RobotStudio event

DSQC 350A, I/O do33-39 missing

zacklee
zacklee ✭
in RobotStudio
Hi all,

I got err message about missing I/o signal do33-39 on DSQC 350A board.Before it was working fine. Can someone please tell me what is wrong with that.

thanks

Comments

  • j_proulx
    j_proulx ✭✭

    Check your I/O system parameter. Verify that the do33-39 signals are configured. Someone may have erased them. To properly analyse provide a backup of the robot and what exactly was the error message.

    BR

    Jim Proulx

  • zacklee
    zacklee ✭
    Thanks for reply

    do33-39 signals are already configured. I got many err massage.

    1. Bus off due to many err on communication
    2. restart by Fieldcommand
    3. do33-39 mapping wrong.

    But do1-32 signals are ok.  There is a AB compact I/O connected to DSQC 350A. Before this problem happened, I connected a output and input togeter in Compact I/o,  Did this cause the problem.

    Please help me.

    Zack


  • j_proulx
    j_proulx ✭✭

    It is hard to tell what the problem is without your eio.cfg file. You may have configuration problems. You may have hardware problems.

    You cannot connect an AB compact I/O directly to the DSQC 350A. The DSQC 350A is a slave device to an A-B PLC. Is the Compact I/O connected to the robot controller via DeviceNet?

    You should call your local ABB technical support for help.

    BR

    Jim Proulx

  • RussD
    RussD ✭

    It sounds like you need to execute the Fieldbus Command Type "Rack Size" to update the I/O size of the DSQC350A.

    Go to Configuration>IO>Fieldbus Command Type>Rack Size and set the change the default value as follows: 0 =32 in/32 out, 1 = 64/64, 2 = 96/96, 3 = 128/128.

    You may need to set other parameters related to the 350A in the same way. See the DeviceNet manual 3HAC020676 for more information.

    Russell Drown
  • zacklee
    zacklee ✭
    Yes, the Compact I/O connected to the robot controller via DeviceNet.
    Jim, Can you tell me what I/O of DSQC 350A is used for. Thanks.

  • j_proulx
    j_proulx ✭✭

    The DSQC 350A is a gateway unit to an A-B PLC. It is known as an remote I/O unit (RIO). The RIO looks like a remote I/O rack to the PLC. It can be configured to be 1/4 rack to Full rack. This configuration is done in system parameters as described by Russ. There are a number of parameters associated with the Fieldbus Command Type for the DSQC 350A unit that need to be configured. These configurations are in the DeviceNet manual under the DSQC 350A Unit.

    Jim Proulx

  • zacklee
    zacklee ✭
    I checked eio.cfg file:
    For DSQC 350A:
          -Name "d350A" -BusType "DNET" -VendorName "ABB Robotics"
          -ProductName "RIO Adapter" -DN_VendorId 75 -DN_ProductCode 6
          -DN_DeviceType 7 -DN_MajorRev 2 -DN_ExplicitMsgEnabled
          -DN_C1OutputSize -1 -DN_C1InputSize -1

    For do33
         -Name "DO10_33" -SignalType "DO" -Unit "BOARD10" -UnitMap "33"
          -Category "ABB" -Access "ALL"
    But the error message is unit mapping out of (0-32). What is wrong?

    Thanks

    Zack

  • zacklee
    zacklee ✭
    Also   
     -Name "RackSize" -UnitType "d350A" -DefValue "0" -OrderNr 4
          -DN_Path "6,20 64 24 01 30 04,C6,1" -DN_Service 16


  • j_proulx
    j_proulx ✭✭

    Hello Zack,

    What are these values in your eio?


    #
    EIO_COMMAND_TYPE:
    -Name "LinkAddr" -UnitType "d350A" -DefValue "1" -OrderNr 1
    -DN_Path "6,20 64 24 01 30 01,C6,1" -DN_Service 16
    -Name "DataRate" -UnitType "d350A" -DefValue "0" -OrderNr 2
    -DN_Path "6,20 64 24 01 30 02,C6,1" -DN_Service 16
    -Name "StartQ" -UnitType "d350A" -DefValue "0" -OrderNr 3
    -DN_Path "6,20 64 24 01 30 03,C6,1" -DN_Service 16
    -Name "RackSize" -UnitType "d350A" -DefValue "0" -OrderNr 4
    -DN_Path "6,20 64 24 01 30 04,C6,1" -DN_Service 16
    -Name "LastRack" -UnitType "d350A" -DefValue "0" -OrderNr 5
    -DN_Path "6,20 64 24 01 30 05,C1,1" -DN_Service 16
    -Name "D350Areset" -UnitType "d350A" -DefValue "0" -OrderNr 6
    -DN_Path "4,20 01 24 01,C1,1" -DN_Service 5
    Jim Proulx
  • zacklee
    zacklee ✭
    Hi Jim,

    EIO_COMMAND_TYPE:

          -Name "LinkAddr" -UnitType "d350A" -DefValue "1" -OrderNr 1
          -DN_Path "6,20 64 24 01 30 01,C6,1" -DN_Service 16

          -Name "DataRate" -UnitType "d350A" -DefValue "0" -OrderNr 2
          -DN_Path "6,20 64 24 01 30 02,C6,1" -DN_Service 16

          -Name "StartQ" -UnitType "d350A" -DefValue "0" -OrderNr 3
          -DN_Path "6,20 64 24 01 30 03,C6,1" -DN_Service 16

          -Name "RackSize" -UnitType "d350A" -DefValue "0" -OrderNr 4
          -DN_Path "6,20 64 24 01 30 04,C6,1" -DN_Service 16

          -Name "LastRack" -UnitType "d350A" -DefValue "0" -OrderNr 5
          -DN_Path "6,20 64 24 01 30 05,C1,1" -DN_Service 16

          -Name "D350Areset" -UnitType "d350A" -DefValue "0" -OrderNr 6
          -DN_Path "4,20 01 24 01,C1,1" -DN_Service 5

    Thanks

    Zack


  • j_proulx
    j_proulx ✭✭

    Hello Zack,

    Is Board10 configured as the d350A?

     -Name "RackSize" -UnitType "d350A" -DefValue "0" -OrderNr 4
     -DN_Path "6,20 64 24 01 30 04,C6,1" -DN_Service 16.

    This shows the DSQC 350A is configured for 1/4 rack 32 In / 32 out. These I/O signals should be mapped at 0-31.

    Is there a signal name like DO10_00 unit mapped at "0" or do your signal names start at DO10_01 mapped at "1" for BOARD10?

    In S4 signals were mapped starting at 1 but the IRC 5 mapping starts at 0.

    Try zipping the eio file and attaching it.

    Br

    Jim Proulx

  • j_proulx
    j_proulx ✭✭

    Zack,

    Attached is from the DeviceNet manual. These are the Fieldbus Command Type configuration values for the DSQC 350A. These must match how the PLC has the rack configured. Verify these with a known good backup. In the SYSPAR/ eio.cfg of the backup

    2008-08-08_182708_DSQC350A_FBC.zip

    Jim Proulx

  • zacklee
    zacklee ✭
    Hi Jim, Board10 is configured as the d350A.

    2008-08-08_185332_EIO.rar

    Thanks
  • j_proulx
    j_proulx ✭✭

    Hello Zack,

    From what I see all you should have to do is change the rack size.

     -Name "RackSize" -UnitType "d350A" -DefValue "1" -OrderNr 4
     -DN_Path "6,20 64 24 01 30 04,C6,1" -DN_Service 16.

    These signals should also be set to 64 & 65 if you use 1/2 rack


    -Name "DI10_RioComm" -SignalType "DI" -Unit "BOARD10" -UnitMap "64"
    -Category "ABB"
    -Name "DI10_RioStatus" -SignalType "DI" -Unit "BOARD10" -UnitMap "65"
    -Category "ABB"
    BR Jim Proulx    i'll be gone the rest of the day. Good luck.
  • zacklee
    zacklee ✭
    Thanks Jim,

    I tried your way. It worked. But I checked old EIO.cfg before this problem occurred, it is as same as current. I am confused. The error messages  by  sequence:
    1. Bus  off  (DeviceNet 2)
    2. EIO_COMMAND_TYPE: "D350Areset"
    3. Do33-39 mapping error

    Can you Please help me to figure it out.

    Zack

  • j_proulx
    j_proulx ✭✭

    Hello Zack,

    1. Bus  off  (DeviceNet 2) - You are not using the 2nd Devicenet channel. Have you installed a terminating resitor on that connector?
    2. EIO_COMMAND_TYPE: "D350Areset" - The RIO card probably had a reset command issued due to the mapping error.
    3. Do33-39 mapping error - DO10_32 to DO10_39 were not properly mapped. Why you didn't get this message before?__Don't Know.

    Another way to fix the problem would have been to remove DO10_32 to DO10_39 from your eio signal list if they weren't being used in your program.
    BR

    Jim Proulx

  • zacklee
    zacklee ✭
    Hi Jim, thanks for your great help, I will try that.

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