DeviceNet question

JMI · September 2009

Hi,

I'm working now on a concept of a robotized cell based on ABB robot. My question concerns use of DeviceNet fieldbus in ABB. Let us consider following situation:

- robot is equipped with DeviceNet single channel card (option 709-1)
- there is external PLC with DeviceNet master interface
- we have some I/O's for gripper and some for the process

Is it possible to connect/configure everything in following way:

- robot is at the same time master and slave - master connection is used for gripper I/O's and slave for communication with PLC
- PLC is master and control both robot and rest of the I/O's

What do you think ?

Another question is - what is the difference between single and dual channel DeviceNet card in ABB ?

I will be grateful for any comments/suggestions!

Regards!

zealous_swe · September 2009

Hi,

Yes, the setup you describe is no problem to use.

The Dual option is used if you need two seperate DeviceNet networks. The Robot will be exposed on the diffrent networks as two diffrenet master units and two different internal slave units.

JMI · September 2009

Thanks,

the problem is that we have single channel DeviceNet card ;-) In this situation I will use Profibus slave for communication with PLC.

Greetings!

Klaus · September 2009

I use this device to communicate with PLC. it is connected to the devicenet on the robot and converts devicenet to profibus easy to use and takes 10 min to configurate

It's coust a third part of an ABB profibus card and get 3 tmes more bit.

Can send you the EIO.cfg file i use to the anubus gateway

http://www.hms.se/products/abx.asp

BR Klaus

zealous_swe · September 2009

JMI -> <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

You don't need the Dual option to do it like you described. The Dual option is only needed in very rare cases. The extra channel is not needed to act as both master and slave from the IRC5 system. If you anyway would like to use PROFIBUS slave interface against the PLC, I recommend that you use the PROFIBUS Fieldbus adapter option. This is actually also a HMS product (ABB Robotics have an HMS port on its main computer board), but not a gateway and therefore a lot faster.

JMI · September 2009

Interesting because I got information directly from my local ABB tech support that to use DeviceNet as both Master and Slave I need DualChannel option Stern Smile

In any case I end up with options 709-1 for DeviceNet and 840-2 for Profibus. They will be shipping it next mont for pre-comissioning and then I will se how it works for real.

If you are saing that its possible to realize my functiuonality (DeviceNet Master/Slave) with this type of hardware I will be more than happy to prove that we were missinformed by ABB.

By the way HMS products are very popular these days... Kawasaki is also using that for fieldbus interface ;-)

Greetings!

JMI2009-09-25 09:35:58

j_proulx · September 2009

Hello, The single channel devicenet card can be used as both master and slave at the same time on the same network. Older ABB I/O cards that are connected to the Devicenet network require a 500K baud. The newer cards are autobaud. The Network address of the robot master and robot slave must be identical. See attached devicenet manual.

webwiz/222/DeviceNet_3HAC020676-001_revG.zip

BR

Jim Proulx

JMI · November 2009

Hi,

I have all my equipment in the workshop... and there's a question - how do I add Devicenet EDS file to he ABB system ?

Any suggestions ?

j_proulx · November 2009

Hello,

The EDS file is for your PLC software. Internal to the IRC 5 a DN_Interna_Slave unit must be created in your EIO parameter. The Slave address of the robot will match the Master Address of the DeviceNet bus. See pgs 30-31 and 34-35 of the DeviceNet manual.

BR Jim Proulx

JMI · November 2009

Thanks again Jim!

Tests for Internal Slave are scheduled for next week when I get second DeviceNet master (probably ABB AC500 PLC).

Right now I struggle with setting up part of the bus for gripper - namely TURCK analog inputs module. Everything is connected and seemes to work, however one question remained. In EDS file I find collection of some sort of commands i.e.

Param12=

0,

6, "20 0A 24 02 30 03",

0x0034, 0xc3, 2,

"AI-2 in 0-20mA range",

"mA",

"AI Value scaling and offset valid for 0-20mA range",

0, 32767, 0,

1, 1639, 1, 0,

0, 0, 0, 0,

2;

Param12=

0,

6, "20 0A 24 02 30 03",

0x0034, 0xc3, 2,

"AI-2 in 0-20mA range",

"mA",

"AI Value scaling and offset valid for 0-20mA range",

0, 32767, 0,

1, 1639, 1, 0,

0, 0, 0, 0,

2;

As far as I understand this is connected with FIELDBUS COMMANDS in IRC5. DO you have any experience with those ?

BR

JMI

I attach EDS file for reference:

webwiz/3012/SDNB-40A-0007_R1.rar

zealous_swe · December 2009

Hello JMI!

Here is an example that you can use for an analouge TURCK module that runs using the IRC5 DeviceNet option DeviceNet Lean.

So you need to exchange everything to DeviceNet if you want to use it, but I think you get an ide of how it works :-)

EIO:CFG_1.0:5:0::
#
EIO_UNIT_TYPE:

      -Name "BL20_GWBR_DNET" -BusType "DNLE" -VendorName "Hans Turck GmbH & Co. KG"
      -ProductName "Communication Adapter" -DL_ProductCode 5001 -DL_VendorId 48

#
EIO_COMMAND_TYPE:

-Name AI1Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 1
-DL_Path "6,20 6A 24 01 30 80,D1,1" -DL_Service 0x10

-Name AO2Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 2
-DL_Path "6,20 6B 24 01 30 81,D1,1" -DL_Service 0x10

EIO_UNIT:

-Name "t_44" -UnitType "BL20_GWBR_DNET" -Bus "DeviceNet_Lean"
-DL_Address 44

#
EIO_COMMAND:

-Unit "t_44" -CommandType "AI1Range" -Value "1"
-Unit "t_44" -CommandType "AO2Range" -Value "1"

#
EIO_SIGNAL:

#
#     Address: 44
#     Turck Communications Adapter
#     Slot 1: BL20-E-8DO
#     Slot 2: BL20-E-8DI (physically connected to Slot 1 DO)
#     Slot 3: BL20-2AO-U
#     Slot 4: BL20-1AI-U (physically connected to Slot 3 AO
#
#     Unitmap Input:
#     Word 0: Status word from module
#     Word 1: 8 DO (bit 0 - 7) BL20-E-8DO Slot 1
#     Word 2: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#     Word 3: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#
#     Unitmap Output:
#     Word 0: Control word to module
#     Word 1: 8 DI (bit 0 - 7) BL20-E-8DI Slot 2
#     Word 2: 1 AI (bit 0 - 15) BL20-1AI-U Slot 4
#
      -Name "t_44_do1" -SignalType "DO" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_do2" -SignalType "DO" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_do3" -SignalType "DO" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_do4" -SignalType "DO" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_do5" -SignalType "DO" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_do6" -SignalType "DO" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_do7" -SignalType "DO" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_do8" -SignalType "DO" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ao1" -SignalType "AO" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_ao2" -SignalType "AO" -Unit "t_44" -UnitMap "48-63" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_status" -SignalType "GI" -Unit "t_44" -UnitMap "0-15" -Access "ALL"

      -Name "t_44_di1" -SignalType "DI" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_di2" -SignalType "DI" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_di3" -SignalType "DI" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_di4" -SignalType "DI" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_di5" -SignalType "DI" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_di6" -SignalType "DI" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_di7" -SignalType "DI" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_di8" -SignalType "DI" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ai1" -SignalType "AI" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

EIO_ACCESS:
#############################################################################
# The Predefined I/O access level 'All'
#############################################################################
-Name ALL -Rapid -LocalManual -LocalAuto -RemoteManual -RemoteAuto

JMI · March 2010

It took some time, but fortunately I was able to perform my DeviceNet test.

I had two ABB IRC5 controllers in my workshop, plugged them together and it worked perfectly LOL

Just as I thought - you can interconnect DeviceNet masters with single channel card :-) Now it seems so trivial...

Thanks everyone for your input!

Best Regards!

JMI2010-03-10 08:37:41

Jetman · March 2010

Hello guys,

be aware that there was a problem while connecting only 2 robots as master/slave without using any other nodes.

Don't know if it's been fixed with the new Dnet card/Computer but with my robots, the connexion won't be made unless I have another node somewhere. As if the master wasn't able to detect the slave if it's a robot slave without any other node.

Usually you don't have that problem because you have at least one node (DSC327A for example) for your IO in your robot. But if you get a dual card for Dnet and your second port is empty and you configure the port as slave, then you end up alone as a slave and it won't connect to the master.

Jet

chandra_bipin · June 2010

See below post with quote/unquote section. chandra_bipin2010-06-01 13:01:51

chandra_bipin · June 2010

[QUOTE=zealous_swe]Hello JMI!

Here is an example that you can use for an analouge TURCK module that runs using the IRC5 DeviceNet option DeviceNet Lean.

So you need to exchange everything to DeviceNet if you want to use it, but I think you get an ide of how it works :-)

EIO:CFG_1.0:5:0::
#
EIO_UNIT_TYPE:

      -Name "BL20_GWBR_DNET" -BusType "DNLE" -VendorName "Hans Turck GmbH & Co. KG"
      -ProductName "Communication Adapter" -DL_ProductCode 5001 -DL_VendorId 48

#
EIO_COMMAND_TYPE:

-Name AI1Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 1
-DL_Path "6,20 6A 24 01 30 80,D1,1" -DL_Service 0x10

-Name AO2Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 2
-DL_Path "6,20 6B 24 01 30 81,D1,1" -DL_Service 0x10

EIO_UNIT:

-Name "t_44" -UnitType "BL20_GWBR_DNET" -Bus "DeviceNet_Lean"
-DL_Address 44

#
EIO_COMMAND:

-Unit "t_44" -CommandType "AI1Range" -Value "1"
-Unit "t_44" -CommandType "AO2Range" -Value "1"

#
EIO_SIGNAL:

#
#     Address: 44
#     Turck Communications Adapter
#     Slot 1: BL20-E-8DO
#     Slot 2: BL20-E-8DI (physically connected to Slot 1 DO)
#     Slot 3: BL20-2AO-U
#     Slot 4: BL20-1AI-U (physically connected to Slot 3 AO
#
#     Unitmap Input:
#     Word 0: Status word from module
#     Word 1: 8 DO (bit 0 - 7) BL20-E-8DO Slot 1
#     Word 2: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#     Word 3: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#
#     Unitmap Output:
#     Word 0: Control word to module
#     Word 1: 8 DI (bit 0 - 7) BL20-E-8DI Slot 2
#     Word 2: 1 AI (bit 0 - 15) BL20-1AI-U Slot 4
#
      -Name "t_44_do1" -SignalType "DO" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_do2" -SignalType "DO" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_do3" -SignalType "DO" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_do4" -SignalType "DO" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_do5" -SignalType "DO" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_do6" -SignalType "DO" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_do7" -SignalType "DO" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_do8" -SignalType "DO" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ao1" -SignalType "AO" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_ao2" -SignalType "AO" -Unit "t_44" -UnitMap "48-63" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_status" -SignalType "GI" -Unit "t_44" -UnitMap "0-15" -Access "ALL"

      -Name "t_44_di1" -SignalType "DI" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_di2" -SignalType "DI" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_di3" -SignalType "DI" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_di4" -SignalType "DI" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_di5" -SignalType "DI" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_di6" -SignalType "DI" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_di7" -SignalType "DI" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_di8" -SignalType "DI" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ai1" -SignalType "AI" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

EIO_ACCESS:
#############################################################################
# The Predefined I/O access level 'All'
#############################################################################
-Name ALL -Rapid -LocalManual -LocalAuto -RemoteManual -RemoteAuto

[/QUOTE]

Hello,

Your information on BL20_GWBR_NET configuration in IRC5 was very good and informative.

I am using the same gateway in finding some problem in IO mapping. Problem looks like parameters information of IO module.

Where do i get information on EIO Command Type and EIO command section as mentioned by you in your example becoz they are not listed in manual.. and information of S4C+ such as EIO_PARAM give syntax error. in IRC5 ?

Second question is : how did you assume that Word 0 was reserved for communication from module. I could not find it in manual.

Thanks in advance

Regards

zealous_swe · June 2010

Well I found all information from the TURCK manual and the EDS file.

I also used the following information from the DeviceNet Lean manual (5.13.01 Revision):

Explict Messaging services

It is possible to configure I/O units through explicit messaging services. This could be done
either at startup by defining the Fieldbus Commands to the configured unit, or at runtime from RAPID through the Fieldbus Command Interface (FCI). For more information, refer to
Technical reference manual - RAPID Instructions, Functions and Data types, and Application
manual - Robot communication and I/O control, section Fieldbus Command Interface.

For the explicit messaging at startup:

1. Use RobotStudio to define a Fieldbus Command type that is general to the unit type
and could be used by many DeviceNet Lean units of this unit type.

2. Use RobotStudio to define a Fieldbus Command that is specific to a certain unit and
that specifies the unit specific data to be send to the unit. The Fieldbus Command is
linked to a certain unit. The data defined in the value parameter should fit the instance
or attribute size on the DeviceNet unit.

The DeviceNet Lean specific system parameters in the Fieldbus Command type are:

?_? Path (-DL_Path)
?_? Service (-DL_Service)

For more information, refer to the DeviceNet Specification or the Application manual - Robot
communication and I/O control.

Following is a configuration file example that sends two Fieldbus Commands at startup to the I/O unit ?_~SafeTrigger?_T.

EIO_UNIT:
-Name "SafeTrigger" -UnitType "ABB_type" -Bus "DeviceNet_Lean" -
DL_Address 19

EIO_COMMAND_TYPE:
-Name "RackSize" -UnitType "ABB_type" -DefValue "0" -OrderNr 1
-DL_Path "6,20 64 24 01 30 04,C6,1" -DL_Service 16
-Name "LastRack" -UnitType "ABB_type" -DefValue "0" -OrderNr 2
-DL_Path "6,20 64 24 01 30 05,C1,1" -DL_Service 16

The preceding example shows how to use the -DL_Path and -DL_Service parameters. The
syntax used in the -DL_Path command and in the I/O unit's EDS file is same. Following is a
sample syntax:

"Path length, 20 Class 24 Instance 30 Attribute, Data type, Data
type length"

The following table provides description of the parameters used in the syntax:
Following are the allowed values of the 'Data type' and 'Data type length' parameters:

Parameter Description

Path length   The byte count for the "20 64 24 01 30 05" string.
Class            The DeviceNet Class number.
Instance       The instance number of the class.
Attribute      The attribute of the specified instance.
Data type     The data format of the attribute.
Data type     length The length in bytes of the specified Data type.
Data Type    Description Data type length

Following are the allowed values of the 'Data type' and 'Data type length' parameters:

Data Type Description                                          Data type length
0x01 Signed 16-bit value                                        2
0x02 Unsigned 16 bit integer value                        2
0x03 Signed 16-bit value                                       2
0x04 Logical Boolean with values
TRUE and FALSE                                                      1
0x05 Signed 8-bit integer value                             1
0x08 Unsigned 8-bit integer value                        1
0x09 Unsigned 32-bit integer value                       4
0x0B 32-bit floating point value                             4
0x16 Character sting (1 byte per
character, 1 byte length
indicator)
                                                                                  X

0x18 Unsigned 8-bit integer value                           1
0xC1 Logical Boolean with values
TRUE and FALSE                                                     1
0xC2 Signed 8-bit integer value                             1
0xC3 Signed 16-bit value                                       2
0xC6 Unsigned 8-bit integer value                        1
0xC7 Unsigned 16 bit integer value                        2
0xC8 Unsigned 32-bit integer value                      4
0xCA 32-bit floating point value                            4
0xD1 Unsigned 8-bit integer value                         1
0xD2 Signed 16-bit value                                       2
0xDA character sting (1 byte per
  character, 1 byte length indicator

The -DL_Service parameter describes what type of operation that should be performed
against the specified -DL_Path parameter.

Following are the allowed values for -DL_Service:

Operation       Value                  Description
Set                 16                       Set the value specified in '-DefValue' or EIO_COMMAND.
Get                14                       Get the specified parameter. Display answer as an                event  message.
Reset              5                          Performs a reset of the specified I/O unit.

The '-OrderNr' parameter is used to specify in what order the commands are send to the I/O unit.

.......

......

nancygale12 · October 2010

Hmm......I also agree with that info, & u may take help of net too for deep knowledge.

Thanks for sharing

Regards
Nancy

Management Workshop

_jim_ · September 2014

zealous_swe said:

Hello JMI!

Here is an example that you can use for an analouge TURCK module that runs using the IRC5 DeviceNet option DeviceNet Lean.

So you need to exchange everything to DeviceNet if you want to use it, but I think you get an ide of how it works :-)

EIO:CFG_1.0:5:0::
#
EIO_UNIT_TYPE:

      -Name "BL20_GWBR_DNET" -BusType "DNLE" -VendorName "Hans Turck GmbH & Co. KG"
      -ProductName "Communication Adapter" -DL_ProductCode 5001 -DL_VendorId 48

#
EIO_COMMAND_TYPE:

-Name AI1Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 1
-DL_Path "6,20 6A 24 01 30 80,D1,1" -DL_Service 0x10

-Name AO2Range -UnitType "BL20_GWBR_DNET" -DefValue "1" -OrderNr 2
-DL_Path "6,20 6B 24 01 30 81,D1,1" -DL_Service 0x10

EIO_UNIT:

      -Name "t_44" -UnitType "BL20_GWBR_DNET" -Bus "DeviceNet_Lean"
      -DL_Address 44

#
EIO_COMMAND:

      -Unit "t_44" -CommandType "AI1Range" -Value "1"
      -Unit "t_44" -CommandType "AO2Range" -Value "1"

#
EIO_SIGNAL:

#
#     Address: 44
#     Turck Communications Adapter
#     Slot 1: BL20-E-8DO
#     Slot 2: BL20-E-8DI (physically connected to Slot 1 DO)
#     Slot 3: BL20-2AO-U
#     Slot 4: BL20-1AI-U (physically connected to Slot 3 AO
#
#     Unitmap Input:
#     Word 0: Status word from module
#     Word 1: 8 DO (bit 0 - 7) BL20-E-8DO Slot 1
#     Word 2: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#     Word 3: 1 AO (bit 0 - 15) BL20-2AO-U Slot 3
#
#     Unitmap Output:
#     Word 0: Control word to module
#     Word 1: 8 DI (bit 0 - 7) BL20-E-8DI Slot 2
#     Word 2: 1 AI (bit 0 - 15) BL20-1AI-U Slot 4
#
      -Name "t_44_do1" -SignalType "DO" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_do2" -SignalType "DO" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_do3" -SignalType "DO" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_do4" -SignalType "DO" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_do5" -SignalType "DO" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_do6" -SignalType "DO" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_do7" -SignalType "DO" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_do8" -SignalType "DO" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ao1" -SignalType "AO" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_ao2" -SignalType "AO" -Unit "t_44" -UnitMap "48-63" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

      -Name "t_44_status" -SignalType "GI" -Unit "t_44" -UnitMap "0-15" -Access "ALL"

      -Name "t_44_di1" -SignalType "DI" -Unit "t_44" -UnitMap "16" -Access "ALL"
      -Name "t_44_di2" -SignalType "DI" -Unit "t_44" -UnitMap "17" -Access "ALL"
      -Name "t_44_di3" -SignalType "DI" -Unit "t_44" -UnitMap "18" -Access "ALL"
      -Name "t_44_di4" -SignalType "DI" -Unit "t_44" -UnitMap "19" -Access "ALL"
      -Name "t_44_di5" -SignalType "DI" -Unit "t_44" -UnitMap "20" -Access "ALL"
      -Name "t_44_di6" -SignalType "DI" -Unit "t_44" -UnitMap "21" -Access "ALL"
      -Name "t_44_di7" -SignalType "DI" -Unit "t_44" -UnitMap "22" -Access "ALL"
      -Name "t_44_di8" -SignalType "DI" -Unit "t_44" -UnitMap "23" -Access "ALL"

      -Name "t_44_ai1" -SignalType "AI" -Unit "t_44" -UnitMap "32-47" -MaxLog 10
      -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 32767 -MinLog -10 -MinPhys -10
      -MinPhysLimit -10 -MinBitVal -32768 -Access "ALL"

EIO_ACCESS:
#############################################################################
# The Predefined I/O access level 'All'
#############################################################################
-Name ALL -Rapid -LocalManual -LocalAuto -RemoteManual -RemoteAuto

I have a ABB S4C+ that has to interface with a HAAS CNC via a Robot Ready Interface utilizing a BL20-GWBR-DNET module with discrete in/out. Anyone have an example like above that could direct me on how to set the EIO file to communicate with the available bits?

DeviceNet question

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