Connecting fieldbus converter (optional)
The fieldbus converter changes the Modbus TCP fieldbus connection into an Ethernet/IP connection.
Install the fieldbus converter by connecting it to the DCM and e.g. the cobot controller with two Ethernet cables. Then configure the cobot to communicate with the fieldbus converter (refer to the cobot controller's operating manual).
Installation
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It is recommended to use a shielded Ethernet cable (minimum F/UTP – foil shielded / unshielded twisted pair). |
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The voltage supply to the fieldbus converter is typically provided via the cobot's IO outputs. If the voltage supply is not available from the cobot, an external voltage supply is required. |
| 1. | Connect an Ethernet cable to the DCM's Ethernet port (1). |
| 2. | Connect the other end of the cable to an Ethernet port in the fieldbus converter (2). |
| 3. | Connect another Ethernet cable to an Ethernet port in the fieldbus converter (3). |
| 4. | Connect the other end of the cable to e.g. a cobot controller (4). |
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You can connect the DCM and the cobot controller to either of the Ethernet ports (2 and 3) on the fieldbus converter. |
| 5. | Connect the voltage supply cable (5). |
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Configuration
The following lists the fieldbus converter's preconfigured configuration settings that are used for the communication between the cobot and the fieldbus converter.
| Parameter | Value | Description |
|---|---|---|
| IP address | 192.168.127.254 | IP address of the fieldbus converter delivered by Kemppi. |
| Vendor ID | 991 | Vendor ID of the fieldbus converter. |
| Device type | 12 | Device type of the fieldbus converter. |
| Product code | 1028 | Product code of the fieldbus converter. |
| Major revision | 0 | Firmware version number of the fieldbus converter. |
| Minor revision | 0 | Firmware version number of the fieldbus converter. |
| Safe device | No | Indicates whether the fieldbus converter is an ODVA-certified safety device. |
| Output assembly | 100 | Output assembly object used for I/O messaging from the cobot to the fieldbus converter. |
| Output size (bytes) | 30 | Size of the output assembly object in bytes. |
| Input assembly | 110 | Input assembly object used for I/O messaging from the fieldbus converter to the cobot. |
| Input size (bytes) | 30 | Size of the input assembly object in bytes. |
| Configuration assembly | 5 | Configuration object used for I/O messaging from the cobot to the fieldbus converter. |
| Configuration size | 0 | Size of the configuration assembly object in bytes. |
| Input connection type | Point-to-point | A direct, one-to-one connection between the fieldbus converter and another device on the network, such as the cobot controller. |
| Output RPI | 10 ms | Output RPI (Requested Packet Interval) determines the frequency at which the cobot sends output data to the fieldbus converter. |
| Input RPI | 10 ms | Input RPI determines the frequency at which the fieldbus converter sends input data to the cobot. |
For information on the DCM settings, refer to DCM settings.
For information on the fieldbus control tables, refer to Fieldbus control table. (The Modbus TCP fieldbus control tables also apply to the Ethernet/IP connection).
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The fieldbus converter assumes that the DCM is located at IP address 192.168.127.250. If you change the DCM IP address, you need to update each Modbus command in the fieldbus converter's management console. |
To change the fieldbus converter's Modbus Client configuration, refer the fieldbus converter's operating manual.
The credentials for the preconfigured fieldbus converter's management console are:
Username: admin
Password: Kempp1Cobotic5
