Manual de Aplicação EtherNet-IP Scanner-Adapter RW 6.08

ROBOTICS
Application manual
EtherNet/IP Scanner/Adapter
Trace back information:
Workspace R18-2 version a11
Checked in 2018-10-11
Skribenta version 5.3.008
Application manual
RobotWare 6.08
Document ID: 3HAC050998-001

Revision: G
© Copyright 2008-2018 ABB. All rights reserved.

Specifications subject to change without notice.
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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation .................................................................................................................... 9
Safety ................................................................................................................................................ 11
Network security ............................................................................................................................... 12
Terminology ...................................................................................................................................... 13
1 Introduction 15
1.1 What is EtherNet/IP? .......................................................................................... 15
1.2 EtherNet/IP for IRC5 .......................................................................................... 16
2 Hardware overview 17
2.1 Main computer .................................................................................................. 17
2.2 Ethernet switches .............................................................................................. 25
2.3 I/O devices ....................................................................................................... 26
3 Software overview 27
3.1 Information about the adapter device .................................................................... 27
3.2 Information about the internal scanner .................................................................. 29
4 Installing and configuring the internal adapter device 31

4.1 Recommended working procedure ....................................................................... 31
4.2 Configuring the EtherNet/IP network settings ......................................................... 32
4.3 Configuring the internal adapter device ................................................................. 33
4.4 Configuring the safe internal adapter device (CIP Safety) .......................................... 34
5 Installing and configuring the internal scanner 39

5.1 Recommended working procedure ....................................................................... 39
5.2 Creating and configuring the internal scanner ......................................................... 41
5.2.1 Using EDS files to create device templates .................................................. 43
5.3 Creating and configuring the safe internal scanner (CIP Safety) ................................. 44
5.4 Explicit messaging services ................................................................................ 50
5.4.1 Information ............................................................................................ 50
5.4.2 EtherNet/IP command at startup ................................................................ 53
5.4.3 EtherNet/IP command via RAPID ............................................................... 54
5.5 QuickConnect ................................................................................................... 56
5.6 Communication between two IRC5 controllers ........................................................ 57
6 System parameters 59
6.1 Introduction ...................................................................................................... 59
6.1.1 EtherNet/IP system parameters ................................................................. 60
6.2 Type Industrial Network ...................................................................................... 63
6.2.1 Connection ............................................................................................ 63
6.3 Type Ethernet/IP Device ..................................................................................... 64
6.3.1 Major Revision ........................................................................................ 64
6.3.2 Minor Revision ........................................................................................ 65
6.3.3 Address ................................................................................................. 66
6.3.4 Vendor ID .............................................................................................. 67
6.3.5 Device Type ........................................................................................... 68
6.3.6 Product Code ......................................................................................... 69
6.3.7 QuickConnect ......................................................................................... 70
6.3.8 Safe Device ............................................................................................ 72
6.3.9 Standard Connection ............................................................................... 73
6.3.10 Safe Output Connection ........................................................................... 74
6.3.11 Safe Intput Connection ............................................................................. 75
6.3.12 Output Assembly .................................................................................... 76
Application manual - EtherNet/IP Scanner/Adapter 5

3HAC050998-001 Revision: G
Table of contents
6.3.13 Input Assembly ....................................................................................... 77

6.3.14 Output Size ............................................................................................ 78
6.3.15 Input Size .............................................................................................. 79
6.3.16 Configuration Assembly ........................................................................... 80
6.3.17 Configuration Size ................................................................................... 81
6.3.18 Configuration Data .................................................................................. 82
6.3.19 Ownership ............................................................................................. 83
6.3.20 Input Connection Type ............................................................................. 84
6.3.21 Connection Priority .................................................................................. 85
6.3.22 Output RPI ............................................................................................. 86
6.3.23 Input RPI ............................................................................................... 87
6.3.24 Connection Timeout Multiplier ................................................................... 88
6.4 EtherNet/IP IO Connection .................................................................................. 89
6.4.1 Device Label .......................................................................................... 89
6.4.2 Output Assembly .................................................................................... 90
6.4.3 Input Assembly ....................................................................................... 91
6.4.4 Configuration Assembly ........................................................................... 92
6.4.5 Output Size ............................................................................................ 93
6.4.6 Input Size .............................................................................................. 94
6.4.7 Output RPI ............................................................................................. 95
6.4.8 Input RPI ............................................................................................... 96
6.4.9 Data Direction ......................................................................................... 97
6.4.10 Safe Connection ..................................................................................... 98
6.4.11 Input Connection Type ............................................................................. 99
6.4.12 Connection Priority .................................................................................. 100
6.4.13 Configuration Size ................................................................................... 101
6.4.14 Configuration Data .................................................................................. 102
6.5 Type EtherNet/IP Command ................................................................................ 103
6.5.1 Path ...................................................................................................... 103
6.5.2 Service .................................................................................................. 104
7 Troubleshooting 105
7.1 Frequently asked questions ................................................................................ 105
7.2 Troubleshooting ................................................................................................ 107
Index 109
6 Application manual - EtherNet/IP Scanner/Adapter

Overview of this manual

About this manual
This manual describes the option EtherNet/IP Scanner/Adapter and contains
instructions for the configuration.
Usage
This manual should be used during installation and configuration of the EtherNet/IP
Scanner/Adapter and upgrading of the option EtherNet/IP Scanner/Adapter.
Who should read this manual?

This manual is intended for
• Personnel responsible for installations and configurations of industrial network
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 parameters and how to configure them
• RobotStudio
References
Document references
Reference Document ID
Operating manual - RobotStudio 3HAC032104-001
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Product manual - IRC5 3HAC047136-001
Technical reference manual - System parameters 3HAC050948-001
Technical reference manual - RAPID Instructions, Functions 3HAC050917-001
and Data types
Application manual - DeviceNet Master/Slave 3HAC050992-001
Application manual - Controller software IRC5 3HAC050798-001
Product specification - Controller IRC5 3HAC047400-001
Application manual - Functional safety and SafeMove2 3HAC052610-001
Other references
Reference Description
www.odva.org The web site of ODVA (Open DeviceNet Vendor
Association).
Continues on next page

Continued
Reference Description
EtherNet/IP TM Specification, Edition 1.2 ODVA Specification comprises two volumes from
the library: Volume One: Common Industrial Pro-
tocol (CIP) Specification and Volume Two: Ether-
Net/IP Adaptation of CIP.
Revisions
Revision Description
- First edition.
Released with RobotWare 6.0.
A Released with RobotWare 6.01.
• Minor corrections.
• Added information about different ways to connect to networks in
section Main computer on page 17.
• System parameters Address, Subnet Mask, and Gateway removed
from Industrial Network.
B Released with RobotWare 6.02.
• Updated the path to the template files, see Template I/O configura-
tion file on page 28.
C Released with RobotWare 6.04.
• Request Packet Interval parameter is replaced with O->T RPI and
T->O RPI.
• Information about local I/O devices in the device templates option.
D Released with RobotWare 6.05.
Added new parameter Connection Timeout Multiplier on page 88 in section
System Parameters.
E Released with RobotWare 6.06.
Minor correction.
F Released with RobotWare 6.07.
• Clarified the limitations for Isolated Lan 3 in the section Isolated
LAN 3 or LAN 3 as part of the private network on page 18.
• Added EtherNet/IP on different networks on page 18 to the Main
computer on page 17 section.
• Added information about CIP Safety, mainly described in the new
sections Configuring the safe internal adapter device (CIP Safety)
on page 34 and Creating and configuring the safe internal scanner
(CIP Safety) on page 44.
G Released with RobotWare 6.08.
Added CIP Safety scanner.

Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
All documents can be found via myABB Business Portal, www.myportal.abb.com.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.
Technical reference manuals

The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.

Continued
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.

Safety
Safety
Safety of personnel
When working inside the robot controller it is necessary to be aware of
voltage-related risks.
A danger of high voltage is associated with the following parts:
• Devices inside the controller, for example I/O devices, can be supplied with
power from an external source.
• The mains supply/mains switch.
• The power unit.
• The power supply unit for the computer system (230 VAC).
• The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
• The drive unit (700 VDC).
• The service outlets (115/230 VAC).
• The power supply unit for tools, or special power supply units for the
machining process.
• The external voltage connected to the controller remains live even when the
robot is disconnected from the mains.
• Additional connections.
Therefore, it is important that all safety regulations are followed when doing
mechanical and electrical installation work.
Safety regulations
Before beginning mechanical and/or electrical installations, ensure you are familiar
with the safety regulations described in Operating manual - General safety
information 1 .
1 This manual contains all safety instructions from the product manuals for the manipulators and the controllers.

Network security
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface, It is your sole responsibility to provide and continuously
ensure a secure connection between the product and to your network or any other
network (as the case may be). You shall establish and maintain any appropriate
measures (such as but not limited to the installation of firewalls, application of
authentication measures, encryption of data, installation of anti-virus programs,
etc) to protect the product, the network, its system and the interface against any
kind of security breaches, unauthorized access, interference, intrusion, leakage
and/or theft of data or information. ABB Ltd and its entities are not liable for
damages and/or losses related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.

Terminology
Terminology
Terms
Term Explanation
Adapter I/O device that is controlled by a scanner in an Ether-
net network. Previously, ABB documentation used the
term slave.
CIP Common Industrial Protocol.
Protocol that DeviceNet and EtherNet/IP are based
on.
Client See Scanner.
Some documents use the term client, whereas the
ABB documentation use the term Scanner for Ether-
Net/IP industrial network.
EDS Electronic Data Sheet.
EDS files contain the configuration details relevant to
CIP devices.
Explicit Messages An explicit message is a request or response oriented
communication with other devices. These messages
are mostly configuration data.
External adapter Describes an EtherNet/IP adapter on the EtherNet/IP
network connected to the IRC5 controller (not the robot
controller acting as EtherNet/IP adapter).
External scanner Describes an EtherNet/IP scanner on the EtherNet/IP
network connected to the IRC5 controller (not the robot
controller acting as EtherNet/IP scanner).
Implicit Messages Implicit messages are exchanged between I/O connec-
tions. No messaging protocol is contained within the
message data as with Explicit messaging. Implicit
messages can be point to point (unicast) or multicast
and are used to transmit application specific I/O data.
Internal adapter Describes when the robot controller acts as an Ether-
Net/IP adapter on the EtherNet/IP network.
Internal scanner Describes when the robot controller acts as an Ether-
Net/IP scanner on the EtherNet/IP network.
LAN Connector for Local Area Network.
M12 Ethernet contact with IP67 classification.
Master See term Scanner.
ODVA Open DeviceNet Vendor Association.
Organization for networks built on CIP, for example
DeviceNet and EtherNet/IP.
RJ45 Standard Ethernet contact.
Scanner Controls other I/O devices (adapters) in an Ethernet
network. Previously, ABB documentation used the
term Master.
Server See term Adapter.
Some documents use the term server, whereas the
ABB documentation use the term adapter for Ether-
Net/IP industrial network.

Terminology
Continued
Term Explanation
Slave See term Adapter.
WAN Port for Wide Area Network.

1 Introduction
1.1 What is EtherNet/IP?
1 Introduction
1.1 What is EtherNet/IP?
General
EtherNet/IP is a communications link to connect industrial devices.
The EtherNet/IP (EtherNet Industrial Protocol) is managed by ODVA (Open
DeviceNet Vendors Association). It is a well established industrial Ethernet
communication system with good real-time capabilities. EtherNet/IP extends
commercial off-the-shelf Ethernet to the CIP (Common Industrial Protocol)— the
same upper-layer protocol and object model found in DeviceNet and ControlNet.
CIP allows EtherNet/IP and DeviceNet system integrators and users to apply the
same objects and profiles for plug-and-play interoperability among devices from
multiple vendors and in multiple sub-nets. Combined, DeviceNet, ControlNet and
EtherNet/IP promote transparency from sensors to the enterprise software.
Examples of applications
Here are some examples of EtherNet/IP applications:
• Peer-to-peer data exchange where an EtherNet/IP product can produce and
consume messages
• Scanner/adapter operation defined as a proper subset of peer-to-peer
• An EtherNet/IP product can function as a client or server, or both
Standardization
EtherNet/IP is standardized according to the International standard IEC 61158 and
EtherNet/IP devices are certified by ODVA for interoperability and conformance.
Data
The following table specifies a number of EtherNet/IP data.
Network type Ethernet based Control Level network with CIP application protocol
Installation Standard Off the Shelf (COTS) Ethernet cables and connectors.
10/100/1000 Mbit/s TX Ethernet cable or fibre optics.
RJ45, M12 or fibre optic connectors.
Speed 10, 100, 1000 Mbit/s
EDS file
The configuration process is based on EDS files (Electronic Data Sheet) which are
required for each EtherNet/IP device. EDS files are provided by the device
manufacturers. It contains electronic descriptions of all relevant communication
parameters and objects of the EtherNet/IP device.

1 Introduction
1.2 EtherNet/IP for IRC5
1.2 EtherNet/IP for IRC5
General
The EtherNet/IP network is running on the IRC5 main computer and does not
require any additional hardware. EtherNet/IP as described in this manual requires
the main computer DSQC1000.
Options
With option EtherNet/IP Scanner/Adapter, the IRC5 controller can act as a scanner,
adapter, or both on the EtherNet/IP network.
Tip
If only EtherNet/IP adapter functionality is required, then the option EtherNet/IP

Anybus Adapter can also be used.
For more information see Application manual - EtherNet/IP Anybus Adapter.
Specification overview
Item Specification
Industrial Network type EtherNet/IP
Conform to EtherNet/IP protocol conformance test A-9
Data rate 10/100 Mbit
Connection type Cyclic
Connection size Maximum 509 input bytes and 505 output bytes
Transport Class Class 1 I/O implicit

2 Hardware overview
2.1 Main computer
2 Hardware overview
2.1 Main computer
Connections
The I/O network can be connected to one of the the Ethernet ports WAN, LAN 2,
or LAN 3 on the main computer.
The following figure illustrates where the Ethernet port connectors, are placed on
the main computer.
xx1500000391
Connector Label Description

X2 Service Port to the robot's private network. Intended to be left empty
so that service personnel can use it to connect to the com-
puter unit.
X3 LAN 1 Port to the robot's private network. Normally used to connect
the FlexPendant.
X4 LAN 2 Port to the robot's private network.
X5 LAN 3 By default LAN 3 is configured for an isolated LAN3 network.
Can be reconfigured to be a part of the private network.
X6 WAN Wide Area Network that can host a public industrial network.
Note
It is not supported to connect multiple ports of the main computer (X2 - X6) to
the same external switch, unless static VLAN isolation is applied on the external
switch.

2 Hardware overview
2.1 Main computer
Continued
Intended use of WAN and LAN ports

The WAN port is a public network interface to the controller, typically connected
to the factory network with a public IP address provided by the network
administrator.
The LAN ports are intended for connecting network based process equipment to
the controller, for example industrial networks, cameras, and welding equipment.
LAN 2 can only be used as a private network to the IRC5 controller.
Isolated LAN 3 or LAN 3 as part of the private network

The default configuration is that LAN 3 is configured as an isolated network. This
allows several robot controller to be connected to the same network, see EtherNet/IP
on dedicated industrial network on page 22.
Note
The isolated LAN 3 cannot be used to connect to any HMI device (RobotStudio,
Robot Web Services, or PC SDK client) since it does not support the protocol
needed for communication.
Robot Controller
Private Isolated Public

LAN 3
Service LAN 1 LAN 2 LAN 3 WAN
xx1500000393
An alternative configuration is that LAN 3 is part of the private network. The ports
Service, LAN 1, LAN 2, and LAN 3 then belong to the same network and act just
as different ports on the same switch. This is configured by changing the system
parameter Interface, in topic Communication and type Static VLAN, from "LAN 3"
to "LAN". See Technical reference manual - System parameters.
Robot Controller
Private Public
Service LAN 1 LAN 2 LAN 3 WAN
xx1500000394
EtherNet/IP on different networks

When the WAN port is used for connecting to an industrial network, the traffic
shares the same media as the factory network and will share bandwidth with other
non industrial network traffic.
For standard EtherNet/IP (not CIP Safety), it is possible to configure the internal
adapter on one port and configure the external I/O devices on any other port(s) or
same as the internal adapter.

2 Hardware overview
2.1 Main computer
Continued
The following figure illustrates the network when the internal adapter is configured
on the WAN port and I/O devices are configured on private, isolated and WAN
network:
Cell I/O
PLC
I/O I/O
Factory Network & Industrial Network
EtherNet/IP
Robot Controller 1 Robot Controller 2
Private Public Private Public
Service LAN 1 LAN 2 LAN 3 WAN Service LAN 1 LAN 2 LAN 3 WAN
Camera
xx1500000387
xx1600001373
Note
The illustration is an example to demonstrate the EtherNet/IP on different

networks.
The private network can contain I/O, sensors, etc. for the robot controller. However,
it is not possible to connect several robot controllers to the same private network.
By connecting to the isolated LAN 3 port it is possible to connect several robot
controllers to a dedicated industrial network.

2 Hardware overview
2.1 Main computer
Continued
One EtherNet/IP network connected to the robot controller

If EtherNet/IP is used on the public network (WAN port) without an Anybus adapter,
EtherNet/IP cannot be used on the private network. Equipment not using EtherNet/IP
(for example a camera) can be connected to the private network. To use EtherNet/IP
on both the public and private network, an Anybus adapter must be used. See
Using Anybus adapter to connect two EtherNet/IP networks on page 23.
EtherNet/IP on factory network

When the WAN port is used for connecting to an industrial network, the traffic
shares the same media as the factory network and will share bandwith with other
non industrial network traffic.
The following figure illustrates the network when connecting a scanner and an
adapter to the WAN port of the main computer:
Cell I/O
PLC
I/O I/O
Factory Network & Industrial Network
EtherNet/IP
Camera
xx1500000387

2 Hardware overview
2.1 Main computer
Continued
EtherNet/IP on private network

The private network can contain I/O, sensors, etc. for the robot controller. However,
it is not possible to connect several robot controllers to the same private network.
The following illustration shows two robot controllers with EtherNet/IP (and other
IP traffic) on each private network. The factory network cannot communicate with
the robot controller using EtherNet/IP.
Factory Network
EtherNet/IP EtherNet/IP
Switch Switch
Robot I/O
Robot I/O
I/O Camera
PLC I/O
I/O Sensor
I/O
xx1500000389

2 Hardware overview
2.1 Main computer
Continued
EtherNet/IP on dedicated industrial network

By connecting to the isolated LAN 3 port it is possible to connect several robot
controllers to a dedicated industrial network.
Factory Network

Isolated Public Isolated Public
Private LAN 3 Private LAN 3
Cell I/O
I/O I/O
Sensor Camera
Industrial Network EtherNet/IP
PLC
xx1500000388

2 Hardware overview
2.1 Main computer
Continued
Using Anybus adapter to connect two EtherNet/IP networks

EtherNet/IP on shared factory network and private network
To be able to use EtherNet/IP on both the public and the private network, an Anybus
adapter must be used. If the same factory network is used both for EtherNet/IP
communication and other communication, both the Anybus adapter and the WAN
port must be connected to the factory network. For information about the EtherNet/IP
Anybus adapter, see Application manual - EtherNet/IP Anybus Adapter.
PLC
Factory Network
Anybus Anybus
adapter adapter
I/O I/O I/O I/O
Robot I/O Robot I/O
xx1500000390

2 Hardware overview
2.1 Main computer
Continued
EtherNet/IP on dedicated industrial network

If the EtherNet/IP communication shall be separated from other Ethernet
communication, an Anybus adapter must be installed and connected to the public
EtherNet/IP industrial network and the WAN port connected to the factory network.
For information about the EtherNet/IP Anybus adapter, see Application
manual - EtherNet/IP Anybus Adapter.
PLC
EtherNet/IP
Industrial Network
Factory Network
FBA FBA
I/O I/O I/O I/O
Robot I/O Robot I/O
xx1500000392

2 Hardware overview
2.2 Ethernet switches
2.2 Ethernet switches
Prerequisites
It is recommended that switches used in the I/O network support Quality of Service
(QoS).
I/O devices mark their packets with a priority value. The priority value is used in
order to get better I/O data throughput and shorter delays on the network.
Switches and routers are then able to differentiate the I/O device's critical from the
other non-critical traffic. To do this, the switches and routers must support Quality
of Service.

2 Hardware overview
2.3 I/O devices
2.3 I/O devices
Limitations
It is possible to connect any type of EtherNet/IP compliant I/O device on the
EtherNet/IP network. All I/O devices should comply with the EtherNet/IP standard
and be conformance tested by ODVA. I/O devices may be mounted inside the IRC5
controller.

3 Software overview
3.1 Information about the adapter device
3 Software overview
General
To use the EtherNet/IP adapter device, the IRC5 controller must be installed with
the option 841-1 EtherNet/IP Scanner/Adapter.
The EtherNet/IP adapter device can be used to:
• connect a PLC to the IRC5 controller.
• connect the IRC5 controller to another IRC5 controller which acts as a
scanner.
Industrial Network
When the robot system is installed with the EtherNet/IP Scanner/Adapter option,
a predefined industrial network with the name EtherNetIP is created at system
startup.
Predefined internal adapter device

a predefined internal adapter device with the name EN_Internal_Device is created
at system startup. This internal device is used to define the internal adapter device
in the IRC5 controller, which will enable a PLC to connect to the IRC5 controller.
There can be only one internal adapter device defined in the IRC5 controller.
I/O device
The input and output map starts at bit 0.
EDS file
An Electronic Data Sheet file, EDS file, is available for the internal adapter device,
matching the configuration of the predefined EtherNet/IP Internal Adapter Device
EN_Internal_Device.
The EDS file, enip.eds, for the adapter device can be obtained from the RobotStudio
or the IRC5 controller.
• In the RobotWare installation folder in RobotStudio: ...\RobotPackages\
RobotWare_RPK_<version>\utility\service\EDS\
• On the IRC5 Controller: <SystemName>\PRODUCTS\
<RobotWare_xx.xx.xxxx>\utility\service\EDS\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder.

3 Software overview
Continued
Template I/O configuration file

A template I/O configuration file is available for the internal adapter device. The
file contains preconfigured names for all available inputs and outputs. The file can
be loaded to the controller, using RobotStudio or the FlexPendant, to facilitate and
speed up the configuration.
The I/O template configuration file, EN_Internal_Device.cfg, can be obtained from
the RobotStudio or the IRC5 controller.
• In the RobotWare installation folder in RobotStudio: ...\RobotPackages\
RobotWare_RPK_<version>\utility\service\ioconfig\EtherNetIP\
• On the IRC5 Controller: <SystemName>\PRODUCTS\
<RobotWare_xx.xx.xxxx>\utility\service\ioconfig\EtherNetIP\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder.
Assembly
The internal adapter device has the following assembly values.
Assembly Value
Output 112
Input 100
Configuration 0
Behavior
Cyclic I/O connection is supported and the size of the I/O connection is defined by
the predefined EtherNet/IP Internal Adapter Device, EN_Internal_Device.
Note
If the EtherNet/IP adapter device loses connection with its scanner, the configured
input signals are cleared (reset to zero). The output signals are kept and are
possible to change.
When the connection is re-established, the EtherNet/IP adapter device updates
the input and output signals.

3 Software overview
3.2 Information about the internal scanner
General
To use the EtherNet/IP internal scanner, the IRC5 controller must be installed with
the option 841-1 EtherNet/IP Scanner/Adapter.
The EtherNet/IP internal scanner can be used to:
• connect EtherNet/IP I/O devices to the IRC5 controller.
• connect the IRC5 controller to another IRC5 controller which acts as an
adapter.
Industrial Network
a predefined industrial network EtherNetIP is created at system startup.
Device Templates
There are predefined device templates available for the internal scanner. These
device templates can be used when defining a new I/O device by using the
Configuration Editor in RobotStudio or FlexPendant, see Creating and configuring
the internal scanner on page 41. Examples of present device templates are:
• ABB EtherNet/IP Adapter Device is used on the scanner side when connecting
to another IRC5 EtherNet/IP adapter.
• ABB EtherNet/IP Anybus Adapter Device is used on the scanner side to
connect to an IRC5 EtherNet/IP adapter using the EtherNet/IP Anybus Adapter
Device.
• ABB Robotics EtherNet/IP IO Device - 16DO/16DI is local IO device from
ABB.
• ABB Robotics EtherNet/IP IO Device - 16DI/16DO/8RO/8RI/4AI/16DI/16DO
is local IO device from ABB.
• Aros Hyperion - 16DO/16DI
Apart from the existing device templates listed above, you can create device
templates to define a new I/O device. For more information, refer Using EDS files
to create device templates on page 43.
Number of allowed I/O devices

A maximum number of 20 user defined I/O devices can be defined in the IRC5
system, for more information see Device Type of I/O System section inTechnical
reference manual - System parameters.
The following are counted as user defined I/O devices:
• All EtherNet/IP adapter devices connected to the IRC5 EtherNet/IP scanner.
• Simulated EtherNet/IP I/O devices.
Note
The internal adapter device is not counted as an user defined I/O device.

3 Software overview
Continued
It is possible to use ABB I/O devices or I/O devices from other vendors. Only the
EtherNet/IP Scanner/Adapter option is required to run I/O devices from other
vendors.
The input and output assemblies are used by the EtherNet/IP scanner to locate
the input and output data in the I/O device. The assembly values for different I/O
devices are available in the EDS file and in the User Manual. We recommend you
to refer the User Manual for the assembly values of the I/O device.
Connecting two IRC5 systems

When connecting two IRC5 systems, the internal adapter should be seen and
configured as any other ordinary device from the other IRC5 system, which is
acting as a scanner. See Communication between two IRC5 controllers on page 57.
The following picture illustrates how to use the predefined internal device
(EN_Internal_Device) and the device template ABB EtherNet/IP Adapter Device
(EN_Device).
xx1400001944

4 Installing and configuring the internal adapter device
4.1 Recommended working procedure

General
This section describes the recommended working procedure when installing and
configuring the EtherNet/IP adapter device. The working procedure helps to
understand the dependencies between the different steps.
When the IRC5 controller is connected to an external scanner, the IRC5 controller
acts as an ordinary adapter device on the EtherNet/IP network.
Basic steps
Use this procedure to install and configure an EtherNet/IP adapter device.
Action See
1 Use RobotStudio to configure the topic Technical reference manual - System paramet-
Communication. ers
2 Use RobotStudio to configure the Eth- Configuring the EtherNet/IP network settings
erNet/IP network settings. on page 32
3 Configure the adapter device in the Configuring the internal adapter device on
IRC5 controller using RobotStudio or page 33
the FlexPendant.

4.2 Configuring the EtherNet/IP network settings
4.2 Configuring the EtherNet/IP network settings
General
The following procedure describes how to change the EtherNet/IP network settings
using RobotStudio.
Industrial Network configuration

Use this procedure to configure the EtherNet/IP network settings in the IRC5
controller, using RobotStudio.
Action Note
1 Start RobotStudio and connect to the
IRC5 controller. Request write access.
2 Open the Configuration Editor and select For more information about the paramet-
I/O System. ers, see System parameters on page 59.
3 In the Type list click Industrial Network
and edit the parameter EtherNetIP.
Enter the parameter values for the indus-
trial network.
• Connection, select one previously
configured in IP Setting in topic
Communication.
• Identification Label, user defined.
Click OK.
xx1400001924
4 Restart the controller or continue with the Configuring the internal adapter device
next step of the configuration. on page 33
Note
Note that the adapter device and the internal scanner use the same Connection.
This means that the network settings are shared between the adapter and internal
scanner if the IRC5 controller acts as both on the EtherNet/IP network.
Note
Gateway is chosen from one of the configured instances of IP Route (see

Technical reference manual - System parameters). The gateway is matched with
the configured IP Setting pointed out by the Connection parameter for the
Industrial Network (see Connection on page 63). If the gateway is found to be
on the same network as defined by the IP Setting for the Industrial Network, it
is chosen.

4.3 Configuring the internal adapter device
4.3 Configuring the internal adapter device
Internal adapter device configuration

Use this procedure to configure the internal adapter device in the IRC5 controller,
using RobotStudio.
Action Note
3 In the Type list, click EtherNet/IP Internal
Device, right-click in the workspace on
the EN_Internal_Device item and select
Edit EtherNet/IP Internal Device.
Edit the parameter values, if applicable.
• Connected to Industrial Network,
shall be EtherNetIP.
• If the size needs to be changed,
change the default values for Con-
nection Input Size and Connection
Output Size to the desired size.
xx1400001925
Note
This step is optional.
Click OK.
4 In the Type list click Signal.
Add I/O signals for the internal adapter
device.
5 Restart the controller.

4.4 Configuring the safe internal adapter device (CIP Safety)
Prerequisites
The user is required to clear any pre-existing configuration from any safety device
before installing it onto a safety network.
Limitations
• The CIP Safety internal adapter does not support multicast connections.
• When configuring Requested Packet Interval (RPI) on the PLC, the value
must be larger or equal to 20 milliseconds.
• The size of safety data assemblies is fixed to 8 bytes and not configurable.
Clearing a pre-existing configuration

The first scanner (originator) that successfully establishes a producing connection
to the ABB CIP safety adapter becomes the owner of that adapter's inputs. It is
necessary to reset the ownership when the originator's SNN or NodeID is changed.
The ownership is established to prevent errant or unauthorized connections from
hijacking an input resource in a validated safety system. Only one owner is allowed.
It is possible to reset the ownership by executing the Reset CIP Safety function
which resets all persistent memory of the adapter. On the FlexPendant, tap the
ABB menu, select Control Panel, then Safety Controller. In the Configuration tab,
tap the button Reset CIP Safety. After controller restart, the CIP Safety configuration
will be restored except from the ownership.
Note
It is the responsibility of the user to guarantee the safety of the system after
resetting CIP Safety. The user needs to guarantee that the desired ownership is
established after the reset.
Resetting the safety controller

The function Reset safety controller to factory settings clears all user settings
and loads a default configuration. The firmware of the safety controller is not
affected.
In rare cases the safety controller can get locked in safety state, for example when
loading an incompatible or poorly configured safety configuration or replacing the
robot controller. Then it is not possible to load another safety configuration without
first resetting the safety controller to factory settings.
Use this procedure to reset the safety controller from the FlexPendant:
Action
1 Tap the ABB menu.
2 Tap Restart and Advanced.
3 Select the type of restart procedure that is desired and select the checkbox Reset
safety controller to factory settings.
4 Tap Next and Restart to reset the safety controller and restart the robot controller.

Continued
Action
5 Synchronize the safety controller with the robot controller, see Application manu-
al - Functional safety and SafeMove2.
6 A new safety configuration can now be loaded and validated, see Application
manual - Functional safety and SafeMove2.
Note
It is also possible to reset the safety controller to factory settings from

RobotStudio, see Application manual - Functional safety and SafeMove2.
Safe internal adapter device configuration

This procedure describes how to configure the safe internal adapter device. This
requires a CIP Safety option (997-3 or 997-4).
Action Note
3 In the Type list, click EtherNet/IP Internal
Device, right-click in the workspace on
the EN_Internal_Device_Safe item and
select Edit EtherNet/IP Internal Device.
Edit the parameter values, if applicable.
• If the size for non-safe signals
needs to be changed, change the
default values for Connection In-
put Size and Connection Output xx1800000947
Size to the desired size. (The size
for safe signals is always 8 in and
8 out.)
Click OK.
Configure the safe fieldbus parameters
Action
1 In the Controller tab, click Safety, then select Visual SafeMove.
2 In the SafeMove ribbon, click on the Safe IO Configurator.
3 Select the Signals view.
4 Expand the node CIP Safety and then EN_Internal_Device_Safe (Internal CIP
Safety Adapter).
5 Setup the parameters for the safe fieldbus (see table below).
Parameters for CIP Safety Adapter
Setting Description
NodeId The same as the IP address of the internal safety adapter device.

Continued
Setting Description
SNN The Safety Network Number (SNN) provides a unique network
identifier for each network in the safety system. Typically it is gener-
ated automatically by the configuration tool or selected arbitrary by
the user. This value is a 6 byte long, written as a hexadecimal string.
The values "0000_0000_0000" and "FFFF_FFFF_FFFF" are illegal.
Note
The user should assign SNN numbers for each safety network or
safety sub-net that are unique system-wide.
CAUTION
Originators (scanners) having an automatic SNN setting feature, i.e.

automatically generated data and time, can only use this feature
when the safety system is not being relied upon and is not in safety
state.
Configuration signa- The configuration signature, also called Safety Configuration ID

ture (SCID), uniquely identifies the configuration of the ABB CIP Safety
Adapter and can be used to confirm the integrity of the adapter
configuration over time.
The signature is checked whenever an originator tries to connect
to the adapter. If the signatures match, the connection is established.
If the signature does not match, the error response Configuration
signature mismatch is returned.
The signature is printed in the safety report and must be copied to
any external safety scanner (PLC) that wants to connect to the robot
controller.
The following alternatives are provided
• Not used - The configuration signature is not used.
• Auto generated - An automatically generated signature found
under "Configuration Signature - Date", "- Time", and "- ID"
in the safety report.
• User generated - A user defined signature. Alternatively, the
user can manually write the signature encoded as a 10 bytes
long hexadecimal string in the text-box below. The signature
can then be found under "Configuration Signature checksum"
in the safety report.
Note
When configuring safety connections without the configuration sig-

nature, i.e. not used, the user is responsible for ensuring that origin-
ators (scanners) and targets (adapters) have the correct configura-
tions.
Note
The configuration signature should only be considered verified after

user testing. User testing is the means by which all downloads are
validated.
Note
The settings must correspond to the settings made in the safety PLC.

Continued
Create safe signals

It is important that the offset of the signals are the same for both the internal adapter
and the external scanner.
Action
1 In the Safe IO Configurator, under EN_Internal_Device_Safe (Internal CIP Safety
Adapter), expand the node Input signals or Output signals, depending on which
type of signal you want to create.
2 Click on an empty line and type the signal name.
3 Set Default value.
Note
The usage of a signal cannot be changed from the Safe IO Configuration, but
in the column Signal uses it is shown what functions use each signal.
Tip
It is possible to use a spreadsheet application, or text editor, to edit the names

of the signals and then copy-paste them into RobotStudio.
Example of input signals configured for CIP Safety internal adapter device:
xx1800000948
Note
For information about Function mappings, Pre Logic and Post Logic, see
Application manual - Functional safety and SafeMove2.
Restart the controller

After configuring the safe internal adapter, restart the robot controller for the
changes to take effect.
Validate the safe fieldbus and signal configuration

Validate the safe fieldbus parameters, including I/O settings and signals used for
safety interlocking, by comparing the safety report with the configured values.

Continued
The user must visually verify that the data in the safety report is correct and that
it is the same as entered in the Visual SafeMove configuration GUI.
After controller restart the configuration is applied. The user must verify that no
safe fieldbus related event logs were generated, that the status of the connection
in the originator indicates "running", and that the connection to the intended adapter
device has been established.
Do not set the status of the configuration to validated or locked until the validation
is performed. For more information about configuration status, see Application

5 Installing and configuring the internal scanner

General
This section describes the recommended working procedure when installing and
configuring the EtherNet/IP internal scanner.
Limitations
The following limitations apply to the Internal CIP Safety scanner described in
Creating and configuring the safe internal scanner (CIP Safety) on page 44.
• ABB CIP Safety Internal scanner can connect up to 8 CIP Safety external
safety devices at the same time.
• ABB CIP Safety Internal scanner does not support CIP Safety multicast
connections.
• The ABB CIP Safety scanner only supports the CIP Safety connection Type2,
thus, requires that external 3rd party devices are configured prior to
connecting. The configuration can typically be done using vendor specific
Safety Network Configuration Tool (SNCT). For details, see 3rd party manuals.
• The ABB CIP Safety scanner does not connect to a modular CIP Safety I/O
device with modules that are not directly accessible from the EtherNet/IP
network, thus, from our scanner. To access such modules the scanner should
send a special Forward Open request containing CIP Routing information
(for details see THE CIP NETWORKS LIBRARY volume 1: Common Industrial
Protocol Specification, chapter 10: Bridging and Routing).
Note
On the market there are CIP Safety EtherNet/IP I/O devices of modular
construction available that do not require CIP routing information when
establishing connection, for example, PILZ PSS u2 P0 F/S EIP. The ABB CIP
Safety Scanner in RobotWare 6.08 connects to such.
The following devices are supported:
• Safety HarshIO Modules (TCDEC-8B4P-DYU-G, TCDEC-8B4B-DYU-G)
• PILZ (PSS u2 P0 F/S EIP) with safety modules
• ABB CIP Safety Adapter
Basic steps
Use this procedure to install and configure an EtherNet/IP scanner.
Action See
1 Use RobotStudio to configure the topic Technical reference manual - System paramet-
Communication. ers
2 Use RobotStudio to configure the Eth- Configuring the EtherNet/IP network settings
erNet/IP network settings. on page 32

Continued
Action See
3 Configure the I/O devices connected to Creating and configuring the internal scanner
the EtherNet/IP industrial network using on page 41
RobotStudio or FlexPendant.
Additional configuration
Action See
Creating device templates by using EDS files Using EDS files to create device templates
on page 43.
Configuring QuickConnect functionality. QuickConnect on page 70.
Setting up communication between two IRC5 Communication between two IRC5 controllers
controllers. on page 57.

5.2 Creating and configuring the internal scanner
Internal scanner configuration

Use this procedure to configure the EtherNet/IP scanner in the IRC5 controller,
using the Configuration Editor in RobotStudio.
Action Note
1 Start RobotStudio and connect to the IRC5
controller. Request write access.
2 Click Configuration Editor and select I/O
System.
3 In the Type list, click Industrial Network For more information about the parameters,
and then right-click in the workspace on see System parameters on page 59.
the EtherNetIP item and select Edit Indus-
trial Network.
4 Enter the parameter values for the industri-
al network.
Communication.
Click OK.
xx1400001924
5 In the Type list, click EtherNet/IP Device

and then right-click in the workspace and
select New EtherNet/IP Device.
6 Enter the parameter values for the new I/O
device.
• Use values from template, select
the ABB EtherNet/IP Adapter Device
option.
Note
Use values from template drop-

down list shows the existing tem-
plates and templates created by us-
ing EDS file (See Using EDS files to
create device templates on page 43).

Note
Continue editing the parameters if

necessary.
• Change the size in Connection In-

put Size and Connection Output
size, as desired.
xx1400001940
This step is optional.
Click OK.

Continued
Action Note
7 In the Type list click Signal.
Add I/O signals for the new I/O device.
xx1400001941
8 Restart the IRC5 controller to connect to

the configured device.

5.2.1 Using EDS files to create device templates
5.2.1 Using EDS files to create device templates
Procedure
It is possible to create device templates from the EDS files. A device template is
created for each valid connection found in the Connection Manager section in the
EDS file.
Use this procedure to create device templates by using EDS files.
Action Note
1 Start RobotStudio and connect to
the IRC5 controller. Request write
access.
To proceed with the steps, the sys-
tem should be in manual mode.
2 Click File Transfer and locate the
folder EDS in HOME directory.
Select the required EDS file and
click the Right Arrow button to
transfer the files.
xx1400002221
Note
Transfer the EDS files for the

devices involved in the EtherNet/IP
network
3 Click I/O System to expand the

folder. Select EtherNetIP and right-
click in the workspace and select
Scan EDS file(s)
• Files are parsed.
• Click Yes to continue with the xx1400002222
device templates creation.
• Click Ok to continue with re-
port generation in the event
log.
Note
The EDS reader does not check if

the file is syntactically correct. It is
important that the device created
from the device template is inspec-
ted manually.
4 The device templates are created

and available as options in Use
values from template while creating
a new I/O device.

5.3 Creating and configuring the safe internal scanner (CIP Safety)
Safe internal scanner configuration

This procedure describes how to configure the CIP Safety scanner in the IRC5
controller. This requires the option CIP Safety Scanner (997-4).
Before configuring the internal CIP Safety scanner, an internal CIP Safety adapter
must be configured, see Configuring the safe internal adapter device (CIP Safety)
on page 34.
The configuration of the internal CIP Safety scanner actually consists of configuring
external adapter devices that the ICR5 controller will communicate with and creating
a representation of these devices in RobotStudio.
Note
Each external 3rd party device needs configuring using vendor specific tools
(that is, SNCT) prior to connecting with the ABB CIP Safety internal scanner.
Such configuration includes IP-address, SNN, and any other configuration which
is specific for the device. If connecting to an external ABB CIP Safety adapter,
see Configuring the safe internal adapter device (CIP Safety) on page 34.
Creating a representation of an external adapter device in RobotStudio can be

divided in three steps:
1 Creating EtherNet/IP I/O connections for the device. These are communication
channels that allow exchange of I/O data between the IRC5 controller and
the device. See Configure I/O connection on page 44.
2 Creating EhterNet/IP adapter device and attaching the connections created
in the previous step. See Configure adapter device on page 45.
3 Configuring safety parameters of the device in Visual SafeMove. See
Configure external device safety parameters on page 46.
Configure I/O connection
Action Note/Illustration
1 Start RobotStudio and connect to the IRC5
controller. Request write access.
2 Click Configuration Editor and select I/O
System.
3 In the Type list, click Industrial Network For more information about the parameters,
and then right-click in the workspace on see System parameters on page 59.
the EtherNetIP item and select Edit Indus-
trial Network.

Continued
4 Enter the parameter values for the industri-
al network.
Communication. The connection for
the scanner must be the same as for
the adapter.
Click OK.
xx1400001924
5 In the Type list, click EtherNet/IP IO Con-

nection and then right-click in the work-
space and select New EtherNet/IP IO
Connection.
connection.
Safe Connection , shall be True for safe
connections.
Click OK.
Note
If Data Direction is set to Output, the

parameters Output Size and Output RPI
are shown while input parameters are hid-
den. If Data Direction is set to Input, the
parameters Input Size and Input RPI are
shown while output parameters are hidden.
Do not set Output Size and Output RPI to
anything else than zero and then change
Data Direction to Input (or vice versa).
xx1800000950
7 Repeat step 5 and 6 for each connection. Each adapter device can use up to three
connections, one for safe inputs, one for
safe outputs and one for standard in-
puts/outputs.
Configure adapter device
1 In the Type list, click EtherNet/IP Device
and then right-click in the workspace and
select New EtherNet/IP Device.

Continued
device.
• Use values from template drop-
down list shows the existing tem-
plates and templates created by us-
ing EDS file (See Using EDS files to
create device templates on page 43).
• Safe Device, shall be True.
• For Standard Connection, Safe
Output Connection or Safe Input
Connection, select the connection
created in Configure I/O connection
on page 44. Note that up to three
connections can be used for the
same device (one for non-safe, one
for safe output and one for safe in-
put). The same connection can be
used for multiple devices as long as xx1800000949
the devices are similar in all aspects
of the connection configuration.
Click OK.
Configure external device safety parameters
Action
1 In the Controller tab, click Safety, then select Visual SafeMove.
2 In the SafeMove ribbon, click on the Safe IO Configurator.
3 Select the Signals view.
4 Expand the node CIP Safety and then External Devices.
5 Click on Add new device.
6 Expand the node for the new device.
7 Setup the parameters for the safe external device (see table below).
Parameters for safe external device
Setting Description
Name The same name as for the EtherNet/IP Device. See Configure adapter
device on page 45.
Input size The same input size as for the EtherNet/IP IO Connection. See
Configure I/O connection on page 44.
Output size The same output size as for the EtherNet/IP IO Connection. See
Configure I/O connection on page 44.
NodeId The same as the IP address for the EtherNet/IP Device. See Config-
ure adapter device on page 45.

Continued
Setting Description
SNN The Safety Network Number (SNN) provides a unique network
identifier for each network in the safety system.
Must match the device configuration in the SNCT tool.
Note
The user should assign SNN numbers for each safety network or
safety sub-net that are unique system-wide.
Configuration signa- The configuration signature, also called Safety Configuration ID

ture (SCID), uniquely identifies the configuration of the external device
and can be used to confirm the integrity of the adapter configuration
over time.
The signature is checked whenever an originator tries to connect
to the adapter. If the signatures match, the connection is established.
If the signature does not match, the error response Configuration
signature mismatch is returned.
Note
When configuring safety connections without the configuration sig-

nature, i.e. not used, the user is responsible for ensuring that origin-
ators (scanners) and targets (adapters) have the correct configura-
tions.
Max fault Number of allowed erroneous packets before a connection is

dropped. It is recommended to keep the default value (5).
Format type Safety format. 0=Auto, 1=Base, 2=Extended. Most devices use the
format Extended (2).
Timeout multiplier Number of multipliers of Connection RPI that is allowed before the
connection will time out. It is recommended to keep the default value
(2).
Time Coordination Minimum number of multipliers of 128 μs (CIP Safety time incre-
message mulitplier ments) it could take for the time coordination message to travel from
sender to receiver. It is recommended to keep the default value (2).
Create safe signals

It is important that the offset of the signals are the same for both the internal scanner
and the external adapter.
Action
1 In the Safe IO Configurator, under the external device node you have just created,
expand the node Input signals or Output signals, depending on which type of
signal you want to create.
2 Right-click in the table and select Insert signal.
3 Type a Signal name and Default value.
Note
The usage of a signal cannot be changed from the Safe IO Configuration, but
in the column Signal uses it is shown what functions use each signal.

Continued
Tip
It is possible to use a spreadsheet application, or text editor, to edit the names

of the signals and then copy-paste them into RobotStudio.
Example of input signals configured for CIP Safety external device:
xx1800001536
Note
For information about Function mappings, Pre Logic and Post Logic, see
Application manual - Functional safety and SafeMove2.
Restart the controller

After configuring the safe internal scanner, restart the robot controller for the
changes to take effect.
Validate the safe fieldbus and signal configuration

Validate the safe fieldbus parameters, including I/O settings and signals used for
safety interlocking, by comparing the safety report with the configured values.

Continued
The user must visually verify that the data in the safety report is correct and that
it is the same as entered in the Visual SafeMove configuration GUI.
After controller restart the configuration is applied. The user must verify that no
safe fieldbus related event logs were generated, that the status of the connection
in the originator indicates "running", and that the connection to the intended adapter
device has been established.
Do not set the status of the configuration to validated or locked until the validation
is performed. For more information about configuration status, see Application
Replacement of device
If any safety device is replaced, the replacement device must be configured
properly, and the operation of the replacement device must be validated.

5.4.1 Information
5.4 Explicit messaging services
5.4.1 Information
General
It is possible to configure I/O devices through explicit messaging services. This
could be done either at startup by defining the EtherNet/IP command to the
configured device, or at runtime from RAPID through the Fieldbus Command
Interface (FCI).
Note
For information about which explicit messaging services are available for a
specific I/O device and how to set the parameters, refer to the supplier
documentation of the I/O device and the Common Industrial Protocol (CIP)
Specification, see References on page 7.
EtherNet/IP command system parameters

The EtherNet/IP specific system parameters in the EtherNet/IP Command type are:
• Path (Path), see Path on page 103.
• Service (Service), see Service on page 104.
• Download Order (-OrderNr), see Technical reference manual - System
parameters.
Note
For more information, see Technical reference manual - System parameters.
The Path parameter

Following is a short description of the syntax used in the 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.
This is an optional parameter.
Class The EtherNet/IP class number.
Instance The instance number of the class.
Attribute The attribute of the specified instance.
Data type The data format of the attribute.
This is an optional parameter.
Data type length The length in bytes of the specified Data type. The highest al-
lowed value is 0x20 (32 bytes).
This parameter is ignored, but is accepted if entered.

5.4.1 Information
Continued
The following table provides a list of the allowed data types for the parameter Data
type:
Data Type Value Description
CIP_EXPL_BOOL C1 Logical Boolean with values TRUE and FALSE
CIP_EXPL_SINT C2 Signed 8-bit integer value
CIP_EXPL_INT C3 Signed 16-bit integer value
CIP_EXPL_USINT C6 Unsigned 8-bit integer value
CIP_EXPL_UINT C7 Unsigned 16-bit integer value
CIP_EXPL_UDINT C8 Unsigned 32-bit integer value
CIP_EXPL_REAL CA 32-bit floating point value
CIP_EXPL_STRING D0 Character string (1 byte per character)
CIP_EXPL_BYTE D1 Bit string - 8-bits
CIP_EXPL_WORD D2 Bit string - 16-bits
CIP_EXPL_DWORD D3 Bit string - 32-bits
CIP_EXPL_SHORT_STRING DA Character string (1 byte per character, 1 byte length
indicator)
The following table provides a list of what delimiter to use for the parameter Value,
if the data is an array:
Data Type Delimiter Example
CIP_EXPL_BOOL The values are delimited by "123 214 125 2 44"
CIP_EXPL_SINT space. An array of 5 elements. The
CIP_EXPL_INT Data Type specifies the type
of each element.
CIP_EXPL_USINT
CIP_EXPL_UINT
CIP_EXPL_UDINT
CIP_EXPL_REAL
CIP_EXPL_BYTE
CIP_EXPL_WORD
CIP_EXPL_DWORD
CIP_EXPL_STRING The values are delimited by "Hello;This;Is;My;Name"
CIP_EXPL_SHORT_STRING semicolon. An array of 5 elements of
string type.
The Service parameter

The Service parameter describes what type of operation that should be performed
against the specified Path parameter.
Following are the allowed values for Service:
Operation Value Description
Set Attribute 16 Set the value specified in parameter Value of the EtherNet/IP
Single Command.
Reset 5 Performs a reset of the specified device.

5.4.1 Information
Continued
The Download Order parameter

The Download Order parameter is used to specify in what order the commands
are sent to the I/O device.
If an EtherNet/IP Command is rejected by the I/O device, the EtherNet/IP scanner
will generate an event message with the error code returned by the I/O device.

5.4.2 EtherNet/IP command at startup
5.4.2 EtherNet/IP command at startup
Information
It is possible to configure EtherNet/IP Commands that will be sent to a device at
startup:
EtherNet/IP command at Description
startup
EtherNet/IP Command This is specific to the I/O device and will only be sent to the
assigned I/O device.
Example using EtherNet/IP Command

Following is a configuration example from RobotStudio that sends four EtherNet/IP
commands at startup to I/O device, EN_Device. There are four different specific
commands that are sent to the device to perform specific operations on it. The
example shows how to use the Path and Service parameters.
xx1300000348
xx1300000349
xx1300000351 xx1300000347
Note
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 Path string.

5.4.3 EtherNet/IP command via RAPID
Information
For more information about the RAPID instructions, see Technical reference
manual - RAPID Instructions, Functions and Data types.
Example
In this example, data packed as a rawbytes variable is read from an EtherNet/IP
I/O device.
PROC get_quickconnect_value()
VAR iodev dev;
VAR rawbytes rawdata_out;
VAR rawbytes rawdata_in;
VAR num input_int;
VAR byte return_status;
VAR byte return_errcodecnt;
VAR num return_errcode;
VAR byte value;
! Empty contents of rawdata_out and rawdata_in

ClearRawBytes rawdata_out;
ClearRawBytes rawdata_in;
! Add Fieldbus command header to rawdata_out with service

"GET_ATTRIBUTE_SINGLE" and path to QuickConnect attribute
on I/O unit.
PackDNHeader "0E", "6,20 F5 24 01 30 0C", rawdata_out;
! Open FCI device

Open "/FCI1:" \File:="TheUnit", dev \Bin;
! Write the contents of rawdata_out to dev

WriteRawBytes dev, rawdata_out \NoOfBytes :=
RawBytesLen(rawdata_out);
! Read the answer from dev

ReadRawBytes dev, rawdata_in;
! Close FCI device

Close dev;
! Unpack rawdata_in to the variable return_status

UnpackRawBytes rawdata_in, 1, return_status \Hex1;
! The first byte is always the general status byte. 0 means

success, see the CIP standard error codes.
IF return_status = 0 THEN
TPWrite "Status OK from device. Status code:
"\Num:=return_status;
! Unpack the read data value that follows the status byte.

Continued
UnpackRawBytes rawdata_in, 2, value \Hex1;

TPWrite "Read value: " \Num:=value;
ELSE
! If the general status was not ok there is extended error
information that can be retreived. First byte, after the
general status byte, tells how many extended error words
can be found.
UnpackRawBytes rawdata_in, 2, return_errcodecnt \Hex1;
! Unpack the number of extended status words. In this example
only the first one is unpacked.
UnpackRawBytes rawdata_in, 3, return_errcode \IntX := UINT;
TPWrite "Error code from device: "\Num:=return_status;
TPWrite "Additional error code count from device:
"\Num:=return_errcodecnt;
TPWrite "Additional error code from device:
"\Num:=return_errcode;
ENDIF
ENDPROC

5.5 QuickConnect
5.5 QuickConnect
Overview
The QuickConnect functionality provides the connection between the EtherNet/IP
scanner and the device to quickly disconnect and reconnect to the Ethernet network,
both mechanically and logically. With the QuickConnect functionality activated,
the device will be connected and operational by the EtherNet/IP Scanner under
500 ms.
Requirements
A QuickConnect system requires an electrical lock signal that indicates, when
power has been applied to the QuickConnect devices. This signal must be
implemented by the system builder and is used to start the QuickConnect sequence.
Additional system component requirements:
• Managed network switch(es)
• QuickConnect device(s):
A QuickConnect device has QuickConnect functionality disabled as default.
This functionality must be activated for proper function.
It can be done using:
- Configuration data via the configuration assembly (see Configuration
Assembly on page 80)
- EtherNet/IP command
- QuickConnect parameter on Device (see QuickConnect on page 70)
- Third party tool before connecting the module to IRC5 controller
Ethernet/IP scanner
Note
When connecting QuickConnect devices, it is essential that network switches

allow gratuitous ARP to exist on the network. Gratuitous ARP is issued by
QuickConnect devices during startup to inform other network devices that they
are ready to join the network.
Sequence
1 The IRC5 controller deactivates current connections to QuickConnect devices,
and the robot arm physically disengages the current tool.
2 The robot arm physically attaches to the new QuickConnect devices.
3 The new QuickConnect devices power up.
4 The IRC5 controller acknowledges a successful attachment to a new tool via
an electrical lock signal.
5 Upon receiving the electrical lock signal, the IRC5 controller waits a specific
time I for the QuickConnect devices to power up before activating the devices.
I The QuickConnect time can be found in the EDS file for the QuickConnect device.

5.6 Communication between two IRC5 controllers
General
When two IRC5 controllers are connected to each other through EtherNet/IP, one
of them must be acting as an adapter device and the other one must be acting as
a scanner.
Note
It is possible to configure both the scanner and an adapter device in the same
IRC5 controller.
Illustration
The following figure illustrates communication between two IRC5 controllers.
Switch
Isolated Isolated
A LAN 3 LAN 3 B
Network LAN 3 Network LAN 3
Scanner Adapter
xx1400001945
Note
The switch is optional. You can use an Ethernet cable when there is no switch.
Also see illustration in section EtherNet/IP on dedicated industrial network on
page 22.
Limitations
The address specified in the Industrial Network cannot be the same on the two
controllers since they shall be interconnected.

Continued
Configuring the scanner/adapter controllers

The following procedures describe the configuration of a hardware setup like the
one illustrated in section Illustration on page 57.
Action Info/Note
1. Configure the EtherNet/IP industrial
network address for both the IRC5 Note
controllers. See Technical reference
manual - System parameters. Be sure to use different EtherNet/IP addresses
for the two IRC5 controllers to avoid duplicated
addresses on the interconnected network.
2. Configure the EtherNet/IP adapter

device according to the configuration
procedure for the EtherNet/IP internal
adapter device. See Configuring the in-
ternal adapter device on page 33.
3. Configure the EtherNet/IP scanner to
connect to the EtherNet/IP internal ad- Note
apter device. See Creating and config-
uring the internal scanner on page 41. Use ABB EtherNet/IP Adapter Device template
when configuring the EtherNet/IP scanner to
connect to the EtherNet/IP Adapter.
4. Configure signals on the created

device.
5. Physically interconnect the two IRC5
controllers.
6. Restart the adapter controller.
7. Restart the scanner controller. The scanner will now connect to the internal
adapter controller.
8. Now it is possible to set output signals The output signals shall appear as inputs on
on one controller. the other controller.

6 System parameters
6.1 Introduction
6 System parameters
6.1 Introduction
About the system parameters

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

6 System parameters
6.1.1 EtherNet/IP system parameters
Industrial Network
These parameters belong to the type Industrial Network in the topic I/O System.
Parameter For more information, see ...
Name Technical reference manual - System parameters
Connection Technical reference manual - System parameters
Identification Label Technical reference manual - System parameters
Simulated Technical reference manual - System parameters
EtherNet/IP Device
These parameters belong to the type EtherNet/IP Device in the topic I/O System.
In the manual, the parameters are listed under Device as each industrial network
shall use its own configuration, for example EtherNet/IP Device and DeviceNet
Device.
Connected to Industrial Technical reference manual - System parameters
Network
State when System Startup Technical reference manual - System parameters
Trust Level Technical reference manual - System parameters
Simulated Technical reference manual - System parameters
Vendor Name Technical reference manual - System parameters
Product Name Technical reference manual - System parameters
Major Revision Major Revision on page 64
Minor Revision Minor Revision on page 65
Recovery Time Technical reference manual - System parameters
Identification Label Technical reference manual - System parameters
Address Address on page 66
Vendor ID Vendor ID on page 67
Device Type Device Type on page 68
Product Code Product Code on page 69
Quick Connect QuickConnect on page 70
Safe Device Safe Device on page 72
Standard Connection Standard Connection on page 73
Safe Output Connection Safe Output Connection on page 74
Safe Input Connection Safe Intput Connection on page 75
Output Assembly i Output Assembly on page 76
Input Assembly i Input Assembly on page 77
Output Size i Output Size on page 78

6 System parameters
Continued

Input Size i Input Size on page 79
Configuration Assembly i Configuration Assembly on page 80
Ownership i Ownership on page 83
Input Connection Type i Input Connection Type on page 84
Connection Priority i Connection Priority on page 85
Configuration Size i Configuration Size on page 81
Configuration Data i Configuration Data on page 82
Output RPI i Output RPI on page 86
Input RPI i Input RPI on page 87
Connection Timeout Multi- Connection Timeout Multiplier on page 88
plier i
i For CIP Safety devices, this parameter is not present in the type EtherNet/IP Device but is configured
in the type EtherNet/IP IO Connection.
EtherNet/IP IO Connection
These parameters belong to the type EtherNet/IP IO Connection in the topic I/O
System. This type is only used for the option CIP Safety Scanner (997-4).
Device Label Device Label on page 89
Output Assembly Output Assembly on page 90
Input Assembly Input Assembly on page 91
Configuration Assembly Configuration Assembly on page 92
Output Size Output Size on page 93
Input Size Input Size on page 94
Output RPI Output RPI on page 95
Input RPI Input RPI on page 96
Data Direction Data Direction on page 97
Safe Connection Safe Connection on page 98
Input Connection Type Input Connection Type on page 99
Connection Priority Connection Priority on page 100
Configuration Size Configuration Size on page 101
Configuration Data Configuration Data on page 102
EtherNet/IP Command
These parameters belong to the type EtherNet/IP Command in the topic I/O System.
Device Technical reference manual - System parameters

6 System parameters
Continued

Download Order Technical reference manual - System parameters
Path Path on page 103
Service Service on page 104
Value Technical reference manual - System parameters

6 System parameters
6.2.1 Connection
6.2 Type Industrial Network
6.2.1 Connection
Parent
Connection belongs to the type Industrial Network, in the topic I/O System.
Cfg name
Connection
Description
The parameter Connection specifies the IP Setting that the option EtherNet/IP
Scanner/Adapter shall use.
Usage
The Connection parameter is used to select one of the available connection
connectors to use.
Prerequisites
The option EtherNet/IP Scanner/Adapter must be installed.
Default value
Private Network
Allowed values
Valid instances of IP Setting

6 System parameters
6.3.1 Major Revision
RobotWare - OS
6.3 Type Ethernet/IP Device
6.3.1 Major Revision
Parent
Major Revision belongs to the type Device, in the topic I/O System.
Cfg name
MajorRev
Usage
Used together with Minor Revision to define the revision of the device.
Prerequisites
Default value
Default value is 0.
Allowed values
An integer between 0 and 127.

6 System parameters
6.3.2 Minor Revision
RobotWare - OS
6.3.2 Minor Revision
Parent
Minor Revision belongs to the type Device, in the topic I/O System.
Cfg name
MinorRev
Usage
Used together with Major Revision to define the revision of the device.
Prerequisites
Default value
Default value is 0.
Allowed values
An integer between 0 and 127.

6 System parameters
6.3.3 Address
6.3.3 Address
Parent
Address belongs to the type Device, in the topic I/O System.
Cfg name
Address
Description
The parameter Address specifies the address of the I/O device on the network.
Usage
Address specifies the address that the I/O device uses on the network, to which
the scanner should set up a connection.
Prerequisites
Default value
Empty
Allowed values
The value can be between 0.0.0.0 - 255.255.255.255.
There are limitations for the values set by the vendor of the device. However, it is
dependent on the selected network. The selected network is determined by the
network address and subnet mask.

6 System parameters
6.3.4 Vendor ID
6.3.4 Vendor ID
Parent
Vendor ID belongs to the type Device, in the topic I/O System.
Cfg name
VendorId
Description
Vendor ID is used as an identification of the I/O device to secure communication
to the correct type of device.
Usage
This parameter is used as an identification of the I/O device to secure
communication to the correct device.
The value of Vendor ID can be found in the Electronic Data Sheet (EDS) for the
device (called VendCode in EDS file) in EtherNet/Ip network, or by using a
predefined device template in DeviceNet network.
Prerequisites
The option DeviceNet Master/Slave or EtherNet/IP Scanner/Adapter must be
installed.
Default value
The default value is 0.
Allowed values
Allowed values are the integers 0-65535.
Additional information
The I/O device vendor number is assigned by Open DeviceNet Vendor Associations
(ODVA) to the vendor of the specific I/O device.

6 System parameters
6.3.5 Device Type
6.3.5 Device Type
Parent
Device Type belongs to the type Device, in the topic I/O System.
Cfg name
DeviceType
Description
The parameter Device Type specifies the device type of this I/O device as defined
by the Open DeviceNet Vendor Association.
Usage
The value of this parameter can be found in the Electronic Data Sheet (EDS) for
the device (called ProdType in EDS file) in EtherNet/IP network, or by using a
Prerequisites
installed.
Default value
Allowed values

6 System parameters
6.3.6 Product Code
6.3.6 Product Code
Parent
Product Code belongs to the type Device, in the topic I/O System.
Cfg name
ProductCode
Description
Product Code is used as an identification of the I/O device to secure communication
to the correct I/O device.
Usage
The value of Product Code can be found in Electronic Data Sheet (EDS) for the
device (called ProdCode in EDS file) in EtherNet/IP network, or by using a
Prerequisites
installed.
Default value
Default value is 0.
Allowed values
Additional information
The device product code is defined by the vendor of the device and shall be unique
for the actual product type.

6 System parameters
6.3.7 QuickConnect
6.3.7 QuickConnect
Parent
QuickConnect belongs to the type Device, in the topic I/O System.
Cfg name
QuickConnect
Description
The QuickConnect functionality provides the connection between the EtherNet/IP
Scanner and the I/O device to quickly disconnect and reconnect, both mechanically
and logically, to the Ethernet network. When the QuickConnect functionality is
activated, the device is connected and operational by the EtherNet/IP Scanner,
under 500 ms.
Usage
The parameter QuickConnect specifies if the QuickConnect attribute shall be set
or not set on the I/O device.
There are three different alternatives:
1 Not Used: QuickConnect will not be used and the EtherNet/IP Scanner will
not care about the QuickConnect attribute on the I/O device.
2 Activated: The EtherNet/IP Scanner will try to activate the QuickConnect
attribute on the I/O device.
3 Deactivated: The EtherNet/IP Scanner will try to deactivate the QuickConnect
attribute on the I/O device.
Note
While using QuickConnect, make sure to turn off autonegotiation on the link that
is disconnected. For example, in the connector on the switch (or in the connector
for the IRC5 controller) and in the connector on the I/O device.
An error message appears if trying to activate or deactivate the QuickConnect
functionality on an I/O device that does not support QuickConnect.
Note
If Configuration Data is used to activate or deactivate the QuickConnect parameter

in a device, set the QuickConnect to Not Used. Based on priority, the
Configuration Data parameter overrides the QuickConnect parameter.
Prerequisites
Default value
Not Used

6 System parameters
6.3.7 QuickConnect
Continued
Allowed values
Not Used
Activated
Deactivated

6 System parameters
6.3.8 Safe Device
RobotWare - OS
6.3.8 Safe Device
Parent
Safe Device belongs to the type Device, in the topic I/O System.
Cfg name
SafetyDevice
Description
Safe Device is set to TRUE for CIP Safety devices.
Usage
If Safe Device is set to TRUE, some parameters are hidden for the device. Those
parameters are instead configured in the type EtherNet/IP IO Connection.
Prerequisites
The option CIP Safety Scanner must be installed.
Default value
Default value is FALSE.
Allowed values
TRUE or FALSE.

6 System parameters
6.3.9 Standard Connection
RobotWare - OS
6.3.9 Standard Connection
Parent
Standard Connection belongs to the type Device, in the topic I/O System.
Cfg name
StandardConnection
Description
Connection to use for standard (not CIP Safety) signals.
Usage
Select the name of the instance of EtherNet/IP IO Connection to use.
Prerequisites
Connections are only used for safe devices (parameter Safe Device = TRUE). For
standard devices, Standard Connection is not used.
Default value
Empty
Allowed values
A string with maximum 32 characters.

6 System parameters
6.3.10 Safe Output Connection
RobotWare - OS
6.3.10 Safe Output Connection
Parent
Safe Output Connection belongs to the type Device, in the topic I/O System.
Cfg name
SafeOutputConnection
Description
Usage
Prerequisites
standard devices, Safe Output Connection is not used.
Default value
Empty
Allowed values

6 System parameters
6.3.11 Safe Intput Connection
RobotWare - OS
6.3.11 Safe Intput Connection
Parent
Safe Intput Connection belongs to the type Device, in the topic I/O System.
Cfg name
SafeInputConnection
Description
Usage
Prerequisites
standard devices, Safe Intput Connection is not used.
Default value
Empty
Allowed values

6 System parameters
6.3.12 Output Assembly
Parent
Output Assembly belongs to the type Device, in the topic I/O System.
Cfg name
OutputAssembly
Description
Output Assembly specifies where the output data for an I/O device is located. The
output assembly is vendor specific and can be found in the electronic data sheet
(EDS) file.
Prerequisites
Default value
Allowed values
Integer between 0 and 65535.

6 System parameters
6.3.13 Input Assembly
Parent
Input Assembly belongs to the type Device, in the topic I/O System.
Cfg name
InputAssembly
Description
Input Assembly specifies where the input data for an I/O device is located. The
input assembly is vendor specific and can be found in the electronic data sheet
(EDS) file.
Prerequisites
Default value
Allowed values

6 System parameters
6.3.14 Output Size
6.3.14 Output Size
Parent
Output Size belongs to the type Device, in the topic I/O System.
Cfg name
OutputSize
Description
Output Size defines the output data size in bytes for an I/O device.
Note
When working with the internal adapter device, the Output Size is the Input Size
from the scanner point of view.
Usage
Output Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
A limitation is the maximum device size for the Device.
Default value
The default value is 8 bytes (64 signal bits).
Allowed values
Allowed values are the integers 0-505 (0-4040 signal bits), specifying the data size
in bytes.
Note
When working with the internal adapter device, the allowed values are 0-509
(0-4072 signal bits), specifying the data size in bytes.

6 System parameters
6.3.15 Input Size
6.3.15 Input Size
Parent
Input Size belongs to the type Device, in the topic I/O System.
Cfg name
InputSize
Description
Input Size defines the input data size in bytes for an I/O device.
Note
When working with the internal adapter device, the Input Size is the Output Size
Usage
Input Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
Default value
Allowed values
in bytes.
Note

6 System parameters
6.3.16 Configuration Assembly
Parent
Configuration Assembly belongs to the type Device, in the topic I/O System.
Cfg name
ConfigurationAssembly
Description
The Configuration Assembly parameter specifies where the configuration data for
a device is located.
Usage
Configuration Assembly is optional and is used if an I/O device needs some extra
configuration parameters. The Configuration Assembly parameter is vendor specific
and can be found in the electronic data sheet (EDS) file.
Prerequisites
Default value
The default value is 0 (means that this parameter is ignored).
Allowed values

6 System parameters
6.3.17 Configuration Size
Parent
Configuration Size belongs to the type Device, in the topic I/O System.
Cfg name
ConfigurationSize
Description
Configuration Size specifies the size of the configuration assembly.
Usage
The Configuration Size is optional and is used if the configuration assembly is
specified.
Prerequisites
Default value
Allowed values
Integer between 0 and 400, specifying the data size in bytes.

6 System parameters
6.3.18 Configuration Data
RobotWare - OS
Parent
Configuration Data belongs to the type Device, in the topic I/O System.
Cfg name
ConfigurationData00 to ConfigurationData24
Description
Configuration Data specifies the data for the configuration assembly.
Usage
Configuration Data is optional and is used if the Configuration Assembly as well
as the configuration size is specified.
Configuration Data is divided into rows of data numbered 00 through 24. Each row
can hold 16 bytes in binary form, i.e., a string with hexadecimal representation of
byte values delimited by space.
Prerequisites
Default value
The default value is all zeros "00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00".
Allowed values
Allowed values are 00 to FF.
Example: "00 00 00 00 34 FA 66 17 00 00 01 00 00 C9 00 00"

6 System parameters
6.3.19 Ownership
6.3.19 Ownership
Parent
Ownership belongs to the type Device, in the topic I/O System.
Cfg name
Ownership
Description
The Ownership parameter specifies how the I/O connection shall act between the
scanner and the I/O device. There are three different types of Ownership:
• Exclusive Owner: An I/O connection where the data of an I/O device can be
controlled only by one scanner.
• Input Only: An I/O connection where only the scanner can receive input data
from an I/O device. There is no output data.
• Listen Only: An I/O connection where only the scanner can receive input
data from an I/O device. This type of Ownership can only be attached to an
connection of type; Exclusive Owner or Input Only. If this underlying
connection closes, then the connection with Ownership of type; Listen Only
will also be closed. There is no output data.
Note
Some EtherNet/IP devices might not support the Input Only connection.
Prerequisites
Default value
The default value is Exclusive Owner.
Allowed values
Exclusive Owner, Input Only, or Listen Only.

6 System parameters
6.3.20 Input Connection Type
Parent
Input Connection Type belongs to the type Device, in the topic I/O System.
Cfg name
InputConnectionType
Description
The Input Connection Type parameter specifies how I/O data is send from the I/O
device to the scanner. There are two different connection types:
• Point-to-point (Unicast): A connection where the data is send from one point
to another point. In this case there is just one sender and one receiver.
• Multicast: A connection where the data is send from one or more points to
a set of other points. In this case there is one sender and multiple receivers.
Note
Some EtherNet/IP I/O devices might not support Point-to-point as input connection
type.
Prerequisites
Default value
The default value is Multicast.
Allowed values
Multicast or Point-to-point

6 System parameters
6.3.21 Connection Priority
RobotWare - OS
Parent
Connection Priority belongs to the type Device, in the topic I/O System.
Cfg name
ConnectionPriority
Description
The Connection Priority parameter specifies how I/O data is prioritized on the
network. Network priority is accomplished by using Quality of Service (QoS)
mechanisms in the device.
Note
Refer the user manual for EtherNet/IP device that supports QoS.
Prerequisites
Default value
The default value is Low.
Allowed values
Low
High
Schedule
Urgent

6 System parameters
6.3.22 Output RPI
6.3.22 Output RPI
Parent
Output RPI belongs to the type Device, in the topic I/O System.
Cfg name
O2T_RPI
Description
Output RPI (Originator to Target Request Packet Interval) is the time between I/O
packets from the scanner to the I/O device.
Usage
Use this parameter to decide at which interval the scanner shall produce output
data to the I/O device.
The Request Packet Interval is specified in micro seconds.
Prerequisites
Default value
Allowed values
The minimum limit is 1 and maximum limit is 4.294967E+09.

6 System parameters
6.3.23 Input RPI
6.3.23 Input RPI
Parent
Input RPI belongs to the type Device, in the topic I/O System.
Cfg name
T2O_RPI
Description
Input RPI (Target to Originator Request Packet Interval) is the time between I/O
packets from the I/O device to the scanner.
Usage
Use this parameter to decide at which interval the scanner shall consume input
data from the I/O device.
Prerequisites
Default value
Allowed value

6 System parameters
6.3.24 Connection Timeout Multiplier
6.3.24 Connection Timeout Multiplier
Parent
Connection Timeout Multiplier belongs to the type Device, in the topic I/O System.
Cfg name
ConnectionTimeoutMultiplier
Description
Connection Timeout Multiplier specifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/Watchdog Timer.
Usage
The Connection Timeout Multiplier is a number among 4, 8, 16, 32, 64, 128, 256.
It is used together with RPI to calculate the timeout on connections. RPI multiplied
by Connection Timeout Multiplier gives the maximum time before dropping the
connection.
Note
For the IRB 14000 and IRB 14050 robots this parameter may have to be tuned
depending on your network setup.
Prerequisites
Allowed values
Allowed values are 4, 8, 16, 32, 64, 128, 256, 512.
Default value is 4.

6 System parameters
6.4.1 Device Label
RobotWare - OS
6.4 EtherNet/IP IO Connection
6.4.1 Device Label
Parent
Device Label belongs to the type EtherNet/IP IO Connection, in the topic I/O System.
Cfg name
DeviceLabel
Description
Name of the device associated with this connection.
Usage
Optional parameter to use.
Prerequisites
Allowed values
The default value is an empty string.

6 System parameters
Parent
Output Assembly belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
OutputAssembly
Description
Output Assembly specifies where the output data for an I/O device is located. The
output assembly is vendor specific and can be found in the electronic data sheet
(EDS) file.
Prerequisites
Default value
Allowed values

6 System parameters
Parent
Input Assembly belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
InputAssembly
Description
Input Assembly specifies where the input data for an I/O device is located. The
input assembly is vendor specific and can be found in the electronic data sheet
(EDS) file.
Prerequisites
Default value
Allowed values

6 System parameters
Parent
Configuration Assembly belongs to the type EtherNet/IP IO Connection, in the
topic I/O System.
Cfg name
ConfigurationAssembly
Description
The Configuration Assembly parameter specifies where the configuration data for
a device is located.
Usage
Configuration Assembly is optional and is used if an I/O device needs some extra
configuration parameters. The Configuration Assembly parameter is vendor specific
and can be found in the electronic data sheet (EDS) file.
Prerequisites
Default value
The default value is 0 (means that this parameter is ignored).
Allowed values

6 System parameters
6.4.5 Output Size
6.4.5 Output Size
Parent
Output Size belongs to the type EtherNet/IP IO Connection, in the topic I/O System.
Cfg name
OutputSize
Description
Output Size defines the output data size in bytes for an I/O device.
Note
When working with the internal adapter device, the Output Size is the Input Size
Usage
Output Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
Default value
Allowed values
in bytes.
Note

6 System parameters
6.4.6 Input Size
6.4.6 Input Size
Parent
Input Size belongs to the type EtherNet/IP IO Connection, in the topic I/O System.
Cfg name
InputSize
Description
Input Size defines the input data size in bytes for an I/O device.
Note
When working with the internal adapter device, the Input Size is the Output Size
Usage
Input Size is an EtherNet/IP specific parameter.
Prerequisites
Limitations
Default value
Allowed values
in bytes.
Note

6 System parameters
6.4.7 Output RPI
6.4.7 Output RPI
Parent
Output RPI belongs to the type EtherNet/IP IO Connection, in the topic I/O System.
Cfg name
O2T_RPI
Description
Output RPI (Originator to Target Request Packet Interval) is the time between I/O
packets from the scanner to the I/O device.
Usage
Use this parameter to decide at which interval the scanner shall produce output
data to the I/O device.
Prerequisites
Default value
Allowed values

6 System parameters
6.4.8 Input RPI
6.4.8 Input RPI
Parent
Input RPI belongs to the type EtherNet/IP IO Connection, in the topic I/O System.
Cfg name
T2O_RPI
Description
Input RPI (Target to Originator Request Packet Interval) is the time between I/O
packets from the I/O device to the scanner.
Usage
Use this parameter to decide at which interval the scanner shall consume input
data from the I/O device.
Prerequisites
Default value
Allowed value

6 System parameters
6.4.9 Data Direction
RobotWare - OS
6.4.9 Data Direction
Parent
Data Direction belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
DirectionIsServer
Description
Data Direction states if the connection is receiving or sending data.
Usage
Data Direction is set to Output for safe output connections. It is set to Input for
safe input connections.
Data Direction is not used for non-safe connections.
Prerequisites
Default value
Default value is Input.
Allowed values
Output or Input.

6 System parameters
6.4.10 Safe Connection
RobotWare - OS
6.4.10 Safe Connection
Parent
Safe Connection belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
SafetyConnection
Description
Safe Connection states if the connection is a safe (CIP Safety) connection.
Usage
Each safe device can use two safe connections (one for input and one for output)
and one non-safe connection (for both input and output).
Default value
Default value is FALSE.
Allowed values
TRUE or FALSE.

6 System parameters
Parent
Input Connection Type belongs to the type EtherNet/IP IO Connection, in the topic
I/O System.
Cfg name
InputConnectionType
Description
The Input Connection Type parameter specifies how I/O data is send from the I/O
device to the scanner. There are two different connection types:
• Point-to-point (Unicast): A connection where the data is send from one point
to another point. In this case there is just one sender and one receiver.
• Multicast: A connection where the data is send from one or more points to
a set of other points. In this case there is one sender and multiple receivers.
Note
Some EtherNet/IP I/O devices might not support Point-to-point as input connection
type.
Prerequisites
Default value
The default value is Multicast.
Allowed values
Multicast or Point-to-point

6 System parameters
RobotWare - OS
Parent
Connection Priority belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
ConnectionPriority
Description
The Connection Priority parameter specifies how I/O data is prioritized on the
network. Network priority is accomplished by using Quality of Service (QoS)
mechanisms in the device.
Note
Refer the user manual for EtherNet/IP device that supports QoS.
Prerequisites
Default value
The default value is Low.
Allowed values
Low
High
Schedule
Urgent

6 System parameters
Parent
Configuration Size belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
ConfigurationSize
Description
Configuration Size specifies the size of the configuration assembly.
Usage
The Configuration Size is optional and is used if the configuration assembly is
specified.
Prerequisites
Default value
Allowed values
Integer between 0 and 400, specifying the data size in bytes.

6 System parameters
RobotWare - OS
Parent
Configuration Data belongs to the type EtherNet/IP IO Connection, in the topic I/O
System.
Cfg name
ConfigurationData00 to ConfigurationData24
Description
Configuration Data specifies the data for the configuration assembly.
Usage
Configuration Data is optional and is used if the Configuration Assembly as well
as the configuration size is specified.
Configuration Data is divided into rows of data numbered 00 through 24. Each row
can hold 16 bytes in binary form, i.e., a string with hexadecimal representation of
byte values delimited by space.
Prerequisites
Default value
The default value is all zeros "00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00".
Allowed values
Allowed values are 00 to FF.
Example: "00 00 00 00 34 FA 66 17 00 00 01 00 00 C9 00 00"

6 System parameters
6.5.1 Path
6.5 Type EtherNet/IP Command
6.5.1 Path
Parent
Path belongs to the type EtherNet/IP Command, in the topic I/O System.
Cfg name
Path
Description
Path defines the path to EtherNet/IP object instance or attribute.
Usage
Path is used to describe the path to the instance or attribute, the data type identifier
and the data size that are to be affected by the explicit message. Information about
how to define this can be found in the [Params] section of the EDS file.
Default value
The default value is an empty string.
Allowed values
Related information
For more information and examples, see Explicit messaging services on page 50.
For information about which explicit messaging services are available for a specific
I/O device and how to set the parameters, refer to the supplier documentation of
the I/O device and the Common Industrial Protocol (CIP) Specification, see
References on page 7.
Example
6,20 01 24 08 30 01,C6,1
Description:
• 6 is the length of the path - that is, the number of hexadecimal figures until
the next comma. This is an optional parameter.
• Path (20 01 24 08 30 01) is a software description of EtherNet/IP class,
instance and attribute.
• C6 is the hexadecimal value for the data type identifier.
• 1 is the data size - that is, the number of bytes as a hexadecimal value. This
is an optional parameter.

6 System parameters
6.5.2 Service
6.5.2 Service
Parent
Service belongs to the type EtherNet/IP Command, in the topic I/O System.
Cfg name
Service
Description
Service defines the explicit service that should be performed on EtherNet/IP object
instance or attribute pointed out in Path.
Usage
Service is used to define the type of action to be used.
Default value
The default value is Set Attribute Single.
Allowed values
Following values are allowed:
• Apply Attributes
• Create
• Reset (0x05 or 5 in the configuration file)
• Set Attribute Single (0x10 or 16 in the configuration file)

7 Troubleshooting
7.1 Frequently asked questions
7 Troubleshooting
What happens if the gateway is left empty?

The default gateway for the IRC5 system will be used. If there is no physical
gateway, leave the gateway empty.
A physical gateway is not available on the desired network. What should be specified as the gateway?
It is recommened to leave this field empty.
Is it recommended to configure the WAN connector and the selected LAN connector on the same
subnet?
No, the EtherNet/IP address for the WAN connector must belong to another subnet
than the address of the selected LAN connector.
For example, if the address of the LAN connector is 111.122.133.144, the address
for the selected LAN connector cannot be 111.122.133.145 if the subnet mask
255.255.255.0 (but it can be 111.122.134.145) is being used.
How to identify the desired EtherNet/IP I/O devices on the network?

There are two ways to identify the EtherNet/IP devices on the industrial network.
There is a list with the I/O device names, IP addresses and corresponding MAC
addresses. In the window Inputs and Outputs, tap View and select Industrial
Networks. Select the desired EtherNet/IP network and tap I/O Device Identification
in the command bar. A window will be displayed with all the devices on the selected
EtherNet/IP industrial network and their corresponding IP and MAC addresses.
Another way is to open the Inputs and Outputs window, tap View and select
Devices. Select the EtherNet/IP device to be identified, tap Actions in the command
bar and select Unit Identification. A message box will be shown displaying the
MAC address for the selected device.
The desired industrial network and factory network is on the same logical network but is it possible
to have one logical network for the factory network and one logical network for the Ethernet/IP
network? Is it possible to have a switch that separates the traffic?
1 In the I/O configuration under Industrial Newtork, configure the IP address,
subnet mask, gateway and destination of the Ethernet/IP network.
2 Restart the controller using the restart mode Start Boot Application.
3 Change the network settings (these are used for the WAN connector) and
choose the correct system.
4 Make sure that these two networks are on separate subnets.
5 Restart the controller.
Can tool change be done without using dedicated QuickConnect I/O devices?
Yes. If time is really not important, there are many different I/O devices available
today which can serve as tool changer equipment.

7 Troubleshooting
Continued
The only requirement for proper and deterministic behaviour is that, the I/O device
must issue gratuituos ARP requests when powered on. If so, the connection time
will be determined by the I/O device startup time.
If the I/O device does not support gratuitous ARP, the connection time will be
dependent on the refresh of ARP timers in the robot communication software.
Typically 20 seconds can be expected but it can take up to some minutes. Also,
the error log "71058 Lost communication with I/O device" will be issued.

7 Troubleshooting
7.2 Troubleshooting
7.2 Troubleshooting
Error log "71367 No contact with device" is shown after startup
Action
1 Check cabling.
2 Ensure that the device address matches the configuration.
3 Ensure that all addresses are unique, and not used by more than one device.
4 If the address is changed, the power supply to the device must be cycled (switched
OFF and then back ON) to ensure the address has been changed.
5 Verify that the configured Input assembly and Output assembly correspond to the data
in the EDS file for your I/O device.
6 Verify the configured Input size and Output size.
7 Verify if the device needs the configuration assembly. See the EDS file.
Too low Request Packet Interval is configured. See the manual of device.
Error log "71201 Unknown industrial network" is shown after startup
Action
1 Ensure that the Industrial Network option EtherNet/IP Scanner/Adapter is installed.
2 Check the EtherNet/IP address.
3 Check the gateway settings.
4 When using any of the LAN connectors make sure to configure the WAN connector
and the LAN connector on separate subnets.
Error log "71058 Lost communication with I/O unit" is shown when activating QuickConnect I/O
devices
This error occurs when connecting to the device when it is not ready to join the
network.
Action
1 Check that the QuickConnect device is activated for QuickConnect functionality.
2 Check if the electrical lock signal is working as expected.
3 Check if the IRC5 controller waits for sufficient amount of time after electrical lock has
been engaged before connecting to the device.
4 Check if the network allows the gratuitous ARP request correctly. This is essential
when doing QuickConnect on devices with the same IP address. The Spanning Tree
Protocol should be disabled at the switch.

This page is intentionally left blank
Index
Index P
predefined device template, 29
predefined network, 29
C private network, 21
CIP, 15
Connection, 63 Q
ControlNet, 15 QoS, 25
cyclic I/O connection, 28 Quality of Service, 25
QuickConnect, 56
D
DeviceNet, 15 S
DeviceNet master safety, 11
configuration, 58 Spanning Tree Protocol, 107
system parameters, 59
E Address, 66
EDS file, 15, 27
Configuration Assembly, 80, 92
EtherNet/IP, 15
Configuration Size, 81, 101
adapter, 27, 30
Connection Priority, 85, 100
data, 15
Connection Timeout Multiplier, 88
EtherNet/IP device template, 29
Data Direction, 97
I/O devices, 29
Device Label, 89
predefined network, 29
Device Type, 68
scanner, 29, 41, 44
Input Assembly, 77, 91
specification, 16
Input Connection Type, 61, 84, 99
standardization, 15
Input RPI, 87, 96
EtherNet/IP adapter device, 27
Input Size, 79, 94
configuration, 27
Major Revision, 64
EtherNet/IP device
Minor Revision, 65
EtherNet/IP Internal Adapter Device, 27
Output Assembly, 76, 90
EtherNet/IP Internal Adapter Device, 27
Output RPI, 86, 95
EtherNet/IP scanner, 29
Output Size, 78, 93
configuration, 41, 44
Ownership, 83
Explicit messaging services, 50
Path, 103
F Product Code, 69
Fieldbus Command Interface, 50 QuickConnect, 70
Safe Connection, 98
G Safe Device, 72
gateway, 32 Safe Intput Connection, 75
Safe Output Connection, 74
I Service, 104
I/O connection Standard Connection, 73
cyclic, 28 Vendor ID, 67
I/O devices, 29
ABB I/O devices, 30 T
internal DeviceNet slave template I/O configuration file, 28
configuration, 58 topic I/O System
EtherNet/IP Command, 61
N EtherNet/IP Device, 60
network security, 12 EtherNet/IP IO Connection, 61
Industrial Network, 60
O troubleshooting, 107
ODVA, 15

ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050998-001, Rev G, en


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4 Installing and configuring the internal adapter device 31

5 Installing and configuring the internal scanner 39

Application manual - EtherNet/IP Scanner/Adapter 5

6.3.13 Input Assembly ....................................................................................... 77

6 Application manual - EtherNet/IP Scanner/Adapter

Overview of this manual

Who should read this manual?

Continues on next page

8 Application manual - EtherNet/IP Scanner/Adapter

Technical reference manuals

Continues on next page

10 Application manual - EtherNet/IP Scanner/Adapter

Application manual - EtherNet/IP Scanner/Adapter 11

12 Application manual - EtherNet/IP Scanner/Adapter

Continues on next page

14 Application manual - EtherNet/IP Scanner/Adapter

Application manual - EtherNet/IP Scanner/Adapter 15

1.2 EtherNet/IP for IRC5

If only EtherNet/IP adapter functionality is required, then the option EtherNet/IP

16 Application manual - EtherNet/IP Scanner/Adapter

Connector Label Description

Continues on next page

Intended use of WAN and LAN ports

Isolated LAN 3 or LAN 3 as part of the private network

Private Isolated Public

Service LAN 1 LAN 2 LAN 3 WAN

Service LAN 1 LAN 2 LAN 3 WAN

EtherNet/IP on different networks

Continues on next page

Factory Network & Industrial Network

Robot Controller 1 Robot Controller 2

Private Public Private Public

The illustration is an example to demonstrate the EtherNet/IP on different

Continues on next page

One EtherNet/IP network connected to the robot controller

EtherNet/IP on factory network

Factory Network & Industrial Network

Robot Controller 1 Robot Controller 2

Private Public Private Public

Continues on next page

EtherNet/IP on private network

Robot Controller 1 Robot Controller 1

Private Public Private Public

Continues on next page

EtherNet/IP on dedicated industrial network

Robot Controller 1 Robot Controller 2

Industrial Network EtherNet/IP

Continues on next page

Using Anybus adapter to connect two EtherNet/IP networks

Private Public Private Public

I/O I/O I/O I/O

Robot I/O Robot I/O

Continues on next page

EtherNet/IP on dedicated industrial network

Private Public Private Public

I/O I/O I/O I/O