ABB GATE-D1, Integration Manual

Page 1: ...English v5B 2TLC172011M0205_B Pluto Gateway ABB Robotics Integration Manual ...

Page 2: ...DeviceNet address etc 7 3 2 Adding gateway in the ABB robotic system 7 4 Gateway Default Configuration 8 4 1 Gateway Configuration 8 4 2 Commissioning 8 5 Gateway Configuration by ABB Robotic System 9 5 1 Precondition 9 5 1 1 Additional Data 9 5 1 2 Gateway Node Number 9 5 2 Settings in configuration file 9 5 2 1 Additional Data 10 5 3 Commissioning 15 5 4 Configuration Verification 15 5 4 1 Addit...

Page 3: ... Pluto stations 3 29 7 1 6 Pluto stations 4 29 7 1 7 Pluto stations 5 30 7 1 8 Pluto stations 6 31 7 1 9 Pluto stations 7 31 7 1 10 Pluto stations 8 32 7 1 11 Pluto stations 9 33 7 1 12 Pluto stations 10 34 7 1 13 Pluto stations 11 34 7 1 14 Pluto stations 12 35 7 1 15 Pluto stations 13 36 7 1 16 Pluto stations 14 36 7 1 17 Pluto stations 15 37 7 2 Output IO configuration 38 7 2 1 Package area 0 3...

Page 4: ...uto gateway connect a terminal program to the gateway PR port on the front panel of the unit The connector is the same as for connection to the Pluto units and as terminal program the Pluto Manager REF B terminal tool will work fine Terminal cable Pluto programming cable ABB 2TLA020070R5600 or Pluto USB cable ABB 2TLA020070R5800 Terminal program Pluto Manager terminal tool The following terminal s...

Page 5: ...way to configure the gateway for the application See chapter 4 ABB robotic system configuration preferred solution In the ABB robotic system it s possible to setup configuration data which will be sent down to the gateway at system start This configuration is the preferred way to do the integration because the gateway configuration is saved and documented within the ABB robotic system See chapter ...

Page 6: ... 15 then use ABB robotic system configuration Want read data from Pluto 0 and also send data to Pluto 0 Use ABB robotic system configuration As soon send data to Pluto then use ABB robotic system configuration If want to read data from Pluto 0 24 Use ABB robotic system configuration There are a need to read data from more then 16 Pluto then use ABB robotic system configuration and also use two Plu...

Page 7: ...d with the ABB robotic system by adding following text lines into the configuration file of the robotic system The example below will add the gateway named plutoGateway to the ABB robotic systems DeviceNet interface DNET at MAC address 20 EIO_UNIT_TYPE Name plutoGateway BusType DNET VendorName ABB ProductName Pluto DN_VendorId 950 DN_ProductCode 1000 DN_MajorRev 2 DN_MinorRev 3 DN_C1OutputSize 1 D...

Page 8: ...ad status from Pluto station 0 31 This configuration is current not possible to use because of limitations in the I O size in the ABB robotic system Note The ABB robotic system can with the default configuration mode only read data from the connected Pluto system To be able to write data to the Pluto system you can t use the default configuration mode If the Pluto system has any Pluto with station...

Page 9: ...4 Software date 2010 11 26 dnet_gw 5 1 1 Additional Data To use the additional data the DeviceNet gateway software version needs to be at version 2 1 or higher 5 1 2 Gateway Node Number To use the Gateway Node Number setting the DeviceNet gateway software version needs to be at version 3 0 or higher 5 2 Settings in configuration file This text below is a part of the ABB robotic system configuratio...

Page 10: ...etEnb UnitType plutoGateway DefValue 3 OrderNr 4 DN_Path 6 20 64 24 00 30 10 D1 1 DN_Service 16 Name plutoTimeout UnitType plutoGateway DefValue 1000 OrderNr 5 DN_Path 6 20 64 24 00 30 11 C7 2 DN_Service 16 Name plutoCycleTime UnitType plutoGateway DefValue 100 OrderNr 6 DN_Path 6 20 64 24 00 30 12 D1 1 DN_Service 16 Name plutoGatewayNode UnitType plutoGateway DefValue 0 OrderNr 7 DN_Path 6 20 64 ...

Page 11: ...5 C6 1 DN_Service 16 Name plutoNetEnb UnitType plutoGateway DefValue 3 OrderNr 3 DN_Path 6 20 64 24 00 30 10 D1 1 DN_Service 16 Name plutoTimeout UnitType plutoGateway DefValue 1000 OrderNr 4 DN_Path 6 20 64 24 00 30 11 C7 2 DN_Service 16 Name plutoCycleTime UnitType plutoGateway DefValue 100 OrderNr 5 DN_Path 6 20 64 24 00 30 12 D1 1 DN_Service 16 Name plutoGatewayNode UnitType plutoGateway DefVa...

Page 12: ...Gateway DefValue 0 OrderNr 24 DN_Path 6 20 64 24 00 30 2F D1 1 DN_Service 16 Name plutoAddData_Node09 UnitType plutoGateway DefValue 0 OrderNr 25 DN_Path 6 20 64 24 00 30 30 D1 1 DN_Service 16 Name plutoAddData_IO09 UnitType plutoGateway DefValue 0 OrderNr 26 DN_Path 6 20 64 24 00 30 31 D1 1 DN_Service 16 Name plutoAddData_Node10 UnitType plutoGateway DefValue 0 OrderNr 27 DN_Path 6 20 64 24 00 30...

Page 13: ...nitType plutoGateway DefValue 0 OrderNr 43 DN_Path 6 20 64 24 00 30 42 D1 1 DN_Service 16 Name plutoAddData_IO18 UnitType plutoGateway DefValue 0 OrderNr 44 DN_Path 6 20 64 24 00 30 43 D1 1 DN_Service 16 Name plutoAddData_Node19 UnitType plutoGateway DefValue 0 OrderNr 45 DN_Path 6 20 64 24 00 30 44 D1 1 DN_Service 16 Name plutoAddData_IO19 UnitType plutoGateway DefValue 0 OrderNr 46 DN_Path 6 20 ...

Page 14: ...me plutoAddData_IO27 UnitType plutoGateway DefValue 0 OrderNr 62 DN_Path 6 20 64 24 00 30 55 D1 1 DN_Service 16 Name plutoAddData_Node28 UnitType plutoGateway DefValue 0 OrderNr 63 DN_Path 6 20 64 24 00 30 56 D1 1 DN_Service 16 Name plutoAddData_IO28 UnitType plutoGateway DefValue 0 OrderNr 64 DN_Path 6 20 64 24 00 30 57 D1 1 DN_Service 16 Name plutoAddData_Node29 UnitType plutoGateway DefValue 0 ...

Page 15: ...ger terminal program see chapter 1 3 connected to the gateway terminal connector see below dnet_gw bw DeviceNet bus status Node number 3 0x3 Bus speed 250 kbits Bus power VALID Bus status OFFLINE Current setup done by PLC system Input assembly 1 PLUTO Data Only 102 Output assembly 1 To PLUTO Data 113 Expected PLUTO 00 15 00 01 02 03 Expected PLUTO 16 31 30 31 Enabled To PLUTO package 0 3 0 1 2 3 T...

Page 16: ...and will select output data type of data to gateway from ABB robotic system Value 0 No data no output data from ABB robotic system to the gateway Value 1 To Pluto Data output data to the gateway is used Name plutoOutput Type plutoGateway Value 0 1 Order 2 Path 6 20 64 24 00 30 14 C6 1 Service Set_Attribute_Single 0x10 5 7 Expected Pluto Nodes The plutoExpected command will enable transfer of Pluto...

Page 17: ...0x00100000 1048576 21 21 0x00200000 2097152 22 22 0x00400000 4194304 23 23 0x00800000 8388608 24 24 0x01000000 16777216 25 25 0x02000000 33554432 26 26 0x04000000 67108864 27 27 0x08000000 134217728 28 28 0x10000000 268435456 29 29 0x20000000 536870912 30 30 0x40000000 1073741824 31 31 0x80000000 2147483648 Example of enable Pluto node 0 1 2 3 30 and 31 Hexadecimal calculation Pluto 0 add 0x000000...

Page 18: ...al value 0 0 1 1 1 2 2 2 4 3 3 8 To enable output package 0 and 2 add the value 1 and 4 equal 5 DefValue 5 9 Data to PLUTO timeout The plutoTimeout command will set a timeout ms regarding minimum update time of data from ABB robotic system to the gateway It the gateway is not receiving new data within this timeout from the ABB robotic system the output data sent to the Pluto network will be cleare...

Page 19: ...umber 7 9 Node Number 8 10 Node Number 9 11 Node Number 10 12 Node Number 11 13 Node Number 12 14 Node Number 13 15 Node Number 14 16 Node Number 15 Order 7 Path 6 20 64 24 00 30 13 D1 1 Service Set_Attribute_Single 0x10 5 12 Additional Data configuration 5 12 1 Additional Data To use this function the gateway need software version 2 0 or higher The plutoAddData_Nodexx and plutoAddData_IOxx comman...

Page 20: ... 40 41 18 42 43 19 44 45 20 46 47 21 48 49 22 4A 4B 23 4C 4D 24 4E 4F 25 50 51 26 52 53 27 54 55 28 56 57 29 58 59 30 5A 5B 31 5C 5D 5 13 Path description This chapter only briefly will describe the cryptically path description 6 20 64 24 00 30 14 C6 1 6 20 64 24 00 30 14 The path according to the EDS file For more information read DeviceNet specification C6 The value type code For more informatio...

Page 21: ...the Pluto gateway see chapter 1 3 6 1 1 Additional Data See main manual for terminal configuration 6 2 DIP switch Setting To enable terminal configuration the DIP switch SW1 need to be set in PROG mode This is done by switch SW1 1 and SW1 2 to ON This will disable the reset of the SW1 function e g the MAC address setting The switch shall then not be changed Both the DeviceNet MAC address and baudr...

Page 22: ...p BRIDGE MODE def Restore factory setting time Gateway run time sec v Gateway version h Help text dnet_gw In the following chapter the commands gs and cs will be explained in more detailed way for a complete terminal configuration of the gateway 6 4 Set MAC address and baudrate With the gs command the MAC address and the baudrate is configured the gateway regarding connection to the DeviceNet netw...

Page 23: ...Output Assembly Instance will configure output data from the ABB robotic system to the gateway In this example the output is set tot To Pluto Data No data no output data from ABB robotic system to the gateway To Pluto Data output data to the gateway is used Expected data from PLUTO will enable transfer of Pluto global data from the Pluto network to DeviceNet input data for selected Pluto s In the ...

Page 24: ... Expected data from PLUTO 12 N NO Expected data from PLUTO 13 N NO Expected data from PLUTO 14 N NO Expected data from PLUTO 15 N NO Expected data from PLUTO 16 N NO Expected data from PLUTO 17 N NO Expected data from PLUTO 18 N NO Expected data from PLUTO 19 N NO Expected data from PLUTO 20 N NO Expected data from PLUTO 21 N NO Expected data from PLUTO 22 N NO Expected data from PLUTO 23 N NO Exp...

Page 25: ...ALID Bus status OFFLINE Current setup done by PLC system Input assembly 1 PLUTO Data Only 102 Output assembly 1 To PLUTO Data 113 Expected PLUTO 00 15 00 01 02 03 Expected PLUTO 16 31 30 31 Enabled To PLUTO package 0 3 0 1 2 3 Timeout 1000 ms dnet_gw Don t forget to document the configuration by copy past the terminal text to a configuration document for use if new gateway needs to be configured ...

Page 26: ...me diPluto0_i12 SignalType DI Unit ioPluto UnitMap 12 Name diPluto0_i13 SignalType DI Unit ioPluto UnitMap 13 Name diPluto0_i14 SignalType DI Unit ioPluto UnitMap 14 Name diPluto0_i15 SignalType DI Unit ioPluto UnitMap 15 Name diPluto0_q0 SignalType DI Unit ioPluto UnitMap 16 Name diPluto0_q1 SignalType DI Unit ioPluto UnitMap 17 Name diPluto0_q2 SignalType DI Unit ioPluto UnitMap 18 Name diPluto0...

Page 27: ...uto UnitMap 15 Name diAddData0_B2b0 SignalType DI Unit ioPluto UnitMap 16 Name diAddData0_B2b1 SignalType DI Unit ioPluto UnitMap 17 Name diAddData0_B2b2 SignalType DI Unit ioPluto UnitMap 18 Name diAddData0_B2b3 SignalType DI Unit ioPluto UnitMap 19 Name diAddData0_B2b4 SignalType DI Unit ioPluto UnitMap 20 Name diAddData0_B2b5 SignalType DI Unit ioPluto UnitMap 21 Name diAddData0_B2b6 SignalType...

Page 28: ...uto UnitMap 52 63 7 1 4 Pluto stations 2 EIO_SIGNAL Name diPluto2_i0 SignalType DI Unit ioPluto UnitMap 64 Name diPluto2_i1 SignalType DI Unit ioPluto UnitMap 65 Name diPluto2_i2 SignalType DI Unit ioPluto UnitMap 66 Name diPluto2_i3 SignalType DI Unit ioPluto UnitMap 67 Name diPluto2_i4 SignalType DI Unit ioPluto UnitMap 68 Name diPluto2_i5 SignalType DI Unit ioPluto UnitMap 69 Name diPluto2_i6 S...

Page 29: ...ioPluto UnitMap 111 Name diPluto3_q0 SignalType DI Unit ioPluto UnitMap 112 Name diPluto3_q1 SignalType DI Unit ioPluto UnitMap 113 Name diPluto3_q2 SignalType DI Unit ioPluto UnitMap 114 Name diPluto3_q3 SignalType DI Unit ioPluto UnitMap 115 Name diPluto3_gm0 SignalType DI Unit ioPluto UnitMap 116 Name diPluto3_gm1 SignalType DI Unit ioPluto UnitMap 117 Name diPluto3_gm2 SignalType DI Unit ioPlu...

Page 30: ...itMap 159 Name diPluto4_i SignalType GI Unit ioPluto UnitMap 128 143 Name diPluto4_q SignalType GI Unit ioPluto UnitMap 144 147 Name diPluto4_gm SignalType GI Unit ioPluto UnitMap 147 159 7 1 7 Pluto stations 5 EIO_SIGNAL Name diPluto5_i0 SignalType DI Unit ioPluto UnitMap 160 Name diPluto5_i1 SignalType DI Unit ioPluto UnitMap 161 Name diPluto5_i2 SignalType DI Unit ioPluto UnitMap 162 Name diPlu...

Page 31: ...Unit ioPluto UnitMap 204 Name diPluto6_i13 SignalType DI Unit ioPluto UnitMap 205 Name diPluto6_i14 SignalType DI Unit ioPluto UnitMap 206 Name diPluto6_i15 SignalType DI Unit ioPluto UnitMap 207 Name diPluto6_q0 SignalType DI Unit ioPluto UnitMap 208 Name diPluto6_q1 SignalType DI Unit ioPluto UnitMap 209 Name diPluto6_q2 SignalType DI Unit ioPluto UnitMap 210 Name diPluto6_q3 SignalType DI Unit ...

Page 32: ...p 252 Name diPluto7_gm9 SignalType DI Unit ioPluto UnitMap 253 Name diPluto7_gm10 SignalType DI Unit ioPluto UnitMap 254 Name diPluto7_gm11 SignalType DI Unit ioPluto UnitMap 255 Name diPluto7_i SignalType GI Unit ioPluto UnitMap 224 239 Name diPluto7_q SignalType GI Unit ioPluto UnitMap 240 243 Name diPluto7_gm SignalType GI Unit ioPluto UnitMap 244 255 7 1 10 Pluto stations 8 EIO_SIGNAL Name diP...

Page 33: ...9 SignalType DI Unit ioPluto UnitMap 297 Name diPluto9_i10 SignalType DI Unit ioPluto UnitMap 298 Name diPluto9_i11 SignalType DI Unit ioPluto UnitMap 299 Name diPluto9_i12 SignalType DI Unit ioPluto UnitMap 300 Name diPluto9_i13 SignalType DI Unit ioPluto UnitMap 301 Name diPluto9_i14 SignalType DI Unit ioPluto UnitMap 302 Name diPluto9_i15 SignalType DI Unit ioPluto UnitMap 303 Name diPluto9_q0 ...

Page 34: ...o10_gm3 SignalType DI Unit ioPluto UnitMap 343 Name diPluto10_gm4 SignalType DI Unit ioPluto UnitMap 344 Name diPluto10_gm5 SignalType DI Unit ioPluto UnitMap 345 Name diPluto10_gm6 SignalType DI Unit ioPluto UnitMap 346 Name diPluto10_gm7 SignalType DI Unit ioPluto UnitMap 347 Name diPluto10_gm8 SignalType DI Unit ioPluto UnitMap 348 Name diPluto10_gm9 SignalType DI Unit ioPluto UnitMap 349 Name ...

Page 35: ...i5 SignalType DI Unit ioPluto UnitMap 389 Name diPluto12_i6 SignalType DI Unit ioPluto UnitMap 390 Name diPluto12_i7 SignalType DI Unit ioPluto UnitMap 391 Name diPluto12_i8 SignalType DI Unit ioPluto UnitMap 392 Name diPluto12_i9 SignalType DI Unit ioPluto UnitMap 393 Name diPluto12_i10 SignalType DI Unit ioPluto UnitMap 394 Name diPluto12_i11 SignalType DI Unit ioPluto UnitMap 395 Name diPluto12...

Page 36: ...o13_gm3 SignalType DI Unit ioPluto UnitMap 439 Name diPluto13_gm4 SignalType DI Unit ioPluto UnitMap 440 Name diPluto13_gm5 SignalType DI Unit ioPluto UnitMap 441 Name diPluto13_gm6 SignalType DI Unit ioPluto UnitMap 442 Name diPluto13_gm7 SignalType DI Unit ioPluto UnitMap 443 Name diPluto13_gm8 SignalType DI Unit ioPluto UnitMap 444 Name diPluto13_gm9 SignalType DI Unit ioPluto UnitMap 445 Name ...

Page 37: ...i5 SignalType DI Unit ioPluto UnitMap 485 Name diPluto15_i6 SignalType DI Unit ioPluto UnitMap 486 Name diPluto15_i7 SignalType DI Unit ioPluto UnitMap 487 Name diPluto15_i8 SignalType DI Unit ioPluto UnitMap 488 Name diPluto15_i9 SignalType DI Unit ioPluto UnitMap 489 Name diPluto15_i10 SignalType DI Unit ioPluto UnitMap 490 Name diPluto15_i11 SignalType DI Unit ioPluto UnitMap 491 Name diPluto15...

Page 38: ...Unit ioPluto UnitMap 18 Name doPackage0_19 SignalType DO Unit ioPluto UnitMap 19 Name doPackage0_20 SignalType DO Unit ioPluto UnitMap 20 Name doPackage0_21 SignalType DO Unit ioPluto UnitMap 21 Name doPackage0_22 SignalType DO Unit ioPluto UnitMap 22 Name doPackage0_23 SignalType DO Unit ioPluto UnitMap 23 Name doPackage0_24 SignalType DO Unit ioPluto UnitMap 24 Name doPackage0_25 SignalType DO U...

Page 39: ...uto UnitMap 67 Name doPackage1_20 SignalType DO Unit ioPluto UnitMap 68 Name doPackage1_21 SignalType DO Unit ioPluto UnitMap 69 Name doPackage1_22 SignalType DO Unit ioPluto UnitMap 70 Name doPackage1_23 SignalType DO Unit ioPluto UnitMap 71 Name doPackage1_24 SignalType DO Unit ioPluto UnitMap 72 Name doPackage1_25 SignalType DO Unit ioPluto UnitMap 73 Name doPackage1_26 SignalType DO Unit ioPlu...

Page 40: ...7 Name doPackage2_22 SignalType DO Unit ioPluto UnitMap 118 Name doPackage2_23 SignalType DO Unit ioPluto UnitMap 119 Name doPackage2_24 SignalType DO Unit ioPluto UnitMap 120 Name doPackage2_25 SignalType DO Unit ioPluto UnitMap 121 Name doPackage2_26 SignalType DO Unit ioPluto UnitMap 122 Name doPackage2_27 SignalType DO Unit ioPluto UnitMap 123 Name doPackage2_28 SignalType DO Unit ioPluto Unit...

Page 41: ...O Unit ioPluto UnitMap 167 Name doPackage3_24 SignalType DO Unit ioPluto UnitMap 168 Name doPackage3_25 SignalType DO Unit ioPluto UnitMap 169 Name doPackage3_26 SignalType DO Unit ioPluto UnitMap 170 Name doPackage3_27 SignalType DO Unit ioPluto UnitMap 171 Name doPackage3_28 SignalType DO Unit ioPluto UnitMap 172 Name doPackage3_29 SignalType DO Unit ioPluto UnitMap 173 Name doPackage3_30 Signal...