Connect to xCore using EtherNet/IP gateway

Tom Cai 2023.07.08

 01 Introduction to Gateway HD67664-A1

02 Preparation of hardware and networking

03 Configuration for Gateway ,

xCore robot controller, PLC
CONTENTS
04 Communication demo
05 Precautions & troubleshooting

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 01 Introduction to Gateway HD67664-A1
HD67664-A1

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1. HD67664-A1

HD67664-A1 is an Ehernet/IP slave to Modbus TCP master converter. It has the following specifications:

• Up to 500 bytes in reading and 500 bytes in writing;

• Isolation between Modbus/EtherNet/IP - Power Supply;
• Two-directional information between Modbus TCP bus and EtherNet/IP bus;
• Mountable on 35mm Rail DIN;
• Wide power supply input range: 8…24V AC or 12…35V DC;
• Wide temperature range: -40°C / 85°C [-40°F / +185°F];

More details can be found in the appendix “MN67664-A1_ENG.pdf”

MN67664-A1_ENG.pdf

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 02 Preparation
hardware & networking

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2.1 Hardware -- Gateway

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2.1 Hardware -- Rockwell PLC

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2.2 Topology of network

Eth1 is EtherNet/IP port, IP is 192.168.2.101

192.168.2.160 Eth2 is Modbus master, IP is 192.168.2.102

Eth1 Eth1 Switch

Robot 192.168.2.x Segment
Eth2
Eth0 Gateway
192.168.0.160
24V DC
Power supply

192.168.2.170 192.168.2.241
Flexpendant
(optional) PLC PC / HMI

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2.2 Topology of network

read write read write

Gateway
Robot PLC
Modbus master -> EtherNet/IP
Modbus master EtherNet/IP master(client)
slave(server)
write read write read

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2.3 Network confirmation
Use ‘MobaXterm’ to do network scan. Confirm network is operational.

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 03 Configurations
Gateway , xCore robot controller, PLC

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3.1 Configuration - HD67664-A1

OFF: running mode

Step1: Double click config tool, turn the switch to “on”. ON : setting mode
ON

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3.1 Configuration - HD67664-A1
Step2: Choose ore new a configuration file. We can choose build-in example file ‘Example1’.

2. Choose ‘Example1’.
1. Open configuration, or
you can use ‘new
configuration’ next to it.

3. Click bottom ‘OK’.

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3.1 Configuration - HD67664-A1
Step3:
Config port1 as EtherNet/IP slave
Port1 is EtherNet/IP slave
while port2 as modbus TCP master.

Config maximun input and output

byte number to 496.
1. Click here.
EtherNet/IP port is using 44818 by
default.

Port2 is Modbus TCP master

Timeout

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3.1 Configuration - HD67664-A1
Step4: Config modbus slave whom to communicate with.Input slave IP, port ,register type, address start , register quantities.
Both in read and write.

Modbus slave IP
is robot IP

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3.1 Configuration - HD67664-A1
Step5: Update configuration to gateway to run in ‘running mode’ later on.
If network is ok, green word ‘device has found’ will appear after click ‘Ping’ button.

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3.1 Configuration - HD67664-A1

Step6: Turn switch to ‘OFF’. Use running mode.

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3.2 Configuration – Robot controller
New
Step1: Add a new bus or edit the exist one. -> Communication -> Fieldbus Device -> Edit

IP is 192.168.2.160 or 0.0.0.0
Match configuration of
the gateway

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3.2 Configuration – Robot controller
New
Step2: Add new registers. -> Communication -> Register -> Edit

Gateway writes data, so

controller should be read.

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3.2 Configuration – Robot controller
Step3: Open fieldbus. Wait for connection from modbus master.

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3.3 Configuration – PLC
Step1: Rockwell PLC L24ER-QB1B. Open ‘Studio 5000’, create a new project.

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3.3 Configuration – PLC
Step2: Search PLC model, choose the exact one. In this case , I use ‘QB1B’, enter ‘QB1B’.

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3.3 Configuration – PLC
Step3: Clique com o botão direito em 'Ethernet', escolha 'Novo módulo'. Um novo módulo EtherNet/IP
escravo será estabelecido.

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3.3 Configuration – PLC
Step4: Digite 'ethernet' na barra de pesquisa. Escolha... ‘Generic Ethernet module’.
Note: Existem diversos tipos de dispositivos EtherNet/IP. Escolha o que corresponde ao seu hardware.

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3.3 Configuration – PLC
Step5: Digite as informações dos registros de entrada e saída EtherNet/IP.
Neste caso, estou usando input ‘1~10’ ,output ‘100~109’.

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3.3 Configuration – PLC
Step6: Modificar o endereço IP do PLC. Neste caso, estou usando 192.168.2.170.

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3.3 Configuration – PLC
Step7: Abra o monitor de controller tag. Fique de olho no ‘gateway:I’ e ‘gateway:o’. Esses são registros de entrada e
saída.

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 04 Communication demo

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4.1 Communicate demo – R/W from control panel
1. Certifique-se de que a chave do gateway esteja na posição
"OFF".
2. O dispositivo Fieldbus está ligado no xCore-HMI.
3. Toda a rede está operacional.

connected

Modbus master’s IP

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4.1 Communicate demo – R/W from control panel

PLC write data Robot read data

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4.1 Communicate demo – R/W from control panel

PLC read data Robot write data

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4.2 Communicate demo – R/W RL program

Robot write example. Robot read example.

Set register array to zero.

10 of them.

Set registers different value to

see the changes.
1~10

Set registers different value to

see the changes.
-1~-10

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4.2 Communicate demo – R/W RL program
Note: I rename the register’s names. From ‘register0’ to ‘int_write_1’, from ‘register1’ to ‘int_read_1’!

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4 Communicate demo

1byte 1byte 1byte 1byte 1byte 1byte 1byte 1byte

INT' register no robô INT' register no gateway leva 4 bytes INT' register no PLC
leva 2 bytes (modbus master) leva 2 bytes
write apenas, read only,
Inicia a partir do read apenas, Inicia a partir do endereço 'N' Inicia a partir do
endereço 'N' endereço 'N'
read apenas, write only,
Inicia a partir do write apenas, Inicia a partir do endereço 'M' Inicia a partir do
endereço 'M' endereço 'M'

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 05 Precauções

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5 Precautions
Este gateway não tem um desempenho muito alto. Se você deseja mais registros, deve
configurar as configurações em muitos slots. Dessa forma, você pode obter uma latência menor
do que simplesmente colocá-los juntos.

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5 Precautions

Samples Timeout(ms) Poll time(ms) registers (ro/wo) Latency (s)

Suggestion:
1 50 100 125+123 20
2 200 500 125+123 2
1. Use ‘timeout = 10ms, poll time = 10ms, ro = 40, wo = 40’ ,
3 50 100 40+40 0.788
4 30 50 40+40 0.189
will be nice.
5 10 10 40+40 0.034
2. If you need more registers. Put them into different slots.
6 10 10 80+80 4.5 3. Large number of registers and low timeout & poll time is
7 10 100 (40+40)*2 0.054 not recommended.

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5 Precautions
If you get jumbled numbers, try to check endian.
We offer 4 different endian.
In my case, ‘DCBA’ endian just match this Rockwell PLC while our default endian is ‘CDAB’.

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5 Precautions
If PLC cannot go online, check if the network path configuration in PLC is right.
Use tool named ‘RSLink Classic’.

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5 Precautions
Add the NIC(Network Interface Card) to path with direct cable link, choose PC’s NIC.
Or add the router’s NIC to path with router or switch link, choose remote subnet.

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THANK YOU