No.

0908
DENSO ROBOT USER’S MANUAL Additional information

EtherNet/IP Adapter Board

Contents
1 . Overview ............................................................................................................................................2
1.1 Operating Environment..................................................................................................................2
1.2 Extension Board ............................................................................................................................2
1.3 Limited Warranty............................................................................................................................2
2 . Specifications .....................................................................................................................................2
2.1 General Specifications ...................................................................................................................2
2.2 Front Panel and its Functions ........................................................................................................3
2.3 Combination of other Extension Boards ........................................................................................3
2.4 I/O Port Map ..................................................................................................................................3
2.5 Mounting the EtherNet/IP Adapter Board.......................................................................................4
2.6 Adding Functions to the Robot Controller ......................................................................................4
3 . Setting for the EtherNet/IP..................................................................................................................4
3.1 Setting the Robot Controller ..........................................................................................................4
3.2 EDS File ........................................................................................................................................5
4 . Allocation ............................................................................................................................................5
4.1 Standard Allocation ........................................................................................................................6
4.2 Compatible Allocation ....................................................................................................................8
5 . Appendix...........................................................................................................................................10

July 2009
 EtherNet/IP Adapter Board

1 . Overview
Mounting an EtherNet/IP Adapter board in the robot controller enables the
controller to communicate with external devices according to the
EtherNet/IP-compliant protocol. The robot controller may easily exchange I/O
data with EtherNet/IP-compliant Network devices.

1.1 Operating Environment

EtherNet/IP Adapter board can be used in the robot controller with software Ver.
2.900 or later. You need the configuration software license for function extension.
When you purchase the license, you need the serial number of your robot
controller.

1.2 Extension Board

The board indicated below needs to be prepared by the user.
Board Type CIFX 50-RE/DENSO
Manufacturer Hilscher GmbH
No fixing brackets come with this board. Before using this board, make sure that
no communications error occurs due to vibration or impact.

1.3 Limited Warranty

DENSO WAVE provides the user with communications software built in the robot
controller. It does not give you any warranty or technical support for the
extension board itself.

2 . Specifications
For the specifications of EtherNet/IP Adapter board unit, refer to the instructions
manual.

2.1 General Specifications

Item Specifications
Board Type CIFX 50-RE/DENSO
Communications protocol EtherNet/IP-compliant
Transmission speed 10M, 100M (bits/s)
Interface connector RJ-45 connector
Communications media Category 5 or above, twisted pair cable
Number of I/Os Standard Compatible All-user
allocation allocation allocation
System input 40 points 24 points 0 points
System output 32 points 32 points 0 points
User input 24～216 points 40～232 points 256 points
User output 32～224 points 32～224 points 256 points
Note：Polling period for system input signal is 8ms. The 8ms or less input signal
may not be detected.

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 EtherNet/IP Adapter Board

2.2 Front Panel and its Functions

The following figure and table describe each part of the EtherNet/IP Adapter
board’s (interface’s) front panel.
LINK ACT

SYS MS NS CH0 CH1

The front panel of the EtherNet/IP Adapter

Classification Name Description
Status indicators SYS Lights when EtherNet/IP board is activated.
(LEDs) MS Lights during EtherNet/IP board is in motion.
NS Lights when the connection is established.
LINK Lights when the Ethernet is connected to other
Ethernet devices.
ACT Blinks when transmits/receives Ethernet frame.
EtherNet/IP CH0 RJ45 connector (female)
Interface CH1 Use either CH0 or CH1.

2.3 Combination of other Extension Boards

EtherNet/IP Adapter board also can be used in combination with other extension
boards.
Selectable allocation mode differs depend on the combination of the extension
boards.
Combined Extension Selectable allocation mode
Board Mini I/O Standard Compatible All-user
Individual use × ○ ○ ×
Parallel I/O Board × ○ ○ ×
DeviceNet Master Board × ○ ○ ○
S-Link V × ○ ○ ○

2.4 I/O Port Map

I/O port numbers allocated to EtherNet/IP Adapter range from 512 to 767 for
input and from 768 to 1023 for output.

I/O port number Allocation Area

0 to 15 Mini I/O input
16 to 31 Mini I/O output
32 to 47 Not used
48 to 55 Hand input
56 to 63 Not used Standard area
64 to 71 Hand output
72 to 127 Not used
128 to 511 Internal I/O
512 to 767 EtherNet/IP Adapter input Extension board
768 to 1023 EtherNet/IP Adapter output area

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 EtherNet/IP Adapter Board

2.5 Mounting the EtherNet/IP Adapter Board

Mount the EtherNet/IP Adapter board in any of the extension slots provided in
the robot controller. For installation, refer to “Mounting I/O Extension Boards” in
the Options Manual.
The extension board will be recognized when it is installed in any of the three
extension slots. When it is used in combination with the other extension boards,
the board mounted in the far left will be recognized as the first board.

2.6 Adding Functions to the Robot Controller

In order to use EtherNet/IP functions, you need to add functions to the robot
controller. To add functions, register the configuration software license number
with the controller.
If purchasing our controller together with the EtherNet/IP configuration software
license, the functions are already added in the controller at the factory.
You can add functions through the teach pendant or WINCAPS.
The Teach Pendant
From the top screen of the teach pendant,
press [F6 Set]-[F7 Option.]-[F8 Function Extension]

WINCAPS
Establish the online status(Monitor)→[Tool]→[Controller extension]

3 . Setting for the EtherNet/IP

Set up the EtherNet/IP scanner equipment and also the robot controller.

3.1 Setting the Robot Controller

According to the EtherNet/IP scanner equipment and environment, set as
follows:
From the top screen- [F4 I/O]-[F6 Aux.]-[F12 FieldBus]-[F5 RT-Ether]-
[F1 EtherIP]

Address
Set the IP address, subnet mask, and gateways for EtherNet/IP.

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 Preparations：
・Install the EthernetIP in the controller (Hilscher CIFX 50-RE)
・Insert the LAN cable to be used for the EthernetIP
There’s 2 connections LAN
Be sure to use the connection indicated below.
The other connection is not used

LAN cable

Not used
Setting up Adapter １．After installing ethernet IP
board you will get the following message. Click OK.
２. Click “IO”
３．Click “AUX”
４．Click “AlocMode”
５．Select “Standard” and click OK
６．Click “OK” and reboot controller
７．Click AUX in IO monitor view after restarting
８．Click ”FieldBus”
９．Click “RT-Ether”
１０．Click “EtherIP”
１１．Click “Address”
１２．Set “IP address”,”Subnet mask”,”Default Gateway” and
Click “OK”
１３．Click OK. DO NOT RESTART and go to the next
setting
１４．Click “Size”
１５．Set the “Input Size” and ”Output Size” and click “OK”
Do not change “Error detection standby time”
１６．Click “OK” and restart controller
１７．The settings have been completed and the EthernetIP
Adapter is ready for use
 EtherNet/IP Adapter Board
Speed
Select the speed according to the network communication configuration.
Option Description
Auto Negotiation The transmission rate is automatically configured
according to the connected devices.
(Factory default setting)
100M Full Duplex 100Mbps Full Duplex
100M Half Duplex 100Mbps Half Duplex
10M Full Duplex 10Mbps Full Duplex
10M Half Duplex 10Mbps Half Duplex

Adapter
Input/Output sizes
Input sizes can be set in the range from 5 to 32, and output sizes in the range
from 4 to 32. This controller allows you to increase or decrease input/output
sizes in bytes.
For input/output sizes and the maximum number of user input/output points, see
Appendix “Quick Reference Table for Input/Output Sizes.”

Insensitive time to network error (ms)

Set the insensitive time to network error. The value has been set at 12000 at the
factory.

Status
You can check such as the firmware version and type of the EtherNet/IP Adapter
board.

3.2 EDS File

EDS file for EtherNet/IP Adapter board is stored in WINCAPSⅢ CD-ROM that
comes with the robot controller. Use this file when you register with EtherNet/IP
scanner.
The path：¥unsupported¥eds¥EtherNetIP¥denso_RC7_eia_V1.1.eds

4 . Allocation
Allocation setting is chosen from the items below.

Allocation General description

"Standard" system allocation is allocated to the EtherNet/IP
Standard Adapter board area. Only the user signal (excluding CPU
Normal) is allocated to all ports of the Mini I/O area.
"Compatible" system allocation is allocated to the EtherNet/IP
Compatible Adapter board area. Only the user signal (excluding CPU
Normal) is allocated to all ports of the Mini I/O area.
Only the user signal is allocated to all ports.
All-user All-user allocation mode can be selected, only when EtherNet/IP
Adapter board is used in combination with DeviceNet or S-Link V.

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 EtherNet/IP Adapter Board

4.1 Standard Allocation

Input Data（Standard）
I/O Port No. Content I/O Port No. Content

512 Step stop（All tasks） 544 Bit 0 in command area

513 － 545 Bit 1 in command area
514 Halt（All tasks） 546 Bit 2 in command area
515 Strobe signal 547 Bit 3 in command area
516 Skip interrupt 548 －
517 － 549 －
518 － 550 －
519 Command data odd parity 551 －
520 Bit 0 in data area 1 552 INPUT 552
521 Bit 1 in data area 1 553 INPUT 553
522 Bit 2 in data area 1 554 INPUT 554
523 Bit 3 in data area 1 555 INPUT 555
524 Bit 4 in data area 1 556 INPUT 556
525 Bit 5 in data area 1 557 INPUT 557
526 Bit 6 in data area 1 558 INPUT 558
527 Bit 7 in data area 1 559 INPUT 559
528 Bit 0 in data area 2
529 Bit 1 in data area 2
530 Bit 2 in data area 2 760 INPUT 760
531 Bit 3 in data area 2 761 INPUT 761
532 Bit 4 in data area 2 762 INPUT 762
533 Bit 5 in data area 2 763 INPUT 763
534 Bit 6 in data area 2 764 INPUT 764
535 Bit 7 in data area 2 765 INPUT 765
536 Bit 8 in data area 2 766 INPUT 766
537 Bit 9 in data area 2 767 INPUT 767
538 Bit 10 in data area 2
539 Bit 11 in data area 2
540 Bit 12 in data area 2
541 Bit 13 in data area 2
542 Bit 14 in data area 2
543 Bit 15 in data area 2

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 EtherNet/IP Adapter Board

Output Data (Standard)

I/O Port No. Content I/O Port No. Content

768 － 800 OUTPUT 800

769 Robot running 801 OUTPUT 801
770 Robot alarm 802 OUTPUT 802
771 Servo ON 803 OUTPUT 803
772 Robot initialization finished 804 OUTPUT 804
773 Auto mode 805 OUTPUT 805
774 External mode 806 OUTPUT 806
775 Battery warning 807 OUTPUT 807
776 Robot warning 808 OUTPUT 808
777 Continue start permitted 809 OUTPUT 809
778 SS mode output 810 OUTPUT 810
779 Reserved 811 OUTPUT 811
780 Reserved 812 OUTPUT 812
781 Reserved 813 OUTPUT 813
782 Command process finished 814 OUTPUT 814
783 Status area odd parity 815 OUTPUT 815
784 Bit 0 in status area
785 Bit 1 in data area
786 Bit 2 in status area 1016 OUTPUT 1016
787 Bit 3 in status area 1017 OUTPUT 1017
788 Bit 4 in status area 1018 OUTPUT 1018
789 Bit 5 in status area 1019 OUTPUT 1019
790 Bit 6 in status area 1020 OUTPUT 1020
791 Bit 7 in status area 1021 OUTPUT 1021
792 Bit 8 in status area 1022 OUTPUT 1022
793 Bit 9 in status area 1023 OUTPUT 1023
794 Bit 10 in status area
795 Bit 11 in status area
796 Bit 12 in status area
797 Bit 13 in status area
798 Bit 14 in status area
799 Bit 15 in status area

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 EtherNet/IP Adapter Board

4.2 Compatible Allocation

Input
I/O Port No. Content I/O Port No. Content

512 Step stop (all tasks) 536 INPUT 536

513 Continue start 537 INPUT 537
514 Halt (all tasks) 538 INPUT 538
515 Operation ready start 539 INPUT 539
516 Skip interrupt 540 INPUT 540
517 Program start 541 INPUT 541
518 － 542 INPUT 542
519 － 543 INPUT 543
520 Program selection bit 544 INPUT 544
521 Bit 1 for program selection 545 INPUT 545
522 Bit 2 for program selection 546 INPUT 546
523 Bit 3 for program selection 547 INPUT 547
524 Bit 4 for program selection 548 INPUT 548
525 Bit 5 for program selection 549 INPUT 549
526 Bit 6 for program selection 550 INPUT 550
527 Program selection parity 551 INPUT 551
528 Motor power ON 552 INPUT 552
529 CAL execution 553 INPUT 553
530 － 554 INPUT 554
531 SP100 555 INPUT 555
532 Switching to external mode 556 INPUT 556
533 Program reset 557 INPUT 557
534 Robot alarm 558 INPUT 558
535 － 559 INPUT 559

760 INPUT 760

761 INPUT 761
762 INPUT 762
763 INPUT 763
764 INPUT 764
765 INPUT 765
766 INPUT 766
767 INPUT 767

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 EtherNet/IP Adapter Board

Output
I/O Port No. Content I/O Port No. Content

768 － 800 OUTPUT 800

769 Robot running 801 OUTPUT 801
770 Robot alarm 802 OUTPUT 802
771 Auto mode 803 OUTPUT 803
772 External mode 804 OUTPUT 804
773 Program start reset 805 OUTPUT 805
774 － 806 OUTPUT 806
775 － 807 OUTPUT 807
776 Robot power ON finished 808 OUTPUT 808
777 Servo ON 809 OUTPUT 809
778 CAL finished 810 OUTPUT 810
779 Teaching 811 OUTPUT 811
780 Single cycle end 812 OUTPUT 812
781 Battery warning 813 OUTPUT 813
782 Robot warning 814 OUTPUT 814
783 Continue start permitted 815 OUTPUT 815
784 Error code, unit, 20
785 Error code, unit, 21
786 Error code, unit, 22 1016 OUTPUT 1016
787 Error code, unit, 23 1017 OUTPUT 1017
788 Error code, tens, 21 1018 OUTPUT 1018
789 Error code, tens, 22 1019 OUTPUT 1019
790 Error code, tens, 23 1020 OUTPUT 1020
791 Error code, tens, 24 1021 OUTPUT 1021
792 Error code, hundreds, 20 1022 OUTPUT 1022
793 Error code, hundreds, 21 1023 OUTPUT 1023
794 Error code, hundreds, 22
795 Error code, hundreds, 23
796 －
797 －
798 －
799 －

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 EtherNet/IP Adapter Board

5 . Appendix
Quick Reference Table for Input/Output Sizes
The table below lists the input/output sizes in EtherNet/IP and the maximum
number of user input/output points.

EtherNet/IP Max. number of user EtherNet/IP Max. number of user

input points output points
Input size Standard Compatible Output size Standard Compatible
allocation allocation allocation allocation
5 0 16 4 0 0
6 8 24 5 8 8
7 16 32 6 16 16
8 24 40 7 24 24
9 32 48 8 32 32
10 40 56 9 40 40
11 48 64 10 48 48
12 56 72 11 56 56
13 64 80 12 64 64
14 72 88 13 72 72
15 80 96 14 80 80
16 88 104 15 88 88
17 96 112 16 96 96
18 104 120 17 104 104
19 112 128 18 112 112
20 120 136 19 120 120
21 128 144 20 128 128
22 136 152 21 136 136
23 144 160 22 144 144
24 152 168 23 152 152
25 160 176 24 160 160
26 168 184 25 168 168
27 176 192 26 176 176
28 184 200 27 184 184
29 192 208 28 192 192
30 200 216 29 200 200
31 208 224 30 208 208
32 216 232 31 216 216
32 224 224

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