This page provides detailed information about Profinet.

Contents

Overview


Please refer to Fieldbus Devices for instructions on how to enable the PROFINET protocol.

The data tables in this document describe the format and byte addressing of the PROFINET Modules defined in the GSDML (General Station Description Markup Language) for Intera. Multiple data configuration options are possible using the various Modules, with each including a different type and number of variables that can be mixed and matched to best suit the application.

 

Default Connection – Standard Modules


The default PROFINET configuration loads a set of Standard Modules for input and output, which give a fixed number of general purpose variables of each data type (Booleans, Integers, Floats, and Strings). There is an additional module sent from the robot (Fixed Data) that includes a set of 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 GSDML will be necessary to setup the Intera PROFINET IO Device on the PLC.
    • The GSDML and corresponding image icon can be downloaded directly from the robot via a link in the Device Editor window in Intera Studio, or by clicking here.
    • The Device Editor also provides helpful address lookups when creating signals.
  • PROFINET 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 Modules


From-Robot Modules Summary


From-Robot Modules Summary v5.3.PNG

 

To-Robot Modules Summary


To-Robot Modules Summary v5.3.PNG

Modules Data Tables


  • Robot Output data modules (from Robot to PLC) are formatted with the byte offsets shown in the following tables (per module).
  • Robot Input data modules (from PLC to Robot) do not include a Fixed Data module, but are otherwise formatted the same, with each To-Robot module mirroring a corresponding From-Robot module in the opposite direction.

Definitions of the State Flags fields shown in the first module can be found under the State Flags Definitions section of this document.

 

Fixed Data 112 From-Robot


Fixed Data 112 From-Robot v5.3.PNG

Standard Booleans (113: To-Robot | 114: From-Robot)


Standard Booleans 113-114 v5.3.PNG

Standard Integers (115: To-Robot | 116: From-Robot)


Standard Integers 115-116 v5.3.PNG

Standard Floats (117: To-Robot | 118: From-Robot)


Standard Floats 117-118 v5.3.PNG

Small Booleans (119: To-Robot | 120: From-Robot)


Small Booleans 119-120 v5.3.PNG

Small Integers (121: To-Robot | 122: From-Robot)


Small Integers 121-122 v5.3.PNG

Small Floats (123: To-Robot | 124: From-Robot)


Small Floats 123-124 v5.3.PNG

Small Strings (125: To-Robot | 126: From-Robot)


Small Strings 125-126 v5.3.PNG

Large Bools (127: To-Robot | 128: From-Robot)


Large Bools 127-128 v5.3.PNG

Large Integers (129: To-Robot | 130: From-Robot)


Large Integers 129-130 v5.3.PNG

Large Floats (131: To-Robot | 132: From-Robot)


Large Floats 131-132 v5.3.PNG

 

Large Strings (133: To-Robot | 134: From-Robot)


Large Strings 133-134 v5.3.PNG

State Flag Definitions


Bit Definitions for State Flags


Below are the bit positions for various State Flag fields within the predefined data from the robot.


State Flags v5 3.png

 

Robot State Flags Meaning


State Flags Meaning v5 3.png

Data Addressing and Format


Notes:

  • Numeric data is by default sent/received in Big-Endian byte-order.
  • Boolean and String Variables are arrays of bytes, and may be treated as Little-Endian byte-order.
  • However, the order of bits inside each byte is still largest bit first.

 

Example: Boolean Variables Addressing


Using example offset addresses Byte 40 - Byte 47 (Adjust for the memory offsets of the Intera Modules in your PLC program).


Data Addressing and Format PROFINET v5.3.PNG