Set Up I/O's with DSQC 651

Robot Controller
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1

Good day to everyone!

I’ve already read “How to Set Up I/O on a ABB Robot with and IRC5 Controller” but I’m still having troubles after follow the procedure.

  1. DSQC 651 Output1: -1 Input1:-1
  2. NS and MS LEDs are Green
  3. Output V+ and V- are connected to the source.
  4. Mapping is done:
    Name: do_1
    Type of signal: Digital Output
    Assigned to Unit: Discrete651_10
    Unit Mapping: 0

Outputs voltage: 1.5V
Inputs Voltage: 0V

I Simulate the signals to 1, and nothing change the voltages are the same.
I changed Output1 and Input1 as EDS file says: Output1:1 and Input1:5 but match a error size.

Any idea what I can do?

2

Not sure about “Output1: -1 Input1:-1” – copy / paste the EIO file.

3

EDS File:
Input1 = 5, $ Nbr of data byte
Output1 = 1, $ Nbr of data byte

but appears:

Event Message 71294
Input output size
On DeviceNet unit <Discrete651_10> the connection 1 output size does not match the unit.

4

Hi,

What RobotWare version are you running?

The configuration file (EIO file), has changed with RW6 - so you should make sure you use the right EDS file.

Regards

Graeme

5

I’m running 5.15.2, EDS file is the same as 6.02.

6

The EIO.cfg file can be found in the SYSPAR folder of a backup.

7

Look this is my EIO file.

EIO_UNIT_TYPE:

-Name “Virtual” -VendorName “ABB” -ProductName “Virtual unit”

-Name “DN_GENERIC” -BusType “DNET” -DN_ExplicitMsgEnabled
-DN_C1OutputSize -1 -DN_C1InputSize -1

*-Name “d651” -BusType “DNET” -VendorName “ABB Robotics”*
*-ProductName “Combi Unit” -DN_VendorId 75 -DN_ProductCode 25*
*-DN_DeviceType 100 -DN_MajorRev 1 -DN_MinorRev 1 -DN_ExplicitMsgEnabled *
-DN_C1Type “COS” -DN_C1OutputSize -1 -DN_C1InputSize -1

-Name “DN_SLAVE” -BusType “DNET” -VendorName “ABB Robotics” -DN_VendorId 8
-DN_ProductCode 12 -DN_DeviceType 12 -DN_ExplicitMsgEnabled
-DN_C1Interval 50 -DN_C1OutputSize 8 -DN_C1InputSize 8

-Name “DN_INTERNAL_SLAVE” -BusType “DNET” -VendorName “ABB Robotics”
-ProductName “Internal DeviceNet Slave” -InternalSlave -DN_C1OutputSize 8
-DN_C1InputSize 8

-Name “S4CPLUS_DN_SLAVE” -BusType “DNET” -DN_VendorId 75
-DN_ProductCode 15 -DN_DeviceType 100 -DN_C1Interval 50
-DN_C1OutputSize 22 -DN_C1InputSize 22

*-Name “d350A” -BusType “DNET” -VendorName “ABB Robotics”*
*-ProductName “RIO Adapter” -DN_VendorId 75 -DN_ProductCode 6*
*-DN_DeviceType 7 -DN_MajorRev 2 -DN_ExplicitMsgEnabled -DN_C1Type “COS”*
-DN_C1OutputSize -1 -DN_C1InputSize -1

*-Name “d1794” -BusType “DNET” -VendorName “Allen-bradley Company”*
*-ProductName “1794-ADN DeviceNet Flex I/O Adapter” -DN_VendorId 1*
*-DN_ProductCode 1 -DN_DeviceType 12 -DN_MajorRev 2 -DN_MinorRev 1*
-DN_C1OutputSize -1 -DN_C1InputSize -1

8

Is this your whole EIO file?

9

attached. I made some changes but still not working.

Outputs did not give me voltage and inputs did not respond to a voltage.

10

If someone has this problem with DSQC651, try to use a higher value for Unit Mapping. In my case I solved this using 32 for signal 1, 33 for signal 2, …

11

Simulating an input will not make the voltage go high on an input, only the real input will. Simulating an output and turning it high will also not make the voltage go high. In fact, it will block the voltage because you simulated it. There is no need to simulate an output, just turn it on. If you still have any simulated outputs, you should remove the simulation.

12

@Nousch is right. The digital output mapping for 651 board begins with 32.

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