ABB DeviceNet

[Kōkaku kidōtai]

Hi,

I'm working now on a concept of a robotized cell based on ABB robot. My question concerns use of DeviceNet fieldbus in ABB. Let us consider following situation:

- robot is equipped with DeviceNet single channel card (option 709-1)
- there is external PLC with DeviceNet master interface
- we have some I/O's for gripper and some for the process

Is it possible to connect/configure everything in following way:

- robot is at the same time master and slave - master connection is used for gripper I/O's and slave for communication with PLC
- PLC is master and control both robot and rest of the I/O's

What do you think ?

Another question is - what is the difference between single and dual channel DeviceNet card in ABB ?

I will be grateful for any comments/suggestions!

Regards!

[Nation]

I worked on a cell with a similar setup and we ran into the same issues because the guy that contracted me did not buy the dual channel card.

Sorry, but the robot cannot be the master and a slave at the same time. You will have to use the PLC to control the grippers, not too hard, just make pass through rungs.

The dual channel card has two device net ports, one usually for talking to the plc as a slave, and the other where the robot is the master and talks to IO out on its end of arm tooling.

[Kōkaku kidōtai]

Thanks for info !!!

I was thinking that it's too easy to be true. However the ABB documentation is bit blurry at this subject... see attachments.

In such case I will look for some workaround.

Greetings!

[BigM]

Hi,

Having done this action with ABB's extensively I can say quite confidently that YES, the card is configured as BOTH a slave and a master.
The gripper actions would be controlled by the robot via IO cards inside the controller door.

An IO map would also be connected to the PLC to communicate.
If you want an example i could give you a sample EIO.cfg file showing this

Regards,

bigM

[Nation]

BigM,

I am very interested to see how you did that. Would you be able to provide the system.xml file also?

Thank you.

[Hultman]

I'am working with the same problem. Can I have a copy of the EIO.CFG file too.

[zealous_swe]

Its possible to be booth master and slave on the network using the singel channel option....

EIO_UNIT:

      -Name "PlcSlave" -UnitType "DN_INTERNAL_SLAVE" -Bus "DeviceNet1"

      -Name "FestoUnit" -UnitType "DN_GENERIC" -Bus "DeviceNet1" -DN_Address 21

In this example the internal slave will appear at address 2. The internal slave uses the same address as the master. A bit confusing I know..
So if you e.g. change the master address on the BUS, you also move the internal slave to this address...


EIO_BUS:

      -Name "DeviceNet1" -BusType "DNET" -ConnectorID "PCI1"\
      -ConnectorLabel "First DeviceNet" -DN_MasterAddress 5

Will change the address to 5. NOTE! If you don't change the -DN_MasterAddress  from its default value 2, it will not be displayed when you save out the EIO.cfg file...

[Nation]

Ahh, so would this work if the PLC was setup as the master, the robot had the single channel card, and there was a d328 24V DC I/O module on the same network? I was under the impression there could be only one master on a single network at a time. Does ABB get around this by doing some slave to slave communications? I thought that wasn't allowed.

I want to make sure I am understanding this correctly. Or maybe my understanding of devicenet isn't all there.

[hjgts8]

Ahh, so would this work if the PLC was setup as the master, the robot had the single channel card, and there was a d328 24V DC I/O module on the same network? I was under the impression there could be only one master on a single network at a time. Does ABB get around this by doing some slave to slave communications? I thought that wasn't allowed.

I want to make sure I am understanding this correctly. Or maybe my understanding of devicenet isn't all there.

I'm also interested in this as I have a devicenet node on the BASE network (robot is the master),that I would like to have visible on the CAN2 network (robot is the slave). so that the PLC could handle all fault diagnostics..... I'm not sure how interconnects affect the robot cycle time and CPU loading....  this is why I would like to find out more about this concept.

[Midwest Tech]

If anybody is interested, here is an IRC5 Devicenet manual.

BR,

Shane

[zealous_swe]

There is no restriction of the number of masters on the same DeviceNet network. As long as they have there own unique network address..

[Kōkaku kidōtai]

I will do some tests with two DeviceNet masters next week and let you all know ;-)

Cheers!

[hjgts8]

I will do some tests with two DeviceNet masters next week and let you all know ;-)

Cheers!

Hi,
   I tested two devicenet masters using a A4C+ ABB robot controller equipped with a dual channel devicenet card and an Allen Bradley 1756-DNB card. I had the Allen Bradley card set as master to the robot and several other nodes, with the ABB also being set as a master device accessing an Allen Bradley armour block on the same network.............. All seemed to work OK............ However I could not have the Allen Bradley 1756-DNB card access the armour block node at the same time as the robot controller........ does anyone know if it is possible for two master devices to share a slave device with the devicenet protocol?

[Wilson Li]

100% Sure the signle channel card can work with Master / Slave at same. the new version manual with RS5.12 already let some thing be understand clear.
I already let 4 robots with 709-1 work with M/S at same time.
If you have question please send your EIO to me. I modify it and back to you. if you load it to IRC5 it must work!!\

Becareful! The cable placement of the devicenet cable you must follw ODVA manual. otherwise you will lost sometime.

[robo15]

100% Sure the signle channel card can work with Master / Slave at same. the new version manual with RS5.12 already let some thing be understand clear.
I already let 4 robots with 709-1 work with M/S at same time.
If you have question please send your EIO to me. I modify it and back to you. if you load it to IRC5 it must work!!\

Becareful! The cable placement of the devicenet cable you must follw ODVA manual. otherwise you will lost sometime.

my problem is i'm not abe to set the robot as master and slave at the same time

Hello Mr. Wilson i'm just sending you .. EIO file please go through the same and help me out with this problem