IRC 5 vs D652 I/O Connection/ Communication

rahulpadman

Hi...i am very new to robotics/ programming and electronics, so pardon the vagueness in technical explanations below. Kindly have the patience to read the post. We are in desperate mode now

What i learned about devicenet is from the link below
https://abb.sluzba.cz/Pages/Public/IRC5UserDocumentationRW6/en/3HAC050992%20AM%20DeviceNet%20Master%20Slave%20RW%206-en.pdf

So,
The setup we have is an ABB IRB 6600 with an IRC 5 controller. There are two I/O devices that came with the device, a D652 I/O and a DSQC 352A. We are trying to read inputs from an optical distance sensor through D652 I/O to be used in the robot program, but things are not happening with the D652.

• I do not have access to Robot Studio, all the programming is done via the teach pendant. The I/O bus is named as Devicenet1
• The 352A is at logic address 10 whereas the D652 is at logic 11. 
• The D652 LED for Module Status shows Green, but the network status blinks red at startup but then remain off afterwards. (same at 352A aswell)
• The status of the devicenet I/O bus shows "startup", whereas the virtual and default are seen as "running"  
• 24V DC and ground are connected to pins at output header X1. 
• NC is connected to 24V, Ground is connected pin 0V at input header X1. (I don't think this is correct!, i imagine NC is supposed to be not connected?)
• D652 is mapped to a unit named BOARD11 under I/O>Unit. Please see snapshots of wiring and the various device settings from the teach pendant   
• With all the network wires connected at X5, and when i disconnect all the DC wires, the Module Status green light is still ON, bringing me to the assumption that the board is powered by the V+ and 0V at the header X5, and therefore the green light at MS.
• Once the I/O board is detected by Devicenet, i will try to setup inputs and outputs
can someone please respond to this situation and also answer to the queries below:Why is the NS light not switching on?Why is the devicenet I/O bus showing only "startup" where the other ones are running?What is the NC pin at X3/ X4 header? Does it need to be connected to the 24 V DC? what will happen if that is connected to the 24V DC? Will it fry the board?Best RegardsRahulThe Robot leads now, we humans are trying hard to score back so any help is much appreciated :) 

rahulpadman

Snapshots of settings/ Wiring

rahulpadman

Yay!

Managed to resolve one issue: 

• The status of the DeviceNet I/O bus shows "startup", whereas the virtual and default are seen as "running"  

The DeviceNet basically shows the status "Startup because there is no terminating resistor connected. Kudos to Mel in ABB tech team to resolve this over a phone call.

So, the DeviceNet connector is a 5 pin connector at the end of a lead hanging in mid air, you might find it at the bottom right side the IRC5 near to the door. The cable originates at the main computer and is terminated in mid air! Without a terminating resistor between the pins 2 and 4 of this hanging lead, the DeviceNet will not turn itself On.

So please go ahead and connect a 121Ohm resistor between pins 2 and 4 of the DeviceNet connector, the Status of the I/O bus will change from Startup to Running. Basically, you turned the DeviceNet network back on!

Looking forward to make the I/O device work. 

Keep you posted.

Thanks
Rahul.

rahulpadman

See the pictures below for connecting the Terminating Resistor on DeviceNet.

rahulpadman

DeviceNet Terminating Resistor Connection

graemepaulin

With bus up an running is the I/O unit now running?

rahulpadman

Thanks @graemepaulin The I/O unit is running perfect now. I have connected input of the sensor to input Pin 1 (mapped 0) and can see the input status of the signal toggles when the sensor is actuated.