Connect S4C+ to IRC5 with DeviceNet

Robot Controller
1

I am trying to get a S4C+ robot to talk to a IRC5 robot with DeviceNet and it is not working. I have figured out that because the S4C+ is using CAN protocol and the IRC5 is using DeviceNet protocol that the two will not talk direct. So I have purchased a AnyBus CAN to DeviceNet gateway and I am trying to get it to work that way. I am able to get the IRC5 to talk to the DeviceNet side of the Anybus gateway but I cannot get the S4C+ talking to the CAN side of the gateway.

Has anybody connected a Anybus gateway to a S4C+ before? If so did you connect to the BASE or CAN2 connection in the S4C+? What was the settings that you used in the EIO config file to make the robot talk to the Anybus device?

Thank you for any help,
David

2

Ok I got this going just using DeviceNet to DeviceNet between the S4C+ and the IRC5 robot. I set the S4C+ to DNET_SLAVE and connected to BASE system on CAN 1.2. I put a 120ohm resister on pin 2 and 4 and I did not connect pin 1 and 5 (24 VDC and 0 VDC). I connected to the DeviceNet connector in the bottom of the IRC5 cabinet and I connected a 120ohm resistor between pins 2 and 4. I configured the S4C+ on the IRC5 side with the below configurations from the S4C+.eds file.
S4C+ Configuration
-Name “IRC5” -Type “DNET_SLAVE” -Bus “BASE” -Address “30” -Digin 32
-Digout 32 -Param “IRC5_VAL”

IRC 5 Configuration
-Name “S4CPlus” -VendorName “ABB” -ProductName “S4CPlus” -Address 30
-ProductCode 15 -DeviceType 100 -OutputSize 4 -InputSize 4

You need to change the DeviceNet master address in the IRC5 under the Bus configuration to something like 5 so it’s not the same as S4C+ BASE master address.

This worked no problems. Did not need any module in between the two robots.

3

Hi all I’m attempting to connect same configuration I’m not sure what file I need to change in S4C+ controller EIO or MCC

4

EIO

5

Hi All I’m having a issue with S4Cplus I’m getting a error 71134 my user guide states Unit %s refers to values (%s) that don’t exists
1.Check unit configuration
I’ve read all my manual browsed on net just Can’t work it out I’ve added a photo of my error
maybe I need to add a statement in the EI0_BUS_USER section
any help will be appreciated

My EIO

EIO:CFG_1.0:4:0::

EIO_BUS_USER:

-Name “SIM” -Driver “/sim1:”

-Name “SW” -Driver “/sw1:”

-Name “BASE” -Driver “/BASE1:”

-Name “CAN2” -Driver “/BASE2:”

EIO_UNIT:

-Name “SW_BOARD” -Type “eip000” -Bus “SIM” -Digin 16 -Digout 16

-Name “SIM_BOARD” -Type “eip000” -Bus “SIM” -Address “0x1” -Digin 25\

-Digout 25

-Name “SWCOM_BOARD” -Type “eip000” -Bus “SIM” -Address “0x2” -Digin 25\

-Digout 25

-Name “DP_SIMBOARD” -Type “eip000” -Bus “SIM” -Address “6” -Digin 16\

-Digout 16 -Anin 4 -Anout 4

-Name “IRC5” -Type “DNET_SLAVE” -Bus “BASE” -Address “30” -Digin 32\

-Digout 32 -Param “IRC5_VAL”

EIO_CROSS:

-Lact “SwSkipProc” -Lres “SwSkipProc_cr”

-Lact “SwRunProc” -Lres “SwSkipProc_cr”

-Lact “doBwdOnPath” -Lres “diBwdOnPath”

SYSSIG_OUT:

-Status “MotOnState” -Signal “motor_on”

-Status “CycleOn” -Signal “swb_cycle_on”

EIO_SYSTEM_SIGNAL = EIO_SIGNAL:

-Name “SwSkipProc_cr” -Type “DI” -Unit “SWCOM_BOARD” -Phsig 12

-Name “swb_in_pos_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 1 -Store

-Name “swb_move_ack_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 2

-Name “swb_move_req_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 3

-Name “swb_open_ack_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 4

-Name “swb_prep_req_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 5

-Name “swb_start_req_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 6 -Store

-Name “swb_posup_ack_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 10

-Name “swb_posup_req_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 11

-Name “swb_prsup_req_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 12

-Name “swb_prsup_ack_rq” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 13

-Name “swb_start_on” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 14

-Name “swb_cycle_on” -Type “DO” -Unit “SWCOM_BOARD” -Phsig 15

EIO_USER_SIGNAL = EIO_SIGNAL:

-Name “p1_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 1

-Name “p2_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 2

-Name “p3_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 3

-Name “p4_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 4

-Name “tip1_open” -Type “DI” -Unit “SW_BOARD” -Phsig 5

-Name “tip1_retract” -Type “DI” -Unit “SW_BOARD” -Phsig 6

-Name “weld_ready1” -Type “DI” -Unit “SW_BOARD” -Phsig 7

-Name “timer_ready” -Type “DI” -Unit “SW_BOARD” -Phsig 8

-Name “flow_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 9

-Name “temp_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 10

-Name “current_ok” -Type “DI” -Unit “SW_BOARD” -Phsig 11

-Name “reset_fault” -Type “DO” -Unit “SW_BOARD” -Phsig 1

-Name “p2_req” -Type “DO” -Unit “SW_BOARD” -Phsig 2

-Name “p3_req” -Type “DO” -Unit “SW_BOARD” -Phsig 3

-Name “p4_req” -Type “DO” -Unit “SW_BOARD” -Phsig 4

-Name “close_tip1” -Type “DO” -Unit “SW_BOARD” -Phsig 5

-Name “work_select” -Type “DO” -Unit “SW_BOARD” -Phsig 6 -Store

-Name “start1” -Type “DO” -Unit “SW_BOARD” -Phsig 7

-Name “current_enable” -Type “DO” -Unit “SW_BOARD” -Phsig 8 -Store

-Name “process_error” -Type “DO” -Unit “SW_BOARD” -Phsig 9 -Store

-Name “prog_parity” -Type “DO” -Unit “SW_BOARD” -Phsig 10 -Store

-Name “tip2_open” -Type “DI” -Unit “SIM_BOARD” -Phsig 1

-Name “tip2_retract” -Type “DI” -Unit “SIM_BOARD” -Phsig 2

-Name “weld_ready2” -Type “DI” -Unit “SIM_BOARD” -Phsig 3

-Name “start2” -Type “DO” -Unit “SIM_BOARD” -Phsig 1

-Name “close_tip2” -Type “DO” -Unit “SIM_BOARD” -Phsig 2

-Name “weld_error” -Type “DO” -Unit “SIM_BOARD” -Phsig 3

-Name “weld_power” -Type “DO” -Unit “SIM_BOARD” -Phsig 7

-Name “motor_on” -Type “DO” -Unit “SIM_BOARD” -Phsig 8

-Name “water_start” -Type “DO” -Unit “SIM_BOARD” -Phsig 9

-Name “proc_run” -Type “DO” -Unit “SIM_BOARD” -Phsig 10

-Name “inhib_move” -Type “DO” -Unit “SIM_BOARD” -Phsig 11 -Store

-Name “SwRunProc” -Type “DO” -Unit “SIM_BOARD” -Phsig 12

-Name “SwOpenGun” -Type “DO” -Unit “SIM_BOARD” -Phsig 13

-Name “SwCloseGun” -Type “DO” -Unit “SIM_BOARD” -Phsig 14

-Name “SwNewData” -Type “DO” -Unit “SIM_BOARD” -Phsig 15

-Name “SwSkipProc” -Type “DO” -Unit “SIM_BOARD” -Phsig 16

-Name “doEqu1Gun1” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 1

-Name “doEqu1Gun2” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 2

-Name “doEqu1Gun3” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 3

-Name “doEqu1Gun4” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 4

-Name “doEqu1Gun5” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 5

-Name “aoEqu1F1” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 1 -LogMax 100\

-PhMax 10

-Name “aoEqu1F2” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 2 -LogMax 100\

-PhMax 10

-Name “doEqu2Gun1” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 6

-Name “doEqu2Gun2” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 7

-Name “doEqu2Gun3” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 8

-Name “doEqu2Gun4” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 9

-Name “doEqu2Gun5” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 10

-Name “aoEqu2F1” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 3 -LogMax 100\

-PhMax 10

-Name “aoEqu2F2” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 4 -LogMax 100\

-PhMax 10

-Name “doEqu3Gun1” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 6

-Name “doEqu3Gun2” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 7

-Name “doEqu3Gun3” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 8

-Name “doEqu3Gun4” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 9

-Name “doEqu3Gun5” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 10

-Name “aoEqu3F1” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 3 -LogMax 100\

-PhMax 10

-Name “aoEqu3F2” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 4 -LogMax 100\

-PhMax 10

-Name “doEqu4Gun1” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 6

-Name “doEqu4Gun2” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 7

-Name “doEqu4Gun3” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 8

-Name “doEqu4Gun4” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 9

-Name “doEqu4Gun5” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 10

-Name “aoEqu4F1” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 3 -LogMax 100\

-PhMax 10

-Name “aoEqu4F2” -Type “AO” -Unit “DP_SIMBOARD” -Phsig 4 -LogMax 100\

-PhMax 10

-Name “doDPErr” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 11

-Name “doDPOvrSpd” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 12

-Name “doDPActive” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 13 -Store

-Name “doBwdOnPath” -Type “DO” -Unit “DP_SIMBOARD” -Phsig 14

-Name “diBwdOnPath” -Type “DI” -Unit “DP_SIMBOARD” -Phsig 1

EIO_GROUP_PHS = EIO_SIGNAL:

-Name “pressure_group” -Type “GO” -Unit “SW_BOARD” -Phsig 2 -Length 3\

-Store

-Name “prog_no_group” -Type “GO” -Unit “SW_BOARD” -Phsig 11 -Length 6\

-Store

-Name “goEqu1Guns” -Type “GO” -Unit “DP_SIMBOARD” -Phsig 1 -Length 5

-Name “goEqu2Guns” -Type “GO” -Unit “DP_SIMBOARD” -Phsig 6 -Length 5

-Name “goEqu3Guns” -Type “GO” -Unit “DP_SIMBOARD” -Phsig 6 -Length 5

-Name “goEqu4Guns” -Type “GO” -Unit “DP_SIMBOARD” -Phsig 6

6

Where did you get this?

-Name “IRC5” -Type “DNET_SLAVE” -Bus “BASE” -Address “30” -Digin 32\

-Digout 32 -Param “IRC5_VAL”

Were you able to choose those from a list using the pendant in the the configuration?

7

Hi Lemster from a post from DavidLanham
I made a backup to floppy disk made the change to the EIO file
using notepad using desktop saved it the backup folder uploaded it to
controller using reinstall from a backup I can’t see any other way

8

What you are most likely missing is the last part, -Param “IRC_VAL”. There should be a section which lists something like:

EIO_PARAM
and something which has IRC_VAL

9

HI It’s written on my last statement in EIO_UNIT section