3HAC023009 en

ABB Robotics
Application manual
INTERBUS
Trace back information:
Workspace Main version a16
Checked in 2012-09-05
Skribenta version 896
Application manual
INTERBUS
RobotWare 5.15
Document ID: 3HAC023009-001

Revision: F
© Copyright 2005-2012 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
Overview of this manual ................................................................................................................... 7
Product documentation, M2004 ....................................................................................................... 9
Safety ................................................................................................................................................ 11
1 Overview 13
1.1 INTERBUS, general ........................................................................................... 13
1.2 INTERBUS, IRC5 .............................................................................................. 14
1.3 Definition of I/O units ......................................................................................... 17
2 INTERBUS Master/Slave hardware 19

2.1 Hardware description ......................................................................................... 19
2.1.1 DSQC 512 INTERBUS master/slave, fiber optical interface .............................. 19
2.1.2 DSQC 529 INTERBUS master/slave, copper wire .......................................... 24
2.1.3 DIP switch ............................................................................................. 28
2.1.4 Bus cable and connectors ......................................................................... 29
2.1.5 Definition of communication boards, IRC5 ................................................... 30
3 INTERBUS Master/Slave configuration 31

3.1 Introduction ...................................................................................................... 31
3.1.1 Software overview ................................................................................... 31
3.1.2 INTERBUS configuration software .............................................................. 32
3.1.3 Step-by-step, setup an INTERBUS communication ........................................ 33
3.2 Workflows, INTERBUS configuration software ........................................................ 34
3.2.1 Create configuration file online .................................................................. 34
3.2.2 Create configuration file offline .................................................................. 37
3.2.3 Download INTERBUS configuration file to the controller ................................. 40
3.3 Workflows, INTERBUS master bus ....................................................................... 41
3.3.1 Master bus configuration .......................................................................... 41
3.4 Workflows, INTERBUS internal slave .................................................................... 43
3.4.1 Internal slave configuration ....................................................................... 43
3.5 Examples ........................................................................................................ 45
3.5.1 Introduction ............................................................................................ 45
3.5.2 Digital I/O configuration example ................................................................ 46
3.5.3 Internal slave configuration example ........................................................... 50
3.5.4 Master/slave configuration example ............................................................ 53
4 System parameters 57
4.1 Introduction ...................................................................................................... 57
4.2 Type Bus ......................................................................................................... 59
4.2.1 Connector ID .......................................................................................... 59
4.2.2 Path to Bus Configuration File ................................................................... 60
4.3 Type Unit ......................................................................................................... 61
4.3.1 Interbus Address ..................................................................................... 61
4.4 Type Unit Type ................................................................................................. 62
4.4.1 ID Code ................................................................................................. 62
Index 63
3HAC023009-001 Revision: F 5
This page is intentionally left blank
Overview of this manual

About this manual
This manual is primarily a description of the INTERBUS fieldbus setup and data
communication between the IRC5 system and its distributed I/O units. It also
describes the INTERBUS Master/Slave configuration.
This manual does not include a description of how to install and operate an
INTERBUS system in general.
Usage
This manual should be used during installation and configuration of the INTERBUS,
as well as while upgrading the INTERBUS option.
For mechanical installation descriptions, refer to Product manual - IRC5.
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
• The INTERBUS system.
• I/O system configurations.
Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 This chapter gives reference information, both to external documentation and
other ABB manuals.
2 This chapter gives an overview of the INTERBUS fieldbus and includes follow-
ing:
• A general description of INTERBUS.
• Description of how the INTERBUS master/slave unit and I/O units are
connected in a robot system.
• Definition of I/O units in the IRC5 controller and the configuration of the
controller.
3 This chapter describes the INTERBUS master/slave boards.
The chapter also describes communication units in the IRC5 controller.
4 This chapter gives an overview of the controller software and configuration
software and includes the following:
• Bus configuration
• Workflows
• Examples
5 This chapter describes all system parameters that are specific for INTERBUS
options.
Continues on next page

Continued
References
Document References
Reference Document ID
Application manual - Robot communication and I/O control 3HAC020435-001
Operating manual - IRC5 with FlexPendant 3HAC16590-1
Operating manual - RobotStudio 3HAC032104-001
Product manual - IRC5 3HAC021313-001
Product manual - IRC5 Panel Mounted Controller 3HAC027707-001
Technical reference manual - RAPID Instructions, Functions 3HAC16581-1
and Data types
Technical reference manual - RAPID overview 3HAC16580-1
Technical reference manual - RAPID kernel 3HAC16585-1
Technical reference manual - System parameters 3HAC17076-1
Other References
Reference Document ID
www.interbusclub.com The INTERBUS home page.
Revisions
Revision Description
- First edition
A Updates/corrections are made in the following sections:
• INTERBUS, general
• Step-by-step, set-up an INTERBUS communication
• Create configuration file on-line
• Create configuration file off-line
• Download INTERBUS configuration file to the controller
B New chapter for system parameters added.
Minor corrections.
C Added default value for system parameter ID Code.
Corrected errors in section Definition of I/O units.
D Added cross reference to Operating manual - IRC5 with FlexPendant in the
section Unit configuration on page 41in the INTERBUS Master/Slave Config-
uration chapter.
E Updated for the RW 5.14.02 release.
• Added the new system parameter Connector ID.
F Updated for the RW 5.15 release.
• Updated the Introduction section in the chapter System parameters
on page 57.
• Added a new system parameter Path to Bus Configuration File on
page 60.
8 3HAC023009-001 Revision: F
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 Overview
1.1 INTERBUS, general
1 Overview
1.1 INTERBUS, general
What is INTERBUS?
INTERBUS is a serial bus system for transmitting data between PLCs
(Programmable Logic Controllers), software, and robot controllers on the one hand
and between actuators, sensors, operator panels, and drives in the field on the
other hand.
INTERBUS is suitable for machine and system builders in:
• automotive, paper and printing, textile, wood, and food processing industry
• process, installation, handling, warehousing, and conveying technology
INTERBUS standardization
INTERBUS is a standardized fieldbus system for the serial transmission of data
from the sensor and actuator area according to European standard EN 505254,
international standard IEC 61158, and German national standard DIN 19258.
1 Overview
1.2 INTERBUS, IRC5
1.2 INTERBUS, IRC5
Hardware overview
The hardware of the INTERBUS fieldbus network consists of a master unit, a slave
unit and distributed I/O units.
The master and the slave units are physically two separate boards. It is only allowed
to install one master and one slave unit in an IRC5 system.
DSQC 512 and DSQC 529

There are two hardware versions of the INTERBUS boards, DSQC 512 and DSQC
529. Both have a master unit and a slave unit.
The main difference between DSQC 512 and DSQC 529 is the INTERBUS
connections. The DSQC 512 has an optical interface and is equipped with optical
fiber connections, while DSQC 529 has an electrical interface and uses D-sub
connectors.
The Media converter is a built-in and always present device on the DSQC 512
master board. The Media converter changes the transmission media from electrical
to optical. The device address is by default 1.0.
Master unit
The master unit is connected to the PCI bus of the IRC5 control cabinet.
Slave unit
The slave unit is internally connected to the master by a ribbon cable. The slave
unit is located in a PCI-slot in the computer unit but does not communicate via the
PCI, i.e. the slot is only a physical place for the slave unit.
An external master (for example PLC or another robot controller) on a separate
INTERBUS network normally controls the slave part. This network is a different
one than the network holding the I/O units for the master. See illustration in section
The INTERBUS network on page 15.
I/O units
The I/O units may be digital or analog modules. They are all controlled by the
master part.
Digital I/O units with 1, 2, 4, 8, 16, 24, and so on bits are supported (i.e. 1, 2 and 4
bit units and a unit whose size is a multiple of 8 bits). The local slave supports an
I/O unit whose size is a multiple of 16 bits. (Analog I/O units are by default treated
as 16 bit twos complement.)
INTERBUS PCP units

It is possible to connect INTERBUS PCP units to the IRC5 system. However, the
IRC5 system does not support the PCP protocol, i.e. IRC5 will only communicate
with the I/O signals of a PCP unit.

1 Overview
1.2 INTERBUS, IRC5
Continued
The INTERBUS network

With an INTERBUS master/slave board in the IRC5 controller it is possible to
connect many sets of in- and output I/O units via the serial INTERBUS fieldbus. In
the IRC5 controller all the INTERBUS signals are handled and addressed in the
same way as any other distributed I/O signal.
The illustration below shows an example of a possible configuration of the
INTERBUS network.
xx0400000851
A Line PLC, Master

B IRC5 controller
C Robot
D I/O unit, slaves
E Slave
F Master
Configuration program
The configuration program IBS CMD G4 (from Phoenix Contact) together with the
FlexPendant or RobotStudio is necessary to configure the bus completely. Also,
in some cases an external text editor is required.
The configuration program operates on a PC according to the manual for the
program.
Specification overview, Master
Item Specification
Fieldbus type INTERBUS master
Addressing 1.0-254.63 (remote I/O units)
Limitations exist, see Phoenix’ documentation.

1 Overview
1.2 INTERBUS, IRC5
Continued
Item Specification
Number of units con- The number is defined by the limitations of the general I/O systems,
nected to master see Technical reference manual - System parameters.
Number of signals The number is defined by the limitations of the robot system, see
Technical reference manual - System parameters.
For INTERBUS and board limitation, see Phoenix’ documentation.
Baudrate The INTERBUS baudrate is configurable for 500 kBit/s or 2 MBit/s.
Specification overview, Slave
Item Specification
Fieldbus type INTERBUS slave
Addressing 0.240
Number of signals Max. 256 digital input signals and 256 digital output signals.
Baudrate The INTERBUS baudrate is configurable for 500 kBit/s or 2
MBit/s.
INTERBUS ID code 3
1 Overview
1.3 Definition of I/O units
1.3 Definition of I/O units
General
The controller may be mounted with I/O units inside the control module.
Standard configuration
As standard, no fieldbus is mounted to the controller.
It is possible to connect any type of INTERBUS compliant I/O unit on the master
bus.
Further information
The table gives references to additional information:
Information See
Allowed configurations of I/O units and how Technical reference manual - System para-
to setup the configurations. meters.
2 INTERBUS Master/Slave hardware
2.1.1 DSQC 512 INTERBUS master/slave, fiber optical interface

2.1 Hardware description
Description
The DSQC 512 is a dual PCI slot circuit board normally mounted in the computer
unit of the controller.
The unit can be operated as a master/slave for an INTERBUS system.
Installation and configuration

For installation instructions for INTERBUS, please refer to the documentation of
the INTERBUS vendor.
Instructions on how to configure the INTERBUS network for the master and the
slave channels are found in the chapter INTERBUS Master/Slave configuration on
page 31 .
Typical applications
An example of how DSQC 512 may be connected is illustrated in section The
INTERBUS network on page 15.

Continued
Illustration
The figure below shows the DSQC 512 board. The master board is to the right and
the slave board is to the left.
xx0400001110
A RS-232 serial interface (PC connection for the IBS CMD G4).
B Master out interface (remote outgoing bus and LED FO3).
C Power supply for the slave board (24 V).
D Slave out interface (remote outgoing bus).
E Slave in interface (remote incoming bus).
F Master and slave status and diagnostic LEDs. For description of master LEDs,
see section LEDs, master on page 21. For description of slave LEDs, see section
LEDs, slave on page 22.
G DIP switch for slave configuration.
H DIP switch for master configuration.

Continued
Facts, DSQC 512

This section specifies a number of facts applicable to the DSQC 512. Unless stated
otherwise, the data applies to the standard version.
Supply
The INTERBUS slave must be supplied with external power to avoid shutting down
the INTERBUS network if a robot cell is switched off. The 24V power must be
supplied from outside the control cabinet and be connected to pin 2 Phoenix
connector located on the INTERBUS board's front panel marked 24V, see illustration
in section Illustration on page 20.
LEDs, master
The following picture shows how the LEDs are located on the master board.
en0400001121
Designation Color Description

PF YELLOW Peripheral fault
One or more pieces of peripheral equipment connected
to the bus is faulty.
HF YELLOW Host failure
The unit has lost contact with the host computer.
FC GREEN Reserved
N.A.
BSA YELLOW Bus segment aborted
One or more bus segments are disconnected (disabled).

Continued

FAIL RED Bus failure, an error has occured in the INTERBUS
system.
SC GREEN flashing Status controller
The unit is active, but not configured.
SC GREEN Status controller
The unit is active, and configured.
FO3 YELLOW The fiber optics of channel 3 is OK.
Is lit during initialization of the master board or during
communication failure.
LEDs, slave
The following picture shows how the LEDs are located on the slave board.
en0400001122

UL GREEN Power supply
The unit is supplied with external 24 VDC.
BA GREEN flashing Bus active
BA GREEN Bus active

Continued

Is lit during initialization of the slave board or during
RC GREEN Remote bus check
The bus segment beyond the unit is active.
RD RED Remote bus disabled
The bus segment beyond the unit is disabled.
Is lit during initialization of the slave board or during
2.1.2 DSQC 529 INTERBUS master/slave, copper wire
Description
The DSQC 529 is a dual PCI slot circuit board normally mounted in the computer
unit of the controller.
The unit can be operated as a master/slave for an INTERBUS system.
Installation and configuration

For installation instructions for INTERBUS, pleaser refer to the documentation of
the INTERBUS vendor.
Instructions on how to configure the INTERBUS network for the master and the
slave channel are found in chapter INTERBUS Master/Slave configuration on
page 31.
Typical applications
An example of how the DSQC 529 may be connected is illustrated in section The
INTERBUS network on page 15.

Continued
Illustration
The figure below shows the DSQC 529 board. The master board is to the right and
the slave board is to the left.
xx0400001111
A RS-232 serial interface (PC connection for the IBS CMD G4).
B Master out interface (remote outgoing bus).
C Power supply for the slave board (24 volt).
D Slave out interface (remote incoming bus).
E Slave in interface (remote incoming bus).
F Master and slave status and diagnostic LEDs. For description of master LEDs,
see section LEDs, master on page 26. For description of slave LEDs, see section
LEDs, slave on page 27.
G DIP switch for slave configuration.
H DIP switch for master configuration.

Continued
Facts, DSQC 529

This section specifies a number of facts applicable to the DSQC 529. Unless stated
otherwise, the data applies to the standard version.
Supply
The INTERBUS slave must be supplied with external power to avoid shutting down
the INTERBUS net if a robot cell is switched off. The 24V power must be supplied
from outside the control cabinet and be connected to pin 2 Phoenix connector
located on the INTERBUS board's front panel marked 24V.
LEDs, master
The following picture shows how the LEDs are located on the master board.
en0400001238

PF YELLOW Peripheral fault
One or more pieces of peripheral equipment connected
to the bus is faulty.
HF YELLOW Host failure
The unit has lost contact with the host computer.
FC GREEN Reserved
N.A.
BSA YELLOW Bus segment aborted
One or more bus segments are disconnected (disabled).

Continued

FAIL RED Bus failure, an error has occured in the INTERBUS sys-
tem.
SC GREEN flashing Status controller
SC GREEN Status controller
LEDs, slave
The following picture shows how the LEDs are located on the slave board.
en0400001239

UL GREEN Power supply
The unit is supplied with external 24 VDC.
BA GREEN flashing Bus active
BA GREEN Bus active
RC GREEN Remote bus check
The bus segment beyond the unit is active.
RD RED Remote bus disabled
The bus segment beyond the unit is disabled.
2.1.3 DIP switch
2.1.3 DIP switch
Description
Both master and slave have a DIP switch. Neither of them are to be changed from
their delivery setup.
Master DIP switch

The master DIP switch controls the board number and the transmission baud rate.
As default the board number is zero and the baud rate is 2 Mbits. The baud rate is
automatically set, unless the DIP switch is set to operate in 500 kbit/s mode.
Note! Early versions of the DSQC 512 master board do not support automatic
selection of the baud rate. Regarding DIP switch configuration, please refer to
Phoenix’ provided data sheet for the board.
Slave DIP switch

The slave board is setup for software configuration as default, i.e. it is possible by
means of software to change the behaviour of the board. To gain this functionality
the DIP switch number 10 must be set to OFF. (The position of the DIP switch
numbers 1-9 do not matter in this configuration.)
By using the configuration software, IBS CMD G4, it is possible to change the ID
code, signal size and the baud rate. By selecting the ID code, the PCP word length
is set. The PCP word length is either 0, 1, 2, or 4 words.
2.1.4 Bus cable and connectors
2.1.4 Bus cable and connectors
Description
The bus cable is used to connect the INTERBUS controller board to an INTERBUS
unit. The transmission speed is 500 kbits or 2 Mbits.
Illustration
The following figure shows the incoming interface and outcoming interface of the
bus cable.
xx0500001563
A Male connector (outgoing interface)

B Female connector (incoming interface)
C Bus cable
The following table shows the pin assignment of the connectors.

Signal name Pin, male Pin, female Color
Shield
DO 1 1 Yellow
/DO 6 6 Green
DI 2 2 Gray
/DI 7 7 Pink
COM 3 3 Brown
RBST jumper to 9 5
RBST jumper to 5 9
Note
It is important to twist pairs DO and /DO, and DI and /DI. The shield in the cable
provides essential protection against EMI.
2.1.5 Definition of communication boards, IRC5
2.1.5 Definition of communication boards, IRC5
General
The IRC5 computer unit includes a number of communication functions. The allowed
combination of these functions is described in the following section.
Board definition
The following figure and table specify which combinations are allowed:
xx0700000096
Description Art. no. Note Pos.

INTERBUS mas- 3HAC11819-1 DSQC 529 B, C, D or E
ter/slave, copper Two physical boards, i.e. the
interface master board and the slave board
are placed in two separate slots.
INTERBUS mas- 3HAC5579-1 DSQC 512 B, C, D or E
ter/slave, fiber op- Two physical boards, i.e. the
tical interface master board and the slave board
are placed in two separate slots.
Installation of communication boards

For installation descriptions refer to Product manual - IRC5, section Replacement
of PCI cards in the Computer unit slots.
3 INTERBUS Master/Slave configuration
3.1.1 Software overview

3.1 Introduction
3.1.1 Software overview
Controller software
The IRC5 controller must be installed with software that supports the use of the
INTERBUS, that is the option for INTERBUS must be installed.
Predefined master bus and I/O unit types

When the IRC5 system is booted with the INTERBUS option the system is started
up with a predefined master bus, Interbus of type IBUS.
The IRC5 controller software also contains a number of predefined I/O unit types
for INTERBUS. The I/O unit types are described in configuration files located in
the INTERBUS option directory, in the RobotWare release media directory.
If another I/O unit type is required, it has to be created by the user.
PC software
RobotStudio is a PC software that is used for setting up connections to robots and
to work with robots.
The robot system configuration for the INTERBUS communication is done either
manually by using RobotStudio or by loading a configuration file using RobotStudio.
For information on how to work with RobotStudio refer to, Operating
manual - RobotStudio.
Configuration software
The INTERBUS board has to be configured in order to work properly. The software
tool needed for this purpose is called IBS CMD G4. It is an external PC tool from
Phoenix Contact, and it can be ordered from ABB.
For more information about the configuration software, see section INTERBUS
configuration software on page 32.
3.1.2 INTERBUS configuration software
3.1.2 INTERBUS configuration software
Description
The IBS CMD G4 is an external INTERBUS configuration PC-tool. It is used to
create a configuration file that the INTERBUS master board needs to get a
description of how the actual INTERBUS network is physically configured.
The IBS CMD G4 can be used online, that is connected to the INTERBUS network
via the master board, or off-line. The online and off-line configurations are described
in section Create configuration file online on page 34 and section Create
configuration file offline on page 37.
Installing the IBS CMD G4 tool

For installation instructions, see the documentation provided together with the
installation CD of the IBS CMD G4.
Limitations
With the IBS CMD G4 there is a possibility to remap a unit on bit level, i.e. rearrange
the bit order of a unit. However, this is not supported in the controller software.
3.1.3 Step-by-step, setup an INTERBUS communication
3.1.3 Step-by-step, setup an INTERBUS communication
Step-by-step overview
The following procedure gives an overview of the necessary steps to set-up an
INTERBUS communication.
Action Information
1 Mount the master board and the slave See Product manual - IRC5.
board in the computer unit, which is loc-
ated in the Control Module.
2 Connect the bus cable between the master See Bus cable and connectors on page 29.
out interface (on the master board) and the
INTERBUS modules/network.
3 Connect the cable that is for the PC con- See Illustration on page 20 or Illustration
nection for the IBS CMD G4 tool. on page 25, for the IBS CMD G4 PC con-
nection.
4 Create the configuration in the IBS CMD See Create configuration file online on
G4 online or offline. page 34 or Create configuration file offline
on page 37.
5 Download the configuration to the control- See Download INTERBUS configuration
ler. file to the controller on page 40.
6 Create the master bus configuration. See Master bus configuration on page 41.
7 Configure the IRC5 I/O system in RobotStu-
dio.
8 Restart the controller.
3.2.1 Create configuration file online
3.2 Workflows, INTERBUS configuration software
Description
Online configuration means that data of which units that are connected to the
network are automatically read. When using online configuration a connection
between IBS CMD G4 and the INTERBUS controller board is set up and used to
read the network configuration.
Communication path
To be able to set up communication between IBS CMD G4 and the INTERBUS
controller board, you need the cable delivered with the software.
To set up the communication, the following steps are necessary:
1 Connect the cable between the INTERBUS controller board and the PC. For
the location of the connector on the INTERBUS controller boards, see
Illustration on page 20 and/or Illustration on page 25.
2 Specify the communication path.
The following procedure describes how to specify the communication path using
IBS CMD G4:
Action
1 Right click on the Controller Board icon and select Communication Path.
2 In the Communication Path Settings window, click the Project tab.
Mark the desired radio button and add needed information about the communication
path.
The picture shows an example where Serial Port and COM2 are selected.
en0400001136
3 Click OK.

Continued
Board type
IBS CMD G4 needs to know what kind of INTERBUS controller board is being used.
If IBS CMD G4 starts to communicate with the board and the selected board type
does not correspond to the physical board, an error message is displayed.
Following table shows which ABB board that corresponds to which Phoenix board.
ABB designation Phoenix designation
DSQC 512 IBS PCI SC/RI-LK
DSQC 529 IBS PCI SC/RI/I-T
Select board type

The following procedure describes how to select board type:
Action
1. Right click on the Controller Board icon and select Type.
2. In the Select Controller Board window, select the correct type of board.
3. Click OK.
Bus operation mode

The bus operation mode must be Asynchronous with synchronization impulse. If
it is not set, the bus operation mode will automatically be set to this mode during
start up of the robot controller.
The following procedure describes how to set the bus operation mode:
Action
1 Right click on the Controller Board icon and select Settings.
2 In the Controller Board Settings window, click the Bus operation tab.
3 Set Mode of operation to Asynchronous with synchronization impulse.
4 Click OK.
Internal slave configuration

The internal slave has to be configured in IBS CMD G4 even if it will not be used
as an I/O unit in the robot system configuration. For description of how to do this
configuration, refer to section Internal slave configuration on page 43.
Read the physical configuration of the network

The following procedure describes how to read the physical configuration of the
network.
Action
1. Righ click on the Configuration Frame icon and select Read in (from memory).
2. In the dialog windows, if any, click Yes/OK.
A “picture” of the network in the IBS CMD G4 is displayed. If the picture is not
displayed, refer to the section Problems on page 36.

Continued
Assignment of memory address

All units must be assigned to a memory address on the INTERBUS controller board.
The internal slave should have address 896 for both inputs and outputs. When
using online configuration the IBS CMD G4 mostly sets the address automatically.
To check the address assignment and to assign the address, if necessary, follow
this procedure:
Action
1 Right click on the Controller Board icon and select Process Data....
2 The Assignment column should have values for all units. If necessary, fill in the column.
Always use 896 for the internal slave (named SL in the first column) for both inputs
and outputs. It is possible to get help from IBS CMD G4. Right click in the Assignment
column and select Auto-Address....
For more information, refer to the documentation of IBS CMD G4.
3 Click OK.
Export parametrization option

To save a configuration file on the PC, a special option needs to be activated. The
following procedure describes how to activate this option:
Action
1 In the Options menu, select Add-On programs and then Activate.
2 In the IBSCMD/BIN directory, choose EXP_BIN.DLL .
3 Click OK.
Saving the configuration file

The following procedure describes how to save the configuration file to the PC:
Action
1 Right click on the Parametrization Memory icon and select Export Parametrization.
2 Save the configuration file. You can choose your own name and path for the file when
saving it to your PC. Select user target system standard.
Note
On the IRC5 controller the file must be named config.cod.
3 Click OK.
Problems
If any problems occur when a new configuration is being read from memory, follow
the below procedure before you follow the steps in the section Read the physical
configuration of the network on page 35.
Action
1 Right click on the Parametrization Memory icon and select Format.
2 In dialog windows, if any, click Yes/OK.
3 Right click on the Controller Board icon, select Control and Reset controller board.
4 In dialog windows, if any, click Yes/OK.
3.2.2 Create configuration file offline
Description
Offline configuration means that you state the data of which units that are connected
to the network.
Board type
The IBS CMD G4 needs to know what kind of INTERBUS controller board is being
used. If IBS CMD G4 starts to communicate with the board and the selected board
type does not correspond to the physical board, an error message is shown.
Following table shows which ABB board that corresponds to which Phoenix board.
ABB designation Phoenix designation
DSQC 512 IBS PCI SC/RI-LK
DSQC 529 IBS PCI SC/RI/I-T
Select board type

The following procedure describes how to select the board type:
Action
1. Right-click on the Controller Board icon and select Type.
2. In the Select Controller Board window, select the correct type of board.
3. Click OK.
Bus operation mode

The bus operation mode must be set to Asynchronous with synchronization impulse.
If it is not set, the bus operation mode will automatically be set to this mode during
start up of the robot controller.
The following procedure describes how to set the bus operation mode:
Action
1 Right-click on the Controller Board icon and select Settings.
2 In the Controller Board Settings window, click the Bus operation tab.
3 Set Mode of operation to Asynchronous with synchronization impulse.
4 Click OK.
Internal slave configuration

The internal slave has to be configured in IBS CMD G4 even if it will not be used
as an I/O unit in the robot system configuration. For a description of how to do this
configuration, refer to section Internal slave configuration on page 43.

Continued
Export parametrization option

To be able to save a configuration file on the PC, a special option needs to be
activated.
The following procedure describes how to activate the option:
Action
1 In the Options menu, select Add-On programs and then Activate.
2 In the IBSCMD/BIN directory, choose EXP_BIN.DLL.
3 Click OK.
Specify the physical network configuration

The following procedure describes how to specify which units are physically in the
INTERBUS network.
Action
1 Right-click on the Controller Board icon and select Insert with ID code or Insert with
Device Description.
2 Add the necessary information in the dialog window.
• In the Insert Device window, add information about ID code and number of bits
of the unit. Also specify device type. You get the information from the supplier
of the unit.
• In the Insert with Device Description window, search for the unit in the list.
Select the unit.
Click OK.
3 When the Insert Device Description window appears, click OK.
Assignment of memory address

All units must be assigned to a memory address on the INTERBUS controller board.
The internal slave should have address 896 for both inputs and outputs.
The following procedure describes how to assign the address:
Action
1 Right-click on the Controller Board icon and select Process Data....
2 The Assignment column should have values for all units. If necessary, fill in the column.
Always use 896 for the internal slave (named SL in the first column) for both inputs
and outputs.
It is possible to get help from IBS CMD G4. Right click in the Assignment column and
select Auto-Address.
For more information, refer to the documentation of IBS CMD G4.
3 Click OK.
Save the configuration file

The following procedure describes how to save the configuration file to the PC:
Action
1 Right-click on the Parametrization Memory icon and select Export Parametrization.
2 Save the configuration file. You can choose your own name and path for the file when
saving it to your PC.
Select User target system standard.
Note! On the IRC5 controller the file must be named config.cod.

Continued
Action
3 Click OK.
3.2.3 Download INTERBUS configuration file to the controller
3.2.3 Download INTERBUS configuration file to the controller
How to download the file

When the INTERBUS configuration file (config.cod) has been created on a PC, it
needs to be transferred to the controller.
There are the following different ways to transfer the file:
Use... To...
the System Builder in Ro- perform the file transfer at the same time as the rest of a newly
botStudio created system is transferred from the RobotStudio PC to the
controller. While creating the system, put the binary configura-
tion file in the home directory of the created robot system by
using the Add Files to Home Directory in the System Builder
of RobotStudio.
For instructions, refer to Operating manual - RobotStudio.
the file manager in Robot- download the configuration file directly to the controller.
Studio For instructions, refer to Operating manual - RobotStudio.
a third party FTP client download the configuration file directly to the controller.
3.3.1 Master bus configuration
3.3 Workflows, INTERBUS master bus
Configuration setup
This section describes the workflows for the necessary configurations to set up
an INTERBUS communication.
The workflows consist of configuring the bus, unit types, units and signals.
Bus configuration
The IRC5 system configuration of the bus consists of specifying the system
parameters belonging to the type Bus. For more information about the parameters
and how to configure the IRC5 system, refer to Technical reference manual - System
parameters. This section describes how to use the parameter Path to Bus
Configuration File with INTERBUS.
Path to Bus Configuration File

The Path to Bus Configuration File parameter is of type string and specifies the
path to the INTERBUS configuration file. If no path is given, the system will use
the configuration saved on the INTERBUS controller board.
Following procedure describes how to create the path:
Action
1. Make sure that the configuration file, which is created with IBS CMD G4, is named
config.cod and is located in the HOME directory on the controller.
2. Use a text editor to create a file called interbus.dat.
Write the following path in the file: HOME:config.cod
3. Download the interbus.dat file to the HOME-directory on the controller.
4. Specify the path to the text file (HOME: interbus.dat) in the Path to Bus Configuration
File parameter.
Read more about this parameter in Technical reference manual - System

parameters.
Predefined bus
When the system is installed with the INTERBUS option, a predefined bus, Interbus,
is created. This bus has no path to bus configuration file specified as default.
INTERBUS configuration file

For a description of how to create the INTERBUS configuration file and save it on
the controller, refer to section Create configuration file online on page 34 or to
section Create configuration file offline on page 37.
Unit configuration
The IRC5 configuration of units consists of specifying the system parameters
belonging to the types Unit Type and Unit. For more information about INTERBUS
specific parameters, please refer to chapter System parameters on page 57.

Continued
For more information about the parameters in general and how to configure the
IRC5 system, please refer to Technical reference manual - System parameters.
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.
Power-up
When all configuration definitions are set, a restart is required. The robot controller
will automatically start the communication with the I/O units, and the controller will
report any error that might occur. However, sometimes the connection to the I/O
units may be lost and there is no error message. At such occasions the LEDs on
the INTERBUS board could give a good indication of what is causing the problem.
Transmission speed
The master automatically selects the transmission speed according to the kind of
slaves connected to the master bus.
Note! Early versions of the DSQC 512 master board do not support automatic
selection of the baud rate. Regarding DIP switch configuration, please refer to
Phoenix provided data sheet for the board.
INTERBUS error codes

INTERBUS error codes can be found in the online firmware manual of the IBS CMD
G4.
3.4.1 Internal slave configuration
3.4 Workflows, INTERBUS internal slave
Description
The digital slave module can be used
• to connect the IRC5 controller to a PLC.
• for connection of the slave channel of several robots to the master channel
of one controlling robot.
The IRC5 system configuration of the internal slave consists of specifying the
system parameters belonging to the type Unit Type and type Unit. For more
information about the parameters and how to configure the IRC5 system, refer to
Technical reference manual - System parameters.
This section describes in detail how to use some parameters with the INTERBUS
internal slave.

Continued
INTERBUS configuration of the internal slave

The following procedure describes how to configure the internal slave.
Action
1 Right click on the Controller Board icon and select Settings....
2 In the Controller Board Settings window, click the I/O Coupling tab.
3 Fill in the ID-Code, Process Data Channel (number of inputs/outputs), Baud rate and
Peripheral error.
If the configuration is set online, the current configuration of the slave is shown in the
left gray column.
en0400001139
4 Click OK.
Unit type configuration

There are four predefined unit type configurations in the system at startup when
the INTERBUS option is used. The difference between the unit types is the ID code.
For the unit type configuration... Note
Choose the unit type that has the same ID The unit type IBS_SLAVE has ID code zero,
code as the physical slave unit on the IN- and when using this unit type no check will be
TERBUS network. done on what ID code the physical slave unit
on the INTERBUS network has.
I/O unit configuration
For the internal slave configuration... Note

Choose the proper unit type and configure the ad- Set the address to 0.240.
dress.
3.5.1 Introduction
3.5 Examples
3.5.1 Introduction
Description
Each of the following examples are valid for both DSQC 512 and DSQC 529. The
only difference is that for DSQC 512 the Media Converter must always be
configured. The predefined unit type IBS_GENERIC can be used for the Media
Converter.
3.5.2 Digital I/O configuration example
Description
This example shows how to configure an IBS SAB 24 DIO 8/4/4 unit on address
2.0.
The INTERBUS configuration is done using off-line configuration, and the IRC5
system configuration is done via the FlexPendant. A DSQC 512 is used as
INTERBUS board.
INTERBUS offline configuration

Follow the procedures in section Create configuration file offline on page 37and
use the following selections.
Action
1 Select Board Type, see section Board type on page 37.
Select Controller Board Type IBS PC SC/RI-LK.
en0400001137
2 Set the Bus operation mode, see section Bus operation mode on page 37.
3 Configure the internal slave, see section Internal slave configuration on page 43.
4 If not previously done, activate the Export parametrization option, see section Export
parametrization option on page 38.

Continued
Action
5 Specify the physical network configuration, see section Specify the physical network
configuration on page 38.
Use Insert with Device Description and search for the type IBS SAB 24 DIO 8/4/4.
en0400001222
6 Now IBS CMD G4 shows the following:
en0400001223

Continued
Action
7 Assign the memory address, see section Assignment of memory address on page 38.
8 Save the configuration file, see section Save the configuration file on page 38.
9 Download the INTERBUS configuration file to the controller, see section Download
INTERBUS configuration file to the controller on page 40.
IRC5 system configuration using FlexPendant

When configuring the IRC5 system, either use the predefined unit type
IBS_GENERIC or define a new unit type for this unit. In this example the ID code
is 35, which is the valid value for the IBS SAB 24 DIO 8/4/4 unit. It is also shown
in the IBS CMD G4.
Editing Bus type

The following procedure describes how to edit the Bus type using FlexPendant:
Action
1. Tap the ABB button and select Control Panel and then Configuration.
2. Select Bus and tap Show Instances.
3. Select Interbus, and tap Edit.
4. Enter the path where the configuration file is located, see section Path to Bus Config-
uration File on page 41.
For instructions of how to use the soft keyboard on the FlexPendant, refer to Operating
5. Tap OK.
Defining Unit Type

The following procedure describes how to define the Unit Type using FlexPendant:
Action
2. Select Unit Type and tap Show Instances.
3. To create a new unit type, tap Add.
4. Enter the name of the unit type.
For instructions of how to use the soft keyboard on the FlexPendant, refer to Operating
5. Select Interbus as Type of Bus.
6. Enter the ID Code (in this example the ID code is 35).
7. Tap OK.
Vendor Name and Product Name are optional.
Defining Unit
The following procedure describes how to define the Unit using FlexPendant:
Action
2. Select Unit and tap Show instances.
3. To create a new unit, tap Add.

Continued
Action
4. Enter the name of the unit.
5. Enter Type of Bus (IBS_GENERIC or your newly defined Unit Type).
6. Select Interbus bus, to which the unit is connected.
7. Enter the Interbus Address (in this example the address is 2.0).
8. Tap OK.
Unit Identification Label is optional. For more detailed information about the other
parameters, please refer to Technical reference manual - System parameters.
Defining Media Converter unit

Since this example uses a DSQC 512 board, the Media Converter unit must also
be configured.
To define the Media Converter unit, follow the steps described in Defining Unit on
page 48. In this example the Media Converter has bus address 1.0.
If defining a new unit type, the ID code for the Media Converter is 8.
Restart the system

When all configurations are done and the INTERBUS configuration file is transferred
to the IRC5 system, restart the system to complete the changes.
3.5.3 Internal slave configuration example
Description
This example describes how to configure the internal slave. In this example the
slave will have 64 digital inputs and 64 digital outputs. No other units are configured.
The INTERBUS configuration is done using offline configuration, and the IRC5
system configuration is done via RobotStudio. A DSQC 529 is used as INTERBUS
board.
INTERBUS offline configuration

Follow the procedures in section Create configuration file offline on page 37and
use the following selections.
Action
Select Controller Board Type IBS PCI SC/RI/I-T.
en0400001226

Continued
Action
3 Configure the internal slave, see section Internal slave configuration on page 43.
Do the following selections:
en0400001228
5 Now IBS CMD G4 shows the following:
en0400001230

Continued
Action
6 Assign the memory address, see section Assignment of memory address on page 38.
en0400001229
7 Save the configuration file, see section Save the configuration file on page 38.
IRC5 system configuration using RobotStudio

Configuring bus
Use RobotStudio to add your path to the bus configuration file in the parameter
type Bus.
See section Bus configuration on page 41.
Configuring unit
There are several predefined Unit Types for the internal slave, depending on if the
slave has PCP channels or not. There is also a generic Unit Type for the internal
slave.
This example uses a slave without PCP channel and therefore the Unit
TypeIBS_SLAVE0 is used.
Note! The internal slave must have INTERBUS address 0.240.
Reference information
For information on how to do the configuration, refer to Technical reference
manual - System parameters and Operating manual - RobotStudio.
Restart the system

3.5.4 Master/slave configuration example
Description
This example describes how two IRC5 systems can be configured to communicate
with each other, one as the master and one as a slave.
The INTERBUS configuration is done using on-line configuration, and the IRC5
system configuration is done via RobotStudio. A DSQC 529 is used as INTERBUS
board.
Configuration overview
Action
1 Start by configuring the slave system according to the example in section Internal
slave configuration example on page 50.
2 Connect the INTERBUS cable between the master system and the slave system.
3 Configure the master system with an external slave on address 2.0.
See next procedure.
INTERBUS online configuration

This procedure details the selections for the master system configuration. Follow
the procedures in section Create configuration file online on page 34 and use the
following selections.
Action
1 Set up communication, see section Communication path on page 34.

Continued
Action
Select Controller Board Type IBS PC SC/RI/I-T.
en0400001226
4 Configure the internal slave, see section Internal slave configuration on page 43 .

Continued
Action
5 Read the physical configuration of the network, see section Read the physical config-
uration of the network on page 35.
en0400001232
6 Assign the memory addresses, see section Assignment of memory address on page 36.
The size of the internal slave (SL) depends on your configuration.
en0400001233
8 Save the configuration file, see section Saving the configuration file on page 36.

Continued
IRC5 system configuration using RobotStudio

Configuring bus
Use RobotStudio to add your path to the bus configuration file in the parameter
type Bus.
See section Bus configuration on page 41.
Configuring unit
When configuring the IRC5 system, either use the predefined Unit
TypeIBS_GENERIC or define a new Unit Type for this unit. In this example the ID
code is 3, which is the valid value for the slave unit. It is also shown in IBS CMD
G4.
Reference information
For information on how to do the configuration, refer to Operating
manual - RobotStudio and Technical reference manual - System parameters.
Restart the system

4 System parameters
4.1 Introduction
4 System parameters
4.1 Introduction
About the system parameters

There are both INTERBUS specific parameters and more general parameters. This
chapter gives brief descriptions of system parameters that are necessary for correct
installation and configuration of INTERBUS. The parameters are divided into the
type they belong to.
The INTERBUS specific parameters are described here, for information about other
system parameters, see Technical reference manual - System parameters.
INTERBUS 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 59
Path to Bus Configuration Path to Bus Configuration File on page 60
File
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
Interbus Address Interbus Address on page 61

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
ID Code ID Code on page 62
4 System parameters
4.2.1 Connector ID
4.2 Type 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 INTERBUS option shall use.
Usage
The Connector ID parameter is used to select one of the available connection ports
to use.
Prerequisites
The option INTERBUS (712-x) must be installed.
Default value
First Board
Allowed values
First Board
4 System parameters
4.2.2 Path to Bus Configuration File
4.2.2 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 a INTERBUS configuration file
located on the IRC5 system.
Usage
The Path to Bus Configuration File system parameter specifies the path to the
INTERBUS configuration file, which is created by using the software IBS CMD G4
Configurator tool from Pheonix Contact, to DSQC 512/529.
Prerequisites
The Interbus Master/Slave option must be installed.
Default value
The default value is an empty string.
Allowed values
A string following the requirements:
• Maximum 80 characters.
• Must be a valid file path.
The path can be specified as HOME. This is interpreted as the path to the home
directory of the current system.
4 System parameters
4.3.1 Interbus Address
4.3 Type Unit
4.3.1 Interbus Address
Parent
The parameter Interbus Address belongs to the type Unit, in the topic I/O.
Cfg name
IB_Address
Description
The parameter Interbus Address specifies the address of the I/O unit on the network.
Usage
Interbus Address specifies the address that the I/O unit is assumed to use on the
network and which the master should try to setup a connection against.
Allowed values
The value can be:
• 0.240 (used for internal slave)
• 1.0 - 255.63
The default value is an empty string.
There are limitations for the values set by the vendor.
4 System parameters
4.4.1 ID Code
4.4 Type Unit Type
4.4.1 ID Code
Parent
ID Code belongs to type Unit Type, in the topic I/O.
Cfg name
IB_IdCode
Description
ID Code is used as an identification of the I/O unit.
Usage
ID Code is an INTERBUS specific parameter that is only available for INTERBUS
unit types.
If ID Code is assigned the value 0 (zero), the robot controller ignores what ID Code
the connected unit has.
Allowed values
An integer value between 0 and 255.
The default value is 0.
The value of ID Code should be received from the vendor of the I/O unit. Note that
the ID Code can be expressed as a hexadecimal number in the vendor information.
Index
Index
B offline configuration, 46
bus cable, 29 online configuration, 53
female connector, 29 PCP units, 14
male connector, 29 predefined bus, 41
bus configuration file, 41 slave, 14, 16, 43
bus failure, 22 standardization, 13
INTERBUS master, 24
C bus failure, 22
communication boards, 30 configuration, 41, 53
communication path, 34 configuration file, 41
configuration software, 32 host failure, 21, 26
IBS CMD G4, 31, 32 LEDs, 21, 26
Connector ID, 59 peripheral fault, 21, 26
controller software, 31 status controller, 22
transmission speed, 42
D INTERBUS network, 15
digital slave module, 43 INTERBUS slave
DIP switch, 20, 25, 28 configuration, 35, 37, 43, 44, 53
master, 28 digital slave module, 43
slave, 28 I/O unit configuration, 44
DSQC 512, 14, 19, 30 LEDs, 22, 27
configuration, 19 offline configuration, 50
installation, 19 unit type configuration, 44
master LEDs, 21
media converter, 14 M
slave LEDs, 22 media converter, 14, 49
DSQC 529, 14, 24, 30 memory address, 36, 38
configuration, 24
installation, 24 O
master LEDs, 26 offline configuration, 50
slave LEDs, 27 online configuration, 34
E P
external master, 14 PCP units, 14
PCP word length, 28
H peripheral fault, 21, 26
host failure, 21, 26 PLC, 13
predefined bus, 41
I predefined master bus, 31
I/O units, 14, 17
configuration, 17 R
INTERBUS, 13 RS-232 serial interface, 20
configuration, 15, 31, 33, 34
configuration file, 41 S
controller board, 35, 38 safety, 11
electrical interface, 24 status controller, 22
error codes, 42 system parameters, 41, 57
external master, 14 ID Code, 62
fiber optical interface, 19 Interbus Address, 57, 61
fieldbus, 15
hardware, 14 T
I/O units, 14, 17 topic I/O type
master, 14, 15, 24 Bus, 57
network, 15 Unit, 57
Unit Type, 58
Contact us
ABB AB
3HAC023009-001, Rev F, 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

3HAC023009 en

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

3HAC023009 en

Uploaded by

Copyright:

Available Formats

ABB Robotics

Document ID: 3HAC023009-001

© Copyright 2005-2012 ABB. All rights reserved.

© Copyright 2005-2012 ABB. All rights reserved.

2 INTERBUS Master/Slave hardware 19

3 INTERBUS Master/Slave configuration 31

Overview of this manual

Who should read this manual?

Continues on next page

Product documentation, M2004

Technical reference manuals

Continues on next page

An application manual generally contains information about:

1.2 INTERBUS, IRC5

DSQC 512 and DSQC 529

INTERBUS PCP units

Continues on next page

The INTERBUS network

A Line PLC, Master

Specification overview, Master

Continues on next page

Specification overview, Slave

1.3 Definition of I/O units

2 INTERBUS Master/Slave hardware

2.1.1 DSQC 512 INTERBUS master/slave, fiber optical interface

Installation and configuration

Continues on next page

Continues on next page

Facts, DSQC 512

Designation Color Description

Continues on next page

Designation Color Description

Designation Color Description

Continues on next page

Designation Color Description

2.1.2 DSQC 529 INTERBUS master/slave, copper wire

Installation and configuration

Continues on next page

Continues on next page

Facts, DSQC 529

Designation Color Description

Continues on next page

Designation Color Description

Designation Color Description

2.1.3 DIP switch

Master DIP switch

Slave DIP switch

2.1.4 Bus cable and connectors

A Male connector (outgoing interface)

The following table shows the pin assignment of the connectors.

2.1.5 Definition of communication boards, IRC5

Description Art. no. Note Pos.

Installation of communication boards

3 INTERBUS Master/Slave configuration

3.1.1 Software overview

Predefined master bus and I/O unit types

3.1.2 INTERBUS configuration software

Installing the IBS CMD G4 tool

3.1.3 Step-by-step, setup an INTERBUS communication

3.2 Workflows, INTERBUS configuration software

3.2.1 Create configuration file online

Continues on next page

Select board type