Setup

Step-by-step configuration of the robot arm and Allen-Bradley PLC for Ethernet/IP.

Enable EtherNet/IP in the Services Settings page.

1. Go to Settings.

2. Go to Security.

3. Go to Services in the drop down menu.

Remember to save the installation afterwards so that the changes take effect the next time the installation is loaded.

1. Go to Settings

2. Go to Security

3. Go to Permissions

Remember to save the installation.

Setup the robot IP address and network settings.

1. Go to Settings.

2. Go to Systems.

3. Go to Network.

This requires the admin password.

Ensure that the robot has a unique IP on the same network as the PLC. The subnet mask must match the other devices on the network. The default gateway, preferred, and alternative DNS servers can all remain 0.0.0.0 for this demo.

Enable the EtherNet/IP Adapter.

1. Go to Installation.

2. Go to Fieldbus

3. Go to EtherNet/IP

The light next to EtherNet/IP indicates the status of the connection:

• Grey means the adapter is disabled.

• Yellow means Ethernet/IP is running on the robot, but no PLC/scanner is connected

• Green means the connection is secure.

Launch Studio 5000 Logix Designer and open the UR.ACD project file.

If your version of Logix Designer is incompatible with the project file (for example older than v.23), you can create a new project and import the user-defined data types from the UR_DataTypes.L5X file.

If your version of Studio 5000 is newer you will be prompted to upgrade the program within Logix Designer.

The project tree in the Controller Organizer panel should look like this:

Configure the UR Ethernet Module.

1. Navigate to I/O Configuration, Ethernet, Ethernet-Module UR.

2. Double click ETHERNET-MODULE UR.

   This will open the General settings tab.

3. Enter the IP Address of the Robot – in this case 192.168.1.175.

4. The Input, Output and Configuration values can remain default.

5. Press Apply.

1. Go to Connection tab.

2. Adjust the RPI.

3. Enable Unicast Connection over EtherNet/IP.

4. Select Apply.

If this is the first time you are going online with your PLC, follow these steps:

1. Go to Communications tab at the top of Studio 5000.

2. Select Who Active.

3. Expand the Ethernet drop box and select your PLC from the list

4. Ensure the IP Address is accurate.

5. Select Download from the sidebar menu.

6. Acknowledge the project is being downloaded to the PLC.

7. Click Download.

8. You will then be prompted to switch the controller (PLC) into Remote Run mode.

9. Hit Yes to continue.

The top left ribbon of Studio 5000 should change from Rem Prog to Rem Run.

Ensure the status indicators next to Controller OK and I/O OK are green.

Navigate back to the EtherNet/IP Adapter page and confirm the status indicator is solid green/Connected.

1. Go to Tasks.

2. Go to Main Task.

3. Go to Main Program.

4. Go to Parameters and Local Tags Note.

If you did not use the demo and will be implementing communication to your own code, you need to enable communication between the robot and the AB PLC.

First set up URI and URO in your local or global variables, using the provided User Define Data Types.

Setup the CPS (Synchronous Copy File) between the PLC and the robot under the Main Task, MainProgram routine.

See this example of Ladder and Structured Text:

Both accomplish the same thing and only one is needed.

Return to the Parameters and Local tags page to inspect live values sent from the robot. Expand URI, URI.Robot. The Values column will be dynamically changing.

The first two fields, URI.Robot.Controller_Major_Version and URI.Robot.Controller_Minor_Version, should reflect the robot Polyscope software version.

Confirm this is accurate by comparing to the software version number on the robot.