PROFINET Master and Slave SW: Application Manual

ABB Robotics
Application manual
PROFINET Master and Slave SW
Trace back information:
Workspace RW 5-15-01 version a4
Checked in 2013-04-03
Skribenta version 4.0.006
Application manual
PROFINET Master and Slave SW
5.15
Document ID: 3HAC039906-001

Revision: D
© Copyright 2013 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
Overview of this manual ................................................................................................................... 7
Product documentation, M2004 ....................................................................................................... 9
Safety ................................................................................................................................................ 11
1 Introduction to PROFINET 13
1.1 PROFINET, general ........................................................................................... 13
1.2 PROFINET SW, IRC5 ......................................................................................... 14
1.3 Terminology ..................................................................................................... 17
2 Hardware description 19
2.1 PROFINET connections ...................................................................................... 19
2.2 Connections, general ......................................................................................... 22
3 Configuration 23
3.1 Configuration types ........................................................................................... 23
3.2 Configure the Profinet_SW bus ............................................................................ 24
3.3 Using NetNames+ ............................................................................................. 25
3.4 Master configuration .......................................................................................... 27
3.4.1 Introduction ............................................................................................ 27
3.4.1.1 Software overview ....................................................................... 27
3.4.2 Configuration overview ............................................................................. 28
3.4.2.1 PROFINET master ....................................................................... 28
3.4.3 Workflows .............................................................................................. 29
3.4.3.1 Configuring PROFINET master ...................................................... 29
3.4.3.2 Creating PROFINET configuration file ............................................. 30
3.4.3.3 Configuring the IRC5 controller ...................................................... 41
3.4.3.4 Using Fast Unit Startup ................................................................. 42
3.5 Slave configuration ............................................................................................ 44
3.5.1 Introduction ............................................................................................ 44
3.5.1.1 Software overview ....................................................................... 44
3.5.2 Configuration overview ............................................................................. 45
3.5.2.1 PROFINET internal slave .............................................................. 45
3.5.3 Workflows .............................................................................................. 47
3.5.3.1 Configuring PROFINET internal slave .............................................. 47
3.5.4 Examples .............................................................................................. 48
3.5.4.1 Configuring PROFINET internal slave .............................................. 48
4 System parameters 53
4.1 Introduction ...................................................................................................... 53
4.2 Type Bus ......................................................................................................... 55
4.2.1 Path to Bus Configuration File ................................................................... 55
4.2.2 IP Address ............................................................................................. 56
4.2.3 Subnet Mask .......................................................................................... 57
4.2.4 Gateway ................................................................................................ 58
4.2.5 Station Name ......................................................................................... 59
4.2.6 Auto Configuration .................................................................................. 60
4.2.7 Connector ID .......................................................................................... 61
4.3 Type Unit ......................................................................................................... 62
4.3.1 Fast Unit Startup ..................................................................................... 62
4.4 Type Unit Type ................................................................................................. 63
4.4.1 Input Size .............................................................................................. 63
4.4.2 Output Size ............................................................................................ 64
5 Troubleshooting 65
5.1 Scenarios ........................................................................................................ 65
3HAC039906-001 Revision: D 5
Table of contents
Index 67
6 3HAC039906-001 Revision: D
Overview of this manual

About this manual
This manual describes the following options and contains instructions how to
configure them in an IRC5 system.
• PROFINET Master/Slave SW (SoftWare), option number 888-2
• PROFINET Slave SW (SoftWare), option number 888-3
Usage
This manual should be used during installation and configuration of the PROFINET
SW options.
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:
• PROFINET fieldbus
• I/O system configuration
• IRC5 controller
• Robot Studio
References
Reference Document ID
Technical reference manual - System parameters 3HAC17076-1
Product manual - IRC5 3HAC021313-001
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Operating manual - RobotStudio 3HAC032104-001
Other references
Reference Description
International standard IEC 61158 Type 3 In- The PROFINET fieldbus standard is described
ternational standard IEC 61784 in the international standards.
PROFINET Cabling and Interconnection Installation Guideline for PROFINET (Version
Technology 2.00, September 1998)
Commissioning PC Stations - Manual and Release 12/2006 C79000-G8976-C156-08
Quick Start
ET200S Distributed I/O System Manual from Siemens
www.profinet.com The web site of PROFINET International
Continues on next page

Continued
Revisions
Revision Description
- First edition. Released with RobotWare 5.14.
A Updated for the RW 5.14.02 release.
• Updated the Auto configuration system parameter.
B Added section Installing PC WORX on page 35 for RW 5.14.03 release.
C Updated for the RW 5.15 release.
• Changed the maximum number of I/O units conntected to master from
20 to 50 in section PROFINET SW, IRC5 on page 14.
D Updated the subnet mask allowed values from "255.255.255.0 -
255.255.255.254" to "128.0.0.0 - 255.255.255.252" in Subnet Mask on page 57
for the RW 5.15.01 release.
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.
This page is intentionally left blank
1 Introduction to PROFINET
1.1 PROFINET, general
1.1 PROFINET, general
What is PROFINET?
PROFINET is an open standard for Industrial Ethernet. PROFINET satisfies
requirements for automation technology. PROFINET solutions can be implemented
for factory and process automation, for safety applications, and for the entire range
of drive technology right up to clock-synchronized motion control.
PROFINET standardization
The use of open standards, simple operation, and the integration of existing system
segments have driven the definition of PROFINET from the beginning. PROFINET
is standardized in IEC 61158 and IEC 61784. The continual further development
of PROFINET offers users a long term perspective for the implementation of their
automation tasks.
PROFINET versions
PROFINET has a modular design and different PROFINET versions are all
combinations of modular elements from the groups transmission technology,
communication protocol, and application profiles.
Here are some examples of PROFINET versions:
• PROFINET-IO - Distributed I/O (Remote I/O). Here, the familiar I/O view of
PROFIBUS is retained, in which the user data from the field devices are
periodically transmitted into the process model of the control system.
• PROFINET-CBA - Based on the object-oriented modelling of technological
modules. Based on the object model, machines and installations are
structured in PROFINET in the form of technological modules.
• PROFIsafe - Defines how safety-oriented devices (emergency shutoff
switches, light grids, overfill protection systems, etc.) can communicate
safety control information over a network securely enough that they can be
used in safety-oriented automation tasks up to EN954's KAT4, AK6, or SIL3
(Safety Integrity Level).
• PROFIdrive - The PROFIdrive profile covers application scenarios from simple
frequency converters to highly dynamic servo drivers.
• PROFIenergy - A profile of the PROFINET communications protocol that
allows the power consumption of automation equipment in manufacturing
(such as robot assembly cells, laser cutters and sub-systems such as paint
lines) to be managed over a PROFINET network. It offers an open and
standardized means of controlling energy usage during planned and
unplanned breaks in production.
1.2 PROFINET SW, IRC5
Hardware overview
PROFINET SW is a software solution running on the IRC5 main computer. It
communicates via distributed I/O units.
The PROFINET network is connected to an Ethernet connection on the main
computer in the IRC5 controller. For option PROFINET Master/Slave SW (888-2),
the IRC5 controller can act as a master, slave or both on the PROFINET network.
For option PROFINET Slave SW (888-3), the IRC5 controller can only act as a
slave.
I/O units
It is possible to connect any type of PROFINET-IO compliant I/O unit on the
PROFINET master bus. All I/O units should comply with the PROFINET standard
and be conformance tested by PROFINET international. I/O units may be mounted
inside the IRC5 controller. There are no PROFINET compliant I/O units installed
in a standard version IRC5 controller.
Main computer
PROFINET SW requires the main computer DSQC 639.
PROFINET version compatibility

PROFINET SW supports the PROFINET version PROFINET-IO RT ver.V2.2
conformance class A (see PROFINET versions on page 13).

Continued
PROFINET network
The following figure illustrates an example overview of the PROFINET network.
xx1000001087
A Line PLC, PROFINET master

B IRC5 controller
C I/O unit
D Ethernet board (optional)
E Ethernet switch (optional, order number: 3HAC034884-001)
Configuration programs
To be able to configure the PROFINET master, an external PROFINET configuration
tool is needed. There are two different versions available: PROFINET-IO
Configurator Express and PROFINET-IO Configurator Professional. Supplied on
the RobotWare DVD is the Express version. The Professional version have some
additional features and can be bought separately. It is also possible to use the tool
PC WORX from Phoenix.
The PROFINET internal slave does not require any external configuration tool for
the IRC5 controller. A connecting PLC or other master needs to use the provided
GSDML file and its vendor specific configuration tool to be able to connect to the
PROFINET internal slave.
Specification overview, master
Item Specification
Number of I/O units connected to master Maximum 50 I/O units

Continued
Item Specification
Number of I/O signals Maximum 8192 I/O signals
Specification overview, slave
Item Specification
GSDML file See GSDML files on page 45.
PROFINET Version V2.2
Slot configuration Slot 1-2: Digital input or output modules of variable size
PROFINET-IO Routing Not supported
Number of I/O signals 1024 digital in
1024 digital out
1.3 Terminology
1.3 Terminology
Terms
Term Explanation
DSQC 612 Ethernet board (optional but also supplied with
other options, for example MultiMove)
PROFINET configuration file XML file created using an external PROFINET
configuration tool
External PROFINET configuration tool PROFINET-IO Configurator Express
or
PROFINET-IO Configurator Professional
or
PC WORX
See Configuration programs on page 15.
GSDML Generic Station Description Markup Language
A GSDML file contains information about a
PROFINET I/O unit.
Master PROFINET controller
Reduction ratio Poll rate
Slave, I/O unit PROFINET device
Fast Unit Startup Functionality for shortening the connection time
with an I/O unit.
Other manufacturers refer to this functionality as
Fast Start Up (FSU) or Prioritized Startup.
2 Hardware description
2.1 PROFINET connections
Connection ports
The PROFINET network is connected to an Ethernet port on the main computer.
The LAN port or any port on the Ethernet board is possible to configure as a
PROFINET capable Ethernet port.
Port Description
LAN port Use the same physical port, but a different IP address than used
by the factory LAN.
Any port on Ethernet The Ethernet board is optional (option 905-1 Ethernet port).
board (DSQC 612) It is possible to share the board with other options (such as Mul-
tiMove). Up to 2 Ethernet boards are supported.
Connecting to the LAN port

If the LAN port is used, the PROFINET traffic use the same physical network contact
as the traffic on the factory LAN. However, the port has a specific IP address for
the PROFINET traffic that allows the switch to separate the PROFINET and factory
LAN traffic directly.
IRC5 Robot I/O

LAN IP PROFINET IP
I/O I/O
LAN
Switch
Factory LAN
PLC
xx1000001095

Continued
The following figure illustrates where to connect the Ethernet cable for the
PROFINET network to the LAN port of the computer module.
DSQC 612
SERVICE ETHERNET1
TPU ETHERNET 2
AXC 1 ETHERNET3
PANEL UNIT
xx1000001097
A LAN port
Connecting to an Ethernet board

Schematic picture of the network when connecting the PROFINET network to the
Ethernet board of the main computer:
en1000001099
The following figure illustrates where to connect the Ethernet cable for the
PROFINET network to an Ethernet board of the computer module. It can be
connected to any unused port on the Ethernet board. It is only possible to use one

Continued
Ethernet port at a time to be PROFINET capable. The master and slave share that
port.
DSQC 612
ETHERNET1
ETHERNET 2
ETHERNET3
xx1100000152
A Ethernet board (DSQC 612)
Cables and connectors

Cables used to connect the PROFINET network must comply with the standard
defined by PROFINET Cabling and Interconnection Technology available from
www.profinet.com.
Limitations
The switches used together with PROFINET SW must support Quality of Service
(QoS).
The PROFINET I/O units mark their packets with a priority value. Switches and
routers are then able to differentiate the PROFINET traffic from the non-critical
traffic. To do this, the switches and routers must support Quality of Service.
2.2 Connections, general
2.2 Connections, general
General
All I/O units are connected to Industrial Ethernet switches in a tree structure. Some
I/O units have built-in Ethernet switches allowing I/O units to be connected in a
cascade structure.
xx0800000133
A Switch
B I/O unit
C I/O unit with built-in switch
3 Configuration
3.1 Configuration types
3 Configuration
3.1 Configuration types
Types
The following table provides descriptions of how to define the types Bus, Unit Type
and Unit.
Defining... Description
Bus A PROFINET bus must be defined before any communication is possible, that
is, define rules for PROFINET to communicate on the network.
See Type Bus on page 55.
Unit Type When creating a unit type some system parameters are fieldbus specific.
See Type Unit Type on page 63.
Unit The only PROFINET specific system parameter in the unit definition is Fast
Unit Startup.
See Type Unit on page 62.
Signal See Technical reference manual - RAPID Instructions, Functions and Data
types.
Predefined Bus
When the system is installed with the option PROFINET Master/Slave SW, a
predefined I/O bus, Profinet_SW, is created.
3 Configuration
3.2 Configure the Profinet_SW bus
3.2 Configure the Profinet_SW bus
Bus visible on the network

When the IRC5 system is started, the Profinet_ SW bus is visible on the PROFINET
network for all other nodes.
Use a PROFINET network browser tool, like NetNames+ (included), to verify that
all nodes have a unique station name and IP address.
The system parameters

The parameters that configure the Profinet_SW bus representation on the network
are found in the type Bus system parameter for the Profinet_SW bus (see Type
Bus on page 55). These parameters are used both by the master and slave part
of the Profinet_SW bus.
The Bus parameters can be changed from the IRC5 system itself or with an external
configuration program. A PLC / PROFINET master that connects to the PROFINET
internal slave can also change some of the parameters during the connection
attempt.
Do not configure parameters with external tool while exchanging I/O data
If an external configuration tool is used, it is important to make sure that the
Profinet_SW bus is not involved in any I/O data exchange.
If, for example, the PROFINET internal slave is exchanging I/O data with a PLC, it
is not possible to change the IP address etc. of the Profinet_SW bus, using an
external tool.
3 Configuration
3.3 Using NetNames+
3.3 Using NetNames+
About NetNames+
Included in the PROFINET-IO Configurator package is a program called NetNames+.
It is used to manage the PROFINET network and organize the PROFINET devices
to avoid duplicated IP addresses and station names.
Location of program on PC
NetNames+ is included in the PROFINET-IO Configurator Express package available
on the RobotWare DVD (Utility\Fieldbus\Profinet).
Setup NetNames+
Action
1 Select Network Adapter to the Ethernet adapter used on the PC that connects to the
PROFINET network.
2 Click Options and make sure that Save IP Addresses permanently is selected. This
makes sure that a name or IP address change sent down from NetNames+ is saved
by the PROFINET device.

3 Configuration
3.3 Using NetNames+
Continued
Action
3 Click the Refresh button.
Now NetNames+ will list all PROFINET devices that are reachable on the network.
Using this view, it is possible to change a device configuration parameters.
To change a device's parameters, simply click on that device and fill in the values that
need to be changed. When done, click the Send button.
Note
To set the Default Gateway address to Not Used, the Default Gateway needs to be
set to the same value as the IP Address.
Fault indication
If there is a problem with a device, like duplicated IP address, the device will be
marked red.
Flashing On functionality
Sometimes it is difficult to distinguish devices in the NetNames+ list from each
other. A useful function in such a case is the Flashing On functionality. To use it,
select a device from the list and click the Flashing On button. This will send a
request to the selected device to flash its status LEDs.
3 Configuration
3.4.1.1 Software overview
3.4 Master configuration
3.4.1 Introduction
Controller software
To be able to use the PROFINET master, the IRC5 controller must be installed with
the option PROFINET Master/Slave SW (888-2).
PC software
To configure the PROFINET network in the IRC5 controller, a PROFINET
configuration file needs to be created and downloaded to the IRC5 controller. This
PROFINET configuration file is created using the supplied PROFINET-IO
Configurator Express software found on the RobotWare DVD
(Utility\Fieldbus\Profinet) or by using PROFINET-IO Configurator
Professional, that can be bought separately. It is also possible to create this
PROFINET configuration file using the PCWORX PC software from Phoenix Contact.
3 Configuration
3.4.2.1 PROFINET master
3.4.2 Configuration overview
3.4.2.1 PROFINET master
Predefined Unit Type

When the system is installed with the option PROFINET Master/Slave SW, a
predefined unit type PN_GENERIC is created. This I/O unit type is used for all I/O
units controlled by the PROFINET master part.
GSDML files
In order to configure a PROFINET network with an external PROFINET configuration
tool, GSDML files need to be imported into the tool. These files contains vital
information about the PROFINET I/O units and they shall be supplied by the
vendor/manufacturer of the specific PROFINET module.
3 Configuration
3.4.3.1 Configuring PROFINET master
3.4.3 Workflows
3.4.3.1 Configuring PROFINET master
Description
Two types of configuration must be performed for the master. First an external
PROFINET configuration tool is used to create a PROFINET configuration file that
describes the PROFINET network. This file is downloaded to the IRC5 controller.
Secondly the system parameters of the IRC5 controller must be configured.
Configuration procedure
Action Note
1 Use the external PROFINET configuration tool to create a Described in section
project that contains the configuration of the PROFINET Creating PROFINET
network. If the I/O units are not available in the configuration configuration file on
tool, import the GSDML files. page 30.
Note
This step is always unique depending on the type of I/O unit

to configure.
2 Download the PROFINET configuration file to the IRC5

controller.
3 Configure the I/O units connected to the Profinet_SW bus See Configuring the IRC5
using RobotStudio or FlexPendant. controller on page 41.
Note
It is recommended to always use the parameter Auto Config-

uration. See Auto Configuration on page 60.
4 Configure the I/O signals. See Technical reference

manual - System para-
meters.
5 Perform a warm start of the IRC5 controller.
3 Configuration
3.4.3.2 Creating PROFINET configuration file
Overview
This section describes two methods of creating a PROFINET configuration file.
• The standard method is to use the tool PROFINET-IO Configurator Express,
which is included on the RobotWare DVD.
• The alternative method is to use the tool PC WORX. This tool is not supplied
by ABB.
Installing PROFINET-IO Configurator Express

The PROFINET-IO Configurator Express tool runs on the following operating
systems (64-bit not supported):
• Windows XP
• Windows Vista
• Windows 7
Use this procedure to install PROFINET-IO Configurator Express.
Action
1 Locate the zip file PROFINET-IO Configurator Express.zip on the RobotWare
DVD (Utility\Fieldbus\Profinet), and unzip it.
If PROFINET-IO Configurator Professional is used, locate the installation setup file on
the supplied CD.
2 Run the setup.exe file to install the program.
3 When the installation is completed, restart the computer.
Creating PROFINET configuration file using PROFINET-IO Configurator Express

The following example is performed using PROFINET-IO Configurator Express.
This example demonstrates how to create a PROFINET configuration file for one
I/O unit, a Siemens ET200s with 5 DO 2-bit modules and 1 DI 2-bit module.
Action
1 Start PROFINET-IO Configurator Express.
2 In PROFINET-IO Configurator Express, click File and select New to create a new
empty project.
3 Click File and select Save to save the new project. Use the name "TestProject".
4 In the Bus Structure window, make sure that the "TestProject" node is selected.

3 Configuration
Continued
Action
5 In the Device Details window, set the PROFINET IP range for this project by setting
the following parameters:
• Last IP-Address: 192.168.5.254
• First IP-Address: 192.168.5.2
• Subnetmask: 255.255.255.0
en1100000063
6 In the Device Catalog window, expand the nodes KW-Software, I/O and PLC.
en1100000064
7 Right-click on KW-Software PROFINET IO Rev and select Insert Device into Bus
structure.
This node now represents the IRC5 controller master.
8 In the Bus Structure window, select KW-Software PROFINET IO to bring up the Device
Details window.
en1100000065
These values does not have any effect on the IRC5 controller settings, but could be
filled with data to reflect the settings of the IRC5 controller that is using this configur-
ation.

3 Configuration
Continued
Action
9 Install the GSDML file for the ET200s Standard device by right-clicking in the Device
Catalog window and select Import GSD file.
en1100000251
In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.

This version of the PROFINET-IO Configurator Express support V2.2 syntax and
earlier versions for the GSDML files.
The installation of the GSDML file may take several minutes and the program might
appear to be unresponsive during that time.

3 Configuration
Continued
Action
10 Make sure that the PROFINET node is selected in the Bus Structure window.
Add an ET200s ST (standard) head module by expanding the SIEMENS / I/O / ET 200S
node in the Device Catalog window.
Right-click in the window and select Edit Catalog Representation. Move the Order
Number item from Available to Used and click OK. The window will no be sorted with
order numbers as well.
Select and right-click the node (for example IM151-3 PN ST V6.0 Rev.) and choose
Insert Device into Bus structure.
In this example we use a version 6.0 module with order number 6ES7-151 3AA23-
0AB0.
en1100000253

3 Configuration
Continued
Action
11 Select the added node in the Bus Structure window.
In the Device Details window, set the device properties to reflect the units properties
on the PROFINET network. See Using NetNames+ on page 25.
In this example we set:
• DNS/PROFINET Device Name: unit1.cell2
• IP Address: 192.168.5.65
• Reduction ratio: 8 ms
en1100000254
Note
The DNS/PROFINET Device Name is using a much longer string length and a syntax
that is not allowed in the IRC5 controller for an I/O unit name. The DNS/PROFINET
Device Name is matched against the system parameter Name for an I/O unit definition
in the IRC5 controller. Therefore the DNS/PROFINET Device Name must be unique
for the first 32 letters or up to the first "." (full stop character).
In this example the units name in the Robot controller will be "unit1", but on the
PROFINET network it will be displayed with the name "unit1.cell2". Therefore it is re-
commended to use the system parameter Auto Configuration when adding new units
in the IRC5 controller. See Auto Configuration on page 60.
12 Select the node 0 @IM151-3 PN ST V6.0 in the Bus Structure window.

Now the Module Catalog window displays all possible modules to insert at Slot 1 for
this device. Add the power module. Sort this window as well based on order number.
Add a power module with order number 6ES7 138-4CA01-0AA0 by selecting it and
drop it in the Bus Structure window on the text 0 @IM151-3 PN ST V6.0.
Note
It is very important for some I/O units that the firmware/hardware version on the I/O
unit exactly matches the version used in the configuration (for example V 6.0).
13 Add the rest of the digital input and output modules by repeating the previous step.
Select the node 1 PM-E DC24V. Sort the Module Catalog window on order number.
Add a 2-bit DO module with order number 6ES7 132-4BB01-0AA0 by dragging and
dropping it on the 1 PM-E DC24V node.

3 Configuration
Continued
Action
14 When all modules are added, right-click the node PROFINET in the Bus Structure
window and select Parameterize to compile the configuration project and create the
ippnio.xml file.
en1100000255
15 Download the ippnio.xml file to the HOME directory of the currently used RobotWare
system using an FTP client.
Installing PC WORX
Note
Prior to installation, close all open Windows applications.

PC WORX is part of the AUTOMATIONWORX Software Suite.
Use this procedure to install PC WORX.
Action
1 Insert the AUTOMATIONWORX Software Suite CD in your CD-ROM drive and run the
setup.exe file.
2 Follow the installation instructions.
3 When the installation is completed, restart the computer.

3 Configuration
Continued
Creating PROFINET configuration file using PC WORX

The following example is performed using PC WORX version 6.0 with Service pack
3 and hotfix 1.
This example demonstrates how to create a PROFINET master configuration file
for a Siemens ET200s I/O unit that later can be downloaded to the IRC5 controller.
Action
1 Start the program PC WORX 6.00.25 SP 3.73.
The program can be found in the Windows Start menu, under Phoenix Contact and
then AUTOMATIONWORX Software Suite 2009 1.50
2 Click on the menu View and select Bus Configuration.
This changes the program view to Bus Configuration.
3 Click File and select New Project.
4 Select the project type RFC 470 PN-3TX ... and click OK.
en1100000067
5 In the Device details window, specify the IP address range that the PROFINET master
operates within.
For example, if the PROFINET I/O bus system parameter IP Address is specified to
192.168.5.33:
First IP-Address can be 192.168.5.2
Last IP- Address can be 192.168.5.254.
System parameter IP Address is described in section IP Address on page 56.
en1100000071

3 Configuration
Continued
Action
6 In the Bus Structure window, select the node RFC 470 .... Set the same IP address
as specified in the system parameter IP Address for the PROFINET I/O bus in the
IRC5 controller.
en1100000072
This specifies the IP address of the IRC5 controller PROFINET master.

7 Activate the Device Catalog window, right-click and select Import GSD file.
en1100000073
This installs the GSDML file for the ET200s device.

8 Select the GSD file.
In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.
This version of the PCWORX support V2.2 syntax and below for the GSDML files.
It may take a few minutes to install a GSDML file.

3 Configuration
Continued
Action
9 Make sure the PROFINET node in the Bus Structure window is selected. Double-click
on the ET200s module in the Device Catalog window to add it.
In this example we add a ET200S of version V6.1 with order number 6ES7-151 3AA23-
0AB0.
en1100000074
Note
It is very important for some I/O units that the firmware/hardware version on the I/O
unit exactly matches the version used in the configuration (for example V 6.1).
10 Set the I/O unit’s PROFINET name using the program NetNames+. See Using Net-
Names+ on page 25.
The selected name must exactly match the name the I/O unit got on the PROFINET
network.
Note
The selected name is also used as the name of this I/O unit in the IRC5 controller.
However, a '-' sign is expressed as a '_' in the IRC5 controller.

3 Configuration
Continued
Action
11 In the Device Details window, set a value for IP Address.
Also, in the program NetNames+, set the same value for the IP address.
en1100000081
12 If the default values are not suitable, set new values for Reduction ratio input and
Reduction ratio output in the Device Details window.
13 In the Bus Structure window, make sure the node IM151... is selected.
In the Module Catalog window, locate the module that is in slot 1 on the I/O unit.
Tip
To easier find the module, right-click in the Module Catalog window and select Edit
Catalog Representation. In the pop up window select to sort it based on Order number.

3 Configuration
Continued
Action
14 Drag and drop the module to the module in the preceding slot in the Bus Structure
window.
In this example, drag module PM-E DC24V to node 0 @IM151-3 PN…
en1100000085
15 Add the rest of the modules that the ET200s is equipped with.
Tip
Copy and paste can be used to add modules of the same type.
16 Click the Build menu and select Rebuild Project.

This builds the project and creates the PROFINET configuration file.
A successful build will always generate 2 warnings.
The default path to the generated PROFINET configuration file is: C:\Documents
and Settings\All Users\Documents\PC
WORX\Projects\TestProj\C\STD_CNF\R\STD_RES\_s49PNIO\IPPNIO.xml
17 Download the ippnio.xml file to the HOME directory of the currently used RobotWare
system using an FTP client.
3 Configuration
3.4.3.3 Configuring the IRC5 controller
3.4.3.3 Configuring the IRC5 controller
Description
This configuration example uses the PROFINET configuration file created in section
Creating PROFINET configuration file on page 30. It shows how to use the
PROFINET configuration file and how to add the configuration definitions to the
system parameters.
Configuring the IRC5 system parameters

Use this procedure to configure the PROFINET master in the IRC5 controller, using
RobotStudio.
Action
1 Start RobotStudio and connect to the IRC5 controller. Request write access.
2 Click Configuration Editor and select I/O.
3 In the type list, click Bus and then right-click in the workspace on the
Profinet_SW item and select Edit Bus.
4 Enter the parameter values for the bus.
• Connector ID: Select used Ethernet port
• Path to Bus Configuration File: Set to ippnio.xml
• IP Address: Set to the PROFINET subnet range
• Station name: This robots PROFINET name id on the PROFINET network
• Auto Configuration: Select group signals
Click OK.
en1100000092

The auto configuration functionality now adds all I/O units found in the ippnio.xml
file to the system parameters.
In this example, the et200_test I/O unit (found in the example file ippnio.xml) is
added.
6 If needed, change the signal names on the added I/O unit.
7 Perform a warm start of the IRC5 controller to connect to the configured I/O
unit.
3 Configuration
3.4.3.4 Using Fast Unit Startup
About Fast Unit Startup

The Fast Unit Startup functionality is used in tool changing applications to shorten
the connection time between the PROFINET master and an I/O unit. To be able to
use this functionality, the I/O unit needs to support this functionality. Some
manufacturers also call this functionality Fast Start Up (FSU) or Prioritized Startup.
To activate Fast Unit Startup against an I/O unit, set the system parameter Fast
Unit Startup to the Ethernet port number on the I/O unit that connects the incoming
Ethernet traffic from the PROFINET master. See Fast Unit Startup on page 62.
Three alternative connections

I/O unit connected via a switch
xx1100000093
A IRC5 controller acting as PROFINET master

B Switch
C Connection point
D I/O unit
F Port 1 on the I/O unit
G Port 2 on the I/O unit
In this alternative, which is the most common, the PROFINET master connects to
I/O unit via a switch. If the I/O unit shall be configured with Fast Unit Startup, the
only Port that loses its power at the connection point, is Port 1 on the I/O unit (if
the Ethernet cable is connected to this Port from the switch). Therefore the only
configuration needed in this scenario is to set the system parameter Fast Unit
Startup on the I/O unit’s configuration to "Port 1".

3 Configuration
Continued
Two I/O units connected in serial via a switch
xx1100000094

B Switch
C Connection point
D I/O unit
E I/O unit
In this alternative, booth I/O units are disconnected at the connection point. In this
case booth Port 1 and Port 2 on the first I/O unit (D) and Port 1 on second I/O unit
(E) needs to be configured to support Fast Unit Startup. This cannot be done using
the system parameter Fast Unit Startup. In this scenario the first I/O unit (D) needs
to be manually configured. Check your vendor specific application manual about
how to perform such a configuration.
I/O unit connected without a switch
C
A
D
xx1100000095

C Connection point
D I/O unit
E I/O unit
In this alternative there is a direct cable between the PROFINET master and the
I/O unit. In this case, the system parameter Fast Unit Startup needs to be set to
"Port 1" and a crossed Ethernet cable needs to be used.
3 Configuration
3.5 Slave configuration
3.5.1 Introduction
Controller software
To be able to use the PROFINET internal slave, the IRC5 controller must be installed
with the option PROFINET Master/Slave SW (888-2) or PROFINET Slave SW (888-3).
PC software
The PROFINET internal slave does not need any type of PC software to be activated,
but the connecting PLC / PROFINET master might need a PC software tool to
configure all connection parameters used to connect to the IRC5 system.
The provided GSDML file for the IRC5 PROFINET SW slave is used to inform the
connecting PLC / PROFINET master of supported connection parameters. See
GSDML files on page 45.
3 Configuration
3.5.2.1 PROFINET internal slave
3.5.2 Configuration overview
Configuration
PROFINET SW has an internal slave with maximum 1024 digital input signals and
maximum 1024 digital output signals. This can, for example, be used:
• To connect the IRC5 controller to a PLC.
• To connect the IRC5 controller to another IRC5 controller which acts as a
master.
Predefined Unit Type

A predefined unit type PN_INTERNAL_SLAVE is available. This unit type is used
to define the PROFINET internal slave in the IRC5 controller, which will enable a
PLC to connect to the IRC5 controller. There can only be one I/O unit with this unit
type defined in the IRC5 controller.
GSDML files
In order to configure a PROFINET network with an external PROFINET configuration
tool, GSDML files need to be imported into the tool. These files contains vital
information about the PROFINET I/O units and they shall be supplied by the
vendor/manufacturer of the specific PROFINET module.
The GSDML file, GSDML-V2.1-ABB-Robotics-PNSW-Device-20110120.xml, for the
PROFINET internal slave can be obtained from the RobotWare DVD, PC, or IRC5
controller.
• On the RobotWare DVD: <DVD-drive>:\utility\fieldbus\PROFINET\GSDML\
• OnthePCwheretheRobotWareisinstalled: ...\ABBIndustrialIT\
RoboticsIT\Mediapool\<RobotWare_xx.xx.xxxx>\utility\service\GSDML\
• On the IRC5 Controller:
\hd0a\<RobotWare_xx.xx.xxxx>\utility\service\GSDML\
Input and output size

The unit type PN_INTERNAL_SLAVE has two system parameters, Input Size and
Output Size. Input Size is used to configure the input size of the PROFINET internal
slave and Output Size configures the output size. A connecting PLC needs to have
a slot configuration created in the external PROFINET configuration tool that
matches the configuration of the PROFINET internal slave.
The following table shows a few examples of how the Input Size and Output Size
unit type parameters can be used to create different slot configurations of a
connecting PLC:
Input Size Output Size Step 7 Configuration
8 bytes 8 bytes Slot 1: DI 8 bytes
Slot 2: DO 8 bytes
8 bytes 16 bytes Slot 1: DI 16 bytes
Slot 2: DO 8 bytes

3 Configuration
Continued
Input Size Output Size Step 7 Configuration

64 byte 32 bytes Slot 1: DI 32 bytes
Slot 2: DO 64 bytes
If a configuration mismatch between the connecting PLC and the PROFINET internal
slave occurs, the event message 71489 is generated on the FlexPendant. This
event message informs the user of the present slot configuration of the PROFINET
internal slave.
Note
The Input Size sets the size on digital outputs and Output size sets the size on
digital inputs, seen from the PLC’s point of view.
3 Configuration
3.5.3.1 Configuring PROFINET internal slave
3.5.3 Workflows
Description
When the IRC5 controller is connected, for example, to an external PLC, the IRC5
controller acts as an ordinary slave I/O unit on the PROFINET network. The PLC
connects to the PROFINET internal slave to exchange data.
Configuration
Action Note
1 Use the PROFINET master vendor specific config- Described in section Configuring
uration tool to create a project for the master, for PROFINET internal slave on
example a PLC, that contains the configuration of page 48.
the PROFINET network.
2 In the tool, configure the master to connect to the Described in section Configuring
PROFINET internal slave that represents the IRC5 PROFINET internal slave on
controller. page 48.
3 Configure the PROFINET internal slave in the IRC5 See Configuring PROFINET intern-
controller using RobotStudio or FlexPendant. al slave on page 48 and Operating
manual - IRC5 with FlexPendant.
4 Add I/O signals to the PROFINET internal slave. See Technical reference manu-
al - System parameters.
5 Perform a warm start of the IRC5 controller. See Operating manual - IRC5 with
FlexPendant.
Communication status
To control the communication status between the master (for example a PLC) and
the PROFINET internal slave, the following scheme is used:
1 Configure the master to set an I/O signal during the startup or within the
controller loop.
2 Configure the PROFINET internal slave to attach the I/O signal to a RAPID
trap function in the IRC5 controller. The I/O signal then functions as a
communication supervision signal.
If the communication between the master and the PROFINET internal slave is
interrupted, all the inputs of the PROFINET internal slave will go to the fail safe
state (that is, input value will be zero). This means that the user defined
communication supervision signal will also have the value zero.
3 Configuration
3.5.4 Examples
Description
This is a configuration example for a PROFINET internal slave with 32 byte input
and 32 byte output size. The example also shows how to configure a PLC that
connects against the PROFINET internal slave.
This example uses the Siemens Step7 PC tool. The procedure can be used with
other tools as well. See the documentation for your PLC configuration tool.
To create a connection between an IRC5 PROFINET master and an IRC5 PROFINET
internal slave, see Configuring PROFINET master on page 29 and use the same
procedure with the PROFINET internal slave as any other I/O unit.
Configuring PROFINET internal slave

Use this procedure to configure a Siemens PLC to connect to the PROFINET
internal slave, using Siemens Step 7.
Action
1 Start Simatic Manager and create a new PLC project. Open the HW Config window
for the PLC hardware configuration.
en1000001189
2 Make sure the PROFINET network connected to the PLC is the same as the network
connected to the IRC5 controller’s PROFINET network port. Also make sure that they
are on the same logical subnet IP address range. See Configure the Profinet_SW bus
on page 24.

3 Configuration
Continued
Action
3 Install the GSDML file for the PROFINET internal slave.
en1000001190
4 Expand PROFINET IO \ Additional Field Devices \ I/O \ IRC5 PNIO-Device in the

catalog view to the right, to find the PROFINET internal slave device. Add the IRC5
PNIO-Device to the PLC project.
en1000001191

3 Configuration
Continued
Action
5 Add a DI 32 bytes module on Slot 1 and a DO 32 bytes module on Slot 2.
en1000001192
6 Double-click on the ABB icon to bring up the Properties window. Make sure that Device
name is set to the same name as the IRC5’s Profinet_SW bus parameter Station Name
(see Station Name on page 59). Also make sure that IP Address is the same as the
system parameter IP Address for the Profinet_SW bus (see IP Address on page 56).
en1000001193
7 Download the configuration to the PLC.

3 Configuration
Continued
IRC5 controller I/O configuration setup

Use this procedure to configure the PROFINET internal slave in the IRC5 controller,
using Robot Studio.
Action
1 Start RobotStudio and connect to the IRC5 controller. Request write access.
2 Click Configuration Editor and select I/O.
3 In the type list, click Unit and then right-click in the workspace and select Add Unit.
4 Enter the parameter values for the unit and click OK.
• Name.
• Type of Unit should be PN_INTERNAL_SLAVE.
• Connected to Bus should be Profinet_SW.
en1000001194
5 Click and edit the parameters on the Unit Type named PN_INTERNAL_SLAVE. Change
Input Size and Output Size to 32 bytes.
en1000001195
6 Add I/O signals.

3 Configuration
Continued
Action
7 Make sure all Bus type parameters for the PROFINET SW bus are the same as specified
in the PLC project.
en1000001196
4 System parameters
4.1 Introduction
4 System parameters
4.1 Introduction
About the system parameters

There are both PROFINET SW specific parameters and more general parameters.
This chapter describes all PROFINET SW specific system parameters. The
parameters are divided into the type they belong to. For information about other
parameters, see Technical reference manual - System parameters.
PROFINET SW 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 61
Label of Fieldbus Connect- Technical reference manual - System parameters
or
Unit Recovery Time Technical reference manual - System parameters
Path to Bus Configuration Path to Bus Configuration File on page 55
File
IP Address IP Address on page 56
Subnet Mask Subnet Mask on page 57
Gateway Gateway on page 58
Station Name Station Name on page 59
Auto Configuration Auto Configuration on page 60
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
Fast Unit Startup Fast Unit Startup on page 62

4 System parameters
4.1 Introduction
Continued
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
Product Name Technical reference manual - System parameters
Internal Slave Technical reference manual - System parameters
Input Size Input Size on page 63
Output Size Output Size on page 64
4 System parameters
4.2.1 Path to Bus Configuration File
4.2 Type Bus
4.2.1 Path to Bus Configuration File
Parent
Path to Bus Configuration File belongs to the type Bus, in the topic I/O.
Cfg name
CfgPath
Description
Path to Bus Configuration File specifies the path to an XML file that is located on
the IRC5 system. This file is created and edited with the program PROFINET-IO
Configurator Express, PROFINET-IO Configurator Professional or PC WORX (see
Creating PROFINET configuration file on page 30).
Usage
The Path to Bus Configuration File system parameter is used to point out where
to find the PROFINET SW configuration file. This file is only used by the master
part. If the file is placed in the HOME directory of the system, it is enough to write
the file name.
If the PROFINET configuration file is placed in the HOME directory, it will also be
included in backups.
Prerequisites
The option PROFINET Master/Slave SW (888-2) must be installed.
Default value
The default value is an empty string.
Allowed values
A string with maximum 80 characters.
4 System parameters
4.2.2 IP Address
4.2.2 IP Address
Parent
IP Address belongs to the type Bus, in the topic I/O.
Cfg name
PN_IPAddress
Description
The parameter IP Address specifies the address of the PROFINET network node.
The PROFINET master and the PROFINET internal slave share the same address.
Usage
The parameter IP Address is used to set the PROFINET IP address of the IRC5
controller on the used Ethernet network interface (decided with the Connector ID
parameter). The IP Address parameter can also be changed with an external
PROFINET configuration tool or a connecting PROFINET master.
If the PROFINET SW network is connected to the LAN port, the IP address must
not be on the same logical sub network as the LAN IP address. For example, if the
factory LAN use IP address 192.168.8.23 for the LAN port, the PROFINET network
can use IP address 192.168.5.41 for the LAN port.
If the PROFINET SW network is connected to a port on the Ethernet board, the IP
address must belong to another subnet than the address of the LAN port or AXC
ports. For example, if the IP address of the LAN port is 111.122.133.144, the IP
address for the port on the Ethernet board cannot be 111.122.133.145, but it can
be 111.122.134.145.
Prerequisites
The option PROFINET Master/Slave SW or PROFINET Slave SW must be installed.
Default value
The default value is 0.0.0.0
Allowed values
The value can be 0.0.0.0 - 255.255.255.255.
4 System parameters
4.2.3 Subnet Mask
4.2.3 Subnet Mask
Parent
Subnet Mask belongs to the type Bus, in the topic I/O.
Cfg name
PN_SubnetMask
Description
Subnet Mask is used to determine what subnet the IP address belongs to.
Usage
The parameter Subnet Mask is used to divide the network into logical subnets.
Since all Ethernet ports on the main computer DSQC 639 are internally connected,
it is possible to configure a Subnet Mask less than 255.255.255.XXX.
The Subnet Mask parameter can also be changed with an external PROFINET
configuration tool or a connecting PROFINET master.
Prerequisites
Default value
The default value is 255.255.255.0.
Allowed values
Allowed values are between 128.0.0.0 - 255.255.255.252.
4 System parameters
4.2.4 Gateway
4.2.4 Gateway
Parent
Gateway belongs to the type Bus, in the topic I/O.
Cfg name
PN_Gateway
Description
Gateway specifies the node on the network that serves as an entrance to another
network.
Usage
The parameter Gateway does not have any effect on the PROFINET-IO traffic,
since PROFINET uses the MAC address instead of the IP address at I/O data
exchange. The asynchronous PROFINET-IO traffic, like data records, is affected.
It is recommended to keep this parameter at its default value: Not Used.
The parameter Gateway can also be changed with an external PROFINET
Prerequisites
Default value
The default value is: Not Used
Allowed values
The value can be 0.0.0.0 - 255.255.255.255
or Not Used.
4 System parameters
4.2.5 Station Name
4.2.5 Station Name
Parent
Station Name belongs to the type Bus, in the topic I/O.
Cfg name
PN_StationName
Description
Station Name specifies the PROFINET station name on the network of the IRC5
controller.
Usage
The parameter Station Name is used to identify a PROFINET I/O unit on the network.
The name must be unique on the network.
The parameter Station Name can also be changed with an external PROFINET
Prerequisites
Default value
The default value is: irc5-pnio
Allowed values
A string with maximum 80 characters.
Allowed characters:
• 0-9 (numerical)
• a-z (lowercase letters)
• - (hyphen)
• . (full stop)
4 System parameters
4.2.6 Auto Configuration
4.2.6 Auto Configuration
Parent
Auto Configuration belongs to the type Bus, in the topic I/O.
Cfg name
PN_AutoConfig
Description
The parameter Auto Configuration specifies if the PROFINET master should auto
map I/O units defined in the PROFINET configuration file directly into the IRC5 I/O
system.
Usage
The parameter Auto Configuration is used to map all defined I/O units and its I/O
signals directly into the IRC5 I/O system. If the I/O unit is already defined in the
IRC5 I/O system, it will not be added or changed. Only I/O units that have previously
not been defined in the I/O system will be added. It is possible to specify three
different approaches for Auto Configuration:
• Without Signals - Only adds I/O unit definitions without any I/O signals.
• Group Signals - Add I/O unit definitions with 1-byte wide group signals.
• Single Bit Signals - Add I/O unit definitions with 1-bit signals defined.
Prerequisites
Default value
The default value is: Deactivated
Allowed values
Value Description
Deactivated Do not add any I/O units or signals.
Without Signals Only adds I/O unit definitions without any I/O signals.
Group Signals Add I/O unit definitions with 1-byte wide group signals.
Single Bit Signals Add I/O unit definitions with 1-bit signals defined.
4 System parameters
4.2.7 Connector ID
4.2.7 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 PROFINET option shall use. See Connection ports on page 19.
Usage
The Connector ID parameter is used to select one of the available connection ports
to use. PROFINET SW supports the use of the LAN Port or any of the Ethernet
ports on Ethernet board 1 or 2.
Prerequisites
The option PROFINET Master/Slave SW (888-2) or PROFINET Slave SW (888-3)
must be installed.
Limitations
Ethernet boards are not standard on the IRC5 controller. To be able to use any of
the ports on board 1 or 2, the main computer needs to be equipped with one or
two Ethernet boards.
Default value
LAN Port
First Board
Allowed values
Value Description
LAN Port LAN port on the computer module.
Ethernet Port 1 Port 1 on the first Ethernet board from the left.
Ethernet Port 1 on Board 2 Port 1 on the second Ethernet board from the left.
4 System parameters
4.3.1 Fast Unit Startup
4.3 Type Unit
4.3.1 Fast Unit Startup
Parent
Fast Unit Startup belongs to the type Unit, in the topic I/O.
Cfg name
PN_FastUnitStartup
Description
The parameter Fast Unit Startup specifies if the I/O unit should use a faster
connection attempt algorithm or not.
Usage
The parameter Fast Unit Startup is used mainly to speed up tool change
applications. The normal PROFINET connection attempt takes a few seconds to
complete, but with Fast Unit Startup enabled devices, this time is shorted to about
1 second. For more information, see Using Fast Unit Startup on page 42.
Prerequisites
Limitations
The Ethernet switches between the IRC5 controller and the I/O unit that uses the
Fast Unit Startup functionality must be configured to disable the auto cross over
and automatic speed detection functions on used ports, if the switch itself is
powered of during a tool change.
Default value
Deactivated
Allowed values
• Deactivated
• Port 1
• Port 2
• Port 3
• Port 4
4 System parameters
4.4.1 Input Size
4.4 Type Unit Type
4.4.1 Input Size
Parent
Input Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PN_InputSize
Description
The parameter Input Size is used to configure the input slot configuration of the
PROFINET internal slave.
Usage
The parameter Input Size is only valid for the PN_INTERNAL_SLAVE unit type. It
will configure the input slot size for the PROFINET internal slave. This size must
match the connecting PLC’s or other PROFINET master’s defined output slot size.
For more information, see Input and output size on page 45.
Prerequisites
Default value
64 Bytes
Allowed values
8, 16, 32, 64, or 128 Bytes
4 System parameters
4.4.2 Output Size
4.4.2 Output Size
Parent
Output Size belongs to the type Unit Type, in the topic I/O.
Cfg name
PN_OutputSize
Description
The parameter Output Size is used to configure the output slot configuration of
the PROFINET internal slave.
Usage
The parameter Output Size is only valid for the PN_INTERNAL_SLAVE unit type.
It will configure the output slot size for the PROFINET internal slave. This size must
match the connecting PLC’s or other PROFINET master’s defined input slot size.
For more information, see Input and output size on page 45.
Prerequisites
Default value
64 Bytes
Allowed values
8, 16, 32, 64, or 128 Bytes
5 Troubleshooting
5.1 Scenarios
5 Troubleshooting
5.1 Scenarios
Problem assigning IP address or station name

If an external PROFINET configuration tool is used to set IP address or station
name for a master or slave, it may not be possible to perform that operation. In
such a case, make sure that the I/O unit or PLC is not involved in any I/O data
exchange. If, for example, an I/O unit or PLC is exchanging data with another I/O
unit or PLC, it is not possible to change the IP address or station name of those
units.
Unable to connect to a slave I/O unit

If all parameters are correct, but it is still not possible to connect to an I/O unit
using the PROFINET master, make sure that the slave I/O unit does not already
have an active connection with another master. Most I/O units do not accept that
two masters are connected against the same I/O unit at the same time.
Connections are lost randomly

Lost connections can occur for a number of reasons.
• Bad network
• Overloaded Ethernet switches
• Ethernet cable problems
Another possible reason is that the IRC5 PROFINET SW is not able to process all
the PROFINET requests within the specified time frame. If, for example, 20 I/O
units are used with 1 ms reduction ratio (poll rate), the slightest variation of CPU
load on the main computer might cause a protocol disturbance which can lead to
a connection timeout. The maximum possible I/O units that can be used depends
on the reduction ratios used, CPU load and data lengths transferred at every data
cycle.
Index
Index
A Prioritized Startup, 17, 42
Auto Configuration, 29, 34, 53, 60 PROFINET, 13
cables, 21
C configuration tool, 17
cables, 21 connectors, 21
configuration file, 17 internal slave, 45, 47–48
Connector ID, 61 master, 15, 28
connectors, 21 network, 15
controller software, 27, 44 predefined unit type, 28
predefined Unit Type, 45
D slave, 16, 45
DSQC 612, 19 standardization, 13
versions, 13
E PROFINET:predefined bus, 23
EtherNet/IP network, 20 PROFINET Master/Slave SW, 7
Ethernet board, 17, 20 PROFINET Slave SW, 7
Ethernet board port, 20 PROFINET SW, 7
F PROFINET versions, 13
fail safe state, 47 compatibility, 14
Fast Start Up, 17, 42 PROFIdrive, 13
Fast Unit Startup, 42, 53, 62 PROFIenergy, 13
FSU, 17, 42 PROFINET-CBA, 13
PROFINET-IO, 13–14
G PROFIsafe, 13
Gateway, 58
GSDML, 17 Q
GSDML file, 28, 45 Quality of Service, 21
I R
I/O unit, 17 reduction ratio, 17, 39, 65
industrial ethernet, 13, 22
S
Input Size, 45, 63 safety, 11
internal slave, 45, 47–48 slave, 16–17, 45
IP Address, 36, 50, 53, 56 Station Name, 50, 53, 59
M Subnet Mask, 57
master, 15, 17, 28 SW, 7
MultiMove, 19 system parameters, 53
N T
NetNames+, 25 terminology, 17
network overview, 15 topic I/O type
Bus, 53
O Unit, 53
Output Size, 45, 64 Unit Type, 54
topic I/O type:Bus, 23
P topic I/O type:Unit, 23
Path to Bus Configuration File, 53, 55 topic I/O type:Unit Type, 23
Contact us
ABB AB
3HAC039906-001, Rev D, en
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

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
ABB Inc.
Robotics
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics

PROFINET Master and Slave SW: Application Manual

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PROFINET Master and Slave SW: Application Manual

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ABB Robotics

Document ID: 3HAC039906-001

© Copyright 2013 ABB. All rights reserved.

© Copyright 2013 ABB. All rights reserved.

Overview of this manual

Who should read this manual?

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Product documentation, M2004

Technical reference manuals

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An application manual generally contains information about:

1.2 PROFINET SW, IRC5

PROFINET version compatibility

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A Line PLC, PROFINET master

Specification overview, master

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Specification overview, slave

Connecting to the LAN port

IRC5 Robot I/O

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Connecting to an Ethernet board

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A Ethernet board (DSQC 612)

Cables and connectors

2.2 Connections, general

3.2 Configure the Profinet_SW bus

Bus visible on the network

The system parameters

3.3 Using NetNames+

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3.4 Master configuration

3.4.1.1 Software overview

3.4.2 Configuration overview

3.4.2.1 PROFINET master

Predefined Unit Type

3.4.3.1 Configuring PROFINET master

This step is always unique depending on the type of I/O unit

2 Download the PROFINET configuration file to the IRC5

It is recommended to always use the parameter Auto Config-

4 Configure the I/O signals. See Technical reference

3.4.3.2 Creating PROFINET configuration file

Installing PROFINET-IO Configurator Express

Creating PROFINET configuration file using PROFINET-IO Configurator Express

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In this example, install the GSDML-V2.2-Siemens-ET200S-20090309.xml file.

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12 Select the node 0 @IM151-3 PN ST V6.0 in the Bus Structure window.

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Prior to installation, close all open Windows applications.

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Creating PROFINET configuration file using PC WORX

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This specifies the IP address of the IRC5 controller PROFINET master.

This installs the GSDML file for the ET200s device.

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16 Click the Build menu and select Rebuild Project.

3.4.3.3 Configuring the IRC5 controller

Configuring the IRC5 system parameters