Overview

This procedure needs to be setup any time you want to connect a Denso RC9 controller to any Rockwell PLC using Ethernet IP


Tools and Parts Needed

Denso RC9 controller with Ethernet IP module and active license. Rockwell PLC (compact or control logix), Ethernet cable and PC.


Note:
If you are not sure which part number you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.




Step by Step Guide


Step 1


While the controller is powered down, remove the front cover of the controller. Run an ethernet cable from your PLC/Hub through the cable slot of the controller and into the Ethernet IP module.

Step 2


Open your Wincaps III project (Upload from controller first if you don't have one already)
How to connect and "Receive" a new project file from an RC9 controller

Step 3


Click on Project -> Property

Step 4


Select I/O tab at the top of the window
Select "Ethernet I/P Adapter" for Device
Select "Standard" for the Mode
Select desired robot input size (bytes)
Select desired robot output size (bytes)
Select desired Ethernet IP address for the I/P module
Click "OK" to apply changes

Step 5


Save the Wincaps III Project

Step 6


Download the parameters to the RC9 controller

Step 7


Reboot -> Download safety parameters to the controller (RC9 safety parameter tool) -> Reboot
RC9 Safe Motion setting - VM-B, VL

Step 8


Open your Studio 5000 project file

Step 9


In your controller organizer scroll down to Ethernet connections and right click on "Ethernet" and select "New module"

Step 10


Type "Generic Ethernet" into the filter bar and select "Ethernet-module" and click "Create"

Step 11


Enter the name you want to call this connection
Enter the data type you want to use for this connection
Enter the IP address you set the ethernet IP module to in step 4
Enter the the following assembly instances
Input Instance - 129
Output Instance - 130
Configuration Instance - 1

Step 12


For IO data Sizes enter the following values
Input Size = (Robot Output size + 4 bytes) Step 4
Output Size = (Robot Input size + 4 bytes) Step 4
Configuration size = 0
Click "OK" to create the connection
 

Step 13


Once both devices are setup and powered on, you should see communication between the two devices.

When accessing the bits on the PLC side you will need to remember there is a 4 byte shift for the input and output sizes so data maps 4 bytes off accordingly. 


Owner's Manual Reference