceNet
Vendor Association).
ODVA DeviceNet Specification, revision 2.0 Specification from ODVA (Open DeviceNet
Vendor Associations).
Revisions
Revision Description
- First edition
A The Workflow section is added in the DeviceNet Lean Configuration chapter.
The image of DeviceNet Lean board, DSQC 572, is updated.

Manual overview
Continued
B Updated for the RW 5.13 release.
Changes in the Introduction chapter.
• Added more features of DeviceNet Lean in the subsection What is
DeviceNet Lean? on page 15.
• Updated the section I/O messages - connection types on page 16.
• Updated the subsection General on page 18 in the Definition of I/O Unit
section.
• Updated the subsection Further information on page 18 in the Definition
of I/O Unit section.
Changes in the Configuration chapter.
• Added the subsection Explict Messaging services on page 27 in the
Introduction to configuration section.
• Added the subsection Predefined Unit Types on page 31 in the Devi-
ceNet Lean configuration section.
• Added the subsection Configuration approaches on page 31 in the
DeviceNet Lean configuration section.
• Updated the subsection Predefined Bus on page 31 in the DeviceNet
Lean configuration section.
• Updated the subsection Edit unit type on page 33 in the DeviceNet Lean
configuration section.
• Updated the images in the subsections Edit bus on page 33 and Edit
unit type on page 33 of the DeviceNet Lean configuration section.
Changes in the System Parameters chapter.
• Added the new system parameters Auto Configuration on page 40 and
Bus Scan on page 41 in the type Bus.
• Added the new system parameter Vendor ID on page 43 in the type Unit
Type.
• Updated the system parameters Product Code on page 44 and Produc-
tion Inhibit Time on page 45 in the type Unit Type.
Changes in the Trouble Shooting chapter.
• Added the section Bus Scan on page 50.
• Updated the section Bus off on page 49.
Changes in the Board and Units chapter.
• Updated the subsection I/O units on page 54 in the General section.
C Updated for the RW 5.13.02 release.
Changes in the Introduction chapter.
• Updated the section What is DeviceNet Lean? on page 15.
Changes in the Configuration chapter:
• Added more information in the section Explict Messaging services on
page 27.
• Added the new section Quick Connect on page 30.
• Added the new section POLLED connection on page 30.
• Added more predefined unit types to the table in the section Predefined
Unit Types on page 31.
• Added the fifth step to the procedure in the section Workflow - Automat-
ic configuration.
• Updated the image in the section Edit unit type on page 33.
Changes in the System parameters chapter.
• Added the new system parameters Poll Rate on page 46and Quick
Connect on page 47.
Changes in the Boards and units chapter.
• Updated the table Technical data on page 84 for the DSQC 651 board.

Manual overview
Continued
D Updated for the RW 5.14 release.
The following I/O units are included in the Unit descriptions chapter:
• DSQC 351A and 351B, DeviceNet Lean/INTERBUS gateways on page 59.
• DSQC 377A and DSQC 377B, Queue tracking units on page 66.
• DSQC 378A and DSQC 378B, DeviceNet Lean/CCLink gateways on
page 75.
E Updated for the RW 5.14.02 release.
• Added the new system parameter Connector ID.
F Updated the Introduction section in the chapter System parameters on page 37
for RW 5.15 release.
Product documentation, M2004

Categories for manipulator documentation
The manipulator documentation is divided into a number of categories. This listing
is based on the type of information in the documents, regardless of whether the
products are standard or optional.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for M2004 manipulator systems.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
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 exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals

The technical reference manuals describe reference information for robotics
products.
• Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
• Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
• Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
• Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.

Continued
An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to 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 trouble shooters.
The group of manuals includes (among others):
• Operating manual - Emergency safety information
• Operating manual - General safety information
• Operating manual - Getting started, IRC5 and RobotStudio
• Operating manual - Introduction to RAPID
• Operating manual - IRC5 with FlexPendant
• Operating manual - RobotStudio
• Operating manual - Trouble shooting IRC5, for the controller and manipulator.
Safety
Safety
Safety of personnel
When working inside the robot controller it is necessary to be aware of
voltage-related risks.
A danger of high voltage is associated with the following parts:
• Units inside the controller, for example I/O units, can be supplied with power
from an external source.
• The mains supply/mains switch.
• The power unit.
• The power supply unit for the computer system (230 VAC).
• The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
• The drive unit (700 VDC).
• The service outlets (115/230 VAC).
• The power supply unit for tools, or special power supply units for the
machining process.
• The external voltage connected to the controller remains live even when the
robot is disconnected from the mains.
• Additional connections.
Therefore, it is important that all safety regulations are followed when doing
mechanical and electrical installation work.
Safety regulations
Before beginning mechanical and/or electrical installations, ensure you are familiar
with the safety regulations described in Product manual - IRC5.
This page is intentionally left blank
1 Introduction
1.1 About DeviceNet Lean
1 Introduction
What is DeviceNet?
DeviceNet is a communications link to connect industrial devices. It is a simple
networking solution that reduces both cost and time to wire and install industrial
automation devices, and the direct connectivity provides improved communication
between devices. DeviceNet is an open network standard.
Here are some examples of applications:
• Peer-to-peer data exchange where a DeviceNet product can produce and
consume messages
• Master/slave operation defined as a proper subset of Peer-to-Peer
• A DeviceNet product can function as a client or server, or both
What is DeviceNet Lean?

DeviceNet Lean is an option with limited or simplified DeviceNet support. Following
are the features of DeviceNet Lean:
• Verified functionality with ABB Robotics I/O units and AC 500 PLC. I/O units
from other vendors are also possible to use, but not guaranteed to work if
they are not certified by ODVA.
• The robot controller can act only as a master, not as a slave.
• Maximum cable length is 30 meters.
• Operates only at a baud rate of 500 kbits/s.
• Supports the COS and POLLED connection types. If the I/O unit supports
COS, it is used. Otherwise, a POLLED connection type will automatically be
selected with a pollrate optimized considering the current number of
connected I/O units. If a POLLED connection type is needed on a unit that
also supports COS, it can also be forced to use the POLLED connection type
by specifying a pollrate.
• When using a polled connection on DeviceNet Lean a DO signal will be
updated with the poll cycle.
• Supports FCI Fieldbus command interface services Get, Set, and Reset.
• Supports the automatic detection and configuration of all connected I/O units
on the network. The automatic configuration is limited to mapping digital
signals on the I/O unit’s reported input and output sizes.
• Supports a user initiated scan of the network.
• The input or output area size of I/O unit is read from the unit and does not
need to be manually configured.
• Optimized activation or deactivation of I/O units that do not support quick
connect (not configured to use quick connect).

1 Introduction
Continued
Communication protocol connections

The user must establish a connection with a device in order to exchange information
with that device.
DeviceNet Lean defines the following type of messaging:
Type of message Description
I/O messages I/O messages are for time-critical and control-oriented data, and they
provide a dedicated and special-purpose communication path between
a producing application and one or more consuming applications.
I/O messages - connection types

The supported types of I/O connections are:
Type of I/O connection Description
Change-Of-State (COS) Units are configured to produce data upon a change of I/O
connection data. This technique can improve system throughput signific-
antly. Data messages must be acknowledged by the receiver
before new messages can be sent. Heart beat messages are
used to tell the receiver that the unit is still alive even if no data
has changed state for a long time.
POLLED I/O units produce data only at the master’s request.
Hardware overview
The hardware of the DeviceNet Lean fieldbus consists of a master unit, DSQC 572,
and distributed I/O units (called slave units). The DSQC 572 is mounted in a PCI
slot and is connected to the main computer using a cable.
Slave units
The slave units are attached to the fieldbus network and controlled using DSQC
572.

1 Introduction
Continued
Illustration, example
The following illustration shows an example of the hardware.
xx0900000106
A DSQC 572, DeviceNet Lean PCI card. Placed in the computer module.
B Terminating resistor (121 Ohm).
C DSQC 608/609, DeviceNet power supply 24 V
D DSQC 652, Distributed digital I/O unit. The maximum length of the drop
cable is 6 m.
E DSQC 608/609, Customer power supply 24 V
F IRC5 controller
Bus configuration
The configuration of the bus is done using RobotStudio, see Operating
manual - RobotStudio.
1 Introduction
1.2 Definition of I/O units
1.2 Definition of I/O units
General
It is possible to connect any ODVA certified I/O unit that supports the predefined
master/slave connection set to the DeviceNet Lean bus. But, the functionality is
guaranteed only with ABB Robotics I/O unit types. For more information about the
ABB Robotics I/O units, see Boards and units on page 51.
Further information
The following table provides references to additional information:
Information See
How to install the I/O units mechanically and Product manual - IRC5, section Replacement
electrically. of I/O units and gateways, IRC5.
Allowed configurations of I/O units and how Technical reference manual - System para-
to setup the configurations. meters.
2 Hardware description
2.1 DeviceNet Lean card, DSQC 572
Description
The DSQC 572 is a PCI card mounted in the computer module in the second slot
for PCI cards. DSQC 572 does not use the PCI connector on the mother board,
instead it is connected with a ribbon cable to the motherboard.
Installation of DSQC 572

The figure illustrates where the DeviceNet Lean board is located in the computer
unit.
xx0700000432
Description Art. no. Note Pos.

DeviceNet Lean board 3HAC023242-001 DSQC 572 B
Prerequisites
The following configurations are required to setup the DeviceNet Lean card:
• Main computer revision 11 or later
• RobotWare 5.13 or later version
• DeviceNet Lean option installed

Continued
Illustration, DSQC 572

The following figure illustrates the front view of mounting bracket for the DSQC
572.
xx0900000105
A Module Status LED

B Network Status LED
C DeviceNet Lean connector

Continued
DeviceNet Lean connector
xx0200000292
The following table shows the connections to the DeviceNet Lean connector:
Signal name I/O pin Wire color Function
V- 1 black DeviceNet Lean network negative power (0 V)
CANL 2 blue DeviceNet Lean communication bus terminal (low)
Shield 3 bare Network cable shield
CANH 4 white DeviceNet Lean communication bus terminal (high)
V+ 5 red DeviceNet Lean network positive power (24 V DC)
LEDs
Module Status (MS) LED:
LED color Description
Off No power.
Green The device is in normal operation.
Flashing green Configuration error or no configuration.
Flashing red Recoverable fault.
Red Unrecoverable fault.
Network Status (NS) LED:

LED color Description
Off Master not on network or no power.
Flashing green Master is online but has no connections.
Green Master has at least one connection.
Flashing red One or more connections are timed out.
Red Master cannot communicate on the network due to network
error. (Master address is used by device or network disturb-
ances.)
2.2.1 Shield grounding and power
2.2 Connections
2.2.1 Shield grounding and power
General
The DeviceNet Lean shield and V- should be interconnected and grounded at only
one place in the DeviceNet Lean network. For more advanced connections with
several power supplies refer to the DeviceNet Specification, see References on
page 8.
Grounding
The following illustration shows an example of cable grounding.
xx0300000525
2.2.2 Connection of the DeviceNet Lean bus
Illustration
The following illustration shows an example of how to connect the DeviceNet Lean
bus.
xx0800000392
A Computer unit
B DeviceNet Lean board
C DeviceNet Lean connector
D 121 ohm, 1%, 0.25 W metal film resistor
E I/O unit

Continued
Physical connection between DeviceNet Lean bus and DeviceNet Lean node
The following figure shows how the next DeviceNet Lean node is connected to the
DeviceNet Lean bus.
xx0400000849
A Incoming DeviceNet Lean bus cable

B Outgoing DeviceNet Lean bus cable
Termination resistors in DeviceNet Lean bus

Each end of the DeviceNet Lean bus must be terminated with a 121 ohm resistor.
The two terminating resistors should be as far apart as possible.
The termination resistor is placed in the cable connector. There is no internal
termination on the DeviceNet Lean board. The termination resistor is connected
between CANL and CANH - that is, between pin 2 and pin 4 according to the
following illustration.
xx0400000674
2.2.3 Selecting cables
2.2.3 Selecting cables
DeviceNet Lean cable

The end-to-end network distance varies with cable thickness. For information about
cable length depending on cable type, see the following table.
For specification of the designations on the different cable types, see ODVA
DeviceNet Specification.
Cable type Max. length
Thick trunk length 30 m
(100 ft)
Thin trunk length 30 m
(100 ft)
Flat trunk cable 30 m
(100 ft)
Maximum drop length 6m
(20 ft)
Cumulative drop length 12 m
(40 ft)
Illustration of trunk line and drop lines

The following figure illustrates a trunk line with drop lines. Thick or thin cable can
be used for trunk lines and drop lines. For information about cable thickness and
data rate, see the tables in section DeviceNet Lean cable on page 25.
xx0800000394
A Terminator
B Trunk line
C Drop line
D Tap
E Zero drop
F Node
G Short drop
H T-connector
3 Configuration
3.1 Introduction to configuration
3 Configuration
Controller software
The IRC5 controller must be installed with software that supports DeviceNet Lean
- that is, the option for DeviceNet Lean must be installed.
For description of how to add the DeviceNet Lean option, see Operating
manual - RobotStudio.
PC software for configuration

RobotStudio is a PC software that is used to setup connections to robots and to
work with robots.
The configuration for the DeviceNet Lean communication is done either manually
in RobotStudio, or by loading a configuration file using RobotStudio. For information
on how to work with RobotStudio, seeOperating manual - RobotStudio.
Explict Messaging services

It is possible to configure I/O units through explicit messaging services. This could
be done either at startup by defining the Fieldbus Commands to the configured
unit, or at runtime from RAPID through the Fieldbus Command Interface (FCI). For
more information, refer to Technical reference manual - RAPID Instructions,
Functions and Data types, and Application manual - Robot communication and I/O
control, section Fieldbus Command Interface.
For the explicit messaging at startup:
1 Use RobotStudio to define a Fieldbus Command type that is general to the
unit type and could be used by many DeviceNet Lean units of this unit type.
2 Use RobotStudio to define a Fieldbus Command that is specific to a certain
unit and that specifies the unit specific data to be send to the unit. The
Fieldbus Command is linked to a certain unit. The data defined in the value
parameter should fit the instance or attribute size on the DeviceNet Lean
unit.
The DeviceNet Lean specific system parameters in the Fieldbus Command type
are:
• Path (-DL_Path)
• Service (-DL_Service)
For more information, refer to the DeviceNet Lean Specification or the Application
manual - Robot communication and I/O control.

3 Configuration
Continued
Following is a configuration file example that sends two Fieldbus Commands at

startup to the I/O unit ‘SafeTrigger’.
EIO_UNIT:
-Name "SafeTrigger" -UnitType "ABB_type" -Bus "DeviceNet_Lean"
-DL_Address 19
EIO_COMMAND_TYPE:
-Name "RackSize" -UnitType "ABB_type" -DefValue "0" -OrderNr 1\
-DL_Path "6,20 64 24 01 30 04,C6,1" -DL_Service 16
-Name "LastRack" -UnitType "ABB_type" -DefValue "0" -OrderNr 2\
-DL_Path "6,20 64 24 01 30 05,C1,1" -DL_Service 16
The preceding example shows how to use the -DL_Path and -DL_Service
parameters. The syntax used in the -DL_Path command and in the I/O unit's EDS
file is same. If a Class, Instance, or Attribute below 0x10 is specified, it is important
to include a "0" before the value. For example, the value 8 is written as 08 in the
-DL_Path string.
Following is a short description of the syntax used in the -DL_Path parameter.
"Path length, 20 Class 24 Instance 30 Attribute, Data type, Data type
length"
The following table provides a description of the parameters used in the syntax:
Parameter Description
Path length The byte count for the "20 64 24 01 30 05" string.
Class The DeviceNet Lean Class number.
Instance The instance number of the class.
Attribute The attribute of the specified instance.
Data type The data format of the attribute.
Data type length The length in bytes of the specified Data type. The highest al-
lowed value is 0x20 (32 bytes).
Following are the allowed values of the Data type and Data type length parameters:
Data Type Description Data type length
0x01 Signed 16-bit value 2
0x02 Unsigned 16 bit integer value 2
0x03 Signed 16-bit value 2
0x04 Logical Boolean with values TRUE and FALSE 1
0x05 Signed 8-bit integer value 1
0x08 Unsigned 8-bit integer value 1
0x0B 32-bit floating point value 4
0x16 Character string (1 byte per character, 1 byte X
length indicator)
0xC1 Logical Boolean with values TRUE and FALSE 1
0xC2 Signed 8-bit integer value 1

3 Configuration
Continued
Data Type Description Data type length

0xC3 Signed 16-bit value 2
0xC6 Unsigned 8-bit integer value 1
0xC7 Unsigned 16 bit integer value 2
0xC8 Unsigned 32-bit integer value 4
0xCA 32-bit floating point value 4
0xD1 Unsigned 8-bit integer value 1
0xD2 Signed 16-bit value 2
0xDA Character string (1 byte per character, 1 byte X
length indicator)
The -DL_Service parameter describes what type of operation that should be

performed against the specified -DL_Path parameter.
Following are the allowed values for -DL_Service:
Operation Value Description
Set 16 Set the value specified in '-DefValue' or EIO_COMMAND.
Get 14 Get the specified parameter. Display answer as an event
message.
Reset 5 Performs a reset of the specified I/O unit.
The-OrderNr parameter is used to specify in what order the commands are send
to the I/O unit.
If an FCI command is rejected by the I/O unit, the DeviceNet Lean master will
generate an event message with the error code returned by the I/O unit. The
following table shows some of the possible return values:
General Error Code Semantics
0x02 Resource unavailable.
0x05 Path destination unknown.
0x08 Service not supported.
0x09 Invalid attribute value.
0x0B Already in requested mode/state.
0x0D Object already exists.
0x0E Attribute not settable.
0x13 Not enough data.
0x14 Attribute not supported.
0x16 Object does not exist
CIP routing
To be able to use CIP routing the system parameter Explicit Messaging must be
set in the unit configuration for those units that will use CIP routing. For details
about the unit configuration, refer to Application manual - EtherNet/IP Fieldbus
Adapter.

3 Configuration
Continued
Quick Connect
The Quick Connect functionality supported by the DeviceNet Lean master allows
the I/O units to be configured to use Quick Connet. Quick Connect allows the I/O
unit to skip certain startup tests and thereby improve the general startup time of
the I/O unit when used in tool change applications. To activate the Quick Connect
functionality, use the system parameter Quick Connect on page 47.
Additional configuration with Field Bus Commands is not needed to use the Quick
Connect functionality in DeviceNet Lean. If Quick Connect is activated but not
supported by the I/O unit, the connection attempt from the DeviceNet Lean master
might fail.
POLLED connection
By default , the DeviceNet Lean master always tries to create a COS connection
type against a configured I/O unit. If the I/O unit do not support a COS connection,
a POLLED connection is created with a pollrate decided by the DeviceNet Lean
master itself.
If a POLLED connection type is needed or if the pollrate needs to be configured
manually, it is possible to force create a POLLED connection. This is done by
specifying a value other then zero in the Pollrate parameter. For information about
the Pollrate parameter, refer to Poll Rate on page 46.
3 Configuration
3.2 DeviceNet Lean configuration
About the I/O units

The maximum number of I/O units that can be defined in the IRC5 system is
described in Technical reference manual - System parameters, see References
on page 8. DeviceNet Lean has an addressing range from 0-63.
The following units are counted as I/O units:
• All DeviceNet slave units configured as I/O units to the IRC5 DeviceNet Lean
master.
• Simulated I/O units and other I/O units connected to other IRC5 fieldbuses.
Configuration
When the DeviceNet Lean option is installed in the IRC5 system, a number of
predefined types are installed. The following table provides descriptions defining
the types Bus, Unit Type and Unit.
Type Description
Bus A DeviceNet Lean bus must be defined before any communication on
the bus is possible - that is, define rules for the DeviceNet Lean master
to communicate on the network.
Unit Type When creating a unit type, some system parameters are fieldbus spe-
cific. For detailed information about the parameters see System para-
meters on page 37.
Unit See Technical reference manual - System parameters.
Signal See Technical reference manual - System parameters.
Predefined Bus
The predefined bus type DeviceNet_Lean is added by the DeviceNet Lean option.
Predefined Unit Types

The following predefined Unit Types are added by the DeviceNet Lean option.
Predefined unit types Description
d651_Lean Used to define a unit of type DSQC 651
d351_Lean Used to define a unit of type DSQC 351 (Interbus Gateway)
d378_Lean Used to define a unit of type DSQC 378 (CC Link Gateway)
d377_Lean Used to define a unit of type DSQC 377 (Encoder)
AC500_PLC_Lean Used to define a unit of type ABB AC500 Stotz PLC with FBP
DeviceNet Fieldbus Plug
DL_GENERIC Used when the unit type is of no importance or unknown.
Configuration approaches
Following are the three general configuration strategies that can be used while
configuring

3 Configuration
Continued
I/O units on the DeviceNet Lean bus.

• Manual configuration of units in Robot Studio. See Workflow - Manual
configuration of units in Robot Studio.
• Manual configuration of units after a network scan operation. See Workflow
- Manual configuration of units after a network scan operation.
• Automatic configuration of I/O units connected to a network. See Workflow
- Automatic configuration.
Workflow - Manual configuration of units in Robot Studio
Action Note
1. If required, change the address of the DeviceNet Lean See the section Edit bus on
master. page 33.
This is required if another master or I/O unit on the
network need to have address 0.
2. Add I/O units to the DeviceNet Lean master. See the section Add I/O unit to
The minimum configuration is to set the unit name, the DeviceNet Lean master on
the unit type, the address of the unit on the network, page 34.
and connected to the DeviceNet_Lean bus.
3. If required, change the configuration data for a unit’s See the section Edit unit type
unit type or use the DL_GENERIC unit type if this is on page 33.
not needed.
4. Add signals to the configured units, that maps the data See the section Add signals on
bits to or from the I/O unit that you want to read or page 35.
write, from the IRC5 controller.
5. Warm start the IRC5 controller.
Workflow - Manual configuration of units after a network scan operation

Action Note
1. Connect the I/O units to the DeviceNet Lean network that See the section Edit bus
needs to be configured. on page 33.
2. Set the bus parameter Bus Scan to Activated.
4. For each I/O unit that the scan discovered that should be
configured in the IRC5 system, use the Workflow -Manual
configuration of units in Robot Studio configuration steps
to create unit type data.
Workflow - Automatic configuration

Action Note
1. Connect the I/O units to the DeviceNet Lean network that See the section Edit bus
needs to be configured. on page 33.
NOTE! The I/O units found on the network that are not
configured in the IRC5 controller or occupied by another
master will be configured. If the I/O unit requires additional
configuration through Field Bus Commands, this must be
added manually.
2. Set the bus parameter Auto Configuration to Activated.
Information elogs are generated for each new I/O unit found
and configured.

3 Configuration
Continued
Action Note
4. Warm start the IRC5 controller again to connect to the
configured I/O units.
5 If needed, remap or change the signals added on the I/O
unit to reflect the meaning of the data bits.
Edit bus
Action
1 In RobotStudio, click Configuration Editor and select I/O.
2 Click Bus, then right-click on the bus to edit and select Edit Bus.
3 In the Edit Bus dialog box, type the values for the parameters.
en0900000126
Edit unit type

If the type of the unit connected on a DeviceNet Lean address on the network is
of no importance, the DL_GENERIC unit type should be used. Otherwise, the unit
type should be specified to reflect theVendor ID and Product Code of the I/O unit.
If an I/O unit connected to this address reports values that do not match the
specified values in the unit type, an error message will be generated.
Action
2 Click Unit Type, then right-click on the bus to edit and select Edit Unit Type.

3 Configuration
Continued
Action
3 In the Edit Unit Type dialog box, type the values for the parameters.
en0900000120
Add I/O unit to the DeviceNet Lean master
Action
2 Click Unit, then right-click in the workspace and select Add Unit.
3 In the Edit Unit dialog box, type the values for the parameters.
en0900000076

3 Configuration
Continued
Add signals
Action
2 Click Signal, then right-click in the workspace and click Add Signal.
3 In the Edit Signal dialog box, type the values for the parameters.
xx0700000205
4 System parameters
4.1 Introduction
4 System parameters
4.1 Introduction
About the system parameters

There are both DeviceNet Lean specific parameters and more general parameters.
This chapter describes all DeviceNet Lean specific system parameters. The
parameters are divided into the type that they belong to.
For information about other system parameters, see Technical reference
manual - System parameters.
DeviceNet Lean system parameters

Bus
These parameters belong to the type Bus in the topic I/O.
Parameter For more information, see ...
Name Technical reference manual - System parameters
Type of Bus Technical reference manual - System parameters
Connector ID Connector ID on page 42
Label of Fieldbus Connect- Technical reference manual - System parameters
or
Unit Recovery Time Technical reference manual - System parameters
DeviceNet Lean Master DeviceNet Lean Master Address on page 39
Address
Auto Configuration Auto Configuration on page 40
Bus Scan Bus Scan on page 41
Unit
These parameters belong to the type Unit in the topic I/O.
Type of Unit Technical reference manual - System parameters
Connect to Bus Technical reference manual - System parameters
Unit Identification Label Technical reference manual - System parameters
Unit Trustlevel Technical reference manual - System parameters
Unit Startup State Technical reference manual - System parameters
Store Unit State at Power Technical reference manual - System parameters
Fail
Regain Communication Technical reference manual - System parameters
Reset
Vendor ID Vendor ID on page 43
Product Code Product Code on page 44
Production Inhibit Time Production Inhibit Time on page 45

4 System parameters
4.1 Introduction
Continued

Poll Rate Poll Rate on page 46
Quick Connect Quick Connect on page 47
Unit Type
These parameters belong to the type Unit Type in the topic I/O.
Type of Bus Technical reference manual - System parameters
Vendor Name Technical reference manual - System parameters
Product Name Technical reference manual - System parameters
Internal Slave Technical reference manual - System parameters
DeviceNet Lean Address DeviceNet Lean Address on page 48
4 System parameters
4.2.1 DeviceNet Lean Master Address
4.2 Type Bus
4.2.1 DeviceNet Lean Master Address
Parent
DeviceNet Lean Master Address belongs to the type Bus, in the topic I/O.
Cfg name
DL_MasterAddress
Description
DeviceNet Lean Master Address is the address that the master uses to
communicate.
Usage
DeviceNet Lean Master Address is mandatory for a DeviceNet Lean fieldbus and
decides what address the master should use to communicate with other devices
on the DeviceNet network.
Prerequisites
DeviceNet Lean option must be installed.
Limitations
The DeviceNet Lean Master Address must not use the same address as another
device on the network.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-63.
4 System parameters
4.2.2 Auto Configuration
4.2.2 Auto Configuration
Parent
Auto Configuration belongs to the type Bus, in the topic I/O.
Cfg name
DL_AutoConfig
Description
Auto Configuration scans the DeviceNet Lean network during the system startup
and configures the found units in the IRC5 controller.
Usage
The Auto Configuration parameter is used as an easy way to find and configure a
new unit on the network. The configuration created by this function should be
updated with signal names that reflect the purpose of the signal. The Auto
Configuration parameter will always be restored to Deactivated at system startup.
Prerequisites
Limitations
Signals are always configured as single bit digital signals.
Default value
The default value is Deactivated.
Allowed values
Activated or Deactivated.
4 System parameters
4.2.3 Bus Scan
4.2.3 Bus Scan
Parent
Bus Scan belongs to the type Bus, in the topic I/O.
Cfg name
DL_BusScan
Description
The Bus Scan function scans the DeviceNet Lean network during system startup
and display information about found units.
Usage
The Bus Scan function is used to quickly locate an I/O unit and its configuration
parameters, like Vendor ID and Product code. The Bus Scan parameter will always
be restored to Deactivated at system startup.
Prerequisites
Limitations
The product name and other configuration parameters of an I/O unit is shown only
if the DeviceNet Lean master is able to connect to the unit.
Default value
Allowed values
4 System parameters
4.2.4 Connector ID
4.2.4 Connector ID
Parent
Connector ID belongs to the type Bus, in the topic I/O.
Cfg name
ConnectorID
Description
The parameter Connector ID specifies the hardware interface (connection port)
that the DeviceNet Lean option shall use.
Usage
The Connector ID parameter is used to select one of the available connection ports
to use.
Prerequisites
The option DeviceNet Lean (748-1) must be installed.
Default value
First Board
Allowed values
First Board
4 System parameters
4.3.1 Vendor ID
4.3 Type Unit Type
4.3.1 Vendor ID
Parent
Vendor ID belongs to the type Unit Type, in the topic I/O.
Cfg name
DL_VendorID
Description
Vendor ID is the vendor ID of an I/O unit as specified by the supplier.
Usage
Vendor ID is used as an identification of the I/O unit to secure communication to
the correct device.
Prerequisites
Allowed values
0 - 65535
4 System parameters
4.3.2 Product Code
4.3.2 Product Code
Parent
Product Code belongs to the type Unit Type, in the topic I/O.
Cfg name
DL_ProductCode
Description
Product Code is the product code of an I/O unit as specified by the supplier.
Usage
Product Code is used as an identification of the I/O unit to secure communication
to the correct device.
Prerequisites
Allowed values
0 - 65535
4 System parameters
4.3.3 Production Inhibit Time
4.3.3 Production Inhibit Time
Parent
Production Inhibit Time belongs to the type Unit Type, in the topicI/O.
Cfg name
DL_ProdInhibitTime
Description
Production Inhibit Time specifies the minimum time, expressed in milliseconds,
between network messages sent by the unit.
Usage
Production Inhibit Time is used to control the minimum time between transmissions
from the I/O unit in order to prevent overloading of the DeviceNet Lean network.
Prerequisites
The DeviceNet Lean option must be installed.
Limitations
Maximum and minimum values might be constrained by the unit.
Default value
Allowed values
4 System parameters
4.3.4 Poll Rate
4.3.4 Poll Rate
Parent
Poll Rate belongs to the type Unit Type, in the topic I/O.
Cfg name
DL_Pollrate
Description
Poll Rate specifies how often the DeviceNet Lean master should exchange input
or output signals with an I/O unit (expressed in milliseconds).
Usage
Poll Rate is used to force the DeviceNet Lean master to create a POLLED
connection type against an I/O unit with the specified Poll Rate time. If the default
value 0 is used, the DeviceNet Lean master will try to use a COS connection against
the I/O unit. If COS is not supported, a POLLED connection will automatically be
created with a pollrate decided by the DeviceNet Lean master.
Note
When using a polled connection on DeviceNet Lean a DO signal will be updated

with the poll cycle.
Prerequisites
Limitations
Maximum and minimum values might be constrained by the unit.
Default value
The default value is 0 (deactivated).
Allowed values
4 System parameters
4.3.5 Quick Connect
4.3.5 Quick Connect
Parent
Quick Connect belongs to the type Unit Type, in the topic I/O.
Cfg name
DL_QuickConnect
Description
Quick Connect specifies whether the DeviceNet Lean master should configure the
I/O unit to use the Quick Connect functionality.
Usage
Quick Connect is used to allow the I/O unit to skip certain startup test sequences.
This shortens the time it takes for the I/O unit to accept a connection from the
DeviceNet Lean master. Primary use of this function is in tool change applications.
Prerequisites
The DeviceNet Lean option must be installed
Default value
Allowed values
4 System parameters
4.4.1 DeviceNet Lean Address
4.4 Type Unit
4.4.1 DeviceNet Lean Address
Parent
DeviceNet Lean Address belongs to the type Unit, in the topic I/O.
Cfg name
DL_Address
Description
DeviceNet Lean Address specifies the address that the I/O unit is assumed to be
using on the network, and which the master should try to setup a connection
against.
Usage
DeviceNet Lean Address is a DeviceNet Lean specific parameter that is only
available for DeviceNet Lean units.
Prerequisites
Limitations
There can be no sharing of addresses on the DeviceNet Lean network. All addresses
on a DeviceNet Lean network must be unique.
Default value
Allowed values
5 Trouble shooting
5.1 Bus off
5 Trouble shooting
5.1 Bus off
Description
The DeviceNet Lean bus goes bus off when an excessive number of communication
errors are detected and the CAN chip automatically goes off-line.
An event message will inform the users that bus off has occurred. The DeviceNet
Lean bus will automatically try to recover from bus off and if succeeded an event
message will inform the user that the bus has recovered from bus off.
To turn off the automatically bus off recovery, use the system parameter
Automatically Bus Restart. Refer to Technical reference manual - System
parameters.
Consequences
Bus off indicates a serious communication fault such as incorrect baud rate or
physical layer error (short, open, and so on).
Possible causes
The possible causes of bus off are:
• Different baud rates on the master and some I/O units (the I/O units do not
support auto baud rate).
• No or faulty power on the bus.
• Short circuit between CAN high and CAN low.
• Cable length on trunk cables and drop cables.
• Faulty terminations.
• The network cable length exceeds 30 meters.
Recommended actions
The following table provides the action that needs to be taken for the possible
causes of bus off.
Cause Action/Information
Different baud rates on the master and Cycle the power of the units or manually change
some I/O units. the baud rate of the units. (DeviceNet Lean oper-
ates at a baud rate of 500 kbits/s.)
No or faulty power on the bus. See Shield grounding and power on page 22.
Cable length on trunk cables and drop See Selecting cables on page 25.
cables.
Faulty terminations. Refer to Connection of the DeviceNet Lean bus
on page 23.
Note
If the DeviceNet Lean bus goes bus off, the I/O units on the bus can also go bus
off. The only way to recover these units is to cycle the power on the I/O unit.
5 Trouble shooting
5.2 Bus Scan
5.2 Bus Scan
Overview
When a bus scan or auto configuration operation is activated, the DeviceNet Lean
master will send requests to all valid network addresses. If the unit is already
configured against another DeviceNet master, or operating at wrong baud rate, or
is not online, the unit can not be contacted for the data gathering of the required
configuration parameters. If the I/O unit is not found with auto configuration, it
might still be possible that the unit will work if it is manually added.
6 Boards and units
6.1.1 DeviceNet Lean Bus and I/O board status LED description
6 Boards and units

6.1 General
General
Each of the units connected to the DeviceNet Lean bus includes LED indicators
which indicate the condition of the unit and the function of the network
communication.
LEDs
The LEDs found on the units connected may be divided into two categories.
Common LEDs
The following LEDs can be found on all units:
• MS - Module status
• NS - Network status
Specific LEDs
Certain units also include the following LEDs:
• DeviceNet Tx - DeviceNet network transmit
• DeviceNet Rx - DeviceNet network receive
MS - Module status
The bicolor (green/red) LED indicates the status of the device. It indicates whether
or not the device has power and is operating properly. The LED is controlled by
software. The following table shows the different states of the MS LED.
LED color Description Remedy/cause
OFF No power applied to the device. Check power supply.
GREEN steady Device is operating in a normal If no light, check other LED
condition. modes.
GREEN flashing Device needs commissioning due Check system parameters.
to missing, incomplete or incorrect Check messages.
configuration. The device may be in
the stand-by state.
RED flashing Recoverable minor fault. Check messages.
RED steady The device has an unrecoverable Device may need replacing.
fault.
RED/GREEN flashing The device is running self test. If flashing for more than a few
seconds, check hardware.

6 Boards and units
Continued
NS - Network status
The bicolor (green/red) LED indicates the status of the communication link. The
LED is controlled by software. The following table shows the different states of the
NS LED.
OFF Device has no power or is not online. Check status of MS LED.
The device has not completed the Check power to affected module.
Dup_MAC_ID test yet.
GREEN steady The device is online and has connection If no light, check other LED
in the established state. modes.
For a group 2 device only: the device is
allocated to a master.
For a UCMM capable device: the device
has one or more established connec-
tions.
GREEN flash- Device is online, but has no connections Check that other nodes in the
ing in the established state. network are operative.
The device has passed the Dup_MAC_ID Check parameter to see whether
test, is online, but has no established module has correct ID.
connections to other nodes.
For a group 2 device only: the device is
not allocated to a master.
For a UCMM capable device: the device
has no established connections.
RED flashing One or more I/O connections are in the Check system messages.
time-out state.
RED steady Failed communication device. The Check system messages and
device has detected an error rendering parameters.
it incapable of communicating on the
network.
(Duplicate MAC_ID, or Bus-off).
DeviceNet Tx - DeviceNet network transmit

The following table shows the different states of the DeviceNet Tx LED.
GREEN steady Physically connected to the Devi- If no light when transmission is
ceNet Tx line. expected, check error mes-
sages.
Check system boards in rack.
GREEN flashing Flashes when the unit is transmitting
data on the DeviceNet Lean bus.
DeviceNet Rx - DeviceNet network receive

The following table shows the different states of the DeviceNet Rx LED.
GREEN steady Physically connected to the Devi- If no light, check network and
ceNet Rx line. connections.
GREEN flashing Flashes when the unit is receiving
data on the DeviceNet Lean bus.
6 Boards and units
6.1.2 DeviceNet Lean bus status LEDs at power-up
6.1.2 DeviceNet Lean bus status LEDs at power-up
Process
The system performs a test of the MS and NS LEDs during startup. The purpose
of this test is to check that all LEDs are working properly. The test runs as follows:
Order LED action
1 NS LED is switched Off.
2 MS LED is switched On green for approx. 0.25 seconds.
3 MS LED is switched On red for approx. 0.25 seconds.
4 MS LED is switched On green.
5 NS LED is switched On green for approx. 0.25 seconds.
6 NS LED is switched On red for approx. 0.25 seconds.
7 NS LED is switched On green.
Additional LEDs
If a device has other LEDs, each LED is tested in sequence.
6 Boards and units
6.1.3 I/O units
6.1.3 I/O units
General
You can connect up to 20 I/O units to the same controller, but the number of I/O
units that are practical to connect always depends on the amount of the total
network traffic they produce.
Requirements
Description Data/value More information

Verified I/O units DSQC 651 Unit descriptions on
DSQC 652 page 58.
DSQC 653
IRC 5 DeviceNet m/s option
AC 500 PLC
Allowed I/O units I/O units that supports the See ODVA DeviceNet Spe-
predefined master/slave cification.
connection set.
The maximum cable length 30 m Selecting cables on
between controller and external page 25.
I/O unit.
Controller placement on cable At one end or anywhere
chain. between the ends.
Power supply to I/O units. 24 VDC
Termination of DeviceNet Lean 121 ohm resistor Termination resistors in
bus. DeviceNet Lean bus on
page 24.
6 Boards and units
6.1.4 Coil neutralization
6.1.4 Coil neutralization
External units
External relay coils, solenoids, and other units that are connected to the controller
must be neutralized. The following sections describe how this can be done.
Note
The turn-off time for DC relays increases after neutralization, especially if a diode
is connected across the coil. Varistors give shorter turn-off times. Neutralizing
the coils lengthens the life of the switches that control them.
Clamping with a diode

The diode should be dimensioned for the same current as the relay coil, and a
voltage of twice the supply voltage.
xx0100000163
Clamping with a varistor

The varistor should be dimensioned for the same current as the relay coil, and a
voltage of twice the supply voltage.
xx0100000164
Clamping with an RC circuit

R 100 ohm, 1W C 0.1 - 1 mF.
>500 V max. voltage, 125 V nominal voltage.
xx0100000165
6 Boards and units
6.1.5 Setting DeviceNet Lean bus ID
Description
Each I/O unit is given a unique address (ID).
How to set the ID

The connector contains address pins and can be keyed as shown in the following
figure. When all terminals are unconnected the highest address 63 is obtained.
When all terminals are connected to 0 V, the address would be 0.
To obtain the address 10: Cut address pins 2 and 8
To obtain the address 25: Cut address pins 1, 8 and 16
xx0100000245
A Connector X5
B Address pins
C Address key
Note
Do not change the address with power on.
Connector X5
Signal name X5 pin

1 Supply voltage GND - Black
2 CAN signal low - Blue
3 Shield
4 CAN signal high - White
5 Supply voltage 24 VDC - Red
6 Logic GND
7 Board ID bit 0 (LSB)
8 Board ID bit 1

6 Boards and units
Continued
Signal name X5 pin

9 Board ID bit 2
10 Board ID bit 3
11 Board ID bit 4
12 Board ID bit 5 (MSB)
6 Boards and units
6.2.1 Overview of I/O units
6.2 Unit descriptions
6.2.1 Overview of I/O units
Overview
This section provides description of the I/O units that support DeviceNet Lean
communication.
Board Name of unit Type of unit Article number
designation
DSQC 351B DeviceNet/INTERBUS Gateway unit 3HNE00006-1
DSQC 377B Queue tracking Encoder interface unit 3HNE01586-1
DSQC 378B DeviceNet/CCLink Gateway unit 3HNE00421-1
DSQC 651 AD combi I/O Distributed I/O unit 3HAC025784-001
DSQC 652 Digital I/O Distributed I/O unit 3HAC025917-001
DSQC 653 Digital I/O with relay outputs Distributed I/O unit 3HAC025918-001
6 Boards and units
6.2.2 DSQC 351A and 351B, DeviceNet Lean/INTERBUS gateways
Description
The DSQC 351A and 351B are the circuit boards normally mounted in the control
module. As an option, it may also be mounted in an external I/O unit.
The units handle input and output signals between the DeviceNet Lean system
and the INTERBUS system.
There are no functional differences between DSQC 351A and DSQC 351B.
Communication concept
The INTERBUS system is able to communicate with a number of external devices,
depending on the number of process words occupied by each unit. The robot
controller may be equipped with several DSQC 351A/B boards. The INTERBUS
inputs and outputs are accessible in the robot controller as general inputs and
outputs.
The following figure is an outline diagram of the communication concept:
xx0100000224
A Master PLC (customer equipment)

B Robot 1 controller, word 1-4
C Robot 2 controller, word 5-8
D Robot 3 controller, word 9-12
E 128 inputs/128 outputs
F 64 inputs/64 outputs
Note
A link is connected between pin 5 and 9 in the plug on the interconnection cable
connected to the OUT connector (connector X21) of each unit. The link informs
the INTERBUS unit that more units are connected further out in the chain. (The
last unit does not have a cable connected and therefore no link.)

6 Boards and units
Continued
Illustration of DSQC 351A/B

The illustration below shows the DSQC 351A/B board:
xx0100000225
Parts
The table below refers to Illustration of DSQC 351A/B on page 60.
Item Description
X3 Back-up feed supply
See section Connector X3 on page 61 for connection tables!
X5 DeviceNet Lean connector
See section Connector X5 on page 62!
X20 INTERBUS, input
X21 INTERBUS, output

6 Boards and units
Continued
Facts, DSQC 351A/B

This section specifies a number of facts applicable to the DSQC 351A/B. Unless
stated otherwise, the data applies to the standard version.
Also see the DSQC 351A and 351B, DeviceNet Lean/INTERBUS gateways on
page 59, International Standard DIN 19258.
Technical data
SW connections Support for the following connections:

• Polled
• Change-Of-State
• Change-Of-State with acknowledge suppression
For descriptions of the different types of I/O connections,
see I/O messages - connection types on page 16.
Baud rate 500 Kbps
Supply
The INTERBUS gateway must be fed externally to avoid shutting down the
INTERBUS net if a robot cell is switched off. The 24V power supply must be fed
from an external power source and be connected to connector X3.
INTERBUS master setup

The unit must be given an ID address, and setup parameters must be entered into
the INTERBUS master system.
The unit ID to be entered in the INTERBUS master is 3. The length code depends
on the selected data. The width is between 1 and 4 configured by the Fieldbus
Command Type, DataWidth.
Connector X3
xx0100000221
The table below shows the connections to connector X3:

Signal name X3 pin Function
0 VDC 1 Supply voltage GND
NC 2 Not connected
GND 3 Ground connection
NC 4 Not connected
+ 24 VDC 5 Supply voltage + 24 VDC

6 Boards and units
Continued
Connector X5
xx0100000244
Connector X5 is a DeviceNet Lean connector specified in section Setting DeviceNet

Lean bus ID on page 56.
Connector X20
xx0100000220

TPDO1 1 Communication line TPDO1
TPDI1 2 Communication line TPDI1
NC 4 Not connected
NC 5 Not connected
TPDO1-N 6 Communication line TPDO1-N
TPDI1-N 7 Communication line TPDI1-N
NC 8 Not connected
NC 9 Not connected
Connector X21
xx0100000220

TPDO2 1 Communication line TPDO2
TPDI2 2 Communication line TPDI2
NC 4 Not connected

6 Boards and units
Continued

+5V 5 + 5 VDC
TPDO2-N 6 Communication line TPDO2-N
TPDI2-N 7 Communication line TPDI2-N
NC 8 Not connected
RBST 9 Synchronization
Note
Pin 5 and pin 9 in X21 must be linked together.
Board specific LEDs

The designations refer to LEDs shown in the figure in the section Illustration of
DSQC 351A/B on page 60.
Designation Color Description

POWER-24 VDC GREEN Indicates that a supply voltage is present, and has a level
(upper indicator) above 12 VDC.
If there is no light, check that voltage is present on power
module. Check also that power is present in power con-
nector. If it is not, check cables and connectors.
If power is applied to unit but unit does not work, replace
unit.
POWER- 5 VDC GREEN Lit when both 5 VDC supplies are within limits, and no re-
(lower indicator) set is active.
unit.
RBDA RED Lit when this INTERBUS station is last in the INTERBUS
network. If it is not, verify the INTERBUS configuration.
BA GREEN Lit when INTERBUS is active.
If there is no light, check network, nodes and connections.
RC GREEN Lit when INTERBUS communication runs without errors.
If there is no light, check system messages in robot and
in INTERBUS net.
General LEDs
The significance of the LEDs are specified in section DeviceNet Lean Bus and I/O
board status LED description on page 51.

6 Boards and units
Continued
Input map
The figure below shows the digital input mapping.
en0400000799
m The number of words (16 bit) that the unit has been configured to, using the
Fieldbus Command TypeDataWidth.
INTER- The status of the INTERBUS communication can be monitored using the signal
BUS INTERBUS Status. When INTERBUS Status is set it indicates that the unit is in
Status data communication with the PLC/master controlling it, i.e. bus is active (the BA
LED is lit).
N.U. Not used. The signal position is reserved for future use and shall not be used.
The INTERBUS Status signal is located in the last bit of the last byte of the input
area. For example, if the DataWidth is set to 4 (words) there are 8 bytes of input
data (bit 0-63), and the INTERBUS Status is located in the last bit of the 9th byte
i.e. bit 71.
Output map
The figure below shows the digital output mapping.
en0400000800
m The number of words (16 bit) that the unit has been configured to, using the
Fieldbus Command TypeDataWidth.

6 Boards and units
Continued
Fieldbus Command Types

Following table gives necessary data on the Fieldbus Command Types for
DeviceNet Lean communication.
Fieldbus Path Allowed values Usage
Command (DeviceNet Lean
Type parameter)
DataWidth 6, 20 65 24 01 30 0-3 according to: Determines the size of the
01, C6, 1 0 = 1 word (16 DO, 16+1 DI) input and output data
areas of the INTERBUS
1 = 2 words (32 DO, 32+1 DI) gateway.
2 = 3 words (48 DO, 48+1 DI)
3 = 4 words (64 DO, 64+1 DI)
Additional information
The data areas of the gateway are byte-consistent, which means that signals
within the same byte (groups of 8 bits) are handled as one piece and are guaranteed
to belong to the same bus-cycle. Normally this does not cause any problems, but
if a signal group has been defined across the byte boundaries as for example, a
16 bit group signal this needs to be considered. It is important to make sure that
undesired behaviors are avoided in the case when the group signal is updated at
exactly the same time as the gateway is being polled/scanned by one of the masters.
The values for the Fieldbus Command Types are stored in flash memory of the
gateway module. Any change of these values requires a reset (or power cycle) of
the gateway module before it actually assumes these new values. By using the
standard configuration files for the gateways, the robot controller will automatically
issue a reset command to activate the modified configuration.
6 Boards and units
6.2.3 DSQC 377A and DSQC 377B, Queue tracking units
Description
The encoder units DSQC 377A and DSQC 377B provides connection for one
encoder and one digital input (synchronization switch), and includes queue tracking
functions.
Usage
The encoder unit is normally used for installation on a conveyor to enable the robot
programs to synchronize to the motion (position) of the conveyor.
The digital input is used for synchronization switch (also called sync signal), which
means conveyor synchronization point.
Illustration of DSQC 377A/B

The figure below shows the DSQC 377A/B board:
xx0400000751

6 Boards and units
Continued
Parts
Item Description
See the section Connector X3 on page 68 for connection tables.
X5 DeciceNet Lean connector
See the section Connector X5 on page 69
X20 Conveyor connection
See the section Connector X20 on page 69 for connection tables.
Facts, DSQC 377A/B

Technical data
No. of encoder inputs 1

No. of digital inputs 1 (24 VDC)
Supply voltage 24 VDC
Supply source 24 V I/O or external supply
SW connections Support for the polled connection.
For descriptions of the different types of I/O
connections, see I/O messages - connection
types on page 16.
Baud rate 500 Kbps
Also see Product specification - Controller IRC5 with FlexPendant.

6 Boards and units
Continued
Encoder connections
The wiring diagram in the figure below shows how to connect the encoder and
sync signal switch to the encoder unit. As can be seen from the illustration, the
encoder is supplied with 24 VDC and 0 V. The encoder has two channels. The main
unit uses quadrature decoding to compute position and direction information.
xx0100000234
AA 24 V I/O or external supply

AB 0 V I/O or external supply
AC Encoder
AD Sync switch
AE 10-16 not used
AF Encoder interface unit
AG Galvanic isolation
Connector X3
xx0100000221

NC 2 Not connected

6 Boards and units
Continued

NC 4 Not connected
+ 24 VDC 5 Supply voltage + 24 VDC
Connector X5
xx0100000244

Connector X20
xx0100000235
X20 is the encoder and digital input connector.

The following table shows the connections to connector X20:
Signal name X20 pin
24 VDC supply 1
0V 2
Encoder 1 - 24VDC 3
Encoder 1 - 0V 4
Encoder 1 - Phase A 5
Encoder 1 - Phase B 6
Digital input 1 - 24 VDC 7
Digital input 1 - 0 V 8
Digital input 1 - Signal 9
Not used 10
Not used 11
Not used 12
Not used 13
Not used 14
Not used 15
Not used 16

6 Boards and units
Continued
Board specific LEDs

The table below shows the significance of the LEDs on the board. For location of
the LEDs see Illustration of DSQC 377A/B on page 66.

POWER, 24 VDC Green Indicates that a supply voltage is present, and has a
level above 12 VDC.
If there is no light, check that voltage is present on
power unit and in connector X20. If not, check cables
and connectors.
If power is applied to the unit but it does not work,
replace the unit.
NS/MS Green/red Network and module status LEDs. See section Devi-
ceNet Lean Bus and I/O board status LED description
on page 51.
CAN Tx/CAN Rx Green/red See section DeviceNet Lean Bus and I/O board status
LED description on page 51.
ENC 1A/1B Green Indicates phase 1 and 2 from encoder. Flashes at each
Encoder pulse. At frequencies higher than a few Hz,
flashing can no longer be observed (light will appear
weaker).
If there is no light, there is an error due to one or more
of the following reasons:
• Faulty power supply for input circuit (internal
or external).
• Defective input circuit on board.
• Short circuit or broken wire in external wiring
or connectors.
• Internal error in unit.
Constant light indicates constant high level on input
and vice versa.
No light on one LED indicates fault in one encoder
phase.
DIGIN1 Green Lit when digital input is active.
The input is used for external start signal/conveyor
synchronization point.
If there is no light, there is an error due to one or more
of the following reasons:
• Faulty power supply for input circuit (internal
or external).
• Faulty limit switch, photocell etc.
• Short circuit or broken wire in external wiring
or connectors.
• Defective input circuit on board.
ENC 2A/2B Not used.
DIGIN2 Not used.

6 Boards and units
Continued
Input map
The figure below shows the input mapping.
Note
Pay attention to the order of the bits for the analog signals.
en0400000816
Note
The signals CntFromEnc1, CntFromEnc2, and ScaleEncPulse are dependent on

the signal PosInJobQ (bit 42 in the output map). DSQC 377-mode is obtained by
setting the output signal to 1, and DSQC 354-mode is obtained by setting the
output signal to 0.
Generally PosInJobQ concerns only the queue tracking mode. All signals on the
DSQC 377 are available even in DSQC 354-mode (c1PosInJobQ=0). The only thing
c1PosInJObQ disables, is that the object position is not sent to the main controller.

6 Boards and units
Continued
Following table specifies the input signals.

Signal name Type Bit Description
Position AI 0-31 Position in meters of the first object in the queue.
Accuracy: 0.1 mm
Speed AI 32-63 Speed of the conveyor in m/s.
Resolution: 10 µm/s
ObjectsInQ GI 64-71 Number of objects in queue (0-255).
Objects that have entered the queue (passed the
sync switch) but have not left the queue (have be-
come connected or gone outside the start window).
CntFromEnc1 GI 72-87 Counter value from encoder to controller (Low Word).
The bit group is valid for DSQC 377-mode, i.e. when
PosInJobQ is set to 1.
CntFromEnc2 GI 88-103 Counter value from encoder to controller (High Word).
The bit group is valid for DSQC 377-mode, i.e. when
Connected DI 104 Set when an object is being tracked.
NullSpeed DI 105 Set when the conveyor is stopped.
Ready DI 106 Internal handshake signal (toggled).
PassStw DI 107 Set when an object has gone outside the start window
or has fallen off the conveyor.
NewObjStrobe DI 108 New position from the encoder node to enter the job
queue.
The bit is valid for DSQC 377-mode, i.e. when PosIn-
JobQ is set to 1.
EncSelected DI 109 Indicates which encoder is active.
0 = EncA (must be 0)
JobQ is set to 1.
EncAFault DI 110 Encoder A is faulty.
JobQ is set to 1.
N.U. 111 Not used.
Simulating DI 112 Module is in simulated mode, i.e. Speed and
Position are simulated rather than taken from the
actual encoder.
JobQ is set to 1.
DirOfTravel DI 113 Indicates the direction of the conveyor.
0 = Backward
1 = Forward
ScaleEncPulse DI 114 The encoder pulse scaled down by the factor given
by the command ScalingFactor.
PowerUpStatus DI 115 Indicates how the last shutdown was made.
0 = Abnormal
1 = Normal
N.U. 116-119 Not used.

6 Boards and units
Continued

TimeStamp GI 120-151 Holds the time when following signals were last
sampled:
• Position
• Speed
• Connected
• NullSpeed
Output map
The following figure shows the output signals mapping.
en0400000817
Note
The signals CntToEnc1, CntToEnc2, and CntToEncStr are dependent on the

signal PosInJobQ (bit 42 in the output map). DSQC 377-mode is obtained by
setting the signal to 1, and DSQC 354-mode is obtained by setting the signal to
0.
Generally PosInJobQ concerns only the queue tracking mode. All signals on the
DSQC 377 are available even in DSQC 354 mode (c1PosInJobQ=0). The only thing
c1PosInJObQ disables, is that the object position is not sent to the main controller.
Following table specifies the output signals.
WaitWObj DO 0 Set when the robot is waiting for an object to enter
the start window.
DropWObj DO 1 Drop and disconnect the currently tracked object.
The object is removed from the queue.
Rem1PObj DO 2 Remove first pending object from the queue. (If
an object is connected it is not removed.)
RemAllPObj DO 3 Remove all pending objects in the queue. (If an
object is connected it is not removed.)

6 Boards and units
Continued

EncSelect DO 4 Select encoder:
0=EncA (must be 0)
1=EncB, not used
SoftSyncSig DO 5 Soft sync-signal
This signal can be used instead of a physical
signal connected to Digital input 1 of the module.
N.U. 6 Not used.
SimMode DO 7 If set this signal set the module in simulation mode
(simulate Position and Speed instead of using the
encoder values).
The bit is valid for DSQC 377-mode, i.e. when
CntToEnc1 GO 8-23 Counter value from controller to encoder (Low
Word).
The bit group is valid for DSQC 377-mode, i.e.
when PosInJobQ is set to 1.
CntToEnc2 GO 24-39 Counter value from controller to encoder (High
Word).
The bit group is valid for DSQC 377-mode, i.e.
when PosInJobQ is set to 1.
CntToEncStr DO 40 Indication to module that the "CntToEncX" signals
contain valid values.
ForceJob DO 41 Run this job even if checkpoint fails (always
set/reset together with the CntToEncStr signal).
PosInJobQ DO 42 Set if the module shall send encoder values to
the controller instead of handling the queue itself.
0=Queue tracking disabled (DSQC 354-mode)
1=Queue tracking enabled
N.U. 43-47 Not used.
For detailed information on using the DSQC 377A/B in an application refer to
Application manual - Motion coordination and supervision.
NOTE!
If anotherDeviceNet Lean Master Addressthan the default value (2) is used, see
detailed information about DeviceNet Lean Master Address on page 39.
6 Boards and units
6.2.4 DSQC 378A and DSQC 378B, DeviceNet Lean/CCLink gateways
Description
The DSQC 378A and DSQC 378B units offer an interface between the CCLink bus
and the DeviceNet Lean bus as used on the robot system. The units are regarded
as intelligent devices by the CCLink PLC.
Communication concept
The CCLink can communicate with a number of external devices, depending on
the number of stations occupied by each unit. There is a maximum of 64 stations,
each capable of up to 32 I/O points and 8 points word data. The units are setup to
have between 1 and 4 occupied stations each. The CCLink unit is connected to
the CCLink PLC by a twisted pair cable with shield.
The CCLink inputs and outputs are accessible in the robot controller as general
inputs and outputs.
Following figure is an outline diagram of the communication concept:
xx0400000826
A Master PLC (customer equipment)

B Robot 1 controller
C Robot 2 controller
D Robot 3 controller
E DSQC 378A/B controller
F Connector X8 controller
Note
The CCLink cable must be terminated with termination resistors (110 ohm) in
both ends.

6 Boards and units
Continued
Illustration of DSQC 378A and DSQC 378B

The following figures show the DSQC 378A and DSQC 378B boards:
xx0400000825
DSQC 378A
xx1000001343
DSQC 378B
Parts
Item Description
X5 DeviceNet Lean connector
X8 CCLink network connector
Facts, DSQC 378A/B

Technical data

• Polled
• Change-Of-State
• Change-Of-State with acknowledge suppression
For descriptions of the different types of I/O connections,
see I/O messages - connection types on page 16.
Baud rate 500 Kbps

6 Boards and units
Continued
Unit setup
The unit must be given an ID address, and setup parameters must be entered into
the system.
Connector X3
xx0100000221

NC 2 Not connected
NC 4 Not connected
+ 24 VDC 5 Supply voltage +24 VDC
Connector X5
xx0100000244

Connector X8
xx020000

SLD 1 Shield, connected to power GND/Housing
DA 2 Signal line, A
DG 3 Digital GND, connected to signal GND
DB 4 Signal line, B
NC 5 Not connected
FG 6 Power GND, same as SLD

6 Boards and units
Continued
Board specific LEDs

The designations refer to LEDs shown in the figure in section Illustration of DSQC
378A and DSQC 378B on page 76.

POWER-24 VDC Green Indicates that a supply voltage is present, and has a level
above 12 VDC.
unit.
RUN (ON: H output) ON: Receive both refresh and polling signals or just the
refresh signal normally, after joining the network.
See figure below this table.
OFF:
1 Before joining the network.
2 Unable to detect carriers neither for channel 1 or
2.
3 Time out.
4 Resetting hardware.
RDLED (ON: L output) ON: Detecting the carrier for channel 1 or 2. Check cables
(DSQC 378A) and terminator.
RD OFF:
1 Unable to detect carriers neither for channel 1 or
(DSQC 378B) 2.
SDLED (ON: L output) ON: During transmission to During transmission + (0.41
(DSQC 378A) ms * 2(n-1))
SD n = 1-8
(DSQC 378B) Check setup in both robot controller and PLC.
OFF:
1 Other than listed under ON.
ERRL (ON: L output) ON:
(DSQC 378A) 1 CRC error. Check setup in both robot controller and
PLC.
ERR
2 Switch setting error during cancellation of reset (0,
(DSQC 378B) 65, or greater is set including the number of occu-
pied stations).
3 Baud rate switch setting error during cancellation
of reset (5 or greater).
OFF:
1 Normal communication.
BLINKING: The switch setting has been changed from
the setting at the reset cancellation (blinks for 0.4 sec.).

6 Boards and units
Continued
The following figure describes the LED sequences.
Note
Read the figure line by line. The Operation column describes the operation status
depending on the status of the four LEDs.
ERRL/ SDLED/ RDLED/

ERR SD RD
en0400000827
General LEDs

6 Boards and units
Continued
Input map
The figure below shows the digital input mapping.
en0400000823
m The size in bytes (8 bit) that the unit has been configured to, using the Fieldbus
Command TypesOccStat and BasicIO. See table in section Fieldbus Command
Types on page 81.
CCLink The status of the CCLink communication can be monitored using the signal
Status CCLink Status. When CCLink Status is set it indicates that the CCLink commu-
nication is OK.
N.U. Not used. The signal position is reserved for future use and shall not be used.
The CCLink Status signal is located at the last bit of the last byte of the input area.
For example, if OccStat is set to 2 and BasicIO is set to 0 there are 6 bytes of
input data (bit 0-47), and the CCLink Status is located in the last bit of the 7th byte
i.e. bit 55.
Output map
The figure below shows the digital output mapping.
en0400000824
m The size in bytes (8 bit) that the unit has been configured to, using the Fieldbus
Command TypesOccStat and BasicIO. See table in section Fieldbus Command
Types on page 81.

6 Boards and units
Continued
Fieldbus Command Types

Following table gives necessary data on the Fieldbus Command Types for
DeviceNet Lean communication.
Fieldbus Path Allowed values Usage
Command (DeviceNet
Type Lean para-
meter)
StationNo 6, 20 68 24 1-64 Determines the address of the
01 30 01, C6, DSQC 378A/B on the CCLink con-
1 nection.
BaudRate 6, 20 68 24 0-4 according to: Determines the communication
01 30 02, C6, 0 = 156 kbps speed on the CCLink bus.
1
1 = 625 kbps
2 = 2.5 Mbps
3 = 5 Mbps
4 = 10 Mbps
OccStat 6, 20 68 24 1-4 according to: Occupied stations. Determines the
01 30 03, C6, 1 = 1 occupied station size of the input and output data
1 areas of the CCLink module. The
2 = 2 occupied stations size, expressed in bits and bytes,
3 = 3 occupied stations also depends on the value of
4 = 4 occupied stations BasicIO. See table in section Size
of input/output data areas on
page 81.
BasicIO 6, 20 68 24 0-1 according to: Determines the type of I/O data to
01 30 04, C6, 0 = Bit I/O only be exchanged with the CCLink
1 master. This also affects the size
1 = Bit I/O and word I/O of the input and output data areas
of the CCLink module. The size,
expressed in bits and bytes, also
depends on the value of OccStat.
See table in section Size of in-
put/output data areas on page 81.
Size of input/output data areas

The size of the input/output data areas expressed in bits and bytes are determined
by the values of the Fieldbus Command TypesOccStat and BasicIO according
to following table:
Value of OccStat No. of bits No. of bytes No. of bits when No. of bytes
when BasicIO when BasicIO = BasicIO = 1 when BasicIO =
=0 0 1
1 16 2 80 10
2 48 6 176 22
3 80 10 272 34
4 112 14 368 46

6 Boards and units
Continued
The data areas of the gateway are byte-consistent, which means that signals
within the same byte (group of 8 bits) are handled as one piece and are guaranteed
to belong to the same bus-cycle. Normally this does not cause any problems, but
if a signal group has been defined across the byte boundaries as for example, a
16 bit group signal this needs to be considered. It is important to make sure that
undesired behaviors are avoided in the case when the group signal is updated at
exactly the same time as the gateway is being polled/scanned by one of the masters.
The values for the Fieldbus Command Types are stored in flash memory of the
gateway module. Any change of these values requires a reset (or power cycle) of
the gateway module before it actually assumes these new values. By using the
standard configuration files for the gateways, the robot controller will automatically
issue a reset command to activate the modified configuration.
6 Boards and units
6.2.5 DSQC 651, AD combi I/O
Description
The DSQC 651 is a circuit board normally mounted inside the robot controller. As
an option, it may also be mounted in an external I/O module.
The combi I/O unit handles digital and analog communication between the robot
system and any external systems.
Illustration
The following figure shows the DSQC 651 unit:
xx0600002853

6 Boards and units
Continued
Parts
The following table refers to the illustration in section Illustration on page 83.
Item Description
A Status LEDs
X1 Digital outputs
See Connector X1 on page 86 for connection table!
X3 Digital inputs
X5 DeviceNet connector
See Connector X5 on page 87!
X6 Analog outputs
Facts, DSQC 651

This section specifies a number of facts applicable to the DSQC 651. Unless stated
otherwise, the data applies to the standard version.
Technical data
Digital inputs Number of digital inputs: 8

Rated voltage:
• 24 VDC
Input voltage range:
• "1" ---> 15 to 35 V
• "0" ---> -35 to 5 V
Input current at rated voltage:
• Typical ---> 5 mA (approx)
Switch-over level:
• Typical --->12V (approx)
Delay (with default filtering):
• Typical --->5 ms
• minimum --->4 ms
• maximum --->6ms
Power dissipation or channel at rated voltage:
• Typical --->150 mW (approx)
Digital outputs Number of digital outputs: 8
Short-circuit protected outputs with current limitation and thermal
overload protection. Miswiring protection +35V to – 35V connected
to output.
Rated voltage:
• 24 VDC
Voltage drop over output:
• maximum ---> 0.5V with 500mA
Rated output current:
• 500 mA/channel
Current limit:
• Typical ---> 1.4A
Leakage current:
• maximum ---> 0.1 mA
Delay output:
• maximum ---> 0.5 ms

6 Boards and units
Continued
Analog outputs Number of analog outputs: 2 (galvanically isolated from the controller
electronics)
Short-circuit protected outputs
Output voltage:
• 0-10 VDC
Load Impedance:
• min 2 kohm
Resolution:
• 12 bits
Inaccuracy (Over temperature range + 5 C to +70 C):
• maximum 25 cmV (0.5 % of full scale)
Power supply, digital, Integrated power supply in controller.
and analog I/O Separate 24 VDC power, supplied by customer in non-ABB external
I/O unit.
External supply for Reverse polarity protection.
digital outputs Voltage:
• 19 - 35 V
Analog supply Analog supply +16/-8V internally on the board.
From the DeviceNet cable 24 Volt. DC/DC converter“ flyback”
Isolation voltage:
• 500 VDC
Voltage:
• 16 V / -8V
Current consumption:
• 40mA (approx)
• POLLED
• Change-Of-State
• Change-Of-State with acknowledge suppression (not suppor-
ted by DeviceNet Lean)
• Cyclic (not supported by DeviceNet Lean)
• Cyclic with acknowledge suppression (not supported by
DeviceNet Lean)
Unit setup
The unit must be given an address, and setup parameters must be entered into
the system.

6 Boards and units
Continued
Connector X1
If supervision of the supply voltage is required, a bridge connection can be made
to an optional digital input. This also requires the particular unit to have a separate
power supply, in order to be able to monitor the regular power supply voltage.
The supervision instruction must be written in the RAPID program.
xx0200000264

Unit function Signal name X1 pin
Optically isolated output Out ch 1 1
Optically isolated output 0 V for outputs 9
Connector X3
xx0200000264

Optically isolated input In ch 1 1
Optically isolated input 0 V for inputs 9
Optically isolated input Not used 10

6 Boards and units
Continued
The input current is 5.5 mA (at 24 V) on the digital inputs. A capacitor connected
to ground, to prevent disturbances, causes a short rush of current when setting
the input.
When connecting outputs, sensitive to pre-oscillation current, a series resistor (100
Ohms) may be used.
Connector X5
xx0100000244
Connector X5 is a DeviceNet connector specified in section Setting DeviceNet

Connector X6
xx0200000265

Signal name X6 pin Explanation
- 1 No connection
- 2 No connection
- 3 No connection
0 VA 4 0 V for Out channels 1-2
AN_OCH1 5 Out channels 1
AN_OCH2 6 Out channels 2
LEDs
Input map
The following figure shows the digital input mapping.
xx0300000613

6 Boards and units
Continued
Output map
The following figure shows the analog and digital output mapping.
Note
Pay attention to the order of the bits for the analog signals.
en0600002851
LSB The least significant bit of the binary number representing the analog signal.
MSB The most significant bit of the binary number representing the analog signal.
Numerical format
The numerical representation of the values are described in the following table:
Signal Analog physical value Hexadecimal number Bit value
AO 1-AO 2 +10 V 0xFFFF MaxBitVal = 65535
AO 1-AO 2 +5 V 0x7FFF
AO 1-AO 2 0V 0x0 MinBitVal = 0
Electronic Data Sheet

The Electrocic Data Sheet for the DeviceNet Master/Slave units, matching the
configuration of DSQC 651 can be obtained from the RobotWare DVD, PC, or IRC5
controller. The EDS file, dsqc651.eds, for DSQC 651 is available at one of the
following locations:
• On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFIBUS\EDS\
• On the PC where the RobotWare is installed: ...\ABB Industrial IT\
RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\EDS\
• On the IRC5 Controller: \hd0a\<RobotWare_xx.xx.xxxx>\utility\service\EDS\

6 Boards and units
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The following table shows the physical type of the signals, resolution, and so on.
Signal Type Range Resolution Encoding type
AO 1 Voltage 0 V .. +10 V 12 bit Unsigned
AO 2 Voltage 0 V .. +10 V 12 bit Unsigned
6 Boards and units
6.2.6 DSQC 652, Digital I/O
Description
The unit handles digital input and output signals between the robot system and
any external systems.
Illustration
The following figure shows the DSQC 652 board:
xx0600002855

6 Boards and units
Continued
Parts
Item Description
A Status LEDs
X1 Digital outputs
See section Connector X1 on page 93 for connection table!
X2 Digital outputs
See Connector X2 on page 93for connection table!
X3 Digital inputs
X4 Digital inputs
Facts, DSQC 652

Technical data

Rated voltage:
• 24 VDC
• "1" ---> 15 to 35 V
• "0" ---> -35 to 5 V
Switch-over level:
• maximum --->6ms

6 Boards and units
Continued
Digital outputs Number of digital inputs: 16

Short-circuit protected outputs with current limitation and
thermal overload protection. Miswiring protection +35V to –
35V connected to output.
Rated voltage:
• 24 VDC
Voltage drop over output:
• maximum ---> 0.5V with 500mA
Rated output current:
• 500 mA/channel
Current limit:
• Typical ---> 1.4A
Leakage current:
• maximum ---> 0.1 mA
Delay output:
• maximum ---> 0.5 ms
Supply source 24 V I/O or separate external supply
External supply for digital Voltage:
outputs • 19 - 35 V
Reverse polarity protection.
• Polled
• Change-Of-State
• Change-Of-State with acknowledge suppression (not
supported by DeviceNet Lean)
• Cyclic with acknowledge suppression (not supported
by DeviceNet Lean)
Unit setup
the system.

6 Boards and units
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Connector X1
If supply voltage supervision is required, a bridge connection can be made to an
optional digital input. The supervision instruction must be written in the RAPID
program.
xx0200000264

Connector X2
If supply voltage supervision is required, a bridge connection can be made to an
optional digital input. The supervision instruction must be written in the RAPID
program.
xx0200000264


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Connector X3
xx0200000264

the input.
Ohms) may be used.
Connector X4
xx0200000264


6 Boards and units
Continued

the input.
ohms) may be used.
Connector X5
xx0100000244

LEDs
Input map
xx0300000613
Output map
The following figure shows the digital output mapping.
en0400000716

6 Boards and units
Continued

6 Boards and units
6.2.7 DSQC 653, Digital I/O with relay outputs
Description
The unit handles input and output signals between the robot system and any
external systems through relay outputs and digital inputs.
Illustration
The following figure shows the DSQC 653 board:
xx0600002857

6 Boards and units
Continued
Parts
Item Description
A Status LEDs
X1 Relay outputs
See section Connector X1 on page 101 for connection table!
X3 Digital inputs
See section Connector X3 on page 102for connection table!
Facts, DSQC 653

Technical data

Rated voltage:
• 24 VDC
• "1" ---> 15 to 35 V
• "0" ---> -35 to 5 V
Switch-over level:
• maximum --->6ms
Relay outputs Number of relay outputs: 8
Single pole with one make contact (normally open)
Rated voltage
• 24 VDC/120 VAC rms
Rated output current
• 2 A/channel
Output load
• minimum 2.5 VA/channel
Delay time on board
• Typical - 6 ms (make contact), 7 ms (break contact)
Supply source 24 V I/O or separate external supply
External supply for Voltage
relay outputs • 19 - 35 VDC, 24 - 140 VAC rms

6 Boards and units
Continued

• Polled
• Change-Of-State
• Change-Of-State with acknowledge suppression (not supported
by DeviceNet Lean)
• Cyclic with acknowledge suppression (not supported by Devi-
ceNet Lean)
Unit setup
the system.
Connecting digital outputs and digital inputs

The following illustration shows how to connect the relay outputs for the connector
X1. When a bit is set to 1, the relay output will be activated.
en0500001565

6 Boards and units
Continued
The following illustration shows how to connect the digital inputs for the connector
X3.
en0500001566
Connector X1
xx0100000235

Out ch 1a 1 Contact, relay 1
Out ch 1b 2 Contact, relay 1

6 Boards and units
Continued

Connector X3
xx0100000235

Signal name X3 pin
In ch 1 1
In ch 2 2
In ch 3 3
In ch 4 4
In ch 5 5
In ch 6 6
In ch 7 7
In ch 8 8
0 v for inputs 9
Not used 10
Not used 11
Not used 12
Not used 13
Not used 14
Not used 15
Not used 16
the input.
Ohms) may be used.
Connector X5
xx0100000244


6 Boards and units
Continued
LEDs
Input map
en0600002850
Output map
The following figure shows the digital output mapping.
en0600002849


Index
Index
A DeviceNet/CCLink gateway, 75
addressing range, 31 DeviceNet/INTERBUS gateway, 59
B I
bus off I/O messages
causes, 49 change-of-state connection, 16
consequences, 49 I/O units, 31
remedy, 49 allowed I/O units, 54
bus scan, 50 distributed I/O units, 58
DSQC 351B, 59
C DSQC 377B, 66
cable grounding. See shield grounding., 22 DSQC 378B, 75
cable length, 25 DSQC 651, 83
maximum cable length, 54 DSQC 652, 90
CCLink gateway, 75 DSQC 653, 98
CIP routing, 29 INTERBUS gateway, 59
coil neutralization, 55
Connector ID, 42 L
connector X5, 56 LED, 51
controller software, 27 common LEDs, 51
DeviceNet Rx, 52
D DeviceNet Tx, 52
DeviceNet, 15 module status, 20, 51
bus ID, 56 network status, 20, 52
DeviceNet/CCLink gateway, 75 specific LEDs, 51
DeviceNet/INTERBUS gateway, 59 test run, 53
DeviceNet Lean, 15
addressing range, 31 Q
bus ID, 56 queue tracking unit, 66
configuration, 31
connector, 20, 23 S
PCI card, 17 safety, 13
predefined bus, 31 shield grounding, 22
software configuration, 27 signals, adding, 35
DeviceNet Lean cable, 25 system parameters
cable type, 25 DeviceNet Lean Address, 39, 48
incoming, 24 Product Code, 9, 37, 44
outgoing, 24 Production Inhibit Time, 9, 37, 45
distributed I/O units, 58
drop cable, 17 T
drop line, 25 termination resistor, 24, 54
DSQC 351B, 59 topic I/O
DSQC 377B, 66 Bus, 31
DSQC 378B, 75 Unit, 31
DSQC 572, 16–17 Unit Type, 31
installation, 19 topic I/O type
DSQC 651, 58, 83 Bus, 37
DSQC 652, 58, 90 Unit, 37
DSQC 653, 58, 98 Unit Type, 38
trouble shooting, bus off, 49
G trunk line, 25
gateway

Contact us
ABB AB
3HAC034095-001, Rev F, en
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Discrete Automation and Motion
Box 265
N-4349 BRYNE, Norway
Telephone: +47 51489000
ABB Engineering (Shanghai) Ltd.

5 Lane 369, ChuangYe Road
KangQiao Town, PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
www.abb.com/robotics

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6 Boards and units 51

Who should read this manual?

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Product documentation, M2004

Technical reference manuals

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An application manual generally contains information about:

What is DeviceNet Lean?

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Communication protocol connections

I/O messages - connection types

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1.2 Definition of I/O units

Installation of DSQC 572

Description Art. no. Note Pos.

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Illustration, DSQC 572

A Module Status LED

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DeviceNet Lean connector

Network Status (NS) LED:

2.2.1 Shield grounding and power

2.2.2 Connection of the DeviceNet Lean bus

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A Incoming DeviceNet Lean bus cable

Termination resistors in DeviceNet Lean bus

2.2.3 Selecting cables

DeviceNet Lean cable

Illustration of trunk line and drop lines

PC software for configuration

Explict Messaging services

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Following is a configuration file example that sends two Fieldbus Commands at

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Data Type Description Data type length

The -DL_Service parameter describes what type of operation that should be

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3.2 DeviceNet Lean configuration

About the I/O units

Predefined Unit Types

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I/O units on the DeviceNet Lean bus.

Workflow - Manual configuration of units after a network scan operation

Workflow - Automatic configuration

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Edit unit type

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Add I/O unit to the DeviceNet Lean master

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About the system parameters

DeviceNet Lean system parameters

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Parameter For more information, see ...