Step-by-step guide

Step 1 - Create new project on studio 5000

Create New studio 5000 project with user hardware selected

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

Right click on “Ethernet” and select “New Module”
Type in “Generic Ethernet” into the search bar and Select “ETHERNET‐MODULE (Generic Ethernet Module)”
Click on “Create”

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

Select “Data ‐ DINT” for “Comm Format:”
Input Controller Ethernet/IP Address (Must be on same network as robot 192.168.0.XXX)
Input I/ O Sizes from robot controller (256 bytes = 64 DINT)(4 bytes = 1 DINT)
Input 101 in Input Instance – 100 in Output Instance – 1 in Configuration ‐> Click “OK”

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

Input size values can be anywhere from (256 – 496 bytes).
Output size values can be anywhere from (256 – 500 bytes).

If using a PLC that does not require the input Header shift, then Input and output sizes would be the same at max.

Step 2 - Import AOI library into your PLC project

Select “Main Task” ‐> Right click ‐> Click Add ‐> Import Program
Browse to stored location from previous library download and click “Open” (DN_CmdSlv_V204.L5X)
Set “Operation:” to “Discard”

The “Create” option can be used, but imports unnecessary programs in the
project. Discard is better to reduce wasted memory use.

Once import process is complete, the command‐slave AOI’s and data types are added into the controller
organizer automatically. It will also automatically generate “Robot” and “Position” tags.

Robot specific status bits and data is stored in the corresponding data area.

The “robot” tags are used to designate different robots if you are using a multiple robot cell. The “Position” tags
are used for storing position data (joint or Cartesian) in the PLC.

Step 3 - Creating a tag and reference it to your robot

Open your project controller tags ‐> Select “Edit tags” ‐> Create name for desired tag ‐> Select necessary data
type‐> Select “OK”

The names of the data types will match the names of the AOI. Select the data type for the AOI you would like to
input into your PLC program.


If creating a tag for a repeated use of AOI then create an array (IE. For a move command)

Step 4 - How to input an AOI block referencing the tag created in the previous step

Under tasks, open the routine you would like to insert the AOI. Then find the AOI you would like to insert in your
controller organizer under Add‐On Instructions.

Click on the desired AOI and drag it onto the rung in your program.

Enter the tag name you made with the corresponding data type, Axes group (robot #), and referenced Ethernet
IP tags