ABB robot control S4C or S4P in

conjunction with WAGO Profibus

components 750-303 and 750-301

Application note

A111100, English
Version 1.0.0
2 General

Copyright 2002 by WAGO Kontakttechnik GmbH

All rights reserved.

WAGO Kontakttechnik GmbH

Hansastrae 27
D-32423 Minden
Phone: +49 (0) 571/8 87 0
Fax: +49 (0) 571/8 87 1 69
E-Mail: [email protected]
Web: http://www.wago.com

Technical Support
Phone: +49 (0) 571/8 87 5 55
Fax: +49 (0) 571/8 87 85 55
E-Mail: [email protected]

Every conceivable measure has been taken to ensure the correctness and com-
pleteness of this documentation. However, as errors can never be fully ex-
cluded we would appreciate any information or ideas at any time.

We wish to point out that the software and hardware terms as well as the
trademarks of companies used and/or mentioned in the present manual are
generally trademark or patent protected.

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 Table of Contents 3

TABLE OF CONTENTS

1 Important comments.................................................................................. 4
1.1 Legal principles............................................................................................ 4
1.1.1 Copyright .......................................................................................... 4
1.1.2 Personnel qualification ..................................................................... 4
1.1.3 Intended use ...................................................................................... 4
1.2 Range of validity.......................................................................................... 5
1.3 Symbols........................................................................................................ 5

2 Description.................................................................................................. 6

3 Reference Material..................................................................................... 6

4 Solution ....................................................................................................... 6
4.1 Logging on the WAGO I/O System............................................................. 6
4.2 Logging on the WAGO I/O signals (modules between the coupler and the
end module) ........................................................................................... 8
4.3 Instructions for controller S4C+ ................................................................ 10

Application note
A
4 Important comments

1 Important comments
To ensure fast installation and start-up of the units described in this manual,
we strongly recommend that the following information and explanation is
carefully read and adhered to.

1.1 Legal principles

1.1.1 Copyright
This manual is copyrighted, together with all figures and illustrations con-
tained therein. Any use of this manual which infringes the copyright provisions
stipulated herein, is not permitted. Reproduction, translation and electronic
and photo-technical archiving and amendments require the written consent of
WAGO Kontakttechnik GmbH. Non-observance will entail the right of claims
for damages.

1.1.2 Personnel qualification

The use of the product detailed in this manual is exclusively geared to spe-
cialists having qualifications in PLC programming, electrical specialists or
persons instructed by electrical specialists who are also familiar with the valid
standards. WAGO Kontakttechnik GmbH declines all liability resulting from
improper action and damage to WAGO products and third party products due
to non-observance of the information contained in this manual.
1.1.3 Intended use
For each individual application, the components supplied are to work with a
dedicated hardware and software configuration. Modifications are only admit-
ted within the framework of the possibilities documented in the manuals. All
other changes to the hardware and/or software and the non-conforming use of
the components entail the exclusion of liability on part of WAGO Kon-
takttechnik GmbH.

Please direct any requirements pertaining to a modified and/or new hardware

or software configuration directly to WAGO Kontakttechnik GmbH.

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 Important comments 5

1.2 Range of validity

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

New hardware and software versions may need to be handled differently.

Please note the detailed description in the specific manuals.

1.3 Symbols
Danger
Always observe this information to protect persons from injury.

Warning
Always observe this information to prevent damage to the device.

Attention
Marginal conditions must always be observed to ensure smooth operation.

ESD (Electrostatic Discharge)

Warning of damage to the components by electrostatic discharge. Observe the
precautionary measure for handling components at risk.

Note
Routines or advice for efficient use of the device and software optimisation.

More information
References to additional literature, manuals, data sheets and INTERNET
pages

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6 Description

2 Description
Profibus WAGO I/O system (750-301; 750-303) on an ABB robot with a Pro-
fibus master card.

3 Reference Material
The interface was tested under the following conditions:

Hardware components used:

WAGO coupler 750-301, 750-303
ABB robot controller S4C or S4P with revised software Ver. 3.2
ABB Profibus master card DSQC 368
ABB I/O Plus
ABB master slave (MS) option

Software components used

4 Solution
4.1 Logging on the WAGO I/O System
1. For this purpose, the latest version of the GSD file of the WAGO I/O buscoupler is required
(downloadable at www.wago.com)

In the system parameters EIO:CFG of the ABB robot the following details
must be entered under the section EIO_UNIT_TYPE

Excerpt from the EIO.CFG

-Name "WAGO 750" -VendorName "WAGO" -DeviceType 1 -ProductId
46929\

-ProductName "Module bau " -MaxDigin 2 -MaxDigout 2 -MaxAnout

2\

-Param "WAGO_750_P" -MMCAttr "PDP_MOD_ATTR"

WAGO_750_P = EIO_PARAM:

-Name "T_WatchDog" -Path "T_WatchDog" -DefValue "200"

-Name "Usr_Prm_Data1" -Path "Usr_Prm_Data" -DefValue

"00,00,00,00,00"

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 Solution 7

-Name "Usr_Prm_Data2" -Path "Usr_Prm_Data" -DefValue

"00,00,00,00,6B"

-Name "Usr_Prm_Data3" -Path "Usr_Prm_Data" -DefValue

"00,10,00,0A,00"

-Name "Usr_Prm_Data4" -Path "Usr_Prm_Data" -DefValue ""

-Name "ModularStation" -Path "ModularStation" -DefValue "1"

-Name "MaxModule" -Path "MaxModule" -DefValue "11"

-Name "Module1" -Path "Module1" -DefValue ""

-Name "Module2" -Path "Module2" -DefValue ""

-Name "Module3" -Path "Module3" -DefValue ""

-Name "Module4" -Path "Module4" -DefValue ""

-Name "Module5" -Path "Module5" -DefValue ""

-Name "Module6" -Path "Module6" -DefValue ""

-Name "Module7" -Path "Module7" -DefValue ""

-Name "Module8" -Path "Module8" -DefValue ""

-Name "Module9" -Path "Module9" -DefValue ""

-Name "Module10" -Path "Module10" -DefValue ""

-Name "Module11" -Path "Module11" -DefValue ""

-Name "Supp_BaudRates" -Path "Supp_Baudrates" -DefValue "0x3DF"

-Constant

-Name "MaxTsdr_187.5" -Path "MaxTsdr_187.5" -DefValue "60" -

Constant

-Name "MaxTsdr_500" -Path "MaxTsdr_500" -DefValue "100" -

Constant

-Name "MaxTsdr_1.5M" -Path "MaxTsdr_1.5M" -DefValue "150" -

Constant

-Name "MaxTsdr_3M" -Path "MaxTsdr_3M" -DefValue "250" -Constant

-Name "MaxTsdr_6M" -Path "MaxTsdr_6M" -DefValue "350" -Constant

-Name "MaxTsdr_12M" -Path "MaxTsdr_12M" -DefValue "550" -

Constant

-Name "MinSlaveInt" -Path "MinSlaveInt" -DefValue "10" -

Constant

These changes have to be saved and transmitted to the robot

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8 Solution

4.2 Logging on the WAGO I/O signals (modules between the

coupler and the end module)
In the systems parameters (window on the TPU) of the ABB robot, a UNIT has
to be created under the section EIO_UNIT:

Examples for the following WAGO I/O set-up 750-303; 750-401; 750-501;
750-550; end module

With the address set to 2

-Name WAGO1-Type WAGO 750 Bus PBUS Address 2

Digin 2\

-Digout 2 Anout 2 Param WAGO1_VAL

Excerpt from the EIO.CFG

WAGO1_VAL = EIO_PARAM_VALUE:

-Name "T_WatchDog" -Value "200"

-Name "Usr_Prm_Data1" -Value "00,00,00,00,00"

-Name "Usr_Prm_Data2" -Value "00,00,00,00,6B"

-Name "Usr_Prm_Data3" -Value "00,10,00,0A,00"

-Name "Usr_Prm_Data4"

-Name "ModularStation" -Value "1"

-Name "MaxModule" -Value "11"

-Name "Module1" -Value "60,60,10,20"

-Name "Module2"

-Name "Module3"

-Name "Module4"

-Name "Module5"

-Name "Module6"

-Name "Module7"

-Name "Module8"

-Name "Module9"

-Name "Module10"
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 Solution 9

-Name "Module11"

-Name "Supp_BaudRates" -Value "0x3DF"

-Name "MaxTsdr_187.5" -Value "60"

-Name "MaxTsdr_500" -Value "100"

-Name "MaxTsdr_1.5M" -Value "150"

-Name "MaxTsdr_3M" -Value "250"

-Name "MaxTsdr_6M" -Value "350"

-Name "MaxTsdr_12M" -Value "550"

-Name "MinSlaveInt" -Value "10"

In the name Module1 under WAGO1_VAL=EIO_PARAM_VALUE, the ID

code for the Profibus (from the GSD file) has to be entered as a hexadecimal
value.

For the example of 750-303;750-401;750-501;750-550; End module

Excerpt from the WAGO GSD file of 750-303

Module = "750-550...750-584 1x16Bit O " 0x60

Module = " 8 Bit binary inputs " 0x10

Module = " 8 Bit binary outputs " 0x20

Results in: -Name "Module1" -Value "60,60,10,20"

Attention: observe the process image of the WAGO I/O modules;

first analog, then digital regardless of the assembled sequence (WAGO docu-
mentation on coupler 750-301 or 750-303 is downloadable at www.wago.com)

The ID code for the coupler and the end module should not be entered.

The values have to be entered in a single line separated by commas.

After inputting the values, restart the controller. The WAGO I/O modules are
now ready to use.

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10 Solution

Special features, which have to be considered when processing analog signals,

can be gathered from the ABB documentation or the ABB Profibus manual.

4.3 Instructions for controller S4C+

With the new controller S4C+, the above settings are no longer necessary. The
settings are set using the Softing Profibus configurator.

The EIO_UNIT_TYPE, however, still has to be specified.

(only known components can be registered)

More is available about this in the S4C+ manual.

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 Solution 11

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WAGO Kontakttechnik GmbH
Postfach 2880 D-32385 Minden
Hansastrae 27 D-32423 Minden
Phone: 05 71/8 87 0
Telefax: 05 71/8 87 1 69
E-Mail: [email protected]

Internet: http://www.wago.com