Hi guys - thanks for helping me get digital I/O working on my IRC5 controller with the DSQC 652 I/O module. After asking many questions, I finally got it working yesterday. As I looked for answers and searched through old forum posts, collecting clues to the process here and there, I found the question of how to get I/O working on the IRC5 was nothing new. So I decided to document the process in a guide that will hopefully make it easier on the next roboticist who needs to get this working. I’ve attached the guide to this post. It’s far from fully comprehensive but should definitely help speed the process.
Happy to make some (light) revisions so comments are welcome, and though I poke fun in the guide, thanks to Henrik for the youtube video that got me started. Guide - How to Set Up IO, ABB Robot, IRC5.pdf (651 KB)
So in step 5 of the software side: “Go to IRBX > Configuration > I/O > Unit Type. You should see a Unit Type “d652” on Bus “DeviceNet”. Yes, this is your DSQC 652 I/O module which is connected to DeviceNet, a Bus used for I/O communication. See it there? Good.”
I don’t see a “Unit Type.” What does this mean, and what can I do to fix it?
Thanks for any help,
Stephen
This module seems to be included in the default configuration of most robots, but you might not have it. Confirm that you have it (typically mounted on the inside door of the IRC5): 3HAC025917-001 | ABB
The only I/O stuff I know we have is the option 716-1: Digital 24VDC I/O Card, 16 inputs & 16 outputs. I am assuming this is different than an actual I/O module.
Inside the front panel of the controller is 6 groups of terminals (XS12-XS17). Please see attached pics for clarification.
I guess it’s possible that it has IO “built-in” somehow – but they could also just be where you terminate the wires which go up in the arm – if the arm even has wires going up through it. The IRC5 Compact manual should be able to clarify all these connectors.
The IRC5 compact has a standard DSQC652 module included- it is mounted internally so they bring the connections out to the front as per your photo.
It will come from the factory already configured - including the input and output signals (though you probably want to rename these to represent what the actual signals are doing in your process).
The “Unit” from RW5.xx in RW6.xx becomes “DeviceNet_Device” as shown below copied from an IRC5 compact EIO file.
I would like to know how I can define I/O signals in the controller. How could I add a predefined IO configuration file to your existing parameters? How can I create a Unit Type Virtual in the controller?
Thank you for the guide! It’s very useful!
I’m trying to achieve the similar thing. I want to control the robot arm using my Arduino 2560 mega board.
Now, how to choose devicenet cables? I’m so confused here. This cable should be able to connect DSQC 652 (I mean XS12 in my IR5 compact controller) and my Arduino board, right? Is this the right cable? http://new.abb.com/products/3HAC022978-002?printPreview http://new.abb.com/products/ABB.PARTS.SEROP3HAB9483-1
Thank you so much! I really appreciate anyone who can help.
