Well I found all information from the TURCK manual and the EDS file.
I also used the following information from the DeviceNet Lean manual (5.13.01 Revision):
Explict Messaging services
It is possible to configure I/O units through explicit messaging services. This could be done
either at startup by defining the Fieldbus Commands to the configured unit, or at runtime from RAPID through the Fieldbus Command Interface (FCI). For more information, refer to
Technical reference manual - RAPID Instructions, Functions and Data types, and Application
manual - Robot communication and I/O control, section Fieldbus Command Interface.
For the explicit messaging at startup:
-
Use RobotStudio to define a Fieldbus Command type that is general to the unit type
and could be used by many DeviceNet Lean units of this unit type.
-
Use RobotStudio to define a Fieldbus Command that is specific to a certain unit and
that specifies the unit specific data to be send to the unit. The Fieldbus Command is
linked to a certain unit. The data defined in the value parameter should fit the instance
or attribute size on the DeviceNet unit.
The DeviceNet Lean specific system parameters in the Fieldbus Command type are:
?? Path (-DL_Path)
?? Service (-DL_Service)
For more information, refer to the DeviceNet Specification or the Application manual - Robot
communication and I/O control.
Following is a configuration file example that sends two Fieldbus Commands at startup to the I/O unit ?_~SafeTrigger?_T.
EIO_UNIT:
-Name “SafeTrigger” -UnitType “ABB_type” -Bus “DeviceNet_Lean” -
DL_Address 19
EIO_COMMAND_TYPE:
-Name “RackSize” -UnitType “ABB_type” -DefValue “0” -OrderNr 1
-DL_Path “6,20 64 24 01 30 04,C6,1” -DL_Service 16
-Name “LastRack” -UnitType “ABB_type” -DefValue “0” -OrderNr 2
-DL_Path “6,20 64 24 01 30 05,C1,1” -DL_Service 16
The preceding example shows how to use the -DL_Path and -DL_Service parameters. The
syntax used in the -DL_Path command and in the I/O unit’s EDS file is same. Following is a
sample syntax:
“Path length, 20 Class 24 Instance 30 Attribute, Data type, Data
type length”
The following table provides description of the parameters used in the syntax:
Following are the allowed values of the ‘Data type’ and ‘Data type length’ parameters:
Parameter Description
Path length The byte count for the “20 64 24 01 30 05” string.
Class The DeviceNet Class number.
Instance The instance number of the class.
Attribute The attribute of the specified instance.
Data type The data format of the attribute.
Data type length The length in bytes of the specified Data type.
Data Type Description Data type length
Following are the allowed values of the ‘Data type’ and ‘Data type length’ parameters:
Data Type Description Data type length
0x01 Signed 16-bit value 2
0x02 Unsigned 16 bit integer value 2
0x03 Signed 16-bit value 2
0x04 Logical Boolean with values
TRUE and FALSE 1
0x05 Signed 8-bit integer value 1
0x08 Unsigned 8-bit integer value 1
0x09 Unsigned 32-bit integer value 4
0x0B 32-bit floating point value 4
0x16 Character sting (1 byte per
character, 1 byte length
indicator)
X
0x18 Unsigned 8-bit integer value 1
0xC1 Logical Boolean with values
TRUE and FALSE 1
0xC2 Signed 8-bit integer value 1
0xC3 Signed 16-bit value 2
0xC6 Unsigned 8-bit integer value 1
0xC7 Unsigned 16 bit integer value 2
0xC8 Unsigned 32-bit integer value 4
0xCA 32-bit floating point value 4
0xD1 Unsigned 8-bit integer value 1
0xD2 Signed 16-bit value 2
0xDA character sting (1 byte per
character, 1 byte length indicator
The -DL_Service parameter describes what type of operation that should be performed
against the specified -DL_Path parameter.
Following are the allowed values for -DL_Service:
Operation Value Description
Set 16 Set the value specified in ‘-DefValue’ or EIO_COMMAND.
Get 14 Get the specified parameter. Display answer as an event message.
Reset 5 Performs a reset of the specified I/O unit.
The ‘-OrderNr’ parameter is used to specify in what order the commands are send to the I/O unit.
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In this situation I will use Profibus slave for communication with PLC.
