Profibus Adapter fieldbus

Application manualPROFIBUS Fieldbus Adapter

Robot ControllerRobotWare 5.0

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Application manualPROFIBUS Fieldbus Adapter

RobotWare 5.0

Document ID: 3HAC029338-001Revision: -

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The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.

Copyright 2007 ABB All rights reserved. ABB AB

Robotics Products SE-721 68 Vsters

Sweden

Table of Contents

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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1 Overview 111.1 PROFIBUS, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 PROFIBUS Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Hardware description 152.1 PROFIBUS Fieldbus Adapter, DSQC 667. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3 PROFIBUS Fieldbus Adapter configuration 213.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3 Working with the PROFIBUS Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4 System parameters 274.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.2.1 PROFIBUS Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.3.1 Internal Slave Input Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294.3.2 Internal Slave Output Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.3.3 Internal slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314.3.4 Product ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Index 33

Table of Contents

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Overview


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Overview

About this manualThis manual describes the PROFIBUS Fieldbus Adapter option and contains instructions for the PROFIBUS Fieldbus Adapter configuration.

UsageThis manual should be used during installation and configuration of the PROFIBUS Fieldbus Adapter.

Who should read this manual?This manual is intended for

Personnel that are responsible for installations and configurations of fieldbus hardware/software

Personnel that make the configurations of the I/O system System integrators

PrerequisitesThe reader should have the required knowledge of

Mechanical installation work Electrical installation work

Organization of chaptersThe manual is organized in the following chapters:

Chapter Contents1. This chapter gives an overview of the PROFIBUS Fieldbus Adapter and

includes the following: A general description of PROFIBUS Description of how the PROFIBUS Fieldbus Adapter is connected in a

robot system2. This chapter describes the PROFIBUS Fieldbus Adapter.3. This chapter gives an overview of the PROFIBUS Fieldbus Adapter configura-

tion. The chapter also contains descriptions of workflows.4. This chapter describes the PROFIBUS Fieldbus Adapter specific system

parameters.

Continues on next page

Overview

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References

ABB documents, references

Other references

Revisions

Reference Document IDOperating manual - RobotStudio Online 3HAC18236-1Operating manual - IRC5 with FlexPendant 3HAC16590-1Product manual - IRC5 3HAC021313-001Technical reference manual - System parameters

3HAC17076-1

Product specification - IRC5 with FlexPendant 3HAC021785-001

Reference DescriptionInternational standard IEC 61158 Type 3International standard IEC 61784

The PROFIBUS fieldbus standard is described in the international standards.

PROFIBUS Technical Guideline Installation Guideline for PROFIBUS-DP/FMS (Version 1.0, September 1998).

www.profibus.com The web site of PROFIBUS International.

Revision Description- First edition. RobotWare 5.09.02.

Continued

Product documentation, M2004


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GeneralThe robot documentation is divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered.However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems.

Product manualsAll hardware, robots and controllers, will be delivered with a Product manual that contains:

Safety information Installation and commissioning (descriptions of mechanical installation, electrical

connections) Maintenance (descriptions of all required preventive maintenance procedures

including intervals) Repair (descriptions of all recommended repair procedures including spare parts) Additional procedures, if any (calibration, decommissioning) Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards) Part list

Foldouts or exploded views Circuit diagrams

Technical reference manualsThe following manuals describe the robot software in general and contain relevant reference information:

RAPID Overview: An overview of the RAPID programming language. RAPID Instructions, Functions and Data types: Description and syntax for all

RAPID instructions, functions and data types. System parameters: Description of system parameters and configuration workflows.

Application manualsSpecific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications.An application manual generally contains information about:

The purpose of the application (what it does and when it is useful) What is included (for example cables, I/O boards, RAPID instructions, system

parameters, CD with PC software) How to use the application

Examples of how to use the application



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Operating manualsThis group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes:

Emergency safety information Getting started - IRC5 and RobotStudio Online IRC5 with FlexPendant RobotStudio Online Trouble shooting - IRC5 for the controller and robot

Continued

Safety


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Safety

Safety of personnelWhen working inside the robot controller it is necessary to be aware of voltage-related risks.A danger of high voltage is associated with the following parts:

Units inside the controller, for example I/O units can be supplied with power from an external source.

The mains supply/mains switch. The power unit.

The power supply unit for the computer system (230 VAC). The rectifier unit (400-480 VAC and 700 VDC). Capacitors! The drive unit (700 VDC). The service outlets (115/230 VAC). The power supply unit for tools, or special power supply units for the machining

process.

The external voltage connected to the controller remains live even when the robot is disconnected from the mains.

Additional connections.Therefore, it is important that all safety regulations are followed when doing mechanical and electrical installation work.

Safety regulationsBefore beginning mechanical and/or electrical installations, make sure you are familiar with the safety regulations described in Product manual - IRC5.

Safety

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1 Overview1.1. PROFIBUS, general

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What is PROFIBUS?PROFIBUS is a vendor independent open fieldbus standard for a wide range of applications, particulary in the fields of factory and process automation. It is maintained, updated and marketed by PROFIBUS International.PROFIBUS is suitable for high-speed time critical applications as well as for complex communication tasks.

PROFIBUS standardizationThe PROFIBUS communication is specified in the international standard IEC 61158 Type 3, which includes the entire range of PROFIBUS versions. All PROFIBUS devices should be certified by the PROFIBUS User Organization (PNO) to ensure interoperability and conformance.

PROFIBUS versionsPROFIBUS has a modular design and different PROFIBUS versions are all combinations of modular elements from the groups transmission technology, communication protocol and application profiles.Here are some examples of PROFIBUS versions:

PROFIBUS-DP - optimized for factory automation PROFIBUS-PA - optimized for process automation PROFIsafe - PROFIBUS for safety-related systems PROFIdrive - PROFIBUS for motion control

Communication protocolsDP (Decentralized Periphery) is the simple, fast, cyclic and deterministic communication protocol between a bus master and the assigned slaves. The forerunner of DP was FMS (Fieldbus Message Specification), which is obsolete today.The original version of DP called DP-V0 has been expanded to DP-V1, and it provides a cyclic data exchange between master and slave. A further version DP-V2 offers direct slave-to-slave data exchange with an isochronous bus cycle.

Facts, PROFIBUS-DPThe following table specifies a number of facts about PROFIBUS-DP.Network type Multi-Master/Slave communication systemInstallation Linear bus, terminated at both ends.

Shielded twisted pair cables.9-pin D-sub or M12 connectors.

Speed 9.6 Kbps - 12 Mbps



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Electronic device data sheetThe configuration process is based on electronic device data sheet (GSD files), which are required for each PROFIBUS device. GSD files are provided by the device manufacturers and contain electronic descriptions of all relevant communication parameters of the PROFIBUS device.

Continued

1 Overview1.2. PROFIBUS Fieldbus Adapter, IRC5

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1.2. PROFIBUS Fieldbus Adapter, IRC5

Hardware overviewThe hardware of the PROFIBUS Fieldbus Adapter, DSQC 667, consists of a PROFIBUS-DP slave unit. The fieldbus adapter is connected to a CompactFlash interface on the main computer in the robot controller, and is normally controlled by an external master on the same physical PROFIBUS network.

Illustration, exampleThe following figure illustrates an overview of the hardware.

xx0700000382

Specification overview

A PROFIBUS-DP MasterB General PROFIBUS unit, DP-SlaveC PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer

module.D IRC5 controller

Item SpecificationFieldbus type PROFIBUS DP-V1Data rate 9.6 Kbps - 12 MbpsConnection size Maximum 64 input bytes and 64 output bytes

1 Overview1.2. PROFIBUS Fieldbus Adapter, IRC5

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2 Hardware description2.1. PROFIBUS Fieldbus Adapter, DSQC 667

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DescriptionThe DSQC 667 is mounted in the computer module.

Installation of fieldbus adapterFor installation descriptions of the PROFIBUS Fieldbus Adapter refer to Product manual - IRC5, section Replacement of fieldbus adapter in computer unit DSQC 639.The figure illustrates where the PROFIBUS Fieldbus Adapter is located in the computer unit.

xx0700000162

NOTE!It is recommended to shield the fieldbus adapter cable to the wall of the controller cabinet if the computer unit is placed in a disturbance environment.

PrerequisitesRobotWare 5.09.02 or later version is required to run the PROFIBUS Fieldbus Adapter.The DSQC 667 can be mounted only in the computer unit DSQC 639.

Description Art. no. Designation Pos.PROFIBUS Fieldbus Adapter 3HAC026840-001 DSQC 667 A



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Illustration, DSQC 667

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LEDsThis section describes the LEDs of the Fieldbus Adapter.

Operation mode LED

Status LED

OP Operation mode LEDST Status LEDPROFIBUS DP-V1 PROFIBUS connector

LED state DescriptionOFF Not online/No powerGREEN Online, data exchangeGREEN, flashing Online, clearRED, flashing (1 flash) Parametrization errorRED, flashing (2 flashes) PROFIBUS configuration error

LED state DescriptionOFF No power or not initializedGREEN InitializedGREEN, flashing Initialized, diagnostic event(s) presentRED Exception error

Continued



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PROFIBUS Fieldbus Adapter connector

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The following table describes the connections to the PROFIBUS Fieldbus Adapter connector.Pin Signal Description1 Not used2 Not used3 RxD/TxD-P Receive/Transmit data; line B (red)4 CNTR-P Control of repeater direction5 DGND Data ground (reference voltage to VP)6 VP Power supply +5V (for example bus termination)7 Not used8 RxD/TxD-N Receive/Transmit data; line A (green)9 Not usedHousing Cable shield Internally connected to the fieldbus adapter

protective earth via cable shield filters according to the PROFIBUS standard.

Continued

2 Hardware description2.2. Connections

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2.2. Connections

GeneralAll PROFIBUS devices are connected in a bus structure. Each bus segment can have a maximum of 32 active devices. In order to be able to connect a larger number of stations (masters and slaves), the bus must be segmented. The segments are then interconnected with repeaters that amplify and refresh the data signals. Each repeater allows the PROFIBUS system to be extended by an additional bus segment. A maximum of 126 PROFIBUS devices can be connected to the bus.The beginning and end of each segment is fitted with an active bus terminator, see illustration in section Termination on page 19.

Cables and connectorsCables used to connect the PROFIBUS network must be according to PROFIBUS-DP specification IEC 61158 Type 3. See Other references on page 6.Drop cables are not allowed for PROFIBUS, thus special D-sub connectors must be used when the PROFIBUS-DP unit is not the last in line. The connector must have the possibility to insert two PROFIBUS cables in the same D-sub.

Cable parametersElectrical cables are used for data transfer. For specification of the different electrical data cables refer to PROFIBUS Technical Guideline. See Other references on page 6.The cable parameters for the standard bus cables result in the maximum length of each bus segment for the respective data transfer rate. See details for cable type A in the following tables.

Segment lengths and data rates, cable type A

Other parameters, cable type A

Data rate, kilobits per second Maximum segment length, meters9.6 120019.2 120045.45 120093.75 1200187.5 1000500 4001500 2003000 1006000 10012000 100

Parameter ValueImpedance 135 to 165 Capacity 30 pF/mLoop resistance 110 /kmConductor cross-sectional area 0.34 mm2 (AWG 22)



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TerminationTo reduce the reflections on the data lines it is very important that both ends of the PROFIBUS network are terminated according to the PROFIBUS-DP specification IEC 61158 Type 3.

IllustrationThe termination used by PROFIBUS is an active termination as showed in the following figure:

en0400001144

NOTE!After connecting the PROFIBUS network always check that the termination is in place on both ends of the network and that there are no other terminations on the network. If a termination is missing or an extra termination is added somewhere in the PROFIBUS network, the communication will probably fail.

Continued


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3 PROFIBUS Fieldbus Adapter configuration3.1. Introduction

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3 PROFIBUS Fieldbus Adapter configuration3.1. Introduction

Controller softwareThe IRC5 controller must be installed with software that supports the use of the PROFIBUS network, that is, the PROFIBUS Fieldbus Adapter option must be installed.For description of how to add the PROFIBUS Fieldbus Adapter option, see Operating manual - RobotStudio Online, section Adding RobotWare option.

PC softwareRobotStudio Online is PC software that is used to set up connections to robots and to work with robots.The configuration for the PROFIBUS communication is done either manually by RobotStudio Online, or by loading a configuration file from RobotStudio Online or the FlexPendant. For information about how to work with RobotStudio Online refer to Operating manual - RobotStudio Online, see References on page 6.

3 PROFIBUS Fieldbus Adapter configuration3.2. Configuration overview

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3.2. Configuration overview

ConfigurationThe PROFIBUS Fieldbus Adapter is configured as an ordinary I/O unit. The following table gives descriptions of defining the types Bus, Unit Type and Unit for the PROFIBUS Fieldbus Adapter.

Predefined busWhen the system is installed with the PROFIBUS Fieldbus Adapter option, a predefined bus Profibus_FA1 is created.

Predefined Unit TypeA predefined Unit Type for the fieldbus adapter, DP_SLAVE_FA, is defined supporting a connection with the size of 8 input bytes and 8 output bytes as defined in the signal configuration for the fieldbus adapter.If another input or output size on the fieldbus adapter is required, the predefined Unit Type must be changed or a new Unit Type must be created.

LimitationsThe PROFIBUS Fieldbus Adapter has the following limitations:

The predefined Unit Type (DP_SLAVE_FA) has 8 input bytes and 8 output bytes, but this number can be increased or decreased to the restriction in the I/O system (see Product Specification for IRC5 controller).

For the PROFIBUS Fieldbus Adapter both the input and output map starts at bit 0.

Related informationTechnical reference manual - System parameters

Defining... DescriptionBus A PROFIBUS bus must be defined before any communication is

possible, that is, define rules for the PROFIBUS Fieldbus Adapter to communicate on the network.

Unit Type When creating a unit type some system parameters are fieldbus specific.See Type Unit Type on page 29.

Unit The only PROFIBUS specific system parameter in the unit definition is the unit address.See Type Unit on page 28.


3 PROFIBUS Fieldbus Adapter configuration3.2. Configuration overview

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Electronic device data sheetA GSD file (Electronic device data sheet) for the PROFIBUS Fieldbus Adapter is located on the RobotWare release CD in the directory:utility\Fieldbus\Profibus\GSD\The file is called either PBUS_FA.gsd or HMS_1811.gsd, depending on RobotWare version.This file is used to configure the PROFIBUS master that will control the fieldbus adapter. In the GSD file, and consequently in the PROFIBUS master configuration tool, the PROFIBUS Fieldbus Adapter is called Anybus-CC PROFIBUS DP-V1.NOTE!If the PROFIBUS Fieldbus Adapter loses connection with the master, the configured input signals are cleared (reset to zero).When the connection is re-established, the master updates the input signals.

Continued

3 PROFIBUS Fieldbus Adapter configuration3.3. Working with the PROFIBUS Fieldbus Adapter

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3.3. Working with the PROFIBUS Fieldbus Adapter

UsageWhen the IRC5 controller is connected, for example, to an external PLC it can be configured as Illustration, example on page 24.

PrerequisitesThe network address of the PROFIBUS Fieldbus Adapter must be known.

Illustration, exampleThe following figure illustrates an example of how to use the PROFIBUS Fieldbus Adapter.

xx0700000382

How to configure the PROFIBUS Fieldbus AdapterA configuration procedure of the PROFIBUS Fieldbus Adapter:

A PLC MasterB General PROFIBUS unit, DP-SlaveC PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.D IRC5 controller

Action Info1. Add a unit that has the address requested by the

master (e.g. PLC), and with Unit Type DP_SLAVE_FA.If a new Unit Type should be used instead of the predefined, it must be created before adding the unit.

See Add unit type on page 25 and Add unit on page 25.

2. Define the signals on the created unit. See Add signals on page 26.3. Restart the system. Now the IRC5 controller is ready to

be contacted by a PROFIBUS master.



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Add unit type

Add unit

Action1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration

node for the controller.2. Double-click I/O. The Configuration Editor appears.3. In the Configuration Editor, click Unit. Then right-click in the workspace and click Add

Unit.4. In the Edit Unit Type(s) dialog box, type the values for the parameters. The parameter

Internal Slave should be set to Yes.

xx0700000428


node for the controller.2. Double-click I/O. The Configuration Editor appears.3. In the Configuration Editor, click Unit Type. Then right-click in the workspace and click

Add Unit Type.

Continued



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Add signals

Related informationOperating manual - RobotStudio Online

4. In the Edit Unit(s) dialog box, type the values for the parameters.

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Action


node for the controller2. Double-click I/O. The Configuration Editor appears.3. In the Configuration Editor, click Signal. Then right-click in the workspace and click

Add Signal.4. In the Edit Signal(s) dialog box, type the values for the parameters.

xx0700000206

Continued

4 System parameters4.1. Introduction

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4 System parameters4.1. Introduction

PROFIBUS specific system parametersThere are both PROFIBUS specific parameters and more general parameters. This chapter describes all PROFIBUS specific system parameters. The parameters are divided into the type they belong to.For information about other parameters refer to Technical reference manual - System parameters.

4 System parameters4.2.1. PROFIBUS Address

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4.2 Type Unit

4.2.1. PROFIBUS Address

ParentPROFIBUS Address belongs to the type Unit, in the topic I/O.

Cfg namePB_Address

DescriptionThe parameter PROFIBUS Address specifies the address of the I/O unit on the network.

UsagePROFIBUS Address specifies the address that the I/O unit uses on the network, to which the master should try to setup a connection.

PrerequisitesPROFIBUS Fieldbus Adapter option must be installed.

Default valueThe default value is 125.

Allowed valuesAllowed values are the integers 0-125. The value must match the address specified for the fieldbus adapter when configuring the PROFIBUS master.

4 System parameters4.3.1. Internal Slave Input Size

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4.3 Type Unit Type

4.3.1. Internal Slave Input Size

ParentInternal Slave Input Size belongs to the type Unit Type, in the topic I/O.

Cfg namePB_InputSize

DescriptionThe parameter Internal Slave Input Size defines the data size in bytes for the input area received from the unit.

UsageInternal Slave Input Size is a PROFIBUS specific parameter.

PrerequisitesThe PROFIBUS Fieldbus Adapter option must be installed.

LimitationsA limitation is the maximum unit size for the Unit Type.


Allowed valuesAllowed values are the integers 1-64, specifying the input data size in bytes. The value must match the input size specified when configuring the PROFIBUS master.

4 System parameters4.3.2. Internal Slave Output Size

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4.3.2. Internal Slave Output Size

ParentInternal Slave Output Size belongs to the type Unit Type, in the topic I/O.

Cfg namePB_OutputSize

DescriptionInternal Slave Output Size defines the data size in bytes for the output area transmitted by the unit.

UsageInternal Slave Output Size is a PROFIBUS specific parameter.


LimitationsA limitation is the maximum unit size for the Unit Type.


Allowed valuesAllowed values are the integers 1-64, specifying the output data size in bytes. The value must match the output size specified when configuring the PROFIBUS master.

4 System parameters4.3.3. Internal slave

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4.3.3. Internal slave

ParentInternal Slave belongs to the type Unit Type, in the topic I/O.

Cfg namePB_InternalSlave

DescriptionThis parameter specifies the type of the slave device. The PROFIBUS Fieldbus Adapter (DSQC 667) and the built-in slave module in the PROFIBUS master/slave card (DSQC 637) are defined as internal slaves. All other slave devices are defined with this parameter set to No.

UsageInternal Slave is a PROFIBUS specific parameter.


Default valueThe default value is No.

Allowed valuesAllowed values are Yes or No.

4 System parameters4.3.4. Product ID

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4.3.4. Product ID

ParentProduct ID belongs to the type Unit Type, in the topic I/O.

Cfg namePB_ProductId

DescriptionProduct ID is used as an identification of the I/O unit and is only available for PROFIBUS unit types. If the parameter is assigned the value 0 (zero), the robot controller ignores what Product ID the connected unit has. The value of the parameter can be found in the Electronic device data sheet (GSD) for the unit (called Ident_number in the GSD file). Note that Ident_number is often expressed as a hexadecimal number in the GSD file.

UsageProduct ID is a PROFIBUS specific parameter.



Allowed valuesAllowed values are the integers 0-65535.

Index

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BBus 22

Ccable parameters 18cables

data rates 18lengths 18

connection size 13connectors 11, 17, 18

DDSQC 667 16Ffieldbus adapter 15files, GSD 12, 23

GGSD file 12, 23

Iillustrations

DSQC 667 16hardware overview 13

LLED

operation mode 16status 16

Ssignals, adding 26system parameters

Bus 22Internal slave 31Internal Slave Input Size 29Internal Slave Output Size 30Product ID 32PROFIBUS Address 28Unit 22, 28Unit Type 22, 29

Ttermination 19

UUnit 22Unit Type 22unit types, adding 25units, adding 25

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ABB ABRobotics ProductsS-721 68 VSTERSSWEDENTelephone: +46 (0) 21 344000Telefax: +46 (0) 21 132592

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OverviewProduct documentation, M2004Safety1 Overview1.1. PROFIBUS, general1.2. PROFIBUS Fieldbus Adapter, IRC5

2 Hardware description2.1. PROFIBUS Fieldbus Adapter, DSQC 6672.2. Connections

3 PROFIBUS Fieldbus Adapter configuration3.1. Introduction3.2. Configuration overview3.3. Working with the PROFIBUS Fieldbus Adapter

4 System parameters4.1. Introduction4.2 Type Unit4.2.1. PROFIBUS Address

4.3 Type Unit Type4.3.1. Internal Slave Input Size4.3.2. Internal Slave Output Size4.3.3. Internal slave4.3.4. Product ID

Documents

Profibus Adapter fieldbus