WAGO-I/O-SYSTEM in ABB robot control systems Application note

Transcription

1 WAGO-I/O-SYSTEM in ABB robot control systems A100500, English Version 1.0.0

2 ii General Copyright 2001 by WAGO Kontakttechnik GmbH All rights reserved. WAGO Kontakttechnik GmbH Hansastraße 27 D Minden Phone: +49 (0) 571/ Fax: +49 (0) 571/ info@wago.com Web: Technical Support Phone: +49 (0) 571/ Fax: +49 (0) 571/ support@wago.com Every conceivable measure has been taken to ensure the correctness and completeness of this documentation. However, as errors can never be fully excluded we would appreciate any information or ideas at any time. We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally trademark or patent protected. A100500

3 Table of Contents iii TABLE OF CONTENTS 1 Important comments Legal principles Copyright Personnel qualification Intended use Range of validity Symbols Description Reference Material Solution ABB baseware BW Rev BW Rev BW Rev. 20: BW Rev Boundary conditions / / A100500

4 iv Table of Contents A

5 Important comments 1 1 Important comments 1.1 Legal principles Copyright To ensure fast installation and start-up of the units described in this manual, we strongly recommend that the following information and explanation is carefully read and adhered to. This manual is copyrighted, together with all figures and illustrations contained therein. Any use of this manual which infringes the copyright provisions stipulated herein, is not permitted. Reproduction, translation and electronic and photo-technical archiving and amendments require the written consent of WAGO Kontakttechnik GmbH. Non-observance will entail the right of claims for damages Personnel qualification Intended use The use of the product detailed in this manual is exclusively geared to specialists having qualifications in PLC programming, electrical specialists or persons instructed by electrical specialists who are also familiar with the valid standards. WAGO Kontakttechnik GmbH declines all liability resulting from improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual. For each individual application, the components supplied are to work with a dedicated hardware and software configuration. Modifications are only admitted within the framework of the possibilities documented in the manuals. All other changes to the hardware and/or software and the non-conforming use of the components entail the exclusion of liability on part of WAGO Kontakttechnik GmbH. Please direct any requirements pertaining to a modified and/or new hardware or software configuration directly to WAGO Kontakttechnik GmbH. A100500

6 2 Important comments 1.2 Range of validity 1.3 Symbols This application note is based on the stated hardware and software of the specific manufacturer as well as the correspondent documentation. This application note is therefore only valid for the described installation. New hardware and software versions may need to be handled differently. Please note the detailed description in the specific manuals. Attention Marginal conditions must always be observed to ensure smooth operation. A

7 Description 3 2 Description Notes and characteristic features of common applications of ABB robot control system and the WAGO-I/O-SYSTEM. 3 Reference Material 4 Solution Manufacturer Item-No WAGO / WAGO / ABB Description Feldbus-Coupler (CAN)Device Net Feldbus-Coupler (CAN)Device Net ABB-robot control systems S4C and S4P 4.1 ABB baseware BW Rev BW Rev. 00 The WAGO-I/O-SYSTEM can be used in ABB robot control systems of the type S4C and S4P from the M98 version and higher(m97a version can be updated, but not the older robot control systems). In order to make it possible for the user to operate the WAGO-I/O-SYSTEM in an ABB robot control system, ABB France has written the necessary baseware. The WAGO-I/O-SYSTEM is officially included in the ABB PIC list. The PIC list is a hardware catalogue (or an EDS file specified by ABB) consisting of a list of all the I/O units officially authorized / homologated by ABB. ABB s guarantee remains valid only if components from the PIC list are used. The WAGO-I/O-SYSTEM is registered in this PIC list under number W 306. BW 3.0 is an old version where remote I/O is not available in connection with the WAGO-I/O-SYSTEM. The I/O plus option is available in the OS 3.1 version. This option makes it possible to connect up to 512 binary signals with S4C and S4P robot control systems. Otherwise it would only be possible to connect a max. of 256 binary signals. A max. of two analogue inputs and two analogue outputs can be operated. A100500

8 4 Solution BW Rev. 20: This revision makes it possible to connect more than two analogue inputs and two analogue outputs although a maximum number of two is still stated in the baseware Well-known constraints of the baseware BW Rev. 00 Extensive tests showed that ABB robot control systems have some behaviours which are not usual for DeviceNet. Even with 8-byte telegrams the control system begins to transfer data in a fragmented way although 8 bytes can be packed in a DeviceNet telegram. The coupler doesn t see the reason why it should fragment telegrams which are equal to or smaller than 8 bytes; it therefore doesn t react to the request of the control system. A telegram length of 8 bytes must therefore be avoided: the user must force the coupler to fragment the transmission by connecting further function modules. An error-free operation cannot be guaranteed because of this framing error in case of I/Os with more than 8 bytes. Should I/Os with more than 8 bytes E/A be used at the coupler, the user should make tests until he finds a functioning configuration. This baseware makes a new main computer necessary for the robot control system. The framing error has been removed from this version, now any configuration is operational. The mode of transfer selected in the baseware for the inputs is the polling one. Although the DeviceNET coupler of the WAGO-I/O-SYSTEM also supports Change of state, it is not yet possible to set this mode of operation. 4.2 Boundary conditions The ABB baseware checks the version of the coupler when connected to the WAGO-I/O-SYSTEM. Couplers with the Major Revision 3 are operational. Both couplers specially adapted to ABB requirements ( / and / ) therefore, answer with this version although they have the latest hardware and software. The WAGO-I/O-SYSTEM DeviceNet couplers create the process image according to the attached function modules. In this process image, the modules for special functions are put in the analogue address range because of their large data width. The ABB robot control systems can process bits or words but not bytes. Data from modules for special functions therefore, has to be input as groups of bits. The ABB robot control system ignores the status byte which is added by the coupler to the process data input image. A

9 Solution / / If usual digital and analogue I/O function modules are to be used the / coupler has to be selected. This coupler answers with revision 3.0 unlike the standard in spite of the latest hardware and software and it is therefore operational for the ABB robot control system. Analogue and digital function modules are mapped in the corresponding address ranges. It is not possible to operate modules for special functions (e.g.: counter module ) with this coupler. The ABB robot control system can process bits or words but not bytes. This means for example that the counter module ( ), because of its internal data width of 5 bytes, cannot be connected to the coupler / In this case the coupler / can help: it sets the analogue address range of the couplers to zero and puts all modules for special functions in the digital address range. The coupler is then acting as if only digital inputs and outputs were available. It is the only way the robot control system can carry out a cross connection to the PLC. Data from analogue modules for special functions are not treated by the coupler / like words but like 16-bit groups (1 word = 16 bits). It is however not possible in this case to scale the analogue values. It is also not possible to output analogue values which are available in the control system (e.g.: TCP speed). A100500

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