Overview



You can communicate with a PLC using the Ethernet/IP expansion board. 

Tools and Parts needed

  • Full version of Wincaps III software. 
  • Studio 5000 (Software from Rockwell Automation)


NOTE:
Please note that the information provided here is not meant to be used as official procedure and under no circumstances should it be done if the person has not been to proper training for both the DENSO and Rockwell products.  


PDF Version 

https://dpamrobotics.box.com/s/0t380q4cyyl378lezdstiwd4n9kjm8ft

Upload new project into Wincaps from robot controller


Step 1

Connect Ethernet cable from your computer to the robot controller “LAN” port (not EtherNet/IP card port)

Step 2

Create a new Wincaps III Project  → Change User Level to 1 – Programmer → Press Shift + Down for Password 


Step 3

Go to “File” → New Project → Get information from controller → Next 


Step 4

Select “Receive data from the controller” → Click Finish 



Set Controller parameters for Ethernet IP connection  


Step 1

Select “Project” → Properties → Open I/O Tab  


Step 2


Select Device: EtherNet/IP Adapter  

Step 3


Select Desired Mode (Standard – Default)
Information regarding Allocation modes:
https://www.fa-manuals.denso-wave.com/en/usermanuals/001326/

Step 4


Select desired Input / Output Size (bytes)

Step 5


Select desired Comm. Speed (Auto-Negotiate is best)

Step 6


Select Manual IP address for Ethernet card (different IP  address then controller LAN port)

Step 7


Click “OK”

Step 8

Select “Project” → Parameters → Click on I/O Section  


Step 9


Scroll down to Parameter 160  “EtherNet/IP Input Run/Idle Header” and change to value “1” → Click OK 



NOTE:
Rockwell PLC requires Input Header shift but not all PLC require this shift.
Please check PLC provider manuals for specific requirements on header shift.


Download parameter changes to the Controller


Step 1


Create New studio 5000 project with user hardware selected 

Step 2


Go to Controller Organizer and click (highlight) Ethernet Section title  

Step 3

Right click on “Ethernet” and select “New Module” 


Step 4

Type in “Generic Ethernet” into the search bar and Select “ETHERNET-MODULE (Generic Ethernet Module)” 


Step 5



Step 6

Input desired name for this connection (ex. DENSO Robot)   


Step 7


Select Desired Data Type .

Step 8

Input Controller Ethernet/IP Address (Robot Ethernet IP card and PLC Adapter address must match)


Step 9

Input I/ O Sizes from controller (If using different data type then convert from bytes)(4 bytes = 1 DINT) 



NOTE:
Notice the “Output” from the PLC corresponds with the robot side “Input” and vice versa.

Input size values can be anywhere from (32 – 496 bytes)
Output size values can be anywhere from  (32 – 500 bytes)


NOTE:

If using a PLC that does not require the input header shift then Input and Output sizes would be the same.


Download parameter changes to the PLC and put into run mode

Check the status of the connection on the robot pendant or on the PLC controller organizer 


PLC side

If there is a yellow Triangle here then there is a warning detected


Robot Controller side

Go to home screen and press the I/O tab at the bottom. Then check  Network State.

The status should read “Connect” if the communication setup is correct and functional.



Owner's Manual Reference

Ethernet/IP Adapter board Manual
https://www.fa-manuals.denso-wave.com/en/usermanuals/002649/

System I/O Signals Guide
https://www.fa-manuals.denso-wave.com/en/usermanuals/001391/