ABB - Application Manual - PROFIBUS Fieldbus Adapter

ABB Robotics
Application manual
PROFIBUS Fieldbus Adapter
Trace back information:
Workspace Main version a16
Checked in 2012-09-05
Skribenta version 896
Application manual
PROFIBUS Fieldbus Adapter
RobotWare 5.15
Document ID: 3HAC029338-001

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

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

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of contents
Table of contents
Manual overview ............................................................................................................................... 7
Product documentation, M2004 ....................................................................................................... 9
Safety ................................................................................................................................................ 11
1 Introduction to PROFIBUS Fieldbus Adapter 13

1.1 PROFIBUS, general ........................................................................................... 13
1.2 PROFIBUS Fieldbus Adapter, IRC5 ...................................................................... 15
2 Hardware description 17
2.1 PROFIBUS Fieldbus Adapter, DSQC 667 ............................................................... 17
2.2 Connections ..................................................................................................... 20
3 PROFIBUS Fieldbus Adapter configuration 23

3.1 Introduction ...................................................................................................... 23
3.2 Configuration overview ....................................................................................... 24
3.3 Working with the PROFIBUS Fieldbus Adapter ....................................................... 26
4 System parameters 29
4.1 Introduction ...................................................................................................... 29
4.2 Bus ................................................................................................................. 31
4.2.1 Connector ID .......................................................................................... 31
4.3 Type Unit ......................................................................................................... 32
4.3.1 PROFIBUS Address ................................................................................. 32
4.4 Type Unit Type ................................................................................................. 33
4.4.1 Internal Slave Input Size ........................................................................... 33
4.4.2 Internal Slave Output Size ......................................................................... 34
4.4.3 Internal Slave ......................................................................................... 35
4.4.4 Product ID ............................................................................................. 36
Index 37
3HAC029338-001 Revision: E 5
This page is intentionally left blank
Manual overview
Manual overview
About this manual
This manual describes the PROFIBUS Fieldbus Adapter option and contains
instructions for the PROFIBUS Fieldbus Adapter configuration.
Usage
This manual should be used during installation and configuration of the PROFIBUS
Fieldbus Adapter.
Who should read this manual?

This manual is intended for
• Personnel that are responsible for installations and configurations of fieldbus
hardware/software
• Personnel that make the configurations of the I/O system
• System integrators
Prerequisites
The reader should have the required knowledge of
• Mechanical installation work
• Electrical installation work
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 This chapter gives an overview of the PROFIBUS Fieldbus Adapter and in-
cludes the following:
• A general description of PROFIBUS
• Description of how the PROFIBUS Fieldbus Adapter is connected in
a robot system
2 This chapter describes the PROFIBUS Fieldbus Adapter.
3 This chapter gives an overview of the PROFIBUS Fieldbus Adapter configur-
ation. The chapter also contains descriptions of workflows.
4 This chapter describes the PROFIBUS Fieldbus Adapter specific system
parameters.
References
ABB documents
Reference Document ID
Operating manual - RobotStudio 3HAC032104-001
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Product manual - IRC5 3HAC021313-001
Technical reference manual - System parameters 3HAC17076-1
Product specification - Controller IRC5 with FlexPendant 3HAC041344-001
Continues on next page

Manual overview
Continued
Other references
Reference Description
International standard IEC 61158 Type 3 The PROFIBUS fieldbus standard is de-
International standard IEC 61784 scribed in the international standards.
PROFIBUS Technical Guideline Installation Guideline for PROFIBUS-DP/FMS

(Version 1.0, September 1998).
www.profibus.com The web site of PROFIBUS International.
Revisions
Revision Description
- First edition. RobotWare 5.09.02.
A RobotWare 5.11. Minor corrections.
B Changes to the system parameter Internal Slave.
Added cross reference to Operating manual - IRC5 with FlexPendant in
Configuring the PROFIBUS Fieldbus Adapter on page 26 in the PROFIBUS
Fieldbus Adapter configuration chapter.
C Updated for the RW 5.14 release.
Information about the location of the GSD file in the RobotWare DVD, PC,
and IRC5 Controller is added in the following section:
• Electronic Data Sheet on page 24.
Updated the section Limitations on page 24.
D Updated for the RW 5.14.02 release.
• Added the new system parameter Connector ID.
E Updated the Introduction section in the chapter System parameters on
page 29 for RW 5.15 release.
8 3HAC029338-001 Revision: E
Product documentation, M2004

Categories for manipulator documentation
The manipulator documentation is divided into a number of categories. This listing
is based on the type of information in the documents, regardless of whether the
products are standard or optional.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for M2004 manipulator systems.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools ).
• Spare parts list with exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals

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

Continued
An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
• Operating manual - Emergency safety information
• Operating manual - General safety information
• Operating manual - Getting started, IRC5 and RobotStudio
• Operating manual - Introduction to RAPID
• Operating manual - IRC5 with FlexPendant
• Operating manual - RobotStudio
• Operating manual - Trouble shooting IRC5, for the controller and manipulator.
Safety
Safety
Safety of personnel
When working inside the robot controller it is necessary to be aware of
voltage-related risks.
A danger of high voltage is associated with the following parts:
• Units inside the controller, for example I/O units, can be supplied with power
from an external source.
• The mains supply/mains switch.
• The power unit.
• The power supply unit for the computer system (230 VAC).
• The rectifier unit (400-480 VAC and 700 VDC). Capacitors!
• The drive unit (700 VDC).
• The service outlets (115/230 VAC).
• The power supply unit for tools, or special power supply units for the
machining process.
• The external voltage connected to the controller remains live even when the
robot is disconnected from the mains.
• Additional connections.
Therefore, it is important that all safety regulations are followed when doing
mechanical and electrical installation work.
Safety regulations
Before beginning mechanical and/or electrical installations, ensure you are familiar
with the safety regulations described in Product manual - IRC5.
1 Introduction to PROFIBUS Fieldbus Adapter
1.1 PROFIBUS, general

What is PROFIBUS?
PROFIBUS is a vendor independent open fieldbus standard for a wide range of
applications, particulary in the fields of factory and process automation. It is
maintained, updated and marketed by PROFIBUS International.
PROFIBUS is suitable for high-speed time critical applications as well as for complex
communication tasks.
PROFIBUS standardization
The PROFIBUS communication is specified in the international standard IEC 61158
Type 3, which includes the entire range of PROFIBUS versions. All PROFIBUS
devices should be certified by the PROFIBUS User Organization (PNO) to ensure
interoperability and conformance.
PROFIBUS versions
PROFIBUS has a modular design and different PROFIBUS versions are all
combinations of modular elements from the groups transmission technology,
communication protocol and application profiles.
Here are some examples of PROFIBUS versions:
• PROFIBUS-DP - optimized for factory automation
• PROFIBUS-PA - optimized for process automation
• PROFIsafe - PROFIBUS for safety-related systems
• PROFIdrive - PROFIBUS for motion control
Communication protocols
DP (Decentralized Periphery) is the simple, fast, cyclic and deterministic
communication protocol between a bus master and the assigned slaves. The
forerunner of DP was FMS (Fieldbus Message Specification), which is obsolete
today.
The original version of DP called DP-V0 has been expanded to DP-V1, and it
provides a cyclic data exchange between master and slave. A further version DP-V2
offers direct slave-to-slave data exchange with an isochronous bus cycle.
Facts, PROFIBUS-DP
The following table specifies a number of facts about PROFIBUS-DP.
Network type Multi-Master/Slave communication system
Installation Linear bus, terminated at both ends.
Shielded twisted pair cables.
9-pin D-sub or M12 connectors.
Speed 9.6 Kbps - 12 Mbps

Continued
Electronic device data sheet

The configuration process is based on electronic device data sheet (GSD files),
which are required for each PROFIBUS device. GSD files are provided by the
device manufacturers and contain electronic descriptions of all relevant
communication parameters of the PROFIBUS device.
1.2 PROFIBUS Fieldbus Adapter, IRC5
1.2 PROFIBUS Fieldbus Adapter, IRC5
Hardware overview
The hardware of the PROFIBUS Fieldbus Adapter, DSQC 667, consists of a
PROFIBUS-DP slave unit. The fieldbus adapter is connected to a CompactFlash
interface on the main computer in the robot controller, and is normally controlled
by an external master on the same physical PROFIBUS network.
Illustration, example
The following figure illustrates an overview of the hardware.
xx0700000382
A PROFIBUS-DP Master
B General PROFIBUS unit, DP-Slave
C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.
D IRC5 controller
Specification overview
Item Specification
Fieldbus type PROFIBUS DP-V1
Data rate 9.6 Kbps - 12 Mbps
Connection size Maximum 64 input bytes and 64 output bytes
2 Hardware description
2.1 PROFIBUS Fieldbus Adapter, DSQC 667
Description
The PROFIBUS Fieldbus Adapter is mounted in the computer module.
Installation of fieldbus adapter

For installation descriptions of the PROFIBUS Fieldbus Adapter refer to Product
manual - IRC5, section Replacement of fieldbus adapter in computer unit DSQC
639.
The figure illustrates the location of the PROFIBUS Fieldbus Adapter in the
computer unit.
xx0700000162
Description Art. no. Designation Pos.

PROFIBUS Fieldbus Adapter 3HAC026840-001 DSQC 667 A
Note
It is recommended to shield the fieldbus adapter cable to the wall of the controller
cabinet if the computer unit is placed in a disturbance environment.
Prerequisites
RobotWare 5.09.02 or later version is required to use the PROFIBUS Fieldbus
Adapter.
The PROFIBUS Fieldbus Adapter can be mounted only in the computer unit DSQC
639.

Continued
Illustration, PROFIBUS Fieldbus Adapter DSQC 667
xx0700000396
OP Operation mode LED

ST Status LED
PROFIBUS DP-V1 PROFIBUS connector
LEDs
This section describes the LEDs of the PROFIBUS Fieldbus Adapter.
Operation mode LED
LED state Description

OFF Not online/No power
GREEN Online, data exchange
GREEN, flashing Online, clear
RED, flashing (1 flash) Parametrization error
RED, flashing (2 flashes) PROFIBUS configuration error
Status LED
LED state Description

OFF No power or not initialized
GREEN Initialized
GREEN, flashing Initialized, diagnostic event(s) present
RED Exception error

Continued
PROFIBUS Fieldbus Adapter connector
xx0700000392
The following table describes the connections to the PROFIBUS Fieldbus Adapter
connector.
Pin Signal Description
1 Not used
2 Not used
3 RxD/TxD-P Receive/Transmit data; line B (red)
4 CNTR-P Control of repeater direction
5 DGND Data ground (reference voltage to VP)
6 VP Power supply +5V (for example bus termination)
7 Not used
8 RxD/TxD-N Receive/Transmit data; line A (green)
9 Not used
Housing Cable shield Internally connected to the fieldbus adapter protect-
ive earth via cable shield filters according to the
PROFIBUS standard.
2.2 Connections
2.2 Connections
General
All PROFIBUS devices are connected in a bus structure. Each bus segment can
have a maximum of 32 active devices. In order to be able to connect a larger number
of stations (masters and slaves), the bus must be segmented. The segments are
then interconnected with repeaters that amplify and refresh the data signals. Each
repeater allows the PROFIBUS system to be extended by an additional bus
segment. A maximum of 126 PROFIBUS devices can be connected to the bus.
The beginning and end of each segment is fitted with an active bus terminator, see
illustration in section Termination on page 21.
Cables and connectors

Cables used to connect the PROFIBUS network must be according to
PROFIBUS-DP specificationIEC 61158 Type 3. See Other references on page 8.
Drop cables are not allowed for PROFIBUS, thus special D-sub connectors must
be used when the PROFIBUS-DP unit is not the last in line. The connector must
have the possibility to insert two PROFIBUS cables in the same D-sub.
Cable parameters
Electrical cables are used for data transfer. For specification of the different
electrical data cables refer to PROFIBUS Technical Guideline. See Other references
on page 8.
The cable parameters for the standard bus cables result in the maximum length
of each bus segment for the respective data transfer rate. See details for cable
type A in the following tables.
Segment lengths and data rates, cable type A
Data rate, kilobits per second Maximum segment length, meters

9.6 1200
19.2 1200
45.45 1200
93.75 1200
187.5 1000
500 400
1500 200
3000 100
6000 100
12000 100

2.2 Connections
Continued
Other parameters, cable type A
Parameter Value
Impedance 135 to 165 Ω
Capacity ≤ 30 pF/m
Loop resistance ≤ 110 Ω/km
Conductor cross-sectional area ≥ 0.34 mm2 (AWG 22)
Termination
To reduce the reflections on the data lines, both ends of the PROFIBUS network
must be terminated according to the PROFIBUS-DP specification IEC 61158 Type
3.
Illustration
The termination used by PROFIBUS is an active termination as showed in the
following figure:
en0400001144
Note
After connecting the PROFIBUS network always check that the termination is in
place on both ends of the network and that there are no other terminations on
the network. If a termination is missing or an extra termination is added
somewhere in the PROFIBUS network, the communication will probably fail.
3 PROFIBUS Fieldbus Adapter configuration
3.1 Introduction

3.1 Introduction
Controller software
The IRC5 controller must be installed with software that supports the use of the
PROFIBUS network, that is, the PROFIBUS Fieldbus Adapter option must be
installed.
For description of how to add the PROFIBUS Fieldbus Adapter option, see Operating
manual - RobotStudio.
PC software
RobotStudio is PC software that is used to set up connections to robots and to
work with robots.
The configuration for the PROFIBUS communication is done either manually by
RobotStudio, or by loading a configuration file from RobotStudio. For information
about how to work with RobotStudio refer to Operating manual - RobotStudio, see
References on page 7.
3.2 Configuration overview
Configuration
The PROFIBUS Fieldbus Adapter is configured as an ordinary I/O unit.
The following table gives descriptions of defining the types Bus, Unit Type and
Unit for the PROFIBUS Fieldbus Adapter.
Defining... Description
Bus A PROFIBUS bus must be defined before any communication is possible,
that is, define rules for the PROFIBUS Fieldbus Adapter to communicate
on the network.
Unit Type When creating a unit type some system parameters are fieldbus specific.
See Type Unit Type on page 33.
Unit The only PROFIBUS specific system parameter in the unit definition is the
unit address.
See Type Unit on page 32.
Signal For general information, see Technical reference manual - System para-
meters
Predefined Bus
When the system is installed with the PROFIBUS Fieldbus Adapter option, a
predefined bus Profibus_FA1 is created.
Predefined Unit Type

A predefined Unit Type for the fieldbus adapter, DP_SLAVE_FA, is defined
supporting a connection with the size of 8 input bytes and 8 output bytes as defined
in the signal configuration for the fieldbus adapter.
If another input or output size on the fieldbus adapter is required, the predefined
Unit Type must be modified or a new Unit Type must be created.
Limitations
The PROFIBUS Fieldbus Adapter has the following limitations:
• The predefined Unit Type (DP_SLAVE_FA) has 8 input bytes and 8 output
bytes, but this number can be increased or decreased to the restriction in
the I/O system (see Internal Slave Input Size on page 33 and Internal Slave
Output Size on page 34).
• For the PROFIBUS Fieldbus Adapter both the input and output map starts
at bit 0.
Related information
Technical reference manual - System parameters
Electronic Data Sheet

The GSD-file, HMS_1811.gsd, for the PROFIBUS Fieldbus Adapter can be obtained
from the Robotware DVD, PC, or IRC5 controller.
The file is available at the following locations:
• On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFIBUS\GSD\

Continued
• On the PC where the RobotWare is installed: ...\ABBIndustrialIT\

RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\GSD\
• On the IRC5 Controller: \hd0a\<RobotWare_xx.xx.xxxx>\utility\service\GSD\
This file is used to configure the PROFIBUS master that will control the fieldbus
adapter. In the GSD file, and consequently in the PROFIBUS master configuration
tool, the PROFIBUS Fieldbus Adapter is called Anybus-CC PROFIBUS DP-V1.
Note
If the PROFIBUS Fieldbus Adapter loses connection with the master, the
configured input signals are cleared (reset to zero).
When the connection is re-established, the master updates the input signals.
3.3 Working with the PROFIBUS Fieldbus Adapter
Usage
When the IRC5 controller is connected, for example, to an external PLC it can be
configured as shown in Illustration, example on page 26.
Prerequisites
The network address of the PROFIBUS Fieldbus Adapter must be known.
Illustration, example
The following figure illustrates an example of how to use the PROFIBUS Fieldbus
Adapter.
xx0700000382
A PLC Master
B General PROFIBUS unit, DP-Slave
C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.
D IRC5 controller
Configuring the PROFIBUS Fieldbus Adapter

A configuration procedure of the PROFIBUS Fieldbus Adapter:
Action Info
1. Add a unit that has the address requested by the See Adding Unit Type on
master (e.g. PLC), and with Unit Type DP_SLAVE_FA. page 27 and Adding Unit on
If a new Unit Type should be used instead of the pre- page 27.
defined, it must be created before adding the unit.
2. Define the signals on the created unit. See Adding signals on
page 28.
3. Restart the system. Now the IRC5 controller is ready
to be contacted by a PROFIBUS master.

Continued
Adding Unit Type
Action
1. In RobotStudio, click Configuration Editor and select I/O.
2. Click Unit Type, then right-click in the workspace and select Add Unit Type.
3. In the Edit Unit Type dialog box, type the values for the parameters. The parameter
Internal Slave should be set to Yes.
xx0700000428
Adding Unit
Action
2. Click Unit, then right-click in the workspace and select Add Unit.
3. In the Edit Unit dialog box, type the values for the parameters.
xx0700000398

Continued
Adding signals
Action
2. Click Signal, then right-click in the workspace and click Add Signal.
3. In the Edit Signal dialog box, type the values for the parameters.
xx0700000205
NOTE!
For information about configuring I/O using FlexPendant, refer to the Configuring
I/O section in the Handling Inputs and Outputs, I/O chapter in Operating
manual - IRC5 with FlexPendant.
Related information
Operating manual - RobotStudio.
4 System parameters
4.1 Introduction
4 System parameters
4.1 Introduction
About the system parameters

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

Bus
These parameters belong to the type Bus in the topic I/O.
Parameter For more information, see ...
Name Technical reference manual - System parameters
Type of Bus Technical reference manual - System parameters
Connector ID Connector ID on page 31
Label of Fieldbus Connect- Technical reference manual - System parameters
or
Unit Recovery Time Technical reference manual - System parameters
Unit
These parameters belong to the type Unit in the topic I/O.
Type of Unit Technical reference manual - System parameters
Connect to Bus Technical reference manual - System parameters
Unit Identification Label Technical reference manual - System parameters
Unit Trustlevel Technical reference manual - System parameters
Unit Startup State Technical reference manual - System parameters
Store Unit State at Power Technical reference manual - System parameters
Fail
Regain Communication Technical reference manual - System parameters
Reset
PROFIBUS Address PROFIBUS Address on page 32
Unit Type
These parameters belong to the type Unit Type in the topic I/O.
Type of Bus Technical reference manual - System parameters
Vendor Name Technical reference manual - System parameters

4 System parameters
4.1 Introduction
Continued

Product Name Technical reference manual - System parameters
Internal Slave Input Size Internal Slave Input Size on page 33
Internal Slave Output Size Internal Slave Output Size on page 34
Internal Slave Internal Slave on page 35
Product ID Product ID on page 36
4 System parameters
4.2.1 Connector ID
4.2 Bus
4.2.1 Connector ID
Parent
Connector ID belongs to the type Bus, in the topic I/O.
Cfg name
ConnectorID
Description
The parameter Connector ID specifies the hardware interface (connection port)
that the PROFIBUS fieldbus adapter option shall use.
Usage
The Connector ID parameter is used to select one of the available connection ports
to use.
Prerequisites
The option PROFIBUS Fieldbus adapter (840-2) must be installed.
Default value
Fieldbus Adapter
Allowed values
Fieldbus Adapter
4 System parameters
4.3.1 PROFIBUS Address
4.3 Type Unit
4.3.1 PROFIBUS Address
Parent
PROFIBUS Address belongs to the type Unit, in the topic I/O.
Cfg name
PB_Address
Description
The parameter PROFIBUS Address specifies the address of the I/O unit on the
network.
Usage
PROFIBUS Address specifies the address that the I/O unit uses on the network,
to which the master should try to setup a connection.
Prerequisites
PROFIBUS Fieldbus Adapter option must be installed.
Default value
The default value is 125.
Allowed values
Allowed values are the integers 0-125. The value must match the address specified
for the fieldbus adapter when configuring the PROFIBUS master.
4 System parameters
4.4.1 Internal Slave Input Size
4.4 Type Unit Type
4.4.1 Internal Slave Input Size
Parent
Internal Slave Input Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_InputSize
Description
The parameter Internal Slave Input Size defines the data size in bytes for the input
area received from the unit.
Usage
Internal Slave Input Size is a PROFIBUS specific parameter.
Prerequisites
The PROFIBUS Fieldbus Adapter option must be installed.
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-64, specifying the input data size in bytes. The
value must match the input size specified when configuring the PROFIBUS master.
4 System parameters
4.4.2 Internal Slave Output Size
4.4.2 Internal Slave Output Size
Parent
Internal Slave Output Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_OutputSize
Description
Internal Slave Output Size defines the data size in bytes for the output area
transmitted by the unit.
Usage
Internal Slave Output Size is a PROFIBUS specific parameter.
Prerequisites
Limitations
A limitation is the maximum unit size for the Unit Type.
Default value
Allowed values
Allowed values are the integers 0-64, specifying the output data size in bytes. The
value must match the output size specified when configuring the PROFIBUS master.
4 System parameters
4.4.3 Internal Slave
4.4.3 Internal Slave
Parent
Internal Slave belongs to the type Unit Type, in the topic I/O.
Cfg name
InternalSlave
Description
Internal Slave specifies whether or not an I/O unit with this unit type is an internal
slave.
This parameter specifies the type of the slave device. The built-in slave module
on a master/slave card is defined as an internal slave. All other slave devices are
defined with this parameter set to No.
Usage
A slave device is either internal or not. The controller module has built-in slave
modules that are defined as internal slaves. Internal Slave is a general parameter
available for all fieldbus unit types.
Internal Slave is a general system parameter for fieldbuses.
If the unit type should be used as an internal slave, set the parameter to Yes. If the
parameter is set to Yes, only the necessary parameters for the internal slave are
shown.
Prerequisites
PROFIBUS Fieldbus Adapter option must be installed.
Default value
The default value is No.
Allowed values
Yes
No
4 System parameters
4.4.4 Product ID
4.4.4 Product ID
Parent
Product ID belongs to the type Unit Type, in the topic I/O.
Cfg name
PB_ProductId
Description
Product ID is used as an identification of the I/O unit and is only available for
PROFIBUS unit types. If the parameter is assigned the value 0 (zero), the robot
controller ignores the Product ID value of the connected unit. The value of the
parameter can be found in the Electronic device data sheet (GSD) for the unit
(called Ident_number in the GSD file). Note that Ident_number is often expressed
as a hexadecimal number in the GSD file.
Usage
Product ID is a PROFIBUS specific parameter.
Prerequisites
Default value
Allowed values
Allowed values are the integers 0-65535.
Additional information
The I/O unit Product ID is assigned by PNO (Profibus Nützer Org.) to the vendor
of the specific I/O unit.
Index
Index
C protocols, 13
cable parameters, 20 specification, 15, 20
data rate, 20 standardization, 13
segment length, 20 versions, 13
Connector ID, 31 PROFIBUS fieldbus adapter, 15, 26
connectors, 13 configuration, 26
controller software, 23 connector, 19
installation, 17
D limitations, 24
DSQC 639, 17 predefined Bus, 24
DSQC 667, 15, 18, 26 predefined Unit Type, 24
PROFIBUS network, 21
F termination, 21
fieldbus adapter, 17
configuration, 26 R
connector, 19 repeaters, 20
installation, 17 RobotWare, 17
G S
GSD file, 14 safety, 11
system parameters
I Internal Slave Input Size, 33
Internal Slave, 35 Internal Slave Output Size, 34
Product ID, 36
L PROFIBUS Address, 32
LED, 18
operation mode, 18 T
status, 18 termination, 21
topic I/O type
P Bus, 24, 29
PROFIBUS, 13 Unit, 24, 27, 29
connector, 18 Unit Type, 24, 27, 29
connectors, 20
Contact us
ABB AB
3HAC029338-001, Rev E, en
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

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

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

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ABB Robotics

Document ID: 3HAC029338-001

© Copyright 2008-2012 ABB. All rights reserved.

© Copyright 2008-2012 ABB. All rights reserved.

1 Introduction to PROFIBUS Fieldbus Adapter 13

3 PROFIBUS Fieldbus Adapter configuration 23

Who should read this manual?

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PROFIBUS Technical Guideline Installation Guideline for PROFIBUS-DP/FMS

Product documentation, M2004

Technical reference manuals

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An application manual generally contains information about:

1 Introduction to PROFIBUS Fieldbus Adapter

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Electronic device data sheet

1.2 PROFIBUS Fieldbus Adapter, IRC5

Installation of fieldbus adapter

Description Art. no. Designation Pos.

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Illustration, PROFIBUS Fieldbus Adapter DSQC 667

OP Operation mode LED

Operation mode LED

LED state Description

LED state Description

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PROFIBUS Fieldbus Adapter connector

Cables and connectors

Segment lengths and data rates, cable type A

Data rate, kilobits per second Maximum segment length, meters

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Other parameters, cable type A

3 PROFIBUS Fieldbus Adapter configuration

3.2 Configuration overview

Predefined Unit Type

Electronic Data Sheet

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• On the PC where the RobotWare is installed: ...\ABBIndustrialIT\

3.3 Working with the PROFIBUS Fieldbus Adapter

Configuring the PROFIBUS Fieldbus Adapter

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Adding Unit Type

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About the system parameters

PROFIBUS system parameters

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Parameter For more information, see ...

4.3 Type Unit

4.3.1 PROFIBUS Address

4.4 Type Unit Type

4.4.1 Internal Slave Input Size

4.4.2 Internal Slave Output Size

4.4.3 Internal Slave

ABB AS, Robotics

ABB Engineering (Shanghai) Ltd.

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