I/O ETHERNET/IP


I/O ETHERNET/IP

1.  EtherNet/IP Status Screen

Table 1, " EtherNet/IP Status Screen Item Descriptions " provides a summary of the items on the main EtherNet/IP Status Screen.

Table 1.  EtherNet/IP Status Screen Item Descriptions

ITEM

DESCRIPTION

Description

Default: ConnectionX where X is the slot number of the Adapter.

This item is the description of the adapter or scanner. This can be set as desired to coordinate with your equipment.

TYP

Default: ADP

This item indicates whether the connection is configured as an Adapter, or as a Scanner.

Enable

Default: TRUE (for Adapter 1, FALSE for Adapters 2–32)

This item indicates whether the adapter or scanner is enabled (TRUE) or disabled (FALSE).

Status

The Status field can have the following values :

  • OFFLINE– the connection is disabled.

  • ONLINE – the connection is enabled but is not active (for example, waiting for a connection).

  • RUNNING - the connection is enabled and active (I/O is being exchanged).

  • <RUNNING> - the connection is enabled and active (I/O is being exchanged), and auto-reconnect is enabled. See Table 6, " EtherNet/IP Advanced Scanner Configuration Screen Item Descriptions " for more information on the auto-reconnect setting.

  • PENDING – changes have taken place in configuration. You must turn off the robot, then turn it on again.

Slot

This item is the value used when mapping EtherNet/IP I/O to digital, group, or UOP I/O signals.


2. EtherNet/IP Adapter Configuration

Table 2, " EtherNet/IP Configuration Screen Descriptions " provides a summary of the items on the EtherNet/IP Adapter Configuration screen.

Table 2.  EtherNet/IP Configuration Screen Descriptions

ITEM

DESCRIPTION

Description

This item is the comment that shows up on the Status screen. It is set on the Status screen as well.

Input size (words)

Default:

This item is the number of 16 bit words configured for input.

Output size (words)

Default:

This item is the number of 16 bit words configured for output.

Alarm Severity

Default: WARN

This item indicates the severity of alarm that will be posted by the adapter connection. The valid choices are STOP, WARN, and PAUSE.

Scanner IP

The IP address of the connected scanner.

API 0 => T

Actual Packet Interval at which the scanner/originator is producing.

API T => 0

Actual Packet Interval at which the adapter/target is producing.


Table 3, " Adapter Configuration Summary " and Table 4, " Connection Points " provide a summary of the information needed to configure a remote scanner (for example, a PLC) to connect to the robot adapter.

Table 3.  Adapter Configuration Summary

ITEM DESCRIPTION
Vendor ID 356
Product Code 2
Device Type 12
Communication Format Data – INT
Input Assembly Instance 101–132
Input Size User Configurable, Set in 16-bit Words
Output Assembly Instance 151–182
Output Size User Configurable, Set in 16-bit Words
Configuration Instance 100
Configuration Size 0

Table 4.  Connection Points

Slot Number Input Assembly Instance Output Assembly Instance

1

101

151

2

102

152

3

103

153

4

104

154

5

105

155

6

106

156

7

107

157

8

108

158

9

109

159

10

110

160

11

111

161

12

112

162

13

113

163

14

114

164

15

115

165

16

116

166

17

117

167

18

118

168

19

119

169

20

120

170

21

121

171

22

122

172

23

123

173

24

124

174

25

125

175

26

126

176

27

127

177

28

128

178

29

129

179

30

130

180

31

131

181

32

132

182


3. EtherNet/IP Scanner Configuration

Table 5, " Scanner Configuration Screen Item Descriptions " provides a summary of the items on the EtherNet/IP Scanner Configuration screen.

Table 5.  Scanner Configuration Screen Item Descriptions

ITEM DESCRIPTION

Description

This item is the comment that shows up on the Status screen.

Name/IP address

This item is the hostname or IP address of the device to which you are connecting. If a hostname is used, it must be in the local host table or available through DNS.

Vendor ID

This item is the vendor ID of the device to which you are connecting. Refer to the adapter (target) device's documentation of EDS files for assigned value.

The vendor ID, Device Type, and Product Code can be entered if electronic keying is needed (this information must match the device in order to make a successful connection). If the fields are left at 0 then the keying is ignored.

Device Type

This item is the Device Type of the device to which you are connecting. Refer to the adapter (target) device's documentation or EDS file for assigned value.

The vendor ID, Device Type, and Product Code can be entered if electronic keying is needed (this information must match the device in order to make a successful connection). If the fields are left at 0 then the keying is ignored.

Product code

This item is the product code of the device to which you are connecting. Refer to the adapter (target) device's documentation or EDS file for assigned value.

The vendor ID, Device Type, and Product Code can be entered if electronic keying is needed (this information must match the device in order to make a successful connection). If the fields are left at 0 then the keying is ignored.

Input size

Range: 0 – 252

Default: 0

This item is the number of words or bytes configured for input. The default data type is 16-bit words, but can be configured as 8-bit bytes. To change the data type, modify the I/O Data Type field in the EtherNet/IP Advanced Scanner Configuration Screen (See Table 6, " EtherNet/IP Advanced Scanner Configuration Screen Item Descriptions " ).

The Input size and Output size need to match the adapter device to which the robot will connect.

Output size

Range: 0 – 252

Default: 0

This item is the number of words or bytes configured for output.The default data type is 16-bit words, but can be configured as 8-bit bytes. To change the data type, modify the I/O Data Type field in the EtherNet/IP Advanced Scanner Configuration Screen (See Table 6, " EtherNet/IP Advanced Scanner Configuration Screen Item Descriptions " ).

The Input size and Output size need to match the adapter device to which the robot will connect.

RPI (ms)

Min: 8 ms

Max:5000

Default: 32

This item is the requested packet interval. This defines how often I/O updates are done. The minimum value allowed is 8 ms, however this value should be set based on application requirements. Be aware that fast I/O updates cause excessive network traffic. Refer to Table 7, " Requested Packet Interval (RPI) Minimum Values " for a guide to minimum RPI values within the robot. As a rule of thumb, the robot controller can support a maximum of 1250 packet per second. Both Originator-to-Target and Target-to-Originator packets must be factored into this calculation.

Assembly instance (input)

The Input, Output, and Configuration instance values need to be set based on the adapter device to which the robot will connect.

Assembly instance (output)

The Input, Output, and Configuration instance values need to be set based on the adapter device to which the robot will connect.

Configuration instance

The Input, Output, and Configuration instance values need to be set based on the adapter device to which the robot will connect.


Table 6, " EtherNet/IP Advanced Scanner Configuration Screen Item Descriptions " provides a summary of the items on the EtherNet/IP Advanced Scanner Configuration screen.

Table 6.  EtherNet/IP Advanced Scanner Configuration Screen Item Descriptions

ITEM DESCRIPTION

I/O Data Type

Default: 16-bit words

This item indicates allows changing the data type to 16-bit words or 8-bit bytes.

Timeout Multiplier

Default: DEFAULT

This item indicates allows changing the timeout multiplier. When set to DEFAULT, the controller will intelligently choose an appropriate multiplier based on the RPI value.

Reconnect

Default: FALSE

If this item is set to TRUE, the scanner will attempt to re-establish the connection when the connection is enabled and in an OFFLINE state.

Note

The reconnect parameter was designed for tool changing applications. Enabling reconnect has the following side effect. While enabled, all EtherNet/IP alarms relating to connection establishment and connection time-outs for the corresponding connection will be masked (will not be posted). See Appendix B in the manual for more details. As such, it is recommended that non-tool changing applications do not enable this parameter in a production environment.

Major Revision

Default: 0

This item indicates the major revision number of the device being scanned. Is sometimes required by third-party configuration devices.

Minor Revision

Default: 0

The minor revision number of the device being scanned. Is sometimes required by third-party configuration devices.

Alarm Severity

This item indicates the severity of alarm that will be posted by the scanner connection. The valid choices are STOP, WARN, and PAUSE.

Quick Connect

Default: FALSE

If this item is set to TRUE, the scanner will attempt to establish the connection in quick connect mode if connection is started using KAREL macro. See Appendix A for details.

Note

The quick connect parameter was designed for tool changing applications. Enabling connect using KAREL macro forces scanner to wait for gratuitous ARP from adapter device before initiating the connection. As such, it is recommended that non-tool changing applications do not enable this parameter in a production environment.

Originator To Target RPI(ms)

Default: 32

This item indicates the Requested Packet Interval for the scanner to produce at in milliseconds. This field allows for the scanner to have different RPIs for producing and consuming data.

Transport Type

Default: UNICAST

This item allows the scanner to request that the adapter send data using a point-to-point/unicast connection, or to multicast data. If multicasting is not required, we strongly recommend setting this value to UNICAST. However, a small number of adapter devices only support the MULTICAST setting.

Target To Originator RPI(ms)

Default: 32

This item indicates the Requested Packet Interval for the scanner to consume at in milliseconds. This field allows for the scanner to have different RPIs for producing and consuming data.

Connection Type

Default: (blank)

This item allows the user to set up a scanner connection of type Exclusive-Owner, Input-Only, or Listen-Only. When a connection type is selected, the O=>T Format and T=>O Format fields will automatically be modified to correspond with the selected Connection Type. This field will be blank after each power-cycle, as this field is only an aid in selecting the proper O=>T and T=>O formats. Exclusive-Owner is the must common connection type.

O=>T Format

Default: Run/Idle Header

The format of the producer's data packet. By default this is set to Run/Idle Header, consistent with an Exclusive-Owner Connection Type.

T=>O Format

Default: Modeless

The format of the consumer's data packet. By default this is set to Modeless, consistent with an Exclusive-Owner Connection Type.

Configuration String Status Size(bytes)

Some EtherNet/IP adapters accept or require a non-zero length configuration string. This configuration data can only be configured on the robot using a third party configuration tool such as RSNetWorx for EtherNet/IP (Refer to Appendix A in the manual). This status item displays how much configuration data is currently configured for the connection. If no third party configuration tool is used, this item will always be 0.


Table 7, " Requested Packet Interval (RPI) Minimum Values " lists RPI minimum values. As a rule of thumb, the robot controller can support a maximum of 1250 packet per second. Both Originator-to-Target and Target-to-Originator packets must be factored into this calculation.

Table 7.  Requested Packet Interval (RPI) Minimum Values

Number of Connections

Minimum RPI for any connection (ms)

1

8

2

8

3

8

4

8

5

8

6

12

7

12

8

16

9

16

10

16

11

20

12

20

13

24

14

24

15

24

16

28

17

28

18

32

19

32

20

32

21

36

22

36

23

36

24

40

25

40

26

44

27

44

28

44

29

48

30

48

31

48

32

52


4.  Error Codes

The following error codes are defined by the EtherNet/IP January 2005 Specification. When a controller scanner connection fails when establishing a connection to a target device, the controller posts an error in the following format (PRIO-350 is the error code, and PRIO-358 is the cause code).

PRIO-350  EtherNet/IP Scanner Error (#)
PRIO-358  EtherNet/IP Fwd Open Fail (0x#)

The PRIO-350 code (#) specifies on which connection the error has occurred. The PRIO-358 code (0x#) specifies the extended status of the error returned by the target device (in hexadecimal format).

Table 8, " Forward Open Failure Error codes " lists the descriptions of the extended status error codes:

Note

EtherNet/IP alarms are documented in the Error Code Manual .

Table 8.  Forward Open Failure Error codes

GENERAL STATUS EXTENDED STATUS DESCRIPTION

0x01

0x0100

Connection in Use or Duplicate Forward Open

0x01

0x0103

Transport Class and Trigger combination not supported

0x01

0x0106

Ownership Conflict

0x01

0x0107

Connection not found at target application.

0x01

0x0108

Invalid Connection Type. Indicates a problem with either the Connection Type or Priority of the Connection

0x01

0x0109

Invalid Connection Size

0x01

0x0110

Device not configured

0x01

0x0111

RPI not supported. Might also indicate problem with connection timeout multiplier or production inhibit time.

0x01

0x0113

Connection Manager cannot support any more connections

0x01

0x0114

Either the Vendor Id or the Product Code in the key segment did not match the device

0x01

0x0115

Product Type in the key segment did not match the device

0x01

0x0116

Major or Minor Revision information in the key segment did not match the device

0x01

0x0117

Invalid Connection Point

0x01

0x0118

Invalid Configuration Format

0x01

0x0119

Connection request fails since there is no controlling connection currently open.

0x01

0x011A

Target Application cannot support any more connections

0x01

0x011B

RPI is smaller than the Production Inhibit Time.

0x01

0x0203

Connection cannot be closed since the connection has timed out

0x01

0x0204

Unconnected Send timed out waiting for a response.

0x01

0x0205

Parameter Error in Unconnected Send Service

0x01

0x0206

Message too large for Unconnected message service

0x01

0x0207

Unconnected acknowledge without reply

0x01

0x0301

No buffer memory available

0x01

0x0302

Network Bandwidth not available for data

0x01

0x0303

No screeners available

0x01

0x0304

Not Configured to send real-time data

0x01

0x0311

Port specified in Port Segment Not Available

0x01

0x0312

Link Address specified in Port Segment Not Available

0x01

0x0315

Invalid Segment Type or Segment Value in Path

0x01

0x0316

Error in close path

0x01

0x0317

Scheduling not specified

0x01

0x0318

Link Address to Self Invalid

0x01

0x0319

Resources on Secondary Unavailable

0x01

0x031A

Connection already established

0x01

0x031B

Direct connection already established

0x01

0x031C

Miscellaneous

0x01

0x031D

Redundant connection mismatch

0x01

0x031E

No more consumer resources available in the producing module

0x01

0x031F

No connection resources exist for target path

0x01

0x320 — 0x7FF

Vendor specific