This page provides detailed information about EtherNet/IP.

Contents

Overview


Please refer to Fieldbus Devices for instructions on how to enable the EtherNet/IP protocol.

The data tables in this document describe the format and byte addressing of the EtherNet/IP Assemblies defined in the EDS (Electronic Data Sheet) for Intera. Multiple connection options are available with the various Assemblies including a different mix of variable types and numbers, so the best option can be chosen for each application.

Default Connection – Standard Assemblies


The default EtherNet/IP connection defines a Standard To-Robot Assembly and a Standard From-Robot Assembly, each of which include a fixed number of general purpose variables of each data type (Booleans, Integers, Floats, and Strings). For the Assembly sent from the robot, there are additional, automatically filled-in data fields related to the robot status, task status, and the state of the safety signals. More information on these status fields can be found under the State Flags Definitions section of this document.


Setup Resources


  • The Rethink Intera EDS will be necessary to setup the Intera Adapter Device on the PLC.
  • The EDS can be downloaded directly from the robot via a link in the Device Editor, or by clicking here.
  • The Device Editor also provides helpful address lookups when creating signals.
  • EtherNet/IP will also need to be enabled on the controller and the network properly configured from the Field-Service-Menu (FSM) on the robot.
  • The Fieldbus network cable must be connected to the Inside Port of the Controller, identified by the number 2 in the diagram.

Sawyer Controller Ethernet Ports v5.3.png

Summary of Assemblies


From-Robot Assemblies Summary


From-Robot Assemblies Summary.png

 

To-Robot Assemblies Summary


To-Robot Assemblies Summary.png

Assembly Data Tables


From-Robot Standard Assembly (112)


Robot Output data (from Intera to PLC) is formatted with the following byte offsets


From-Robot Standard Assembly 112 v5 3.png

 

To-Robot Standard Assembly (113)


Robot Input data (from PLC to Intera) is formatted with the following byte offsets


To-Robot Standard Assembly 113 v5 3.png

 

Small Assembly (114: From-Robot | 115: To-Robot)


Small Assembly 114 115 v5 3.png

 

Large Assembly (116: From-Robot | 117: To-Robot)


Large Assembly 116 117 v5 3.png

 

Floats+ (118: From-Robot | 119: To-Robot)


Floats 118 119 v5 3.png

 

Strings+ (120: From-Robot | 121: To-Robot)


Strings 120 121 v5 3.png

State Flags Definitions


Bit Definitions for State Flags


State Flags v5 3.png

Robot State Flags Meaning


State Flags Meaning v5 3.png

Data Addressing and Format


Notes:

  • Data is sent/received in Little-Endian byte-order between Intera and the PLC.
  • Boolean and String Variables are considered arrays of bytes.

 

Example: Boolean Variables Addressing


Using example offset addresses Byte 40 - Byte 47

(Adjust for the memory offsets of the Intera Assemblies in your PLC program).


Data Addresssing Example v5 3.png