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

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WAGO-I/O-SYSTEM

in ABB robot control systems

Application note

A100500, English

Version 1.0.0

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ii • General

WAGO Kontakttechnik GmbH Hansastraße 27 D-32423 Minden Phone: +49 (0) 571/8 87 – 0 Fax: +49 (0) 571/8 87 – 1 69 E-Mail: [email protected] Web: http://www.wago.com Technical Support Phone: +49 (0) 571/8 87 – 5 55 Fax: +49 (0) 571/8 87 – 4 30 E-Mail: [email protected]

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Table of Contents • iii Application note A100500

1 Important comments...1 1.1 Legal principles...1 1.1.1 Copyright...1 1.1.2 Personnel qualification...1 1.1.3 Intended use ...1 1.2 Range of validity...2 1.3 Symbols...2 2 Description ...3 3 Reference Material...3 4 Solution...3 4.1 ABB baseware...3 4.1.1 BW 3.0 - Rev. 00 ...3 4.1.2 BW 3.1 - Rev. 00 ...3 4.1.3 BW 3.1 - Rev. 20: ...4 4.1.4 BW 3.2 - Rev. 00 ...4 4.2 Boundary conditions ...4 4.3 750-306/000-004...5 4.4 750-306/000-002...5

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Important comments • 1

Application note A100500

1 Important comments

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.

1.1 Legal principles

1.1.1 Copyright

This manual is copyrighted, together with all figures and illustrations con-tained 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.

1.1.2 Personnel qualification

The use of the product detailed in this manual is exclusively geared to spe-cialists having qualifications in PLC programming, electrical spespe-cialists 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.

1.1.3 Intended use

For each individual application, the components supplied are to work with a dedicated hardware and software configuration. Modifications are only admit-ted within the framework of the possibilities documenadmit-ted 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 Kon-takttechnik GmbH.

Please direct any requirements pertaining to a modified and/or new hardware or software configuration directly to WAGO Kontakttechnik GmbH.

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2 • Important comments

1.2 Range of validity

This application note is based on the stated hardware and software of the spe-cific manufacturer as well as the correspondent documentation. This applica-tion note is therefore only valid for the described installaapplica-tion.

New hardware and software versions may need to be handled differently. Please note the detailed description in the specific manuals.

1.3 Symbols

Attention

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Description • 3

2 Description

Notes and characteristic features of common applications of ABB robot con-trol system and the WAGO-I/O-SYSTEM.

3 Reference Material

Manufac-turer

Item-No Description WAGO 750-306/

000-002 Feldbus-Coupler (CAN)Device Net WAGO 750-306/

000-008

Feldbus-Coupler (CAN)Device Net ABB ABB-robot control systems S4C and S4P

4 Solution

4.1 ABB baseware

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 up-dated, 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 base-ware. 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) con-sisting 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.

4.1.1 BW 3.0 - Rev. 00

BW 3.0 is an old version where remote I/O is not available in connection with the WAGO-I/O-SYSTEM .

4.1.2 BW 3.1 - Rev. 00

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.

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4 • Solution

4.1.3 BW 3.1 - 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.

4.1.3.1 Well-known constraints of the baseware 3.1

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 there-fore 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 opera-tion 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 cou-pler, the user should make tests until he finds a functioning configuration.

4.1.4 BW 3.2 - Rev. 00

This baseware makes a new main computer necessary for the robot control system. The framing error has been removed from this version, now any con-figuration 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 (750-306/000-002 and 750-306/000-004) therefore, answer with this version although they have the latest hardware and software.

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Solution • 5

4.3 750-306/000-004

If usual digital and analogue I/O function modules are to be used the 750-306/000-004 coupler has to be selected.

This coupler answers with revision 3.0 unlike the standard 750-306 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 ad-dress ranges.

It is not possible to operate modules for special functions (e.g.: counter module 750-404) with this coupler.

4.4 750-306/000-002

The ABB robot control system can process bits or words but not bytes. This means for example that the counter module (750-404), because of its internal data width of 5 bytes, cannot be connected to the coupler 750-306/000-004. In this case the coupler 750-306/000-002 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 cou-pler 750-306/000-002 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).

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