3HAC029338-001_rev-_en

Application manual

PROFIBUS Fieldbus Adapter

Robot ControllerRobotWare 5.0

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Application manual

PROFIBUS Fieldbus AdapterRobotWare 5.0

Document ID: 3HAC029338-001

Revision: -

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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 ABRobotics Products

SE-721 68 Västerås Sweden

Table of Contents

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

1 Overview 11

1.1 PROFIBUS, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 PROFIBUS Fieldbus Adapter, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Hardware description 15

2.1 PROFIBUS Fieldbus Adapter, DSQC 667. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3 PROFIBUS Fieldbus Adapter configuration 21

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.2 Configuration overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3 Working with the PROFIBUS Fieldbus Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4 System parameters 27

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.2 Type Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284.2.1 PROFIBUS Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.3 Type Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294.3.1 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 manual

This manual describes the PROFIBUS Fieldbus Adapter option and contains instructions for

the PROFIBUS Fieldbus Adapter configuration.

Usage

This 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

Prerequisites

The reader should have the required knowledge of

• Mechanical installation work

• Electrical installation work

Organization of chapters

The manual is organized in the following chapters:

Chapter Contents

1. 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 system

2. 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 ID

Operating manual - RobotStudio Online 3HAC18236-1

Operating manual - IRC5 with FlexPendant 3HAC16590-1

Product manual - IRC5 3HAC021313-001

Technical reference manual - System parameters

3HAC17076-1

Product specification - IRC5 with FlexPendant 3HAC021785-001

Reference Description

International standard IEC 61158 Type 3

International 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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General

The 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 manuals

All 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 manuals

The 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 manuals

Specific 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 manuals

This 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 personnel

When 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 regulations

Before 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 Overview

1.1. PROFIBUS, general

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1 Overview


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 standardization

The 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 versions

PROFIBUS 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 protocols

DP (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 system

Installation Linear bus, terminated at both ends.

Shielded twisted pair cables.

9-pin D-sub or M12 connectors.

Speed 9.6 Kbps - 12 Mbps


1 Overview


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Electronic device data sheet

The 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 Overview

1.2. PROFIBUS Fieldbus Adapter, IRC5

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Hardware overview

The 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, example

The following figure illustrates an overview of the hardware.

xx0700000382

Specification overview

A PROFIBUS-DP Master

B General PROFIBUS unit, DP-Slave

C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.

D IRC5 controller

Item Specification

Fieldbus type PROFIBUS DP-V1

Data rate 9.6 Kbps - 12 Mbps

Connection size Maximum 64 input bytes and 64 output bytes

1 Overview


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2 Hardware description

2.1. PROFIBUS Fieldbus Adapter, DSQC 667

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Description

The DSQC 667 is mounted in the computer module.

Installation of fieldbus adapter

For 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.

Prerequisites

RobotWare 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

xx0700000396

LEDs

This section describes the LEDs of the Fieldbus Adapter.

Operation mode LED

Status LED

OP Operation mode LED

ST Status LED

PROFIBUS DP-V1 PROFIBUS connector

LED state Description

OFF Not online/No power

GREEN Online, data exchange

GREEN, flashing Online, clear

RED, flashing (1 flash) Parametrization error

RED, flashing (2 flashes) PROFIBUS configuration error

LED state Description

OFF No power or not initialized

GREEN Initialized

GREEN, flashing Initialized, diagnostic event(s) present

RED Exception error

Continued




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PROFIBUS Fieldbus Adapter connector

xx0700000392

The following table describes the connections to the PROFIBUS Fieldbus Adapter connector.

Pin Signal Description

1 Not used

2 Not used

3 RxD/TxD-P Receive/Transmit data; line B (red)

4 CNTR-P Control of repeater direction

5 DGND Data ground (reference voltage to VP)

6 VP Power supply +5V (for example bus termination)

7 Not used

8 RxD/TxD-N Receive/Transmit data; line A (green)

9 Not used

Housing Cable shield Internally connected to the fieldbus adapter protective earth via cable shield filters according to the PROFIBUS standard.

Continued


2.2. Connections

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2.2. Connections

General

All 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 connectors

Cables 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 parameters

Electrical 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, meters

9.6 1200

19.2 1200

45.45 1200

93.75 1200

187.5 1000

500 400

1500 200

3000 100

6000 100

12000 100

Parameter Value

Impedance 135 to 165 Ω

Capacity ≤ 30 pF/m

Loop resistance ≤ 110 Ω/km

Conductor cross-sectional area ≥ 0.34 mm2 (AWG 22)



2.2. Connections

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Termination

To 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.

Illustration

The 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


2.2. Connections

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3 PROFIBUS Fieldbus Adapter configuration

3.1. Introduction

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3.1. Introduction

Controller software

The 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 software

RobotStudio 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.


3.2. Configuration overview

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Configuration

The 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 bus

When the system is installed with the PROFIBUS Fieldbus Adapter option, a predefined bus

Profibus_FA1 is created.

Predefined Unit Type

A 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.

Limitations

The 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 information

Technical reference manual - System parameters

Defining... Description

Bus 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.




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Electronic device data sheet

A 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


3.3. Working with the PROFIBUS Fieldbus Adapter

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Usage

When the IRC5 controller is connected, for example, to an external PLC it can be configured

as Illustration, example on page 24.

Prerequisites

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

Illustration, example

The 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 Master

B General PROFIBUS unit, DP-Slave

C PROFIBUS Fieldbus Adapter, DSQC 667. Placed in the computer module.

D IRC5 controller

Action Info

1. 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

Action

1. 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

Action

1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller.


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 information

Operating manual - RobotStudio Online

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

xx0700000398

Action

Action

1. In RobotStudio Online, go to the Robot View explorer and expand the Configuration node for the controller


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 parameters

4.1. Introduction

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4 System parameters

4.1. Introduction

PROFIBUS specific system parameters

There 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 parameters

4.2.1. PROFIBUS Address

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4.2 Type Unit

4.2.1. PROFIBUS Address

Parent

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

Cfg name

PB_Address

Description

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

Usage

PROFIBUS Address specifies the address that the I/O unit uses on the network, to which the

master should try to setup a connection.

Prerequisites

PROFIBUS Fieldbus Adapter option must be installed.

Default value

The default value is 125.

Allowed values

Allowed values are the integers 0-125. The value must match the address specified for the

fieldbus adapter when configuring the PROFIBUS master.

4 System parameters

4.3.1. Internal Slave Input Size

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4.3 Type Unit Type

4.3.1. Internal Slave Input Size

Parent

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

Cfg name

PB_InputSize

Description

The parameter Internal Slave Input Size defines the data size in bytes for the input area

received from the unit.

Usage

Internal Slave Input Size is a PROFIBUS specific parameter.

Prerequisites

The PROFIBUS Fieldbus Adapter option must be installed.

Limitations

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

Default value


Allowed values

Allowed 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 parameters

4.3.2. Internal Slave Output Size

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4.3.2. Internal Slave Output Size

Parent

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

Cfg name

PB_OutputSize

Description

Internal Slave Output Size defines the data size in bytes for the output area transmitted by the

unit.

Usage

Internal Slave Output Size is a PROFIBUS specific parameter.

Prerequisites


Limitations

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

Default value


Allowed values

Allowed 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 parameters

4.3.3. Internal slave

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4.3.3. Internal slave

Parent

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

Cfg name

PB_InternalSlave

Description

This 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.

Usage

Internal Slave is a PROFIBUS specific parameter.

Prerequisites


Default value

The default value is No.

Allowed values

Allowed values are Yes or No.

4 System parameters

4.3.4. Product ID

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4.3.4. Product ID

Parent

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

Cfg name

PB_ProductId

Description

Product 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.

Usage

Product ID is a PROFIBUS specific parameter.

Prerequisites


Default value


Allowed values

Allowed 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 16

Ffieldbus 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

Index

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

3HAC029338-001_rev-_en

Documents

profibus address

manualthis manual

usagethis manual

chapter contents1

type unit type

abb abrobotics products

configuration overview223

internal slave input