（R-J3 CONTROLLER）

ControlNet Interface
OPERATOR’
OPERATOR’S MANUAL

B-81584EN/01
Ȧ No part of this manual may be reproduced in any form.
Ȧ All specifications and designs are subject to change without notice.

In this manual we have tried as much as possible to describe all the

various matters.
However, we cannot describe all the matters which must not be done,
or which cannot be done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in
this manual should be regarded as ”impossible”.
B-81584EN/01  SAFETY PRECAUTIONS

1 SAFETY PRECAUTIONS
For the safety of the operator and the system, follow all safety precautions when
operating a robot and its peripheral devices installed in a work cell.

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1.1 OPERATOR SAFETY

Operator safety is the primary safety consideration. Because it is very dangerous to

enter the operating space of the robot during automatic operation, adequate safety
precautions must be observed.
The following lists the general safety precautions. Careful consideration must be
made to ensure operator safety.

(1) Have the robot system operators attend the training courses held by FANUC.

FANUC provides various training courses. Contact our sales office for details.

(2) Even when the robot is stationary, it is possible that the robot is still ready to
move state and is waiting for a signal. In this state, the robot is regarded as still
in motion. To ensure operator safety, provide the system with an alarm to
indicate visually or aurally that the robot is in motion.

(3) Install a safety fence with a gate so that no operator can enter the work area
without passing through the gate. Equip the gate with an interlock that stops the
robot when the gate is opened.

The controller is designed to receive this interlock signal. When the gate is
opened and this signal received, the controller stops the robot in an
emergency. For connection, see Fig.1.1.

(4) Provide the peripheral devices with appropriate grounding (Class 1, Class 2, or
Class 3).

(5) Try to install the peripheral devices outside the work area.

(6) Draw an outline on the floor, clearly indicating the range of the robot motion,
including the tools such as a hand.

(7) Install a mat switch or photoelectric switch on the floor with an interlock to a
visual or aural alarm that stops the robot when an operator enters the work area.

(8) If necessary, install a safety lock so that no one except the operator in charge can
turn on the power of the robot.

The circuit breaker installed in the controller is designed to disable anyone

from turning it on when it is locked with a padlock.

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(9) When adjusting each peripheral device independently, be sure to turn off the
power of the robot.

Fig.1.1 Safety Fence and Safety Gate

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1.1.1 Operator Safety

The operator is a person who operates the robot system. In this sense, a worker who
operates the teach pendant is also an operator. However, this section does not apply
to teach pendant operators.

(1) If it is not necessary for the robot to operate, turn off the power of the robot
controller or press the EMERGENCY STOP button, and then proceed with
necessary work.

(2) Operate the robot system at a location outside the work area.

(3) Install a safety fence with a safety gate to prevent any worker other than the
operator from entering the work area unexpectedly and also to prevent the worker
from entering a dangerous area.

(4) Install an EMERGENCY STOP button within the operator’s reach.

The robot controller is designed to be connected to an external

EMERGENCY STOP button. With this connection, the controller stops the
robot operation when the external EMERGENCY STOP button is pressed.
See the diagram below for connection.

Fig.1.1.1 Connection Diagram for External Emergency Stop Switch

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1.1.2 Safety of the Teach Pendant Operator

While teaching the robot, it is necessary for the operator to enter the work area of the
robot. It is particularly necessary to ensure the safety of the teach pendant operator.

(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks
outside the area.

(2) Before teaching the robot, check that the robot and its peripheral devices are all in
the normal operating condition.

(3) When entering the robot work area and teaching the robot, be sure to check the
location and condition of the safety devices (such as the EMERGENCY STOP
button and the deadman’s switch on the teach pendant).

The teach pendant supplied by FANUC is provided with a teach pendant

enable switch and a deadman's switch in addition to the EMERGENCY
STOP button. The functions of each switch are as follows.
EMERGENCY STOP button : Pressing this button stops the robot in an
emergency, irrespective to the condition of
the teach pendant enable switch.
Deadman's switch : The function depends on the state of the
teach pendant enable switch.
When the enable switch is on - Releasing the finger from the dead man's
switch stops the robot in an emergency.
When the enable switch is off - The deadman's switch is ineffective.

NOTE
The deadman's switch is provided so that the robot operation can be
stopped simply by releasing finger from the teach pendant in case of
emergency.

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(4) The teach pendant operator should pay careful attention so that no other workers
enter the robot work area.

NOTE
In addition to the above, the teach pendant enable switch and the
deadman's switch also have the following function.
By pressing the deadman's switch while the enable switch is on, the
emergency stop factor (normally the safety gate) connected to FENCE1
and FENCE2 of the controller is invalidated. In this case, it is possible
for an operator to enter the fence during teach operation without
pressing the EMERGENCY STOP button. In other words, the system
understands that the combined operations of pressing the teach
pendant enable switch and pressing the deadman's switch indicates
the start of teaching. The teach pendant operator should be well
aware that the safety gate is not functional under this condition and
bear full responsibility to ensure that no one enters the fence during
teaching.

(5) When entering the robot work area, the teach pendant operator should enable the
teach pendant whenever he or she enters the robot work area. In particular,
while the teach pendant enable switch is off, make certain that no start command
is sent to the robot from any operator’s panel other than the teach pendant.

The teach pendant, operator's box, and peripheral device interface send
each robot start signal. However the validity of each signal changes as
follows depending on the mode of the teach pendant enable switch and the
remote switch on the operator's panel.

Teach pendant Remote Teach Operator’s Peripheral

enable switch switch pendant panel devices
On Independent Allowed to Not allowed Not allowed
start
Off Remote Not allowed Allowed to Not allowed
OFF start
Off Remote ON Not allowed Not allowed Allowed to
start

(6) To start the system using the operator’s box, make certain that nobody is in the
robot work area and that there are no abnormal conditions in the robot work area.

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(7) When a program is completed, be sure to carry out a test run according to the
procedure below.
(a) Run the program for at least one operation cycle in the single step mode at
low speed.
(b) Run the program for at least one operation cycle in the continuous operation
mode at low speed.
(c) Run the program for one operation cycle in the continuous operation mode at
the intermediate speed and check that no abnormalities occur due to a delay
in timing.
(d) Run the program for one operation cycle in the continuous operation mode at
the normal operating speed and check that the system operates automatically
without trouble.
(e) After checking the completeness of the program through the test run above,
execute it in the automatic operation mode.

(8) While operating the system in the automatic operation mode, the teach pendant
operator should leave the robot work area.

1.1.3 Safety During Maintenance

For the safety of maintenance personnel, pay utmost attention to the following.

(1) Except when specifically necessary, turn off the power of the controller while
carrying out maintenance. Lock the power switch, if necessary, so that no other
person can turn it on.

(2) When disconnecting the pneumatic system, be sure to reduce the supply pressure.

(3) Before the start of teaching, check that the robot and its peripheral devices are all
in the normal operating condition.

(4) If it is necessary to enter the robot work area for maintenance when the power is
turned on, the worker should indicate that the machine is being serviced and
make certain that no one starts the robot unexpectedly.

(5) Do not operate the robot in the automatic mode while anybody is in the robot
work area.

(6) When it is necessary to maintain the robot alongside a wall or instrument, or

when multiple workers are working nearby, make certain that their escape path is
not obstructed.

(7) When a tool is mounted on the robot, or when any moving device other than the
robot is installed, such as belt conveyor, pay careful attention to its motion.

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(8) If necessary, have a worker who is familiar with the robot system stand beside the
operator’s panel and observe the work being performed. If any danger arises,
the worker should be ready to press the EMERGENCY STOP button at any time.

(9) When replacing or reinstalling components, take care to prevent foreign matter
from entering the system.

(10) When handling each unit or printed circuit board in the controller during
inspection, turn off the power of the controller and also turn off the circuit
breaker to protect against electric shock.

(11) When replacing parts, be sure to use those specified by FANUC.

In particular, never use fuses or other parts of non–specified ratings. They may
cause a fire or result in damage to the components in the controller.

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1.2 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES

1.2.1 Precautions in Programming

(1) Use a limit switch or other sensor to detect a dangerous condition and, if
necessary, design the program to stop the robot when the sensor signal is
received.

(2) Design the program to stop the robot when an abnormal condition occurs in any
other robots or peripheral devices, even though the robot itself is normal.

(3) For a system in which the robot and its peripheral devices are in synchronous
motion, particular care must be taken in programming so that they do not interfere
with each other.

(4) Provide a suitable interface between the robot and its peripheral devices so that
the robot can detect the states of all devices in the system and can be stopped
according to the states.

1.2.2 Precautions for Mechanism

(1) Keep the component cells of the robot system clean, and operate the robot in an
environment free of grease, water, and dust.

(2) Employ a limit switch or mechanical stopper to limit the robot motion so that the
robot does not come into contact with its peripheral devices or tools.

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1.3 SAFETY OF THE ROBOT MECHANISM

1.3.1 Precautions in Operation

(1) When operating the robot in the jog mode, set it at an appropriate speed so that
the operator can manage the robot in any eventuality.

(2) Before pressing the jog key, be sure you know in advance what motion the robot
will perform in the jog mode.

1.3.2 Precautions in Programming

(1) When the work areas of robots overlap, make certain that the motions of the
robots do not interfere with each other.

(2) Be sure to specify the predetermined work origin in a motion program for the
robot and program the motion so that it starts from the origin and terminates at
the origin.
Make it possible for the operator to easily distinguish at a glance that the robot
motion has terminated.

1.3.3 Precautions for Mechanisms

(1) Keep the work area of the robot clean, and operate the robot in an environment
free of grease, water, and dust.

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1.4 SAFETY OF THE END EFFECTOR

1.4.1 Precautions in Programming

(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the
necessary time delay after issuing each control command up to actual motion and
ensure safe control.

(2) Provide the end effector with a limit switch, and control the robot system by
monitoring the state of the end effector.

1.5 SAFETY IN MAINTENANCE

(1) Never enter the robot work area while the robot is operating. Turn off the power
before entering the robot work area for inspection and maintenance.

(2) If it is necessary to enter the robot work area with the power turned on, first press
the EMERGENCY STOP button on the operator’s box.

(3) When replacing or reinstalling components, take care to prevent foreign matter
from entering the system.
When replacing the parts in the pneumatic system, be sure to reduce the pressure
in the piping to zero by turning the pressure control on the air regulator.

(4) When handling each unit or printed circuit board in the controller during
inspection, turn off the power of the controller and turn off the circuit breaker to
protect against electric shock.

(5) When replacing parts, be sure to use those specified by FANUC.

In particular, never use fuses or other parts of non–specified ratings. They may
cause a fire or result in damage to the components in the controller.

(6) Before restarting the robot, be sure to check that no one is in the robot work area
and that the robot and its peripheral devices are all in the normal operating state.

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1.6 WARNING LABEL

(1) Step-on prohibitive label

Step-on Prohibitive Label

Description
Do not step on or climb the robot or controller as it may adversely affect the robot or
controller and you may get hurt if you lose your footing as well.

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B-81584EN/01   CONTENTS

CONTENTS
SAFETY PRECAUTIONS ････････････････････････････････････････
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1 CONTROLNET OVERVIEW ･･････････････････････････････････

･･････････････････････････････････ 1
1.1 R-J3 CONTROLNET OVERVIEW ･････････････････････････････････････････････
･････････････････････････････････････････････ 2
1.2 CONTROLNET NETWORK OVERVIEW ･･･････････････････････････････････････
･･･････････････････････････････････････ 3
1.2.1 ControlNet Interface Network Connections ･･･････････････････････････････････････････ 3
1.2.2 Network Requirements ･････････････････････････････････････････････････････････････ 4
1.2.3 Network Update Time (NUT) ･･･････････････････････････････････････････････････････ 5
1.2.4 MAC ID Assignments ･･････････････････････････････････････････････････････････････ 5
1.2.5 ControlNet Cable Installation Guidelines ････････････････････････････････････････････ 6
1.3 R-J3 CONTROLNET HARDWARE DESCRIPTION･･････････････････････････････
DESCRIPTION･･････････････････････････････ 7
1.4 R-J3 CONTROLNET SOFTWARE DESCRIPTION ･･････････････････････････････ 8
1.4.1 Connections ･･･････････････････････････････････････････････････････････････････････ 8
1.4.2 Communications･･･････････････････････････････････････････････････････････････････ 8
1.4.3 ControlNet Devices ････････････････････････････････････････････････････････････････ 8

2 CONFIGURATION
CONFIGURATION OVERVIEW ･････････････････････････････ 10
2.1 CONTROLNET NETWORK INSTALLATION････････････････････････････････
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INSTALLATION ･･････････････････････････････････
2.2 CONTROLNET DEVICE PERSONALITIES ･･･････････････････････････････････
･･･ 12
･･･････････････････････････････････12
2.2.1 Setting R-J3 ControlNet Adapter Personality ････････････････････････････････････････ 13
2.2.2 Setting R-J3 ControlNet Scanner Personality ････････････････････････････････････････ 14
2.3 ADAPTER MODE CONFIGURATION OUTLINE ･･････････････････････････････15
･･････････････････････････････15
2.4 R-J3 CONT
CONTROLNET
ROLNET SCANNER MODE CONFIGURATION OUTLINE ･･････････16
･･････････16

3 ADAPTER MODE CONFIGURATION ････････････････････････ 17

3.1 OVERVIEW ････････････････････････････････････････････････････････････････
････････････････････････････････18
････････････････････････････････････････････････････････････････18
3.2 SETTING UP YOUR ROBOT ････････････････････････････････････････････････
････････････････19
････････････････････････････････････････････････19

4 SCANNER MODE CONFIGURATION････････････････････････

CONFIGURATION ････････････････････････ 24
4.1 OVERVIEW ････････････････････････････････････････････････････････････････
････････････････････････････････25
････････････････････････････････････････････････････････････････25
4.2 SETTING UP AN R-J3 SCANNER ････････････････････････････････････････････
････････････26
････････････････････････････････････････････26
4.2.1 Setting up a ControlNet Network with Scheduled I/O･････････････････････････････････ 26
4.2.2 Setting the R-J3 Controller as a Scanner ････････････････････････････････････････････ 26
4.2.3 Setting Up a Scan List on your Robot ･･･････････････････････････････････････････････ 29
4.2.4 Downloading a Scan List to the R-J3 ControlNet Interface ････････････････････････････ 37

5 NETWORK CONFIGURATION AND SCHEDULING ･･････････ 38

5.1 NETWORK CONFIGURATION ･･････････････････････････････････････････････
･･････････････39
･･････････････････････････････････････････････39

6 CONTROLNET I/O
I/O CONFIGURATION ･･･････････････････････ 41
6.1 CONTROLNET I/O AND ASSIGNMENTS ･････････････････････････････････････
･････ 42
･････････････････････････････････････42
6.2 USER PROGRAM ACCESS ･･････････････････････････････････････････････････
･･････････････････43
･･････････････････････････････････････････････････43
6.3 CONTROLNET BACKUP AND RESTORE ････････････････････････････････････
････ 44
････････････････････････････････････44

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CONTENTS   B-81584EN/01

7 HARDWARE, DIAGNOSTICS, AND TROUBLESHOOTING ････ 46

7.1 CONTROLNET HARDWARE ････････････････････････････････････････････････
････････････････47
････････････････････････････････････････････････47
7.1.1 Hardware Requirements ･･････････････････････････････････････････････････････････ 47
7.1.2 ControlNet Interface Description ･･･････････････････････････････････････････････････ 47
7.1.3 ControlNet LED Descriptions ･･････････････････････････････････････････････････････ 49
7.1.4 Board Address Configuration DIP Switch Settings ･･･････････････････････････････････ 51
7.1.5 Installing the ControlNet Interface Board in the R-J3 Controller ･･････････････････････ 52
7.2 DIAGNOSTICS ･････････････････････････････････････････････････････････････
･････････････････････････････55
･････････････････････････････････････････････････････････････55
7.2.1 Board List ･･･････････････････････････････････････････････････････････････････････ 55
7.2.2 Board Detail ･････････････････････････････････････････････････････････････････････ 57
7.2.3 Board Adapter Configuration ･･････････････････････････････････････････････････････ 60
7.2.4 Device List ･･･････････････････････････････････････････････････････････････････････ 61
7.2.5 ControlNet Device Detail ･･････････････････････････････････････････････････････････ 61
7.3 TROUBLESHOOTING ･･････････････････････････････････････････････････････
･･････････････････････64
･･････････････････････････････････････････････････････64

8 USING TCP/IP WITH CONTROLNET････････････････････････

CONTROLNET ････････････････････････ 67
8.1 OVERVIEW ････････････････････････････････････････････････････････････････
････････････････････････････････68
････････････････････････････････････････････････････････････････68
8.2 SYSTEM REQUIREMENTS ･････････････････････････････････････････････････
･････････････････69
･････････････････････････････････････････････････69
8.3 SETTING UP YOUR PC ･････････････････････････････････････････････････････
･････････････････････70
･････････････････････････････････････････････････････70
8.3.1 Install the RSNetWorx 2.0 Software ････････････････････････････････････････････････ 70
8.3.2 Installing the 5136-CN Card ･･･････････････････････････････････････････････････････ 70
8.4 CONFIGURING THE 5136-CN CARD ････････････････････････････････････････
････････71
････････････････････････････････････････71
8.4.1 Installing the 5136-CN Card Firmware and Utilities ･････････････････････････････････ 71
8.4.2 Using the SST Software to Configure the 5136-CN Card ･･････････････････････････････ 71
8.4.3 Setting up Your R-J3 Controller ････････････････････････････････････････････････････ 79

APPENDIX

A CONTROLNET HARDWARE
HARDWARE PART NUMBERS ･･･････････････ 83
A.1 CONTROLNET HARDWARE PART NUMBERS ･･･････････････････････････････84
･･･････････････････････････････84

B CONTROLNET SYSTEM VARIABLES ･･･････････････････････ 85

B.1 OVERVIEW ････････････････････････････････････････････････････････････････
････････････････････････････････86
････････････････････････････････････････････････････････････････86
B.2 SYSTEM SETTINGS AND VARIABLES ･･･････････････････････････････････････
･･･････ 87
･･･････････････････････････････････････87

C CONTROLNET ERROR CODES ･････････････････････････････ 99

C.1 CONTROLNET ERROR AND CAUSE CODES ･･･････････････････････････････ 100
C.2 PRIO-156 ERROR CODES ･････････････････････････････････････････････････
･････････････････････････････････････････････････ 105

D RESPONSE TIME
TIME ･････････････････････････････････････････
･････････････････････････････････････････ 108
D.1 RESPONSE TIME ････････････････････････････････････････････････････････
････････････････････････････････････････････････････････ 109

E EDS FILES (ADAPTER AND SCANNER) ････････････････････ 111

E.1 OVERVIEW ･･･････････････････････････････････････････････････････････････
･･･････････････････････････････ 112
･･･････････････････････････････････････････････････････････････112
E.2 R-J3 ADAPTER EDS FILE ･･････････････････････････････････････････････････
･･････････････････ 113
･･････････････････････････････････････････････････113
E.3 R-J3 SCANNER EDS FILE ･････････････････････････････････････････････････
･････････････････ 116
･････････････････････････････････････････････････116
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B-81584EN/01   CONTENTS

F SST CCT AND EXAMPLE PROGRAMS･･････････････････････

PROGRAMS･･････････････････････ 118
F.1 OVERVIEW ･･･････････････････････････････････････････････････････････････
･･･････････････････････････････ 119
･･･････････････････････････････････････････････････････････････119
F.2 SST CONTROLNET CONFIGURATION TOOL ･･････････････････････････････ 120
F.3 PROGRAMMING EXAMPLES
EXAMPLES ･････････････････････････････････････････････
･････････････････････････････････････････････ 121
F.3.1 R-J3 Scanner Scanning an R-J3 Adapter ･･･････････････････････････････････････････ 121
F.3.2 Setting Up an R-J3 Scanner as a Peer to PLC-5 ･････････････････････････････････････ 135
F.3.3 Setting Up an R-J3 as a Peer to ControlLogix 5000 ･･････････････････････････････････ 139
F.3.4 Setting Up an R-J3 as an Adapter Scanned by ControlLogix 5000･････････････････････ 144

c-3
B-81584EN/01 1.CONTROLNET OVERVIEW

1 CONTROLNET OVERVIEW
Topics In This Chapter Page
R-J3 ControlNet This section contains an overview of the R-J3 ControlNet Interface. ･････････ 2
Overview
ControlNet Network This section contains an overview of ControlNet. ･････････････････････････ 3
Overview ● ControlNet Interface network connections ･････････････････････････････ 3
● Network requirements･･･････････････････････････････････････････････ 4
● Network Update Time (NUT) ･････････････････････････････････････････ 5
● MAC ID assignments ･･･････････････････････････････････････････････ 5
● ControlNet cable installation guidelines････････････････････････････････ 6
R-J3 ControlNet This section contains an overview of the R-J3 ControlNet hardware
Hardware Description components. ････････････････････････････････････････････････････････ 7
R-J3 ControlNet Software This section contains an overview of the R-J3 ControlNet software. ･････････ 8
Description ● Connections ･･･････････････････････････････････････････････････････ 8
● Communications ･･･････････････････････････････････････････････････ 8
● ControlNet devices ･････････････････････････････････････････････････ 8

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1.CONTROLNET OVERVIEW B-81584EN/01

1.1 R-J3 CONTROLNET OVERVIEW

It allows you to use an open, industry-standard, networking protocol to communicate

from the robot to a wide array of industrial devices, from simple photoelectric switches
and proximity switches to programmable logic controllers (PLCs). In addition, the R-
J3 ControlNet Interface offers the following benefits:
● It offers you a better process solution through simplified I/O wiring and a
reduction in interface hardware, which results in a communications system that is
easier to develop and debug.
● Depending on your hardware configuration, it can offer you the ability to connect
to up to two different networks. You can
– Use one network for communications between a host and several controllers
in a cell and a second network for all devices local to a single controller.
– Use one network that is heavily loaded and has a much larger Network Update
Time (NUT), such as 20 ms, and use the second network for devices that need
much faster NUT, such as 2 ms.
It conforms to the Version 2.0 ControlNet Specification, Errata 2, published by
ControlNet International. When installed properly, the ControlNet Interface can be
used in combination with any of the following:
● Allen–Bradley Remote I/O
● DeviceNet Interface
● Ethernet communications
● Genius I/O
● Model A I/O modules
● Model B I/O modules
● Process I/O boards
● Profibus DP

To give you a better idea of how you can use the ControlNet Interface in your system,
the following sections provide a physical and functional description of the ControlNet
Interface.

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B-81584EN/01 1.CONTROLNET OVERVIEW

1.2 CONTROLNET NETWORK OVERVIEW

A ControlNet network consists of ControlNet cards, ControlNet-compatible devices,

and configuration software.

With ControlNet, it is possible to have two kinds of data on a single physical cable:
● Scheduled I/O - I/O update and peer to peer interlocking
● Unscheduled I/O- messaging and network configuration data
Information that is not time-critical is given lower priority on the network, which
allows time critical control and I/O data to be transmitted more efficiently.

1.2.1 ControlNet Interface Network Connections

Each ControlNet daughterboard is connected to your ControlNet network with a

standard ControlNet cable, which has BNC connector ends. Refer to Chapters 3 and 4
for detailed information about connecting and configuring your ControlNet network.
The devices on your ControlNet network are assigned to racks 85 and 86 in the R-J3
controller. Refer to Chapter 6 for more information about assigning I/O to ControlNet
devices, or refer to the FANUC Robot series R-J3 Controller OPERATOR’S MANUAL
for more information.

MAIN CPU PCB ControlNet Interface Motherboard

ControlNet Daughterboards
MAIN
Processor PC/104
socket w/
Network ControlNet
Processor

Controller Backplane

Figure 1-1. ControlNet I/O Hardware Connection Block Diagram

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1.CONTROLNET OVERVIEW B-81584EN/01

1.2.2 Network Requirements

You need to use coaxial cables with BNC connectors to connect the ControlNet
Interface card to your network.

Figure 1-2. ControlNet Network Layout

You will also need to provide the following components for your ControlNet network.
● Trunk line cable
● T–connectors
● Drop cables
● Cable terminator - one resistor is needed on each end of the trunk line to prevent
reflections from occurring. Terminators are 75 Ω resistors in a BNC connector.
The following components are optional:
● External master device (such as a PLC) with a separate ControlNet scanner.
● ControlNet–compatible devices
● A ControlNet network configuration device or software for devices that can be
configured only through software
Part numbers of certain network components are listed here for reference. Contact your
distributor for the latest part numbers.
● Trunk line RG-6 Coax Cable (Allen-Bradley 1786-RG6)
● Allen-Bradley ControlNet Taps (1786-TPS, 1786-TPYS, 1786-TPR, 1786-
TPYR)
● Allen-Bradley ControlNet Network Terminators (1786-XT)

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B-81584EN/01 1.CONTROLNET OVERVIEW

1.2.3 Network Update Time (NUT)

The ControlNet protocol divides the network bandwidth into a series of fixed intervals.
Each of these fixed intervals is called a Network Update Time (NUT), as shown in
Figure 1-3. Each NUT is divided into the following three intervals:
● Scheduled data transfer
● Unscheduled data transfer
● Guardband or Network Maintenance

Figure 1-3. ControlNet Network Update Time

The scheduled portion of the NUT is for devices that need to exchange time critical data,
such as control and I/O data. The unscheduled portion of the NUT is for devices that
need to exchange information that is not time critical, such as messaging, or network
configuration data. The network maintenance portion of the NUT is used to set the
network for the next NUT.

1.2.4 MAC ID Assignments

For devices on a network, a MAC (Media Access Control) ID is the unique hardware
number for the device it is associated with. When a device in online, a table that is part
of the ControlNet software relates the device’s IP address to the device’s physical
(MAC) ID on the network.

Devices that exchange scheduled I/O can have a MAC ID ranging from 1-92.
Unscheduled devices can have a MAC ID ranging from 1-99.

It is recommended that all of the MAC IDs of different devices be packed (do not leave
any unused MAC IDs between two consecutive MAC IDs). Also, it is recommended
that scanners have the lowest MAC IDs.

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1.CONTROLNET OVERVIEW B-81584EN/01

1.2.5 ControlNet Cable Installation Guidelines

Proper cabling of a ControlNet Network is necessary for correct and reliable operation
of ControlNet. Refer to the ControlNet Specification and ControlNet International for
correct system installation information. You can obtain additional information by
referring to Rockwell Software’s ControlNet Coax Cable System Planning and
Installation Manual Cat.No.1786-6.2.1, or its equivalent. This manual can be found as
a downloadable document on Allen Bradley’s internet site, located at the following
address: http://www.ab.com/manuals/cn/controlnet.html.

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B-81584EN/01 1.CONTROLNET OVERVIEW

1.3 R-J3 CONTROLNET HARDWARE DESCRIPTION

The ControlNet Interface hardware consists of the following components:

● A wide-mini motherboard, which provides the interface between the R-J3
controller backplane and the PC-104 connection of the daughterboards. Refer to
the Fig.A-2 of Appendix A.
● One ControlNet daughterboards can be installed on the wide-mini motherboard.

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1.CONTROLNET OVERVIEW B-81584EN/01

1.4 R-J3 CONTROLNET SOFTWARE DESCRIPTION

You must install the ControlNet Interface software option on your R-J3 controller
before you can configure and use the ControlNet Interface. This software is option.
Consult FANUC service representative for detailed information.

1.4.1 Connections

The R-J3 controller uses the ControlNet software to exchange data with ControlNet
devices through a shared memory area on the R-J3 ControlNet Interface. This in turn
allows the R-J3 controller to send and receive I/O status, receive diagnostic information
from devices on the network, and send commands to devices on the network. See
Figure 1-4.

Figure 1-4. ControlNet Interface Software Connection Block Diagram

1.4.2 Communications

The ControlNet Interface and network protocol enables the R-J3 controller to
communicate with adapter and scanner devices on your network simultaneously.

1.4.3 ControlNet Devices

There are two major classes of ControlNet devices:

● Scanner Class devices
● Adapter Class devices
Scanner class devices such as robots, PLCs, and weld controllers initiate I/O exchange
with adapter class devices such as sensors, flex I/O, and 1771 I/O. Adapter Class
devices can have both input and output data connections. However, Adapter Class
devices can send or receive data only after a connection has been created by a Scanner
Class device. Scanner Class devices can exchange data with each other using standard
peer-to-peer connections.

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B-81584EN/01 1.CONTROLNET OVERVIEW

Any number of scanners or adapters, up to the maximum node limit you have specified,
can be used on you ControlNet Network.
● There are 92 Scheduled nodes available
● There are 99 Unscheduled nodes available

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2.CONFIGURATION OVERVIEW   B-81584EN/01

2 CONFIGURATION OVERVIEW
Topics In This Chapter Page
ControlNet Network This section contains an overview of ControlNet network installation. ･･･････ 11
Installation
ControlNet Device This section describes the parameters that make up the personality of a
Personalities device on the ControlNet network. These personalities make it possible for
network tools to identify the device. ････････････････････････････････････ 12
● Setting R-J3 ControlNet Adapter personality ･･･････････････････････････ 13
● Setting R-J3 ControlNet Scanner personality ･･････････････････････････ 14
Adapter Mode This section contains an overview of the steps involved in configuring a
Configuration Outline ControlNet network with the R-J3 controller in adapter mode. ･･････････････ 15
Scanner Mode This section contains an overview of the steps involved in configuring a
Configuration Outline ControlNet network with the R-J3 controller in scanner mode. ･･････････････ 16

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B-81584EN/01   2.CONFIGURATION OVERVIEW

2.1 CONTROLNET NETWORK INSTALLATION

The R-J3 ControlNet interface can operate as a scanner or an adapter on a ControlNet

network. In order to install a network, the following steps need to be taken:
1. Adapter Configuration - I/O Sizes (R-J3 Adapter or other)
2. Scanner Configuration - Scan List and I/O sizes (R-J3 Scanner or other)
3. Network Configuration - Required for all ControlNet networks
A ControlNet adapter is a device that does not originate communications. R-J3 Adapter
Configuration involves setting up the correct I/O sizes on the adapter for the controller.
This setup is done with the robot controller teach pendant, and is discussed in detail in
Chapter 3.

A ControlNet scanner is a device that originates connections. R-J3 Scanner

configuration requires you to set up a scan list. This requires the use of PC-based SST
Scanner Configuration tool. This step is discussed in detail in Chapter 4.

Network Configuration is the process of scheduling I/O to meet I/O update

requirements. A PC-based Network configuration tool such as Allen-Bradley
RSNetWorx for ControlNet is used to configure a network. This step is required for all
ControlNet networks regardless of any R-J3 ControlNet interfaces.

The Network Configuration tool queries each scanner for its scan list and then
schedules I/O to meet update requirements. If the update requirements are not met, the
Network Configuration tool will inform the user and appropriate action such as
correcting the scan list of scanners or selecting different network parameters need to be
taken.

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2.CONFIGURATION OVERVIEW   B-81584EN/01

2.2 CONTROLNET DEVICE PERSONALITIES

In order for a network configuration tool to operate and perform network configuration,
each device on the ControlNet network has associated with it the following parameters
so that it can be identified on the network by tools:
● Vendor ID - Specified by ControlNet International
● Device Type - Specified by ControlNet Specification
● Product Code - Specified by Vendor/Manufacturer of Device
● Major Revision - Specified by Vendor/Manufacturer of Device
● Minor Revision - Specified by Vendor/Manufacturer of Device
These parameters give a device a certain personality on the network that is recognized
by others.

Each device has an associated EDS (Electronic Data Sheet) file that documents the
above parameters , or personality, in an electronic format so that a configuration tool
can derive information about the device. This requires that the network configuration
tool support EDS files.

In order for a tool to perform network configuration successfully and correctly, it

should recognize all devices present on the network.

The most commonly used configuration tool is the Allen-Bradley RSNetWorx for
ControlNet. RSNetWorx Version 1.8 does not support EDS files. This version of the
tool does not recognize most devices manufactured by vendors other than Allen
Bradley. Therefore, all the devices on a network that is configured using RSNetWorx
1.8 must be Allen-Bradley devices or set as if they functioned as Allen Bradley devices.

The newer version of RSNetWorx, Version 2.0 supports EDS files. Therefore, this
version can be used to configure networks to configure networks using devices from
different vendors.

The R-J3 ControlNet Interface assumes a different personality based on how it is being
used. The personality of the R-J3 ControlNet Interface is configurable to allow it to be
used on any ControlNet network. Figure 2-1 outlines this information.

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B-81584EN/01   2.CONFIGURATION OVERVIEW

Figure 2-1. R-J3 ControlNet Personalities

As seen in Figure 2-1, the R-J3 ControlNet Interface needs to be configured with
different personalities under various situations. The personality is set using system
variables.

2.2.1 Setting R-J3 ControlNet Adapter Personality

Table 2-1 gives the values of different system variables that need to be set for a certain
personality to take effect. It is strongly recommended to use these values for different
situations. For use with tools that allow use of EDS files, use 5136-CN-104 Simple
Adapter personality.

Table 2-1. R-J3 ControlNet Adapter Personalities

System Variable 5136-CN-104

2711-T14
(# = board number) Simple Adapter
$CN_ADP_CNF[#].$cn_bd_vndid 8 1
$CN_ADP_CNF[#].$cn_bd_dtype 12 24
$CN_ADP_CNF[#].$cn_bd_pcode 2 9
$CN_ADP_CNF[#].$cn_bd_majrv 1 1
$CN_ADP_CNF[#].$cn_bd_minrv 1 1
$CN_ADP_CNF[#].$cn_class 4 4
$CN_ADP_CNF[#].$cn_inst 1 1
$CN_ADP_CNF[#].$cn_conpt0 8 8
$CN_ADP_CNF[#].$CN_CONPT1 7 7

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2.CONFIGURATION OVERVIEW   B-81584EN/01

2.2.2 Setting R-J3 ControlNet Scanner Personality

Table 2-2 defines the personality settings for the R-J3 ControlNet Scanner. If the
network in which the R-J3 Scanner is used supports EDS files, then use the 5136-CN-
104 Scanner Personality. If the R-J3 Scanner is used in a network that is configured by
RSNetWorx 1.8, then configure the R-J3 Scanner to a KTCS Scanner.

Table 2-2. R-J3 ControlNet Scanner Personalities

System Variable 5136-CN-104

1784-KTCS
(# = board number) Scanner
$CN_BD_INFO[#].$cn_bd_vndid 8 1
$CN_BD_INFO[#].$cn_bd_dtype 12 12
$CN_BD_INFO[#].$cn_bd_pcode 8 33
$CN_BD_INFO[#].$cn_bd_majrv 1 1
$CN_BD_INFO[#].$cn_bd_minrv 1 1

For use with RSNetWorx 2.0, it is very strongly recommended that 5136-CN-104
personalities be used for both Scanner and Adapter. The EDS files are listed in
Appendix E. Obtain electronic versions of the EDS files and register them with
RSNetWorx 2.0. This will enable RSNetWorx 2.0 to recognize the R-J3 ControlNet
Interfaces on the network and allow proper configuration of the network.

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B-81584EN/01   2.CONFIGURATION OVERVIEW

2.3 ADAPTER MODE CONFIGURATION OUTLINE

The general adapter configuration flow is shown in Figure 2-2.

Figure 2-2. R-J3 ControlNet Adapter Mode Configuration

Refer to Chapter 3 for information about setting up the R-J3 ControlNet Adapter
Interface.

If you are using a network without EDS file support such as RSNetWorx 1.8, then you
will need to determine which type of Scanner your R-J3 controller is configured to
communicate with. If you want to configure your R-J3 controller to exchange I/O with
a PLC 5, then you should configure your R-J3 Controller as a regular HMI 2711-T14
Adapter.

If you are going to configure the R-J3 to exchange I/O with a ControlLogix 5000
processor then you will need to configure the R-J3 as a generic module. Appendix F
provides an example about how to configure a ControlLogix 5000 processor for a
generic module.

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2.CONFIGURATION OVERVIEW   B-81584EN/01

2.4 R-J3 CONTROLNET SCANNER MODE CONFIGURATION

OUTLINE

After you have properly configured the Adapters, the Scanners can be configured based
on the configuration shown in Figure 2-3.

Figure 2-3. R-J3 ControlNet Scanner Mode Configuration

The SST Scanner Configuration tool is used to configure the R-J3 ControlNet Network
Interface.

If the network configuration tool is RSNetWorx 1.8, R-J3 ControlNet Interface must be
configured for the 1784-KTCS personality. Refer to Chapter 4 and Appendix F.

If the network configuration tool is RSNetWorx 2.0, R-J3 ControlNet Interface must be
configured for the 5136-CN-104 Scanner personality. Refer to Chapter 4 and
Appendix F.

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B-81584EN/01   3.ADAPTER MODE CONFIGURATION

3 ADAPTER MODE CONFIGURATION

Topics In This Chapter Page
Overview This section contains an overview of R-J3 ControlNet Interface Adapter mode
configuration. ･･･････････････････････････････････････････････････････ 18
Setting Up Your Robot This section describes how to set up your robot for R-J3 ControlNet Interface
Adapter mode. ･･････････････････････････････････････････････････････ 19

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3.ADAPTER MODE CONFIGURATION   B-81584EN/01

3.1 OVERVIEW

Installing and configuring the ControlNet Interface on the R–J3 controller requires
that you perform the following steps:
1. Install the ControlNet Interface board in the R–J3 controller, if it was not
supplied from the factory. Refer to Chapter 7.
2. Turn on your R-J3 controller, and verify that your ControlNet Interface board is
detected. The Board List screen should not display “NOBOARD” for the
interface card installed. Refer to Section 7.2.1.
3. Configure the ControlNet Interface board or boards in your R-J3 controller.
Refer to Section 3.2.
4. Configure the scanners on your ControlNet network. For configuration
information regarding the R-J3 controller as a scanner, refer to Section 4.2.
5. After you have configured your adapters and scanners, you need to configure
them on the network. Refer to Chapter 5 for a summary of how to configure the
ControlNet network.

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B-81584EN/01   3.ADAPTER MODE CONFIGURATION

3.2 SETTING UP YOUR ROBOT

Before you can connect the ControlNet Interface daughterboards to devices on the
ControlNet network, you must configure them properly. Use Procedure 3-1 to set up
your robot.

Procedure 3-1 is used to set up your robot controller in adapter mode. This is
recommended because this is an easier method than configuring the robot as a scanner.
Setting the R-J3 controller in adapter mode does not require you use the SS
Technologies ControlNet Configuration Tool. After completing this step you will
need to perform Network Configuration with a tool such as the RSNetWorx
configuration tool.

NOTE
Procedure 3-1 is used to configure a network with one ControlNet
daughterboard.

Procedure 3-1 Setting Up the R-J3 Controller ControlNet Board as an Adapter

If you are using a network that supports EDS files, set up the adapter as a 5136-CN-
104 simple adapter. Refer to Table 3-1.

Table 3-1. R-J3 ControlNet Adapter Personalities

System Variable 5136-CN-104

2711-T14
(# = board number) Simple Adapter
$CN_ADP_CNF[#].$cn_bd_vndid 8 1
$CN_ADP_CNF[#].$cn_bd_dtype 12 24
$CN_ADP_CNF[#].$cn_bd_pcode 2 9
$CN_ADP_CNF[#].$cn_bd_majrv 1 1
$CN_ADP_CNF[#].$cn_bd_minrv 1 1
$CN_ADP_CNF[#].$cn_class 4 4
$CN_ADP_CNF[#].$cn_inst 1 1
$CN_ADP_CNF[#].$cn_conpt0 8 8
$CN_ADP_CNF[#].$cn_conpt1 7 7

1. Press MENUS, and select I/O.

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3.ADAPTER MODE CONFIGURATION   B-81584EN/01

2. Press F1, [TYPE].

3. Select ControlNet. You will see a screen similar to the following.

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B-81584EN/01   3.ADAPTER MODE CONFIGURATION

4. Select the board you want to set up, and press F3, DETAIL. You will see a
screen similar to the following.

I/O ControlNet JOINT 10 %

Board Detail 1/13

Board: 1 Status : OFFLINE

Motherboard: Full-slot
1 Operation Mode: SCANNR
2 Param Change Mode: NET ULK
3 Input Error State: ZERO
4 Scanner Change Mode: STOP
5 Adapter Err Sevrty: WARN
ControlNet Parameters:
6 MAC-Id: 2
7 NUT (us): 4000
8 SMAX: 8
9 UMAX: 16
10 Slot (us): 24
11 Gbpre (10us): 16
12 Gbstrt (10us): 11
13 Gbcenter (10us): 8

[ TYPE ] SCANNR ADPTR HELP >

[ TYPE ] LOCK NET ULK HELP >

[ TYPE ] KEEP ZERO HELP >

[ TYPE ] WARN STOP PAUSE HELP >

[IPCFG ] ADPCNF

[TYPE ] LIST HELP >

5. Set the operation mode to adapter. Press F3, ADPTR

6. Verify the configuration by pressing NEXT, >, and then press ADPCNF. You
will see a screen similar to the following.

I/O ControlNet JOINT 10 %

Adapter Configuration 1/3
1 Input Size (Words) : 8
2 Output Size (Words) : 8
3 Output Header (Words) : 0

[ TYPE ] BDDT HELP

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3.ADAPTER MODE CONFIGURATION   B-81584EN/01

7. Move the cursor to Input Size (Words) and set the value to the desired size in
Words (16-bit). The term input size implies the size of the data received by the
Adapter mode connection from a scanner.

8. Move the cursor to Output Size (Words) and set the value to the desired size in
Words (16-bit). The term output size implies the size of the output data sent to a
scanner.

9. The Output Header size should be 2 for applications where a Rockwell

Automation PLC-5 device is being used as the scanner to the R-J3 ControlNet
Interface.
Scanners such as PLC-5 series assume a non-configurable fixed application
header size of two words. The I/O is offset from the start of the message by two
words. The Output Header field on the Adapter Configuration screen provides a
mechanism to allow for such a header offset so that I/O on the robot starts at point
1 of mappable I/O on the robot.

10. Press F3, PREV, or BDDT to return to the Board Detail screen.

11. Move the cursor to Param Change Mode. For Adapter operation mode it is not
suggested to use any other parameter change mode than Network Unlock
(NET_ULK). The Lock (LOCK) mode is used to prevent any changes to the
Network Configuration unless you specifically enable it. Use one of the
following function keys to set the Param Change Mode to NET ULK:
● NET ULK: This allows network changes and disables scan-list changes.
This is the default for adapter mode.
● LOCK: This prevents changes from being be made.

Set for Safe

12. Move the cursor to Input Error State. Use one of the following function keys to
set the Input Error State to one of the following modes:
● KEEP: All the last inputs are saved if a connection to a device on the
network is terminated.
● ZERO: The input values are set to zero when a connection to a device on the
network is terminated.

13. Move the cursor to the Adapter Error Severity selection (Scanner Error Severity
is ignored in Adapter mode). For I/O critical applications, you might change the
Adapter Error Severity from WARN to either STOP or PAUSE based on the
following information:
● STOP: Pauses program execution and stops robot motion. When a motion is
stopped, the robot decelerates to a stop and any remaining part of the current
motion segment is saved, meaning the motion can be resumed. STOP errors

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B-81584EN/01   3.ADAPTER MODE CONFIGURATION

usually indicate that some action must be taken before the motion and
program execution can be resumed.
● PAUSE: Pauses program execution but allows the robot to complete its
current motion segment, if any are in progress. This error typically indicates
that some action must be taken before program execution can be resumed.
PAUSE errors cause the operator panel FAULT light to go on and the teach
pendant FAULT LED to go on.
● WARN: Notifies you of potential problems or unexpected circumstances.
They do not directly affect any operations that might be in progress.

14. Move the cursor to the MAC Id. Type in a value between 1 and 92. See the
following screen for an example.

I/O ControlNet JOINT 10 %

Board Detail 1/13

Board: 1 Status : OFFLINE

Motherboard: Full-slot
1 Operation Mode: ADPTR
2 Param Change Mode: NET ULK
3 Input Error State: ZERO
4 Scanner Change Mode: STOP
5 Adapter Err Sevrty: WARN
ControlNet Parameters:
6 MAC-Id: 2
7 NUT (us): 4000
8 SMAX: 8
9 UMAX: 16
10 Slot (us): 24
11 Gbpre (10us): 16
12 Gbstrt (10us): 11
13 Gbcenter (10us): 8

[ TYPE ] SCANNR ADPTR HELP >

[ TYPE ] LOCK NET ULK SCN ULK HELP >

[ TYPE ] KEEP ZERO HELP >

[ TYPE ] WARN STOP PAUSE HELP >

[IPCFG ] ADPCNF

[TYPE ] LIST HELP >

15. Turn the controller off, and then on for this change to take effect.
I/O that corresponds to this adapter needs to be mapped. Refer to Chapter 6 for
details on assigning I/O.

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4 SCANNER MODE CONFIGURATION

Topics In This Chapter Page
Overview This section contains an overview of ControlNet scanner configuration. ･････ 25
Setting Up an R-J3 This section contains information about how to configure an R-J3 as a
Scanner scanner. ････････････････････････････････････････････････････････････ 26
● Setting up a ControlNet network with scheduled I/O ････････････････････ 26
● Setting the R-J3 Controller as a scanner ･･････････････････････････････ 26
● Setting up a scan list on your robot ･･･････････････････････････････････ 29
● Downloading a scan list to the R-J3 ControlNet Interface ････････････････ 37

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

4.1 OVERVIEW

This chapter describes how to configure an R-J3 controller as a scanner. The R-J3
controller requires the use of the SST ControlNet Configuration Tool (CCT). The
procedure in this chapter covers the configuration of an R-J3 Scanner scanning another
R-J3 Adapter that was set up using the procedure in Chapter 3. Refer to Appendix F for
additional programming examples.

Scanner configuration requires that you configure the scanner on the R-J3 controller
and then create the Scan List using the CCT or RSNetWorx. This chapter describes
how to use the CCT and configure the R-J3 Scanner. For more detailed information on
the CCT, refer to the online documentation, which can be found on the CD-ROM
containing the SS Technologies PC software, or visit the SST web site for other
information about the SS Technologies CCT software.

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4.2 SETTING UP AN R-J3 SCANNER

This section contains information on how to configure the R-J3 ControlNet Interface as
a scanner and as a peer to another scanner. Refer to Appendix F for information on
setting up peer connections between PLC-5s and ControlLogix 5000s.

NOTE
The SST ControlNet Configuration Tool is used only to set up the R-J3
ControlNet Interface. Other scanners might require different
configuration tools. You should contact the manufacturer of these
devices if you need more information about using them with your
ControlNet network.

4.2.1 Setting up a ControlNet Network with Scheduled I/O

After you have installed your ControlNet Interface, you will need to set up a scanner
class device to initiate communication with adapter devices. There are three main steps
that you must perform to set up a ControlNet network with scheduled I/O Connections:
1. Set up your R-J3 controller.
2. Set up your ControlNet devices and create a scan list.
3. Configure the network parameters.
The devices can be scanners or adapters. Refer to Procedure 4-1 through Procedure 4-3
to set up your R-J3 ControlNet Interface as a scanner, and create a scan list. After you
have set up the R-J3 Scanner, refer to Chapter 5 to finish configuring your ControlNet
network.

4.2.2 Setting the R-J3 Controller as a Scanner

To configure your R-J3 ControlNet Interface as a scanner, you will need to create a scan
list of devices to which you want your ControlNet Interface to communicate. The scan
list also contains the list of scheduled I/O for devices on your network.

Each scan list can be unique as it communicates with selected devices on the network.
However, before you schedule your scan lists to be used by the R-J3 ControlNet, you
need to configure the R-J3 ControlNet Interface as a scanner. Use Procedure 4-1 to
configure the controller as a scanner.

Components Required for Setup

You need the following components to set up an R-J3 controller as a scanner :
● R-J3 ControlNet Interface software option
● SS Technologies SCT (Scanner Configuration Tool) to configure the R-J3 CNIF
Scan list; refer to Appendix F for information on SS Technologies SCT setup and
requirements.

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

● Network Configuration Tool to perform network scheduling. Refer to Chapter 5.

● Configuration tool for other scanners (optional)

Procedure 4-1 Setting up an R-J3 ControlNet Board as a Scanner Device

NOTE
If you are using a network that supports EDS files, set up the scanner as
a 5136-CN-104 module by setting the system variables to the values
shown in Table 4-1. For more details, refer to Chapter 2. These values
are default unless changed.

Table 4-1. R-J3 ControlNet Scanner Personalities

System Variable 5136-CN-104

(# = board number) Scanner
$CN_BD_INFO[#].$cn_bd_vndid 8
$CN_BD_INFO[#].$cn_bd_dtype 12
$CN_BD_INFO[#].$cn_bd_pcode 8
$CN_BD_INFO[#].$cn_bd_majrv 1
$CN_BD_INFO[#].$cn_bd_minrv 1

Step
1. Press MENUS, and select I/O.

2. Press F1, [TYPE].

3. Select ControlNet.

4. Select the Board you want to set up, and press F4, DETAIL. You will see the
Board Detail screen.

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5. Move the cursor to Operation Mode and select F2, SCANNR. You will see a
screen similar to the following:

I/O ControlNet JOINT 10 %

Board Detail 1/13

Board: 1 Status : OFFLINE

Motherboard: Full-slot
1 Operation Mode: SCANNR
2 Param Change Mode: NET ULK
3 Input Error State: ZERO
4 Scanner Change Mode: STOP
5 Adapter Err Sevrty: WARN
ControlNet Parameters:
6 MAC-Id: 2
7 NUT (us): 4000
8 SMAX: 8
9 UMAX: 16
10 Slot (us): 24
11 Gbpre (10us): 16
12 Gbstrt (10us): 11
13 Gbcenter (10us): 8

[ TYPE ] SCANNR ADPTR HELP >

[ TYPE ] LOCK NET ULK SCN ULK HELP >

[ TYPE ] KEEP ZERO HELP >

[ TYPE ] WARN STOP PAUSE HELP >

[IPCFG ] ADPCNF

[TYPE ] LIST HELP >

6. Move the cursor to Param Change Mode. In order to allow Scan List
modifications, set the Param Change Mode to SCN ULK. This will allow the CCT
Configuration to be loaded into the R-J3.

7. Move the cursor to Input Error State. Use the appropriate function key to set the
Input Error State to one of the following modes:

Function Key Description

KEEP This function key allows inputs to the R-J3 that were
configured by ControlNet remain in the state they were the
last time they were received.
ZERO This function key allows inputs to the R-J3 that were
configured by ControlNet to be set to ZERO or OFF.

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

8. Move the cursor to the Scanner Error Severity selection (Adapter Error Severity is
ignored in Scanner mode). For I/O operations which are not critical, you may
change the Scanner Error Severity from STOP to either WARN or PAUSE based
on the following information:
● STOP: Pauses program execution and stops robot motion. When a motion is
stopped, the robot decelerates to a stop and any remaining part of the current
motion segment is saved, meaning the motion can be resumed. STOP errors
usually indicate that some action must be taken before the motion and
program execution can be resumed.
● PAUSE: Pauses program execution but allows the robot to complete its
current motion segment, if any are in progress. This error typically indicates
that some action must be taken before program execution can be resumed.
PAUSE errors cause the operator panel FAULT light to go on and the teach
pendant FAULT LED to go on.
● WARN: Notifies you of potential problems or unexpected circumstances.
They do not directly affect any operations that might be in progress.

NOTE
It is suggested that the Scanner Error Severity be left at the STOP level
with Input Error State set to ZERO. If any I/O is not transferred to the
R-J3 then the program is paused and robot motion is stopped.

9. Move the Cursor to the MAC ID. Type in a value between 1 and 92. You must turn
the controller off and then on for this change to take effect.

4.2.3 Setting Up a Scan List on your Robot

After you have set up the robot as a scanner (Procedure 4-1 ) you need to create a scan
list with the SS Technologies ControlNet Configuration Tool. This section describes
how to create a scan list and load it on your robot. The following sections contain
detailed steps to create and save scan lists on the R-J3 ControlNet interface.

The following procedures assume you have installed the SST CCT on your PC. The PC
must be connected to the network,as the scan list is uploaded from the PC directly to the
PC/104 ControlNet PCB. See Appendix F for details on the SST CCT.

Your ControlNet Interface will need a scan list of the scanner-class devices on your
ControlNet network. Use the SST ControlNet Configuration Tool and Procedure 4-2 to
create a scan list on your robot.

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4.SCANNER MODE CONFIGURATION   B-81584EN/01

Procedure 4-2 Creating a Scan List with the SST Configuration Tool

Condition
■ The controller is in Cold start mode.
■ You have assigned the MAC-ID of the PC-104 PCB where you installed the
ControlNet interface.
■ You have installed the SST Technologies ControlNet Configuration Tool (CCT)
on your ControlNet System’s PC.

NOTE
The scan list will be uploaded directly from your ControlNet network’s
PC to the PC-104 PCB.

Step
1. From the Start menu, start the SST ControlNet Configuration Tool on the
Scanner/Network configuration PC. You will see a screen similar to the following.

2. If the appropriate EDS files of the devices to be configured are not already
available in the SST CCT, then you will need to register them now. Refer to the
online Help topic, Adding an EDS File to the Library, which can be found in the
online Help documentation for the SS Technologies ControlNet Configuration
Tool.

3. Set Network Properties. Right-click The Network (Network Configuration) and

select Properties.

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

4. Select General. Type the values for the Network Update Time (NUT), Maximum
Scheduled Nodes (SMAX), Maximum Unscheduled Nodes (UMAX), and
Redundancy. The default values are shown in the following screen.

5. On the right-hand pane, right-click on The Network (Network Configuration) and

select New Scanner. A Scanner identified as [1] Scanner1 (SST ControlNet
Scanner) will be created.

6. Select the Scanner1 icon and right click on it.

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4.SCANNER MODE CONFIGURATION   B-81584EN/01

7. Select Properties. The SST ControlNet Scanner Properties window will be appear.
Type a name for the new scanner. In the following screen, the name of the scanner
has been changed to RJ3A104. Set MAC ID to the device you are configuring as a
scanner. You will see a screen similar to the following.

8. Click Apply, and then click OK to apply the changes.

9. Select File, Save As. Identify an appropriate directory and file name, such as
rj3.cnc. The file is now backed up on the Configuration PC.
You have now created a null scan list. If you use the SST ControlNet
Configuration Tool to upload a null scan list from your network configuration PC
to the R-J3 ControlNet interface, the ControlNet interface will not automatically
make any I/O assignments with the null scan list.
To continue with making a connection to another R-J3 adapter, continue with Step
10 on the following pages.
Follow Procedure 4-3 to Send the Scan List to the R-J3.

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

10. Select the “5136-CN-104 Simple Adapter” for the EDS listing window and drag it
to the Scanner on the right window.

NOTE
If this device does not exist in the EDS list, obtain an electronic version
of the EDS file and register it with the CCT. Refer to Appendix F for more
details.

11. Right-click the Adapter entry in the right window.

12. Select Properties.

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13. The following window will be displayed.

14. Select the Exclusive Owner Connection tab.

15. Set the MAC ID so that it corresponds to the MAC ID of the adapter on the R-J3
controller. Set the O-T RPI, T-O RPI, the O-T size, the T-O size as required. The
O-T RPI is the update interval (in microseconds) for data coming from the scanner
to the adapter.
The T-O RPI is the update interval for the data coming from the adapter to the
scanner. The O-T size is the data coming from the scanner to the adapter. The T-O

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

size is the data coming from the adapter to the scanner in words. The Name field is
what will be displayed for the name of the device on the controller device list for
the scanner. When you are finished, select OK.

Loading the Scan List

The procedures in the following section show you how to load a scan list to the R-J3
ControlNet Scanner Interface.

Procedure 4-3 Sending the Scan List to the R-J3 ControlNet Interface

NOTE
The R-J3 ControlNet Interface Supports 1 Send (Output) Connection.
Multiple send messages should not be configured.

Step
1. Double-click The Network (Network Configuration) icon. The Network Properties
dialog box will be displayed.

2. If necessary, modify the NUT, SMAX, UMAX and Redundancy parameters to

match your network configuration. When you are finished with the updates, click
Apply.

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4.SCANNER MODE CONFIGURATION   B-81584EN/01

3. Click the Statistics Tab. A dialog box similar to the following will be displayed.
Use these statistics to help evaluate if the ControlNet network is overloaded. If the
scheduled bandwidth is greater than 80%, then you will need to click on the
General tab of the Network Properties dialog box, and increase the NUT.
Otherwise, click OK.

4. Select the SST ControlNet Scanner. To Save the scan list to the Robot, right click
on SST ControlNet Scanner icon. Select either Send Config through SST CN Card
or Config through RSLinx. Refer to Section 4.2.4.

5. The Scan list will be downloaded into the controller at the MAC ID specified. A
dialog box will be displayed appear, indicating the download was successful or
that an error was detected. If an error occurs, use both the CCT Help menu item
and Appendix C to solve the problem.

6. If the Network contains any Rockwell Automation Scanners, then you will need to
perform a Network Configuration. Refer to Chapter 4 for more information about
configuring your network.

7. Finally the R-J3 requires that changes to the physical and logical I/O configuration
be completed at power up. Turn the controller off, and then on again for the new
scan list to take effect.

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B-81584EN/01   4.SCANNER MODE CONFIGURATION

NOTE
In many cases, if your modifications to the Scan List are made without
having to change the NUT, SMAX, or UMAX, then you can simply
bypass steps 1-3 and start at Procedure 4-3, Step 4. However, this most
general case is presented in the event you need to change either of
these items.

At this point you have created a null scan list and loaded it into the R-J3. If the null
scan list is loaded via the CCT, the controller will not use the null scan list to create any
I/O assignments. However, this basic configuration is used in the following sections to
configure Allen Bradley PLC 5/40C devices, ControlLogix 5550 devices, and Flex I/O.

4.2.4 Downloading a Scan List to the R-J3 ControlNet Interface

This section describes downloading over ControlNet using an SST card and
downloading over ControlNet using RSLinx.

Downloading Over ControlNet Using an SST Card

If the computer you are running the SST ControlNet Configuration Tool on has an SST
ControlNet card that is online on the network (even if it is not running RSLinx), you
can use it to download the configuration over ControlNet. From the ControlNet
Configuration Tool, right click the scanner and select Send Config Through SST CN
Card. If necessary, select the path to the network. The Configuration Tool downloads
the configuration to the selected SST card and notifies you of its success or failure.

If you right-click The Network and select Send Config Through SST CN Card, the
Configuration Tool downloads the configuration to all SST cards on the network.

Downloading Over ControlNet Using RSLinx

Start RSLinx and establish a connection to the network. From the ControlNet
Configuration Tool, right-click the scanner and select Send Config Through RSLinx. If
necessary, select the path to the network. The Configuration Tool downloads the
configuration to the selected card and notifies you of its success or failure.

NOTE
To download the configuration using RSLinx, you must have either the
full (9355-WAB) or OEM (9355-WABOEM) version of RSLinx installed
on your computer. You cannot download using RSLinx Lite.

If you right-click The Network and select Config Through RSLinx, the Configuration
Tool downloads the configuration to all SST cards on the network.

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5.NETWORK CONFIGURATION
AND SCHEDULING B-81584EN/01

5 NETWORK CONFIGURATION AND

SCHEDULING
Topics In This Chapter Page
Network Configuration This section provides guidelines for ControlNet network configuration. ･･････ 39
● Using RSNetWorx to configure your network ･･････････････････････････ 39

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 5.NETWORK CONFIGURATION
B-81584EN/01 AND SCHEDULING

5.1 NETWORK CONFIGURATION

For correct operation of a ControlNet network, parameters such as the Scheduled

Maximum MAC ID (SMAX), Unscheduled Maximum MAC ID (UMAX), and
Network Update Time (NUT) need to be set after any changes to a network are
performed. Those changes include adding a node to the network, removing a node
from the network, updating the scan list of any scanner, or changing the size of any
scheduled I/O connection. A network configuration tool is required to perform this
operation.

You need Allen Bradley RSNetWorx 1.8 or later installed on your ControlNet
network’s PC to perform this procedure. Use Procedure 5-1 to configure your
ControlNet Network for RSNetWorx. Refer to the RSNetWorx documentation for
more information about using RSNetWorx to configure your network.

NOTE
This procedure is provided as a guideline only. If you have any
problems using RSNetWorx on any other PC-based tool, refer to the
technical support provided by the vendor of that tool.

Procedure 5-1 Using RS NetWorx to Configure your Network

Step
1. Start RSNetWorx on your PC.

2. Connect to your network with RSNetWorx by pressing the Online button. You
will see a screen similar to the following.

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5.NETWORK CONFIGURATION
AND SCHEDULING B-81584EN/01

3. If RSNetWorx has been used to configure other networks from the PC from
which you are currently running it, you might not be able to connect to certain
nodes. Set RSNetWorx to ignore connections for those devices. For further
information, refer the RSNetWorx User Manual.

4. Click to check the Edits Enabled check box to allow network updates.

5. Open the File menu and select Save.

6. The controller should post a STOP error indicating connections are broken as
network change is occurring. No board operations (ONLINE, OFFLINE) can be
done while this is in progress.

7. When the configuration is complete, a WARN error will be posted, indicating the
network configuration is complete. At this point the controller can be resumed,
and your ControlNet network is now ready to use.

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B-81584EN/01   6.CONTROLNET I/O CONFIGURATION

6 CONTROLNET I/O CONFIGURATION

Topics In This Chapter Page
ControlNet I/O and This section describes ControlNet I/O on the R-J3 controller. ･･････････････ 42
Assignments
User Program Access You can access and change the state of ControlNet I/O from KAREL,
Teach pendant, or PC-based programs. ････････････････････････････････ 43
ControlNet Backup and The ControlNet configuration can be saved in the SYSCNET.SV file.････････ 44
Restore

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6.CONTROLNET I/O CONFIGURATION   B-81584EN/01

6.1 CONTROLNET I/O AND ASSIGNMENTS

ControlNet Interface Board 1 is mapped to rack 85 on the controller. Board 2 is

mapped to rack 86. These assignments cannot be changed. The MAC Id of each device
in the device list for a board maps to the slot number for the particular rack on the
controller. Rack and slot values are used to map I/O on the robot controller.

The ControlNet board can be set ONLINE or OFFLINE by any user. Each device in
the device list can also be set ONLINE or OFFLINE. If there is any error and if the
board or device for any reason cannot be set ONLINE, the displayed state is ERROR
and an alarm is posted.

When a device or board is OFFLINE, the I/O points mapped to that board or device
are set OFFLINE. In this mode, if any KAREL or teach pendant program cannot
access the I/O point and an alarm will be posted if any program tries to read or write to
the I/O point.

For information on I/O assignments and access to I/Os from a teach pendant screen,
refer to appropriate application-specific FANUC Robot series R-J3 Controller
OPERATOR’S MANUAL.

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B-81584EN/01   6.CONTROLNET I/O CONFIGURATION

6.2 USER PROGRAM ACCESS

You can access and change the state of ControlNet I/O from KAREL, teach pendant,
or PC-based programs. Your programs can read the Boolean value of any
ControlNet input or output that you have assigned to a device on your network.

This section also describes the procedures and methods to help you configure your
ControlNet system to set I/O to the desired state if an error occurs on your network.

NOTE
Inputs are placed in the I/O Image area of memory by I/O Scan, which is
performed by the R-J3 controller every 4 ms.

Network Errors and Motion-Stopping Alarms

On a ControlNet network, a network error will cause an alarm on your robot. The
severity of the alarm is usually WARN for adapters and STOP for R-J3 scanners.

When an alarm occurs, you have the option of having ControlNet inputs automatically
set to a state that you specify. The inputs can be set to the last state they were in
when the network error occured or you can turn them off altogether.

Use Procedure 3-1 and Procedure 4-1 to change the severity of alarms for ControlNet
connection errors on the system.

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6.3 CONTROLNET BACKUP AND RESTORE

The ControlNet configuration can be saved in the SYSCNET.SV file. This works in
conjunction with your DIOCFGSV.IO file to save the I/O configuration of the
ControlNet Interface. The SYSCNET.SV file saves the ControlNet user settings as
entered in the [Setup] menu. This contains the MAC ID, Online/Offline Status,
Operational Mode (SCANNR/ADPTR), Parameter Change Mode (SCN ULK), Input
Error State (KEEP/LAST) and Adapter Configuration.

The SYSNET.SV and DIOCFGSV.IO can be used to restore the present operation of a
robot. They also may be used to clone robots. However, you must change the
MAC ID before trying to bring the unit Online.

During backup, the ControlNet configuration, MAC ID settings, and port comments
are saved in a system variable file called SYSCNET.SV. Use Procedure 6-1 to back
up your ControlNet configuration.

NOTE
The scan list for the R-J3 Scanner is not backed up. It resides on the
PC where it was created. The adapter configuration, however, is
saved with SYSCNET.SV.

Procedure 6-1 Backing up Your ControlNet Configuration

Step
1. Set the Default Device.

a. Press MENUS , and select [FILE].

b. Press F5, and select [Set Device].

c. Select the default device that you want to use to save your ControlNet
configuration.

2. Press MENUS and select [I/O].

3. Press [TYPE], and select Digital.

4. To save the I/O configuration:

a. Press [FCTN].
b. Select [SAVE]. The file will be saved to the DIOCFGSV.IO file on the
default device you selected in Step 1c.

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5. Press [TYPE], and select [ControlNet].

6. To save the ControlNet information:

a. Press [FCTN].
b. Select [SAVE]. The file will be saved to the SYSCNET.SV file on the
default device you selected in Step 1c.

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7 HARDWARE, DIAGNOSTICS, AND

TROUBLESHOOTING
Topics In This Chapter Page
ControlNet Hardware This section describes the R-J3 ControlNet Interface hardware. ････････････ 47
● Hardware Requirements ････････････････････････････････････････････ 47
● ControlNet Interface Description ･････････････････････････････････････ 47
● ControlNet LED Descriptions ････････････････････････････････････････ 49
● Board Address Configuration DIP Switch Settings ･･････････････････････ 51
● Installing the ControlNet Interface board in the R–J3 Controller ･･････････ 52
Diagnostics The Board Detail and Board List screens can be used to diagnose problems
with your network ････････････････････････････････････････････････････ 55
● Board List ････････････････････････････････････････････････････････ 55
● Board Detail ･･････････････････････････････････････････････････････ 57
● Board Adapter Configuration ････････････････････････････････････････ 60
● Device List････････････････････････････････････････････････････････ 61
● ControlNet Device Detail････････････････････････････････････････････ 61
Troubleshooting After you have diagnosed the problem with your network, you can use this
section to help you solve the problem･･･････････････････････････････････ 64

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7.1 CONTROLNET HARDWARE

This section describes the ControlNet Interface hardware.

7.1.1 Hardware Requirements

In order to install and configure the ControlNet Interface, you will need the following
components:
● A mini wide motherboard with one ControlNet daughterboard.
● A FANUC Robotics R–J3 controller, with V5.30 or greater software.
● A physical network and ControlNet devices connected to it
– The physical network includes all necessary ControlNet cabling.

7.1.2 ControlNet Interface Description

To install the ControlNet Interface correctly, you should become familiar with the items
listed in Table 7-1. Figure 7-1 in this section contains some important information
about specifying addresses for the ControlNet cards in your system.

Refer to the hardware part numbers located in Appendix A for more details.

Table 7-1. Components Involved In ControlNet Interface Installation

COMPONENT DESCRIPTION
Daughterboard This is installed in the wide-mini motherboard.
BNC Network This connects each ControlNet Interface
Connectors daughterboard to its respective ControlNet network.
Multi–Pin Plug This connects the ControlNet Interface motherboard to
the R–J3 controller backplane.

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Figure 7-1. ControlNet Dual 104 pin ControlNet Daughterboard

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7.1.3 ControlNet LED Descriptions

There are three LED indicators, which are used to display the various network states of
the ControlNet card. Each of the two BNC network connectors has an associated LED.
See Figure 7-2 for the locations of the two BNC network connector LEDs, and the SYS
LED. Refer to Table 7-2 for a description of the states that the two BNC network
connector LEDs indicate when they are illuminated during network operation. Refer to
Table 7-3 for a description of the state that the SYS LED indicates when it is
illuminated during network operation.

Figure 7-2. ControlNet Daughterboard LEDs

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Table 7-2. ControlNet Card Network Status LED Descriptions

Priority State Cause

Viewed Together
1 (Highest) Both OFF Reset or no power
2 Both steady red Failed link interface
3 Alternating red/green Self test
4 Alternating red/off Bad node configuration, such
as a duplicate MAC ID
5 OFF Channel disabled, or channel is
VIEWED SEPARATELY

not supported by your network

6 Flashing red/green Invalid link configuration
7 Flashing red/OFF Link faults or no MAC frames
received
8 Flashing green /OFF Temporary channel error, or
listen only
9 (Lowest) Steady green Normal operation

NOTE
When you are using redundant network cables on a ControlNet board
(where both BNC network terminals are connected to the same
components on your ControlNet network), both BNC LEDs should be
green. One LED will be brighter than the other. The brighter of the two
LEDs is the network channel that the card is currently using.

Table 7-3. ControlNet Card Network SYS LED Descriptions

SYS LED STATE DESCRIPTION

OFF The card is OFFLINE
YELLOW The card is ONLINE, but no message was sent or
received in the last five seconds.
RED The card is in an ERROR state. The card returned a
status error or could not deliver a message, or the card
received an error message within the last five seconds
from a device it was trying to communicate with.
GREEN The card is ONLINE, and working properly. It has
successfully communicated on the ControlNet network
within the last five seconds.

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7.1.4 Board Address Configuration DIP Switch Settings

The address configuration DIP switches are used to set the I/O Address Space of the
ControlNet board. I/O locations 0x250 and 0x258 are checked for ControlNet boards
on power up. If the signature of the board at I/O location 0x250 matches the
ControlNet signature, then it is automatically assigned as Board 1, Rack 85 in the R-J3
I/O System. If a ControlNet board is found at I/O location 0x258 then it is assigned as
Board 2, Rack 86.

Figure 7-3. ControlNet I/O Daughterboard

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A mini-wide ControlNet assembly is shown in Figure 7-4.

Figure 7-4. Mini-Wide ControlNet Assembly

7.1.5 Installing the ControlNet Interface Board in the R-J3 Controller

Use Procedure 7-1 to install the ControlNet Interface.

Procedure 7-1 Installing the ControlNet Interface in the R-J3 Controller

WARNING
Disconnect electrical power from the controller before you remove
or replace components. Otherwise, you could injure personnel or
damage equipment.

Step
1. Turn off the controller.

2. Disconnect electrical power from the controller. Turn the circuit breaker handle to
the OFF (open) position.

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WARNING
When the circuit breaker handle is OFF, power is still present
inside the controller. You must unplug the controller from the
electrical outlet to remove all power from the controller.

3. Use a flat–tip screwdriver to turn the latch on the front door of the controller to the
UNLOCKED position.

Installing the ControlNet Interface

4. Plug in the ControlNet Interface into a wide-mini slot on the backplane. Be sure
the connector seats properly with the backplane connector. See Figure 7-5.

Figure 7-5. Mini-Wide ControlNet Interface Board

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5. Close the controller door, turn the latch to the LOCKED position, and turn on the
controller.

Turning On Power to the System

6. Configure each ControlNet Interface daughter board. Refer to Section 3.2.

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7.2 DIAGNOSTICS

You can use the information on the Board List and Board Detail screens to diagnose
problems you might be having with your network.

The ControlNet Interface provides two other diagnostic tools:

● LED indicators on the ControlNet daughterboard
● ControlNet system error messages
If you are having trouble with your ControlNet network, you can use these diagnostic
tools to help you determine the cause of the problem. When you have determined what
is causing a problem in your ControlNet system, refer to Section 7.3 of this chapter for
detailed information about resolving the problem.

7.2.1 Board List

The Board List identifies the overall Network Status of both ControlNet Boards that
can be used in a ControlNet system.

Figure 7-6. ControlNet Board List Screen

Table 7-4. ControlNet Board List Screen Items

ITEM DESCRIPTION
Board This is the number of the ControlNet Interface daughteboard, 1 or 2. The number of
the Board corresponds to the ControlNet DIP Switch setting and position of the
daughterboard on the ControlNet Interface. Note that Board numbers are only unique 2 1
to ControlNet as DeviceNet board numbers start at Board 1. Refer to Section 7.1.4 for
information about how to set the DIP switches on your ControlNet daughterboards.
Comment You can use this text field to identify the ControlNet Network to which this Board is connected.
For example, on which Body Cell Network the node is attached. A maximum of 16 characters
can be used. A comment is not a required field.

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ITEM DESCRIPTION
Rack This is the I/O rack that is assigned to the daughterboard. These are unique rack numbers
throughout the R-J3 system. ControlNet daughterboards are assigned Racks 85 and 86.
● Rack 85 - daughterboard 1
● Rack 86 - daughterboard 2
You cannot change the rack number of a ControlNet daughterboard.
Status STATUS is the current state of the ControlNet PCB
● ONLINE indicates the board is presently active. Information to and from devices configured
on this network is being updated.
● OFFLINE indicates that no data is being transferred to or from devices connected to the
board. Scanning of devices connected to this board shall not automatically restart at power
up. The user must explicitly set this Board ONLINE in order to transfer I/O.
● ERROR indicates that an error has been detected. The Inputs will be set to the state you
designated in the Board Detail Screen. I/O transfer will begin immediately when the condition
causing the ERROR is removed. Scanning shall also be attempted after the controller is
turned on.

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7.2.2 Board Detail

In addition to the configuration information which is entered in the Board Detail Screen
as described in Section 3.2, “Setting up R-J3 ControlNet Interface in Adapter Mode”,
the Board Detail Screen supplies additional details on the ControlNet Network which
can be used to help diagnose network problems. The data in Figure 7-7 ControlNet
Board Detail screen indicates the Board 1 MAC-Id is 2 and the NUT is 4000µs (4ms).
Refer to Table 7-5 for a description of the other items shown in Figure 7-7.

Figure 7-7. ControlNet Board Detail Screen

Only the Operation Mode, Parameter (Param) Change Mode, Input Error State, scanner
and adapter error severity settings, and MAC ID values can be changed with this screen.
See Section 3.2, “Setting up an R-J3 ControlNet Interface in Adapter Mode” for details
on selection of these parameters.

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Table 7-5. ControlNet Board Detail Screen Items

ITEM DESCRIPTION
MAC-ID This item is the MAC ID of the ControlNet Interface board.
Network Update This item displays the Network Update Time, which is the basic time period for devices to
Time (NUT) communicate on the Network. A NUT consists of three required periods. The first period is the
Scheduled data period in which all the Scheduled Nodes are allowed to communicate until all
devices on the scheduled nodes have exchanged their data. The second period is the
Unscheduled data period in which each node is sequentially allowed to transmit an
unscheduled message.
If there is any time remaining in this interval, then the next node will be allowed to transmit an
unscheduled message. Message transmission can be continued until the Guardband time
period is reached. When the Guardband time period begins, network maintenance is
performed. This ends the NUT. It is immediately followed by another NUT in which scheduled
data is exchanged. See Figure 1-3.
SMAX The Scheduled Maximum MAC ID number on the network (1-92). Only the nodes which are in
this address range (and node 0) might transmit messages during the scheduled interval.
UMAX The Unscheduled Maximum MAC ID number on the network (1-99) is the MAC ID of the last
node that might send unscheduled messages on the network. It must be at least SMAX + 8.
Slot Time The Slot Time, in microseconds (us), is the time that nodes wait to see if the node that currently
has the token is going to use it.
Gbpre This item displays the Guardband Prestart, in 10µs intervals, and it is the time before the next
synchronization mark beyond which nodes will not be allowed to transmit.
GBstrt This item displays the Guardband Start, in 10µs ticks, and it is the time before the next
synchronization mark where the guardband should start.
Gbcenter This item displays the Guardband Center, in 10 µs ticks, and it is the time before the next
synchronization mark, where the moderator will begin transmitting the moderator frame. The
moderator frame is used to synchronize the network and distributing the link configuration
parameters.

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Default ControlNet Parameters

The default Network Parameters will be used when a device is not connected to a
network, or if the network has not been configured. The default values for a ControlNet
interface board are shown in Figure 7-8. Refer to Table 7-5 for a description of the
items shown in Figure 7-8.

Figure 7-8. ControlNet Board Detail Screen

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7.2.3 Board Adapter Configuration

The default R-J3 Adapter configuration is an Emulation of a Rockwell Automation

2711E-T14C15 Human Machine Interface (HMI) module. This is to allow
configuration with RSNetWorx 1.8. Refer to Chapter 2 for information on
personalities, select the appropriate personality for the adapter, and set it. See Figure
7-9 for an example of the screen and Table 7-6 for a description of the items on the
screen.

I/O ControlNet JOINT 10 %

Adapter Configuration 1/3
1 Input Size (Words) : 8
2 Output Size (Words) : 8
3 Output Header (Words) : 0

[ TYPE ] BDDT HELP

Figure 7-9. ControlNet Adapter Configuration Screen

Table 7-6. Adapter Configuration Screen Items

ITEM DESCRIPTION
Input Size This is the size in words of the receive or input connection, designated in ControlNet by O=>T.
The 8 words of input identify 128 Digital Inputs. This represents data received from a scanner
over the network.
Output Size This is the size in words of the send or output connection, designated in ControlNet by T=>O.
The 8 words of output identify 128 Digital Outputs. This represents data transmitted to a
scanner over the network.
Output Header The Digital Outputs shall be read into the scanners input data file or data structure. This data is
generally written starting at the beginning of the data structure. However, if the scanner
structure includes a header structure, then the R-J3 output data needs to be offset from the
beginning of the structure. The normal Output Header of a 2711E-T14 is 0 word.

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7.2.4 Device List

For an Adapter Board, the Device List contains a single entry that contains the Device
Name, Description, Status and MAC ID. For a Scanner Board the Device List lists all
MAC IDs that are exchanging I/O with the Scanner. See Figure 7-10 for an example of
the ControlNet Device List screen.

Figure 7-10. ControlNet Device List Screen

You can use the Device List screen to put a Device ONLINE or OFFLINE.

7.2.5 ControlNet Device Detail

The Device Detail screen provides information about each scan list entry on the
ControlNet card. See Figure 7-11 for an example screen.

Figure 7-11. ControlNet Device Detail Screen

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The Device Detail screen includes device data as well as the number of physical I/O
assignments the device will support. For example, the device shown in Figure 7-11
physically supports 128 Digital I/O signals, even if not all of them are logically
assigned to the R-J3 I/O.

Table 7-7. ControlNet Device Detail Screen Items

ITEM DESCRIPTION
Input Header Words This item indicates the Input Header size in words. This is fixed for most devices by the CNET
Spec to two words. This field contains the Run/Idle bit. This bit is used by the Scanner to
enable the outputs. The Scanner’s outputs are then sent to the device as inputs.
Status This item lists the status of the device you are displaying details about. The status of the device
can be ON, OFF, or ERR on a device basis (same as Device List Status).
MAC–Id/Slot This item displays the MAC-ID of your ControlNet interface, or a device being scanned by your
ControlNet Interface. If the MAC Id being displayed in this field matches the ControlNet
Interface’s MAC Id, then the data being displayed on the device detail screen is from the R-J3
ControlNet Interface. If the MAC Id is not equal to the ControlNet Interface’s MAC Id, then the
data being displayed on the Device Detail screen is from a unit being Scanned. The MAC Id is
same as the Slot when configuring I/O from any of the DI/DO, GI/GO, AI/AO, and so forth
screens.
Device Name This item allows you to provide a name for the device you are configuring.
Comment This item allows you to enter a comment. Although 16-characters can be entered here, only 14
of them shall show up on the Device List Description field.
Vendor ID This item is the unique identification of the device’s vendor. For Example, Vendor ID 1 is
assigned to Rockwell Automation’s Allen-Bradley devices, and Vendor ID 8 is assigned to SS
Technologies.
Device Type This item displays the Device Type. Device Types identify the device profile or device object
that a device is using. For example, Device Type 24 or 0x18 is a Human-Machine Interface
(HMI).
Product Code This item displays the Product Code for the device. Each Vendor assigns a Product Code
within a particular Device Type. The Product Code maps to one or more catalog or model
numbers. For example, Allen-Bradley has assigned product code 9 of the HMI Device type to
the 2711E-T14C15.
Major Revision This item represents significant releases of ’fit, form, or function’ of the product.
Minor Revision This item indicates that minor changes were made to a given product. These kinds of revisions
probably will not affect affect the way your network is configured. Minor revisions might include
new product labels or software patch files.
Digital Inputs This item is the number of physical inputs that the device can support, in bits.
Digital Outputs This item is the number of physical outputs that the device can support, in bits.
Analog Inputs This item is the number of physical analog input points which the device supports. This item is
displayed in ControlNet words (16-bits/word).
Analog Outputs This item is the number of physical analog output points which the device supports. This item is
displayed in ControlNet words (16-bits/word).
O-T RPI This item is the requested packet interval for data from scanner to adapter.

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ITEM DESCRIPTION
T-O RPI This item is the requested packet interval for data from adapter to scanner.
Path: This item is the connection path--the path in the adapter from where I/O is read and written. The
path configured in the scanner should match what is expected in the adapter. If it does not,
ControlNet error 01 0107 will be posted on the scanner.

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7.3 TROUBLESHOOTING

Now that you have an idea of what your problem is from using diagnostics, you are
ready to solve it. Use Table 7-8 to help you troubleshoot the problems in your system.

WARNING
Disconnect electrical power from the controller before you remove
or replace components, or you could be injured seriously.
When the circuit breaker handle is OFF, power is still present
inside the controller. You must unplug the controller from the
electrical outlet to remove all power from the controller.
Otherwise, you could injure personnel or damage equipment.

WARNING
Lethal voltage is present in the controller WHENEVER IT IS
CONNECTED to a power source. Be extremely careful to avoid
electrical shock.
HIGH VOLTAGE IS PRESENT at the input side whenever the
controller is connected to a power source. Turning the disconnect
or circuit breaker to the OFF position removes power from the
output side of the device only.

Table 7-8. Troubleshooting

Problem Possible Cause Solution

A board cannot be The board is not initialized Initialize the ControlNet daughterboard by trying to
brought online bring the board online. This will put the daughterboard
in an ERROR state.

Press MENUS . Select [I/O]. Press F1, [TYPE].

Select [ControlNet] . Press [NEXT], [>]. Press F4,

[ONLINE].
Turn off the controller, then turn it on.
There is a bad network connection Check the cable that connects the board to the network
for a loose wire or other problem. Make sure all
connectors are completely plugged in and screwed on.
There are MAC Id conflicts with If multiple boards are connected to the same network,
another device or board check the MAC Ids on their respective Board Detail
screens and change one of the MAC Ids if necessary.

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Problem Possible Cause Solution

A board cannot be There is an improper network Make sure the trunk line is terminated at both ends. If
brought online hookup you have long drop lines, make sure the length is within
ControlNet specifications for the baud rate being used.
Board DIP switches are set Determine the board number of the board that cannot
improperly be brought online. Refer to Section 7.1.4 for the correct
DIP switch configuration. Compare the correct
configuration with the board’s current DIP switch
configuration and make adjustments if necessary.
There is a bad daughterboard Make sure that you are not experiencing one of the
problems listed above.
Contact your FANUC Robotics Customer Service
Representative for replacement.
A device cannot be There are MAC Id conflicts with Make sure that no two devices on the same network are
brought online another device configured for the same MAC Id.
The device has an incorrect MAC Id If the device is DIP–switch configured, make sure the
configuration DIP switches are set to the same MAC Id as shown in
the Device List.
The I/O size of the device is incorrect Verify the I/O size in the Device Detail screen. This
value is the size that is loaded in the card. If incorrect,
then update value using CCT and Save to R-J3. You
must perform a Network Update (via RSNetWorx or
other network tool) and then cycle power in order for the
updated value to take effect.
Devices are not connected to the Check the network connections to make sure the device
proper board is connected to the proper board.
The network was hooked up Make sure the trunk line is terminated at both ends.
improperly If you have long drop lines, make sure the length is
within ControlNet specifications.
A device is malfunctioning Make sure that you are not experiencing one of the
problems listed above.
Contact the device vendor for repair or replacement.
The network needs scheduling Refer to Chapter 5 for network scheduling.
ControlNet I/O I/O has not been assigned or has Check the I/O configuration screens to see if ControlNet
scanner with adapter been assigned incorrectly device I/O have been assigned. ControlNet I/O
devices not working assignments are made for rack numbers 85–86
(corresponding to boards 1–2) and slot numbers equal
to device MAC Ids.
The board is not online Attempt to bring the board online.
The device is not online Attempt to bring the device online.

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Problem Possible Cause Solution

ControlNet I/O The device has an incorrect I/O size Check that the Device Detail screen specifies the
scanner with adapter number of inputs and outputs required by the device. If
devices not working not, change the device definition or create a new one.
Devices are not connected to the Check cabling to ensure that the devices are corrected
correct board to the correct board.
The device was not set up properly Some devices might require additional power supplies
or other setup. Consult the device’s documentation to
make sure the device is set up properly.
The network was hooked up Make sure the trunk line is terminated at both ends.
improperly If you have long drop lines, make sure the length is
within ControlNet specification.
ControlNet I/O I/O size was not specified on the On the Adapter Configuration screen, specify the size
adapter with external ControlNet Interface board (in words) of the input and output data to be shared
scanner is not between the controller and the external scanner device.
working There is an I/O size mismatch Make sure the data size specified on the Adapter
NOTE: The external Configuration screen matches the data size specified
scanner has the on the external scanner device.
responsibility of The scanner is not scanning the Set up the external scanner to scan the ControlNet
displaying the error ControlNet Interface board Interface daughterboard. Contact the vendor of the
code for the problem external scanner.
connection. There is a MAC Id mismatch Make sure the external master is set up to scan the
board at the MAC Id specified on the Board Detail
screen.
The network was hooked up Make sure the trunk line is terminated at both ends.
improperly If you have long drop lines, make sure the length is
within ControlNet specifications.
The path is incorrect Refer to the path expected by the external scanner.
Use the information in Section 2.2.1 to set the correct
personality. The path is displayed on the Device Detail
screen on the R-J3 Controller. This path should match
on both sides of the connection. For example, the
scanner and adapter should have the same path for a
connection.

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8 USING TCP/IP WITH CONTROLNET

Topics In This Chapter Page
Overview This chapter describes how to use TCP/IP with ControlNet on your
R-J3 controller. All Internet options such as FTP, Web Server, and Telnet
can be used withV5.30 ControlNet.･････････････････････････････････････ 68
System Requirements This section describes the hardware necessary to install and use TCP/IP with
your ControlNet system. ･･････････････････････････････････････････････ 69
Setting up Your PC There are two main steps to install and configure the 5136-CN card ････････ 70
● Install the RSNetWorx 2.0 Software ･･････････････････････････････････ 70
● Installing the 5136-CN Card ･････････････････････････････････････････ 70
Configuring the 5136-CN Now that you have installed the ControlNet 5136-CN card in your PC, you
Card need to configure it. ･･････････････････････････････････････････････････ 71
● Installing the 5136-CN Card Firmware and Utilities ･････････････････････ 71
● Using the SST Software to configure the 5136-CN Card ･････････････････ 71
● Setting Up Your R-J3 Controller･･････････････････････････････････････ 79

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

8.1 OVERVIEW

ControlNet divides network bandwidth into scheduled and unscheduled portions. The
Unscheduled portion is typically used for messaging. ControlNet supports IP address
resolution and IP message transfer using the unscheduled portion.

The R-J3 V5.30 robot system supports TCP/IP messaging using ControlNet. SS
Technologies has developed an NDIS driver allowing the use of 5136-CN ControlNet
interface cards for TCP/IP messaging on a PC. These two components allow the use of
all Internet options such as FTP, Web Server, and Telnet to be used with ControlNet.

This chapter describes the necessary system components and how to set up a robot
system and a PC so that they can exchange TCP/IP messages over ControlNet.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

8.2 SYSTEM REQUIREMENTS

This section describes the hardware necessary to install and use TCP/IP with your
ControlNet system.

Hardware components needed for your robot are:

● One or more R-J3 Robot controller
● An SS Technologies ControlNet Interface card 5136-CN-104 for each robot
● A full or mini-wide F-BUS PC-104 Motherboard for each R-J3 controller

Software components needed for your robot are:

● A R-J3 robot controller and V5.30 or later software
● The ControlNet Interface option
● Internet Options (FTP, Web Server, Telnet, Socket Messaging and so forth.

Hardware components needed for your PC are:

● A 300 Mhz Pentium II PC with a minimum of 64 MB of RAM
● An SS Technologies 5136-CN-ISA ControlNet Interface card for your PC

Software components needed for your PC are:

● Windows NT 4.0, Service Pack 5, or a later version
● SST Windows Card Software for 5136-CN card (1.01.03 or later with NDIS
drivers)
● SST ControlNet Configuration Tool for 5136-CN Card
● Allen Bradley RSNetworx 2.0 (9357-CNETL3)

Hardware components needed for your network are:

● Trunk line RG-6 Coax Cable (1786-RG6)
● Allen Bradley ControlNet Taps (1786-TPS, 1786-TPYS, 1786-TPR, 1786-TPYR)
● Allen Bradley ControlNet Network Terminators (1786-XT)

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

8.3 SETTING UP YOUR PC

In this manual, we will use the 5136-CN card for ControlNet communications and the
following steps explain how to do that. There are three main steps to install and
configure the 5136-CN card:
● Install the Allen Bradley RSNetworx 2.0 on your PC. (Section 8.3.1)
● Install the 5136-CN card in your PC. (Section 8.3.2)
● Install the 5136-CN card firmware and utilities, and the SS Technologies
ControlNet Configuration Tool on your PC. (Section 8.4)

8.3.1 Install the RSNetWorx 2.0 Software

Install Allen Bradley RSNetworx 2.0 according to the RSNetworx 2.0 documentation.
Refer to the Allen Bradley RSNetworx 2.0 documentation, or contact Allen Bradley for
more help on installation and troubleshooting.

8.3.2 Installing the 5136-CN Card

Install the 5136-CN-ISA card in an available ISA slot on your PC. Set the port address
for the 5136-CN card to be either 0x250 or 0x258. The NDIS driver requires the card to
be set to one of these ports. Power up the PC and log on to the PC with administrative
privileges.

To configure and use the 5136-CN Card, you need to install two main software
components on your PC:
● The 5136-CN card firmware and utilities for Windows NT
● The SS Technologies ControlNet Configuration Tool

Obtain the Card Firmware and utilities that include the ControlNet NDIS driver
(1.01.03 or later). Refer to Section 8.4 for information about how to install the
firmware and utilities, and configure the 5136-CN card.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

8.4 CONFIGURING THE 5136-CN CARD

After you have installed the ControlNet 5136-CN card in your PC, you need to
configure it.

8.4.1 Installing the 5136-CN Card Firmware and Utilities

The 5136-CN firmware and utilities are typically in a zipped file named
SstCnCardWinInst.zip. Unzip this file in a temporary directory and run setup.exe.
Perform a full installation. When the installation is complete, select NO when you are
prompted to restart the computer.

8.4.2 Using the SST Software to Configure the 5136-CN Card

This section describes how to configure your PC to recognize the 5136-CN ControlNet
card with the SS Technologies software. Refer to Procedure 8-1 to configure the
5136-CN card.

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

Procedure 8-1 Configuring the 5136-CN Card

Condition
■ You have installed the 5136-CN Card in your PC.
■ You have installed the SS Technologies ControlNet Configuration Tool.

Step
1. From your Windows Start menu, select Programs-> SST Card
Config->SST Card Configuration. You will see a screen similar to the following.

NOTE
Ensure that SST_CN_250 or SST_CN_258 entries exist depending
upon the configuration for the 5136-CN card installed on your PC as
shown in the screen above.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

2. Next Click Start->Program-.SST CN->CN Startup Manager. Doing this will start
the CN Startup Manager. See the following screen for an example.

3. Select the proper card. Check the box to automatically put the local card on at
startup and put it online automatically. Select the MAC ID for the card. Check the
RSLinx Support box. We will be using the SST Card for RSLinx and RSNetworx.
Note the KTCX Memory address. Do not restart the computer until you complete
Procedure 8-2 and Procedure 8-3 .

NOTE
The RSLinx Support is optional. If you do not have RSLinx, ignore this
box.

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

Procedure 8-2 Setting up the SSTNDIS Driver

Step
1. Click on Start->Settings->Control Panel. You will see a screen similar to the
following.

2. Double-click on Network for network configuration. The Network dialog box will
appear.

3. Click on the [Protocol] tab. Verify that TCP/IP protocol is installed. See the
following screen for an example.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

4. Next, click on the [Adapter] tab. See the following screen for an example.

5. From the [Network] dialog box, Click on [Add]. The following dialog box will be
displayed.

6. Click on [Have Disk]. The [Insert Disk] dialog box will be displayed.

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

7. Type in the path where the SST NDIS driver has been installed. If you did not
change the default installation directory for the SST NDIS driver, the path should
be C:\Program Files\SST\CN\NDIS, as shown in the following dialog box.

8. Click OK. The following dialog box will be displayed. Click OK.

9. The SST Card should be displayed in the list of adapters as shown in the following
screen.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

10. Click on [Protocol] tab, select TCP/IP, and then click on [Properties]. Select the
SST interface from the adapters list, as shown in the following screen.

11. Enter the IP address and subnet mask. The IP address should be on a different
domain than that of any other interfaces (if any) on the PC.

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

12. Click on the [Routing] tab for [TCP/IP properties]. Check the box to [Enable IP
Forwarding] if you want this PC to act as a router between Ethernet and
ControlNet.

13. Click OK and close the Network Control Panel. A window will prompt you to
restart. Select NO.

Procedure 8-3 Setting up the Registry for the SST NDIS Driver

Step
1. Click on Start->Programs->SST CN->TCP/IP->NDIS Config.

2. Check the box to Enable NDIS Driver and select the correct SST card if multiple
cards are installed on the PC. Click OK and restart the computer.

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B-81584EN/01   8.USING TCP/IP WITH CONTROLNET

Your PC is now set up to run RSLinx (If installed), the SST Scanner Configuration
Tool and TCP/IP over the SST ControlNet interface.

8.4.3 Setting up Your R-J3 Controller

You need to have the ControlNet option installed on your R-J3 Controller, and the R-
J3 software version has to be V5.30 or later. TCP/IP over ControlNet is not supported
on previous versions.

Verify that the ControlNet Interface Card is set up correctly and the card is online.
Refer to Chapters 2-6 for details.

Procedure 8-4 Setting up your R-J3 Controller

Step
1. Cold start the controller.

2. Press MENUS .

3. Select I/O.

4. Press F1,[TYPE], and select [ControlNet].

5. Select the Board you want to configure for TCP/IP operation.

6. Press F3, [DETAIL].

7. Press [NEXT] [>].

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8.USING TCP/IP WITH CONTROLNET   B-81584EN/01

8. Press F1, [IPCFG]. You will see a screen similar to the following.

9. Enter the IP address for the ControlNet Interface. The domain of the IP address
should be different than that of any Ethernet or PPP interface that you may have
configured on the R-J3 controller.

10. Note that the domain should be the same as that of the other ControlNet devices
you may have on the network for TCP/IP communications (such as a PC or another
R-J3 controller). Enter the corresponding subnet mask.

11. Scroll to [Enable TCP/IP]: and select F4, YES, to enable TCP/IP.

12. Turn off the controller and then turn it back on. You should now be able to ping
the controller from a PC which is also configured for TCP/IP communications over
ControlNet.

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APPENDIX
 A.CONTROLNET HARDWARE
B-81584EN/01 APPENDIX PART NUMBERS

A CONTROLNET HARDWARE PART

NUMBERS
Topics In This Chapter Page
ControlNet Hardware Table A-1 contains a list of the relevant part numbers associated with the
Part Numbers ControlNet Interface･･････････････････････････････････････････････････ 84

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A.CONTROLNET HARDWARE
PART NUMBERS APPENDIX B-81584EN/01

A.1 CONTROLNET HARDWARE PART NUMBERS

Table A-1 contains a list of the relevant part numbers associated with the ControlNet
Interface. Figure A-1 contains an illustration of the ControlNet Interface.

Table A-1. ControlNet Hardware Part Numbers

Part Number
ControlNet interface board (Order number) A05B-2400-5340
Wide-mini motherboard (Spare part number) A20B-8001-0830
ControlNet daughterboard (Spare part number) A15L-0001-0079
Face plate label (Spare part number) A370-3070-0133

Figure A-1. Wide-mini motherboard with SST PCBD5136CN104-PINS Daughterboard

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

B CONTROLNET SYSTEM VARIABLES

Topics In This Chapter Page
Overview This section provides an overview of ControlNet system variables. ･････････ 86
System Settings and This section contains ControlNet system settings and variables.････････････ 87
Variables

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

B.1 OVERVIEW

Some ControlNet system variables provide information which can help in

troubleshooting. In the example below, replace the # with the board number about
which you want more information.

$CN_BD_INFO[#].$CN_KPRST

CAUTION
Do NOT change any system variable directly from the [System
Variables] Screen. Doing so might result in incorrect operation of the
R-J3 ControlNet Interface and might require an INIT start or a restore of
the R-J3 system.

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

B.2 SYSTEM SETTINGS AND VARIABLES

Table B-1 contains ControlNet system settings and variables. The remaining portion
of this section contains descriptions of system variables related to the R-J3 ControlNet
Interface.

Table B-1. ControlNet System Settings and Variables

GENERAL STATUS DESCRIPTION

$CN_BD_INFO[#].$CN_BD_VNDID These system variables define the identity of the R-J3 CNI on a ControlNet
$CN_BD_INFO[#].$CN_BD_DTYPE network. In order to be compatible with RSNetWorx v1.8, these values are set
$CN_BD_INFO[#].$CN_BD_PCODE to emulate a KTCS card. Refer to Chapter 2 for details on personalities.
$CN_BD_INFO[#].$CN_BD_MAJRV
$CN_BD_INFO[#].$CN_BD_MINRV

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_BD_INFO[1].$cn_bd_cmt
Minimum: ”” Default: ”******************************************” Maximum: ””
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING
Name: ControlNet Daughter-Board Comment
Description: Provides a short description field for the daughter-board/network.
Power Up: Effective immediately.
User Interface Location: ControlNet Board List screen.

$CN_BD_INFO[1].$cn_bd_kprst
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Daughter-Board ControlNet Keeper State
Description: This item contains the Keeper State of the Card.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_vndid
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Vendor ID
Description: This item is contained in the ControlNet ID object Vendor ID of the board manufacturer.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_dtype
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Device Type
Description: This item is contained in the ControlNet ID object. It is the Device Type of the board.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_pcode
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Product Code
Description: This item is contained in the ControlNet ID object. It is the Product Code of the board.
Power Up:
User Interface Location:

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

$CN_BD_INFO[1].$cn_bd_majrv
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Major Revision
Description: This item is contained in the ControlNet ID object. It is the Major Revision number of the Product.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_minrv
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Minor Revision
Description: This item is contained in the ControlNet ID object. It is the Minor Revision number of the Product.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_stat
Minimum: 0 Default: 0 Maximum: 99
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Daughter-Board Status
Description: Indicates the status of the ControlNet daughter-board:
0: board is offline and has not been initialized
1: board is offline and cannot be initialized
2: board is offline but has been initialized
3: board is in an error state and has not been initialized
4: board is in an error state and cannot be initialized
5: board is in an error state but has been initialized
6: board is online
7: board is currently being initialized
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_macid
Minimum: 1 Default: 1 Maximum: 99
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board MAC-Id
Description: The Media Access Control Identifier (MAC-Id) for the ControlNet daughter-board. This item must be in the range
[1..99]. There cannot be a duplicate MAC-Id for the daughter-board, or any devices connected to the daughter-
board.
Power Up: Changes take effect at power-up.
User Interface Location: ControlNet Board Detail screen

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_BD_INFO[1].$cn_bd_mb_id
Minimum: 0 Default: 0 Maximum: 99
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Motherboard ID
Description: Identifies the type of motherboard the ControlNet daughterboard is installed in. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_nut
Minimum: 0 Default: 0 Maximum: 99
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Network Update Time
Description: Identifies the network update time (NUT) of the ControlNet Network. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen.

$CN_BD_INFO[1].$cn_smax
Minimum: 0 Default: 0 Maximum: 92
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet network maximum scheduled MAC ID
Description: Identifies maximum scheduled MAC ID (smax) of the ControlNet network. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_umax
Minimum: 0 Default: 0 Maximum: 99
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet network maximum unscheduled MAC ID
Description: Identifies maximum unscheduled MAC ID (smax) of the ControlNet network. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_slot
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Network Slot parameter
Description: Identifies the slot network parameter of the ControlNet network. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

$CN_BD_INFO[1].$cn_gbpre
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Network Guard-band Prestart
Description: Identifies the guard-band prestart network parameter. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_gbstrt
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Network Guard-band Start
Description: Identifies the guard-band start network parameter. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_gbcntr
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Network Guard-band Center
Description: Identifies the guard-band center network parameter. This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_firmfile
Minimum: ”” Default: “FRSU:CNET.BIN” Maximum: ””
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING
Name: ControlNet Configuration Firmware File
Description: This indicates firmware file to be loaded. The extension of this file is .BIN. If no file is supplied, the file in flash is
run.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_flshfile
Minimum: ”” Default: ”MC:¥PRODUCT¥CNET¥CNPGACFG.SS1” Maximum: “”
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING
Name: ControlNet Flash Programming file (.SS1)
Description: This indicates firmware file to be loaded. The extension of this file is .SS1. This is required to update the FPGA
Flash EPROM.
Power Up:
User Interface Location: ControlNet Board Detail screen

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_BD_INFO[1].$cn_pgafile
Minimum: “” Default: ”MC:¥PRODUCT¥CNET¥CN104.SSP” Maximum: “”
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING
Name: ControlNet FPGA Source file (.SSP)
Description: This indicates firmware file to be loaded. The extension of this file is .SSP. This is required to update the FPGA
Flash EPROM. This is the file which will be loaded by the ControlNet Flash Programming file.
Power Up:
User Interface Location:

$CN_BD_INFO[1].$cn_bd_erst
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Error state of Input and Output Ports
Description: This sets what the last state of the input/output ports should be:
0 : Keep last state
1 : Set to zero
2 : Use individual device settings
Power Up: Takes effect at next power up.
User Interface Location:

$CN_BD_INFO[1].$cn_firm_loc
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: Location of ControlNet Firmware file (.BIN)
Description: This sets where the CNET firmware file resides. It should be:
0 : CN_FLASH_BIN - Run BIN file from flash
1 : CN_LOAD_BIN - Load BIN file identified in ControlNet configuration firmware file - system variable
$CN_BD_INFO[#].$cn_firmfile - Default Setting
Power Up: Takes effect immediately.
User Interface Location:

$CN_BD_INFO[1].$cn_netchang
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: Specifies the action to be taken when the Network Parameter Change event is received.
Description: This specifies action to be taken when Network Parameter Change event is received. It should be:
0 : CN_NETCHNG_WARN - Allow Network Change with Warning Post - Default
1 : CN_NETCHNG_STOP - Post Stop error on Network Change
Power Up: Takes effect immediately.
User Interface Location:

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

$CN_BD_INFO[1].$cn_dbin_ver
Minimum: “” Default: ”******************” Maximum: “”
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: STRING
Name: ControlNet Executing Firmware Revision
Description: Provides the revision number for the firmware on the card.
Power Up: Read and set during power up
User Interface Location: ControlNet Board Detail Screen

$CN_BD_INFO[1].$cn_fbin_ver
Minimum: “” Default: ”******************” Maximum: “”
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: STRING
Name: ControlNet Card FPGA Firmware Revision
Description: Provides the revision number for the FPGA Firmware on the card.
Power Up: Read and set during power up
User Interface Location: ControlNet Board Detail Screen

$CN_BD_INFO[1].cn_stat1
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].cn_stat2
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].cn_stat3
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_BD_INFO[1].cn_stat4
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_BD_INFO[1].cn_stat5
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed.
Power Up:
User Interface Location: ControlNet Board Detail screen

$CN_DV_LIST[1].$cn_dv_cmt
Minimum: “” Default: ”****************” Maximum: “”
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: STRING
Name: ControlNet Device Comment
Description: Provides a short description field for the Device.
Power Up: Effective immediately.
User Interface Location: ControlNet Device List screen

$CN_DV_LIST[1].$cn_dv_stat
Minimum: 0 Default: 0 Maximum: 99
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Device Status
Description: The status of the ControlNet device:
0: device is Not used
1: device is offline
2: device is in an error state
3: device is online
Power Up:
User Interface Location: ControlNet Device List screen

$CN_DV_LIST[1].$cn_dv_ihdln
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Device Input Header Length
Description: This reflects the ControlNet Connection Header Length. The total size of data exchanged is equal to 2 bytes of
Sequence, header length and the I/O size.
Power Up:
User Interface Location:

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

$CN_ADP_CNF[1].$cn_adpenab
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: ControlNet Mode of Operation
0 - Adapter Mode - Default
1 - Scanner Mode
Description: Decides if the board operates in Scanner mode or Adapter mode
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_bd_vndid
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Vendor ID
Description: Goes in the ControlNet ID object Vendor ID of the Manufacturer of the board.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_bd_dtype
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Device Type
Description: Goes in the ControlNet ID object Device Type of the board.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_bd_pcode
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Daughter-Board Product Code
Description: Goes in the ControlNet ID object Product Code of the board.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_bd_majrv
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Major Revision
Description: Goes in the ControlNet ID object Major Revision of the Product.
Power Up:
User Interface Location:

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_ADP_CNF[1].$cn_bd_minrv
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Minor Revision
Description: Goes in the ControlNet ID object Minor Revision of the Product.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_outsize
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Output Size in Words for adapter mode
Description:
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_insize
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Input Size in Words for adapter mode
Description:
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_ost_sz
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Output Status size
Description:
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_ist_sz
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Input Status size
Description:
Power Up:
User Interface Location:

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 B.CONTROLNET SYSTEM
B-81584EN/01 APPENDIX VARIABLES

$CN_ADP_CNF[1].$cn_class
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Connection Class for the target (adapter connection)
Description: Provides the Connection Path for the device.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_inst
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Connection Instance for the target (adapter connection)
Description: Provides the Connection Path for the device.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_conpt
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Connection point 0 for the target (adapter connection)
Description: Provides the Connection Path for the device.
Power Up:
User Interface Location:

$CN_ADP_CNF[1].$cn_conpt1
Minimum: 0 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER
Name: ControlNet Connection point 1 for the target (adapter connection)
Description: Provides the Connection Path for the device.
Power Up:
User Interface Location: ControlNet Board Detail Screen

$CN_BD_INFO[1]
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: CN_BD_INFO_T
Name: ControlNet Board Information Variables
Description: Contains variables which hold information on the operation of each ControlNet daughter-board and the network
associated with each daughter-board. Individual fields are described below. User viewable and configurable fields
are viewed and edited on the ControlNet Board List and Board List Detail screens.
Power Up:
User Interface Location:

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B.CONTROLNET SYSTEM
VARIABLES APPENDIX B-81584EN/01

$CN_BD_INFO[2]
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: CN_BD_INFO_T
Name: ControlNet Board Information Variables
Description: Contains variables which hold information on the operation of each ControlNet daughter-board and the network
associated with each daughter-board. Individual fields are described below. User viewable and configurable fields
are viewed and edited on the ControlNet Board List and Board List Detail screens.
Power Up:
User Interface Location:

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 C.CONTROLNET ERROR
B-81584EN/01 APPENDIX CODES

C CONTROLNET ERROR CODES

Topics In This Chapter Page
ControlNet Error and This section contains ControlNet error codes.････････････････････････････ 100
Cause Codes
PRIO-156 Error Codes This section contains the PRIO-156 error codes. ･････････････････････････ 105

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C.CONTROLNET ERROR
CODES APPENDIX B-81584EN/01

C.1 CONTROLNET ERROR AND CAUSE CODES

This section contains definitions for some ControlNet errors you might encounter on
your system. You should refer to Appendix C.2 to look up hexadecimal error codes
that are referenced in this section.

PRIO-150 STOP CNET Card Init Error Bd %d

Cause: The ControlNet card failed to initialize. Possible problems can be the
following:
* The board system variable for firmware is invalid. Correct the value or
restore the system variables.
* The board firmware is not supported. Restore system variables. If
necessary reload the controller.
* The card or the motherboard is defective.
Remedy: Look at possible causes. Remedies are mentioned therein.

PRIO-151 WARN CNET Internal Error 0x%x

Cause: ControlNet option encountered an internal error. The number is the
system error in hexadecimal.
Remedy: Please look up the error to find the root cause.

PRIO-152 WARN CNET Invalid Scan Config Bd %d

Cause: The configuration loaded on the CNET daughterboard is invalid.
Remedy: Reload the configuration from the config tool. For adapter mode, verify
that all parameters are correct. Verify that EDS files used for the config
tool are valid. Verify that the configuration of the scan- list is valid in the
config tool.

PRIO-153 WARN CNET Conn. Ownership Conflict

Cause: The target connection is already owned by some other device.
Remedy: Verify all connections to the target device from all scanners on the network.
Inputs to a device cannot be multicast.

PRIO-154 STOP CNET Duplicate Mac ID Bd %d

Cause: Duplicate MAC-ID detected.
Remedy: Check MAC-IDs of all devices on the network.

PRIO-155 STOP CNET Network Error Bd %d

Cause: The CNET card is not attached to the network.
Remedy: Check wiring to the card. Check for duplicate MAC-ID. Ensure that there
is at least one other device on the network.

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 C.CONTROLNET ERROR
B-81584EN/01 APPENDIX CODES

PRIO-156 STOP CNET Er %s Bd %d MAC %d

Cause: The connection for the device Mac listed encountered an error. The Er
number is the ControlNet error code.
Remedy: Refer to cause code if listed. If not, refer to the ControlNet error code in
the System manual or the ControlNet specification.

PRIO-157 STOP CNET Err Loading BIN file Bd %d

Cause: The firmware for the card could not be loaded.
Remedy: Refer to cause code. Verify Board sys vars to check for validity of values.

PRIO-158 WARN CNET File Not Found

Cause: The firmware file was not found.
Remedy: Verify Board sysvars $CN_BD_INFO[%d] are set correctly.

PRIO-159 WARN CNET Cycle pwr to restart scan

Cause: Scan list was modified. ControlNet interface is stopped.
Remedy: Cycle power to the controller for the changes to take affect.

PRIO-160 STOP CNET Connections Broken Bd %d

Cause: All connections to the card are broken. No I/O is exchanged and all ports
are Offline. This happens when a network configuration is being
performed or the Scan list is being changed.
Remedy: Finish the change. When the network is completed, the connections will
be restored. If scan list is changed, the power will have cycled for the
interface to the restarted.

PRIO-161 WARN CNET Network Change Occurring

Cause: A config tool is performing a network change.
Remedy: Finish the change. When the network is completed, the connections will
be restored. If scan list is changed, the power will have cycled for the
interface to the restarted.

PRIO-162 WARN CNET Connections Restored Bd %d

Cause: The CNET interface has restored the connections.
Remedy: This is a caution message to the user.

PRIO-163 WARN CNET Network Change Complete

Cause: The config tool has completed the network change.
Remedy: This is a caution message to the user.

PRIO-164 STOP CNET Scan list modified Bd %d

Cause: A config tool has modified the scan list of the interface card.
Remedy: At this point, a network config needs to performed using a network config
tool such as RSNetworx.

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C.CONTROLNET ERROR
CODES APPENDIX B-81584EN/01

PRIO-165 WARN CNET Connection Not Found

Cause: The interface could not establish a connection as it was not found.
Remedy: Verify the scan-list configuration and match it with the target device.
Verify the connection paths. The connection path expected by the scan-
list can be found in the EDS file for the target device. The connection
path supported by the target device can be found in its documentation.
Verify that the target device and the EDS file used by the Scanner config
match.

PRIO-166 WARN CNET Invalid Connection Type

Cause: Invalid connection type in scanlist.
Remedy: Use correct EDS file in the scan-list config tool and reload the scan-list.

PRIO-167 WARN CNET Vend ID/Prod. Code Mismatch

Cause: The vendor ID of the device in the scan-list and that of the actual device do
not match.
Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on
the system.

PRIO-168 WARN CNET Invalid Connection Size

Cause: The connection size of the device in the scanlist does not match the target
device.
Remedy: Verify correct size and reload the scan-list using the config tool.

PRIO-169 WARN CNET Device Not Configured

Cause: The connection has not been scheduled.
Remedy: Run a network configuration tool such as RSNetworx and configure the
network.

PRIO-170 WARN CNET Product Type Mismatch

Cause: The Product Type of the device in the scan-list and that of the actual device
do not match.
Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on
the system.

PRIO-171 WARN CNET Maj/Min Revision Mismatch

Cause: The Major/Minor revision of the device in the scan-list and that of the
actual device do not match.
Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on
the system.

PRIO-172 WARN CNET Target App Out of Conn.

Cause: The target device does not have enough connections
Remedy: Close some connections to target device.

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 C.CONTROLNET ERROR
B-81584EN/01 APPENDIX CODES

PRIO-173 WARN CNET Needs Network Config.

Cause: The connection has not been scheduled.
Remedy: Run a network configuration tool such as RSNetworx and configure the
network.

PRIO-174 WARN CNET Connection Lost

Cause: The connection to the remote device is lost.
Remedy: Check network connections. Check to see that the remote device is online.
Check the status of the remote device.

PRIO-175 WARN CNET Bad Device State

Cause: The device is not in correct state to respond to this connection request.
Remedy: Run a network configuration tool such as RSNetworx and configure the
network. Check if any other scanner has existing connection to the device.

PRIO-176 WARN CNET Connection Request Failed

Cause: Remote device refused the connection. This could be due to an invalid
connection path.
Remedy: Verify that the correct EDS file is being used for the device. Check the
target device configuration.

PRIO-177 WARN CNET Invalid configuration

Cause: The Card has an invalid scan-list configuration.
Remedy: Check the configuration on the scanner config tool. Verify correct EDS
files are used. Verify Input and Output sizes to devices.

PRIO-180 WARN CNET Sys Err %d %d 0x%x

Cause: An element could not be added to the system I/O scan. When this error is
posted, ControlNet I/O is not Operational. Possible causes are:
* Invalid Configuration of scanner scan list.
* Too many I/O points for any given CNET device.
* Too many I/O points in the whole system.
Remedy: Verify all I/O is valid. Check all CNET devices &new-line and ensure the
sizes are reasonable. Max I/O is limited by that allowed for the system.

PRIO-181 WARN CNET Conn. Req. Timeout

Cause: Target device did not respond to the connection request.
Remedy: Verify that the target device is online and the status is OK. Verify that
correct EDS file was used for the Scan-list configuration in the scanner
configuration tool.

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C.CONTROLNET ERROR
CODES APPENDIX B-81584EN/01

PRIO-182 WARN CNET CCO Change Aborted

Cause: Network change was aborted. Connections will be restored and I/O will be
exchanged.
Remedy: This is a caution message.

PRIO-184 WARN CNET Connection Idle

Cause: The target (adapter) connection is idle. A scanner has not connected yet.
All the ports corresponding to this device will be offline.
Remedy: Check the remote scanner configuration. Check the sizes and other
configuration parameters such as vendor ID, product code, product type,
revision and connection path and verify they are correct. Verify that the
scanner is online.

PRIO-185 WARN CNET Config Er %d %d

Cause: There is an error with the Scan-list configuration.
Remedy: Refer to the cause code.

PRIO-186 WARN CNET Invalid Header size

Cause: The input header size in case of scanner mode or the output header size in
case of adapter is invalid.
Remedy: Enter a valid header size. The valid header is less that or equal to the total
connection size. The total connection size is a sum of the I/O size and the
header size.

PRIO-187 WARN CNET Invalid Num of Slots

Cause: The number of slots for the device in the scan is invalid.
Remedy: Verify the configuration in the scanner config tool and reload the
configuration. Verify that the EDS files are valid.

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 C.CONTROLNET ERROR
B-81584EN/01 APPENDIX CODES

C.2 PRIO-156 ERROR CODES

The following error codes are defined by the ControlNet Specification 2.0. When a
connection to a device fails, the R-J3 posts a stop error in the following format:

PRIO-156 CNET Er ## #### Bd # MAC ##

The Error code (## ####) is a ControlNet error code from the ControlNet
Specification. The code is displayed in hexadecimal, and the first two digits
correspond to the General Status, while the last four digits correspond to the extended
status.
Table C-1 lists the ControlNet error codes.

Table C-1. ControlNet Connection Manager service request Error codes

GENERAL EXTENDED
DESCRIPTION
STATUS STATUS
0x00 Service completed successfully
0x01 0x0100 Connection in Use or Duplicate Forward Open
0x01 0x0103 Transport Class and Trigger combination not supported
0x01 0x0106 Ownership Conflict
0x01 0x0107 Connection not found at target application.
0x01 0x0108 Invalid Connection Type. Indicates a problem with either the Connection Type or
Priority of the Connection
0x01 0x0109 Invalid Connection Size
0x01 0x0110 Device not configured
0x01 0x0111 RPI not supported. Might also indicate problem with connection timeout multiplier.
0x01 0x0113 Connection Manager cannot support any more connections
0x01 0x0114 Either the Vendor Id or the Product Code in the key segment did not match the device
0x01 0x0115 Product Type in the key segment did not match the device
0x01 0x0116 Major or Minor Revision information in the key segment did not match the device
0x01 0x0117 Invalid Connection Point
0x01 0x0118 Invalid Configuration Format
0x01 0x0119 Connection request fails since there is no controlling connection currently open.
0x01 0x011A Target Application cannot support any more connections
0x01 0x0203 Connection cannot be closed since the connection has timed out
0x01 0x0204 Unconnected Send timed out waiting for a response.
0x01 0x0205 Parameter Error in Unconnected Send Service
0x01 0x0206 Message too large for Unconnected message service
0x01 0x0301 No buffer memory available
0x01 0x0302 Network Bandwidth not available for data
0x01 0x0303 No Tag filters available
0x01 0x0304 Not Configured to send real-time data

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C.CONTROLNET ERROR
CODES APPENDIX B-81584EN/01

GENERAL EXTENDED
DESCRIPTION
STATUS STATUS
0x01 0x0311 Port specified in Port Segment Not Available
0x01 0x0312 Link Address specified in Port Segment Not Available
0x01 0x0315 Invalid Segment Type or Segment Value in Path
0x01 0x0316 Path and Connection not equal in close
0x01 0x0317 Either Segment not present or Encoded Value in Network Segment is invalid.
0x01 0x0318 Link Address to Self Invalid
0x01 0x0319 Resources on Secondary Unavailable
0x01 0x031A Connection already established
0x01 0x031B Direct connection already established
0x01 0x031C Miscellaneous
0x01 0x031D Redundant connection mismatch
0x02 n/a Connection Manager resources are unavailable to handle service request
0x03 n/a Invalid connection number specified by the Get_Connection_Data service. This is
also returned by the Search_Connection_Data service if the specified connection is
not found.
0x04 Zero Based Segment Type in path is invalid. The Extended Status shall be the word offset (0
Word Offset based) to the word in the path where the error occurred. The offset starts at the first
word after the path size. This error shall not be returned if an error occurs when
parsing the Connection Path.
0x05 Zero Based Destination in path is invalid. The Extended Status shall be the word offset (0 based)
Word Offset to the word in the path where the error occurred. The offset starts at the first word
after the path size. This error will not be returned if an error occurs when parsing the
Connection Path.
0x07 n/a Connection has been lost. This is used by the Get/Set Services when they are made
through a connection
0x08 n/a Connection Manager does not support the requested Service.
0x09 Index to Error in Data Segment. Extended Status shall be index to where the error was
Element encountered in the Data Segment. The Configuration Revision Number if present in
the Data Segment shall always be index 1.
If the error occurs with the Get/Set Services, then the extended status indicates the
attribute number that failed.
0x0C Optional Service cannot be performed while Object is in current state. The first word of
Extended Status may optionally contain the object’s current state.
0x10 Optional Service cannot be performed while Device is in current state. The first word of
Extended Status may optionally contain the device’s current state.
0x11 n/a Response data too large. This is used by the get services to indicate the amount of
data requested was too large to fit into the response buffer.
0x13 n/a Not enough data was received.
0x14 Attribute Id Attribute specified in FIND service is not supported by Connection Manager
0x15 n/a Too much data was received.
0x25 0x0114 Either the Vendor Id or the Product Code in the key segment did not match the device.
Used if the Key Segment was contained in the path.

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 C.CONTROLNET ERROR
B-81584EN/01 APPENDIX CODES

GENERAL EXTENDED
DESCRIPTION
STATUS STATUS
0x25 0x0115 Product Type in the key segment did not match the device. Used if the Key Segment
was contained in the path.
0x25 0x0116 Major or Minor Revision information in the key segment did not match the device.
Used if the Key Segment was contained in the path.
0x26 n/a Invalid path size
0xd0 0x0001 Connection is closed or stopped. (Used in Adapter mode of operation.)
0xd0 0x0002 Connection open is pending. (Used in Adapter mode of operation.)

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D.RESPONSE TIME APPENDIX B-81584EN/01

D RESPONSE TIME
Topics In This Chapter Page
Response Time The response time of the system is the amount of time it takes an I/O signal
to be transmitted through the system to its destination.････････････････････ 109

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B-81584EN/01 APPENDIX D.RESPONSE TIME

D.1 RESPONSE TIME

The system response time is the amount of time it takes an I/O signal to propagate
through the system to its destination and back again. For an R-J3 -to- PLC system this
time would be from the time an output is set to the time a modified input is read. The
system response time depends on many factors. The primary factors are:
● The Network Update Time (NUT)
● The R-J3 I/O Scan Time
● PLC Ladder Scan Time
To calculate the response time, take into account the following information:

The response time is asynchronous but has a deterministic upper limit. After a signal
gets set on the ControlNet (CNET) I/O Image, it will take a maximum of one NUT
before it gets transmitted to any node on the network.

Examine the case where an R-J3 DO is transferred to a PLC and back as an R-J3 DI.
In this case after the DO is set in the I/O Image, it will take a maximum of one I/O
Scan to get the DO to the CNET I/O Image, t(o-c). After the DO is in the CNET I/O
Image it is transferred once a Network Update Time, t(nut) to any node on the network.
See Figure D-1.

Figure D-1. I/O Signals in Memory

In the PLC, the inputs are scanned into the Ladder I/O Image, which fixes them for the
entire Ladder Scan, t(c-li). The inputs are processed during the ladder scan t(l) and
then set back to the PLC’s CNET I/O Image via t(li-c).

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D.RESPONSE TIME APPENDIX B-81584EN/01

The PLC outputs are transferred once during each NUT, t(nut) back to the R-J3. They
are then transferred to the I/O Image t(c-i) where they can be read by a program.

T(R-J3 -to- PLC -to- R-J3) = t(o-c) + t(nut) + t(c-li)

+ t(l) + t(li-c) + t(nut)
+ t(c-i)

● t(o-c) = Teach pendant outputs get immediately set in the I/O Image. The time
necessary to get to them to ControlNet memory can be a maximum of one I/O
Scan or 4 ms.
● t(nut) = The time from one node to any node is set in ControlNet this is one
Network Update Time (NUT). This value can be obtained from RSNetWorx.
● t(c-li) = After the signal is in the PLC CNET I/O Image, it must get placed in an
appropriate ladder image data file to be accessed by the PLC Ladder.
● t(l) = The input value needs to be fixed for the entire scan in the ladder. The
PLC Scan can usually be obtained by examining an appropriate status register in
the PLC. After the signal has been processed, the reverse process must take
place
● T(li-c) = Signal to from PLC Data File to PLC’s CNET Output Image
● T(c-i) = The time to copy data from the CNET I/O Image into the I/O Image used
by a program.

For example, using R-J3 V5.30 and a PLC 5/40C over a simple network with a 2 ms
NUT, the following times were calculated.

T(R-J3 -to- PLC -to- R-J3) = t(o-c) + t(nut) + t(c-li)

+ t(l) + t(li-c) + t(nut)
+ t(c-i)

T(R-J3 -to- PLC -to- R-J3) = 4ms + 2ms + 1ms

+ 3ms + 1ms + 2ms
+ 4ms

T(R-J3 -to- PLC -to- R-J3) = 17ms

Your actual PLC ladder scan times might vary from the example. Most PLCs offer
the capability to get the actual scan time from a programmer or monitor.

NOTE
These calculations apply to user level access.

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 E.EDS FILES (ADAPTER AND
B-81584EN/01 APPENDIX SCANNER)

E EDS FILES (ADAPTER AND SCANNER)

Topics In This Chapter Page
Overview This section contains an overview of EDS files. ･･････････････････････････ 112
R-J3 Adapter EDS File This section contains a listing of the R-J3 Adapter EDS file. ･･･････････････ 113
R-J3 Scanner EDS File This section contains a listing of the R-J3 Scanner EDS file. ･･･････････････ 116

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E.EDS FILES (ADAPTER AND
SCANNER) APPENDIX B-81584EN/01

E.1 OVERVIEW

The R-J3 ControlNet Interface can be configured into either an Adapter or a Scanner
personality. Each personality has their own specific parameters that need
configuration. Therefore, two EDS files exist, one for Adapter and the second for
Scanner.

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 E.EDS FILES (ADAPTER AND
B-81584EN/01 APPENDIX SCANNER)

E.2 R-J3 ADAPTER EDS FILE

The R-J3 Adapter EDS File is used in the SST CCT and RSNetWorx 2.0. It is used
in the SST CCT to allow any of the CCT’s supported Scanners to configure the R-J3
Adapter. It is also used by RSNetWorx 2.0 to configure PLC-5 Scanners to the R-J3
Adapter.

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E.EDS FILES (ADAPTER AND
SCANNER) APPENDIX B-81584EN/01

Figure E-1. R-J3 Adapter EDS File

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 E.EDS FILES (ADAPTER AND
B-81584EN/01 APPENDIX SCANNER)

Figure E-2. Adapter EDS File (continued)

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E.EDS FILES (ADAPTER AND
SCANNER) APPENDIX B-81584EN/01

E.3 R-J3 SCANNER EDS FILE

The R-J3 Scanner EDS File is used when configuring Scanner-to-Scanner connections
(sometimes called Peer-to-Peer. It is used in both the SST CCT and RSNetWorx 2.0
to identify the I/O Size and Producer/Consumer ID pair.

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Figure E-3. R-J3 Scanner EDS File

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F SST CCT AND EXAMPLE PROGRAMS

Topics In This Chapter Page
Overview This appendix describes the SST ControlNet Configuration Tool required to
configure the R-J3 ControlNet Scanner Interface. ････････････････････････ 119
SST ControlNet The ControlNet Configuration Tool is used to configure the R-J3 ControlNet
Configuration Tool Interface in the Scanner Mode of operation. ･････････････････････････････ 120
Programming Examples This section contains the following programming examples: ･･･････････････ 121
● R-J3 Scanner Scanning an R-J3 Adapter ･････････････････････････････ 121
● Setting Up an R-J3 Scanner as a Peer to PLC-5 ･･･････････････････････ 135
● Setting Up an R-J3 as a Peer to ControlLogix 5000 ･････････････････････ 139
● Setting Up an R-J3 as an Adapter Scanned by ControlLogix 5000 ････････ 144

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F.1 OVERVIEW

This appendix describes the SST ControlNet Configuration tool required to configure
the R-J3 ControlNet Scanner interface.

The programming examples in this appendix explain how to set up various

configurations such as:
● R-J3 ControlNet Scanner scanning R-J3 ControlNet Adapter
● R-J3 ControlNet Scanner as Peer with Allen Bradley PLC-5
● R-J3 ControlNet Scanner as Peer to ControlLogix 5000 PLC
● R-J3 ControlNet Adapter being scanned by a ControlLogix 5000 PLC

Procedure F-1 contains steps that serve as guidelines for the following examples.

The information provided here is for reference only. For further details and information
about troubleshooting the PLCs, refer to Allen Bradley/Rockwell Automation
Technical Support. For details about troubleshooting the SST ControlNet
Configuration Tool, refer to SST Technologies Technical Support.

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F.2 SST CONTROLNET CONFIGURATION TOOL

The ControlNet Configuration Tool is used to configure the R-J3 ControlNet Interface
in the Scanner Mode of operation.

The ControlNet Configuration Tool (CCT) can be obtained from SS Technologies FTP
web-site at http://www.sstech.on.ca. The FTP site to obtain the tool is ftp.sstech.on.ca
in the directory /pub/drivers/5136-CN.

The CCT runs either on Windows 98 or Windows NT Service Pack 3 or later. The CCT
is compatible with RSNetWorx and RSLinx. To utilize the CCT, the PC needs to be
able to communication with the ControlNet network on which the R-J3 Scanner to be
configured exists.

There are two options for PC Communications:

● Utilize the SST 5136-CN-ISA or 5136-CN-PCI PC ControlNet interface installed
in the PC. This ControlNet hardware manufactured by SS Technologies for PCs is
compatible with Allen Bradley RSLinx, RSNetWorx and RSLogix products.
Refer to the SST web site for further information on how to utilize the SST CN
interface in a PC.
RSLinx is the low-level driver utilized by Allen Bradley ControlNet configuration
products.
● The other option is to use RSLinx OEM (9355-WABOEM) or full version of
RSLinx (9355-WAB). This is required if an Allen Bradley Interface card such as
the 1784-KTCX PC interface is installed in the PC. The CCT will not operate if
RSLinx Lite is installed.

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F.3 PROGRAMMING EXAMPLES

This section contains the following programming examples:

● R-J3 Scanner scanning an R-J3 Adapter
● R-J3 Scanner as a peer to PLC-5
● R-J3 Scanner as a peer to ControlLogix 5000
● R-J3 Adapter being scanned by a ControlLogix 5000

F.3.1 R-J3 Scanner Scanning an R-J3 Adapter

This example describes how to set up an R-J3 Scanner Interface and an R-J3 Adapter
Interface. This example also describes in detail on how to use the SST Scanner
Configuration Tool. The figures in this section serve as examples for the remainder of
this section.

System Requirements
The following components are required and used to set up this loop-back network.
● A PC with the SST Scanner Configuration Tool installed
● Two R-J3 controllers with one ControlNet Interface each or one R-J3 controller
with two ControlNet Interfaces. The Software version is R-J3 V5.30 or later.
● Necessary trunk cable, taps and terminators to connect the network.

NOTE
Since all the components of this network are SST components, another
network configuration tool such as RSNetWorx 2.0 is not required. If a
different vendor makes any of the scanners on a network you are
configuring, RSNetWorx 2.0 is required to perform network
configuration.

Setting Up the R-J3 Adapter

The selected adapter configuration is for 8 words in and 8 words out. Procedure F-1
shows how to set up the R-J3 Adapter.

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Procedure F-1 Setting Up the R-J3 Adapter

Step
1. Cold start the R-J3 controller.

2. The R-J3 adapter will be set up for the 5138-CN-104 Simple Adapter Personality.
Ensure that the following system variables have values as listed. If they are
different, set them to the values listed in Table F-1, cycle power, and Cold start the
R-J3 Controller.

Table F-1. R-J3 ControlNet Adapter Personalities

System Variable 5136-CN-104

(# = board number) Simple Adapter
$CN_ADP_CNF[#].$cn_bd_vndid 8
$CN_ADP_CNF[#].$cn_bd_dtype 12
$CN_ADP_CNF[#].$cn_bd_pcode 2
$CN_ADP_CNF[#].$cn_bd_majrv 1
$CN_ADP_CNF[#].$cn_bd_minrv 1
$CN_ADP_CNF[#].$cn_class 4
$CN_ADP_CNF[#].$cn_inst 1
$CN_ADP_CNF[#].$cn_conpt0 8
$CN_ADP_CNF[#].$cn_conpt1 7

3. Press MENUS .

4. Select [I/O].

5. Press F1, [TYPE].

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6. Select [ControlNet]. You will see a screen similar to the following.

7. Move the cursor to the board you want to set up for adapter mode configuration
and press F3, DETAIL, to see the ControlNet board details. You will see a screen
similar to the following.

8. Move the cursor to [Operation Mode] and press F3, [ADPTR] for adapter mode
operation.

9. Move the cursor to [Adapter Err Sevrty] and set the adapter connection error
severity to [STOP], [WARN], or [PAUSE] as required.

10. Move the cursor to [MAC-ID] and set the MAC ID of the adapter interface card.

11. Press [NEXT], [>].

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12. Press F4, [ADPCNF], for adapter mode configuration. You will see a screen
similar to the following.

13. Move the cursor to [Input Size (Words)] and set to the value to 8 if it is not already
set to 8.
The term [input size] implies the size of the data received by the Adapter mode
connection from a scanner.

14. Move the cursor to [Output Size (Words)] and set the value to 0.
The output header size provides a means to configure the offset from which the I/O
begins. Certain scanners, such as the Allen-Bradley PLC-5 and Logix 5000, do
not allow for a non-zero header. This parameter allows user configuration for that
parameter. The total size of data sent to a scanner is equal to the sum of the output
header and the output size parameters. The output header, if non-zero, is not
accessible, and that data cannot be set by the user.

15. Turn the controller off, and then Cold start the controller. The settings take effect
when the controller turns on.
This completes the configuration of the adapter.

Setting Up the R-J3 ControlNet Scanner Interface

This section describe on how to set up an R-J3 Controller ControlNet Scanner interface
so that a scanlist can be downloaded using SST ControlNet Configuration Tool. shows
how to set up the R-J3 ControlNet scanner interface.

Procedure F-2 Setting Up the R-J3 Scanner

Step
1. Cold start the R-J3 controller.

2. The R-J3 Scanner will be set up for the 5138-CN-104 personality. Ensure that the
following system variables have values as listed in . If they are different, set them
to the values listed, cycle power, and Cold start the R-J3 controller.

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Table F-2. R-J3 ControlNet Adapter Personalities

System Variable 5136-CN-104

(# = board number) Scanner
$CN__INFO[#].$cn_bd_vndid 8
$CN_BD_INFO[#].$cn_bd_dtype 12
$CN_BD_INFO[#].$cn_bd_pcode 8
$CN_BD_INFO[#].$cn_bd_majrv 1
$CN_BD_INFO[#].$cn_bd_minrv 1

3. Press MENUS .

4. Select [I/O].

5. Press F1, [TYPE].

6. Select [ControlNet]. You will see a screen similar to the following.

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7. Move the cursor to the board you want to set up for adapter mode configuration
and press F3, DETAIL, to see the ControlNet Board Details. You will see a screen
similar to the following.

8. Move the cursor to [Operation Mode] and ensure that the operation mode is
[SCANNR]. If it is not, press F2, [SCANNR].

9. Move the cursor to [Param Change Mode] and ensure that it is set to [SCN ULK].
This will allow downloading of the network configuration from the network.

10. Move the cursor to [Scanner Err Sevrty] and set the adapter connection error
severity to [STOP], [WARN], or [PAUSE] as required.

11. Move the cursor to [MAC ID] and set the MAC ID of the adapter interface card.
The MAC ID of the scanner should be lower than that of the adapter. If the MAC
ID has been changed, cycle power and Cold start the controller.

12. Note the MAC ID of the scanner. The next step is to use the SST ControlNet
Configuration Tool to download the scan list.

Creating the R-J3 Scan List and Downloading It

Procedure F-3 shows how to create the R-J3 scan list and download it. This step
involves using the SST ControlNet Configuration Tool installed on a PC connected to
the ControlNet network.

Procedure F-3 Creating the R-J3 Scan List and Downloading It

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Condition
■ The SST ControlNet Configuration Tool is installed on a PC that is connected to
the ControlNet network.

Step
1. Click [START] - [Programs] - [SST Cn] - [Cn Config Tool]. This will launch the
Configuration Tool.

2. When the tool is launched for the first time, there will be no EDS files in the library.
Click to the Left icon above the EDS pane to add EDS files. See the following
screen for an example.

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3. Expand the [Communications Adapter] listing and see if the [5136-CN-104

Simple Adapter Rev 1.1(SST)] is listed. If it is not listed, the Adapter EDS file has
not been installed. Obtain the electronic version of the EDS file (File name:
0008000c00020101.eds) and copy it to the directory where all the ControlNet
EDS files are installed (typically [C:\Program Files\SST\Cn\Cn Config Tool\Eds]).
Register this file (see Step 2) with the configuration tool so that it appears in the list
as shown in the following screen.

4. Click [Edit] - [New Scanner].

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5. A new scanner will be added to the right window. Select the scanner and right click
the mouse. See the following screen for an example.

6. Select [Properties]. The following window will be displayed. Set the MAC ID for
the Scanner interface. The MAC ID should match that of the scanner on the R-J3
controller as the scan list will be downloaded Online over ControlNet. Click [OK]
when you are finished.

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7. Select the [5136-CN-104 Simple Adapter] for the EDS listing window and drag it
to the Scanner on the right window.

8. Select the Adapter entry in the right window and right click using the mouse. See
the following screen for an example.

9. Select [Properties]. See the following screen for an example.

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10. Select the [Exclusive Owner Connection] tab.

11. Set the MAC ID so that it corresponds to the MAC ID of the adapter on the R-J3
controller. Set the [O-T RPI], [T-O RPI], the [O-T size], the [T-O size] as required.
The [O-T RPI] is the update interval (in microseconds) for data coming from the
scanner to the adapter.
The [T-O RPI] is the update interval for the data coming from the adapter to the
scanner. The [O-T size] is the data coming scanner to the adapter and corresponds
to the value entered in the [Input Size (Words):] field in Procedure F-1 , Step 13 of
adapter mode configuration. Type 8 and press [ENTER].
The [T-O size] is the data coming from the adapter to the scanner in words. This

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corresponds to the sum of the Output Size (Words): field in Procedure F-1 , Step
14 and [Output Header (Words):] field in Procedure F-1 , Step 14. Type 8 and
press [ENTER]. The [Name] field is what will be displayed for the name of the
device on the robot controller device list for the scanner. Click [OK] when you are
done.

12. Select [The Network] in the network window. Right-click and select [Properties].

13. The window shown below will be displayed. Set the NUT (Network Update time)
as required. This value should be less than or equal to the smallest RPI set for any
device on the scan list. Set the SMAX (Scheduled Maximum MAC ID) and the
UMAX (Unscheduled Maximum MAC ID) as appropriate. When you are finished,
click [OK].

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14. Select [The Network] in the network window and right click again. Select [Send
Config Through SST CN Card].

15. The following window will be displayed.

NOTE
Ensure that the R-J3 controller with the scanner interface is online
and connected to the same network as the card in the PC is. Also
ensure that the MAC ID of the scanner matches that of the scanner
in the network list. Select the correct SST card and click [OK].

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16. After the configuration is sent, you will see the message shown below.

17. Turn the controller off, then turn it on again. Cycle power to the controller. When
the controller powers up, the System LEDs for both, the Scanner Interface as well
as the Adapter Interface should be solid green.

18. Map I/O on the R-J3 Systems. ControlNet Board 1 shows up as Rack 85 and Board
2 as Rack 86. The Slot represents the MAC Id. In case of adapter interface, the slot
is equal to the MAC Id of the adapter card. In case of the scanner, the slot is equal
to MAC Id of the adapter being scanned. Refer to the appropriate Application-
Specific FANUC series R-J3 Controller OPERATION’S MANUAL for more
details on how to configure I/O for the R-J3 system.

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F.3.2 Setting Up an R-J3 Scanner as a Peer to PLC-5

In ControlNet, two Scanner devices can exchange I/O with each other using Send and
Receive connections. This section describes how to set up an R-J3 ControlNet Scanner
interface as a peer to an Allen Bradley PLC-5.

Requirements
The requirements for setting up an R-J3 Scanner as a peer to PLC-5 are as follows:
● R-J3 System with ControlNet Scanner Interface (Refer Chapter 2 and Chapter 4)
● PLC-5 with ControlNet Interface
● PC connected to ControlNet
● SST ControlNet Configuration Tool installed
● RSNetWorx for ControlNet installed (Version 1.8 or Version 2.0)
● If using 1784-KTCX on PC, RSLinx OEM installed.
● If using 5136-CN-ISA or 5136-CN-PCI, Drivers properly configured for RSLinx
Refer to Allen Bradley Technical support for PLC-5, RSNetWorx, RSLinx OEM and
1784-KTCX. Refer to SS Technologies Technical Support for 5136-CN PC cards, SST
ControlNet Configuration Tool, and configuring drivers for RSLinx.

Selecting the Personality

Refer to Chapter 2 for information on Personalities. If you are using RSNetWorx 1.8,
use the 1784-KTCS personality for the R-J3 Scanner interface. If you are using
RSNetWorx 2.0, use the 5136-CN-104 personality and register the EDS file
000800C00080101.eds with RSNetWorx 2.0. Set the personality on the controller and
cycle power to the controller. Refer to Chapter 4 for information on setting up the
Scanner interface on the controller.

The following section describes how to create the scan list.

Creating a Scan List Configuration for the R-J3 Scanner

Use Procedure F-4 to create a scheduled receive using the SST ControlNet
Configuration Tool. Use Procedure F-5 to create a scheduled send in the Configuration
Tool. This procedure assumes you have successfully completed Procedure F-4 .

Procedure F-4 Creating a Scheduled Receive Using the SST CCT

Step
1. If you have not already done so, create a new network and add a scanner.
Double-click [The Network] and set the network properties. Double-click the
scanner. On the [Scanner] tab, set the MAC ID. On the [Connections] tab, set the
[Card Type] to the appropriate type (usually [Standard]).

2. Drag the appropriate (model and revision) PLC-5C from the [Programmable Logic
Controller] section of the EDS library to the scanner.

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3. Double-click on the adapter (receive from PLC-5) to configure it.

4. On the [General] tab, you can optionally set the name and description for the
PLC-5 connection.

5. Set the MAC ID for the PLC.

6. Set the [O=>T RPI] and [T=>O RPI] to the required update time. This time is
shown in microseconds. For example, if you want it to update every 30 ms, enter
30000 for both values. The default values for the RPIs is the network update time
(NUT).

7. Set the [T=>O Size] to the length of the receive in words. This must match the
length of the send you configure in the PLC.

8. On the [Parameters] tab, set the [Consume Buffer ID] value to match the message
number of the send in the PLC.

9. Click [OK] to accept the configuration.

10. Double click on the scanner, select the [Connections] tab, and configure
appropriate [Rx Start] and [Tx Start] addresses.

Procedure F-5 Creating a Scheduled Receive Using the SST CCT

Condition
■ You have successfully completed Procedure F-4 .

Step
1. If you are using RSNetWorx 1.8 or below, drag an [SST-CN KTCS Send] from the
[Communication Adapters] section of the EDS library to the scanner. If you are
using RSNetWorx 2 or above, drag an [SST-CN-104 Send] from the
[Communication Adapters] section of the EDS library to the scanner.

2. Double click on the send to configure it.

3. On the [General] tab of the dialog box that appears, you can optionally set the
name and description of the send.

4. Set the [T=>O Size] to the length of the send in words. This must match the length
of the corresponding receive in the PLC.

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5. On the [Parameters] tab, set the [Produce Buffer ID] value to match the message
number of the corresponding receive in the PLC. Each send on a node must have a
unique Produce Buffer ID (message number).

6. Click [OK] to accept the configuration.

7. Download the configuration to the module and put the module online.

Creating a Scan-List Configuration for the PLC-5

RSNetWorx and the integrated MET is used to configure the PLC-5. Use Procedure
F-6 to create scheduled sends and receives in the PLC-5 using RSNetWorx. This
procedure is based on RSNetWorx Version 1.80.

Procedure F-6 Creating a Scan-List Configuration for the PLC-5

Step
1. Start RSNetWorx and select [Network]/[New] to create a new network.

2. Go Online so that RSNetWorx can read the network configuration. RSNetWorx

might ask you to select a path to the network.

3. Enable [Edits].

4. Right click on the PLC-5 icon in the network window and select [ControlNet
Configuration]. RSNetWorx opens the PLC-5 Map Editing Tool.

5. Assign the Data Input, Data Output, Status, Diagnostic and Configuration Files to
the file numbers you want to use in the PLC.

6. To insert a Receive Scheduled message, right click on the PLC and select [Insert
Receive Scheduled Message]. In the dialog box that appears:
● Set the [Node Number] to that of the card from which the PLC is receiving the
scheduled data.
● Set the [message number] to be the Produce Buffer ID of the corresponding
send in the card.
● Set the [Requested Packet Interval] to the update time, in ms, for this receive.
● Set the [Message Size] to the length of the send in the card.
● Click [OK] to accept the configuration for the receive.

7. To insert a Send Scheduled message, right click on the PLC and select [Insert Send
Scheduled Message]. In the dialog box that appears:
● Set the [Message Number] to match the Consume Buffer ID for the
corresponding receive in the card.

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● Set the [Message Size] to match the T=>O size for the corresponding receive
in the card.
● Click [OK] to accept the configuration for the send.

8. Select [Configuration]/[Auto Map]/[All Entries] from the main menu so the Map
Editing Tool can assign addresses for the scheduled sends and receives you have
configured.

9. Perform a [Network]/[Save]. RSNetWorx builds a network schedule and writes it

to the nodes on the network.

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F.3.3 Setting Up an R-J3 as a Peer to ControlLogix 5000

This example describes how to set up an R-J3 Scanner interface as a Peer to

ControlLogix 5000 Controller.

Requirements
The requirements for setting up an R-J3 as a Peer to ControlLogix 5000 are as follows:
● R-J3 System with ControlNet Scanner Interface (Refer Chapter 2 and Chapter 4)
● ControlLogix 5000 with 1756-CNB ControlNet Interface
● PC connected to ControlNet
● SST ControlNet Configuration Tool installed
● RSNetWorx for ControlNet installed (Version 1.8 or Version 2.0)
● RSLogix 5000 to program ControlLogix 5000
● If using 1784-KTCX on PC, RSLinx OEM installed.
● If using 5136-CN-ISA or 5136-CN-PCI, Drivers properly configured for RSLinx

Refer to Allen Bradley Technical support for PLC-5, RSNetWorx, RSLogix 5000,
RSLinx OEM and 1784-KTCX. Refer to SS Technologies Technical Support for
5136-CN PC cards, SST ControlNet Configuration Tool, and configuring drivers for
RSLinx.

Selecting the Personality

Refer to Chapter 2 for personalities. If you are using RSNetWorx 1.8, use the 1784-
KTCS personality for the R-J3 Scanner interface. If you are using RSNetWorx 2.0, use
the 5136-CN-104 personality and register the EDS file 000800C00080101.eds with
RSNetWorx 2.0. Set the personality on the controller, and turn the controller off, and
then on again. Refer to Chapter 4 on setting up the Scanner interface on the controller.

Use Procedure F-7 to create a produced tag (scheduled send) in RSLogix 5000. Use
Procedure F-8 to set up the corresponding receive or consumed connection in the SST
ControlNet Configuration Tool.

Use Procedure F-9 to create a consumed tag in RSLogix 5000. Use Procedure F-10 to
set up the corresponding send in the SST ControlNet Configuration Tool.

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Procedure F-7 Creating Scheduled Sends (Produced Tags) in the ControlLogix

NOTE
You must be offline in RSLogix 5000 to complete this procedure.

Step
1. Expand the [Data Types] item in the tree, right click on [User-Defined], and select
[New Data Type]... In the dialog box that appears:
● Give the new type a name, for example, ProdTag, and optionally a
Description.
● Create Members for the data type. Give each one a name, data type (INT,
BOOL, etc), style (HEX, etc. This is how the member is displayed), and
description. Note that members can be arrays. If you enter a data type of
INT[20], the member is an array of 20 integers. The maximum size is
approximately 240 words (the actual value depends on the network schedule.)
● Click Apply and RSLogix 5000 displays the current size of the structure.
● When you have created the desired members, click [OK].

2. Expand the [Controller] in the tree. Right-click [Controller Tags] and select [Edit
Tags]. RSLogix 5000 displays a list of the existing controller tags.

3. Right-click an empty entry in the list and select [Edit Tag Properties]. In the dialog
box that appears:
● Give the tag a Name and optionally a description.
● For the [Data Type], select the user-defined data type you created earlier.
● The [Scope] should be [Controller].
● Check the [Produce this tag for up to xxx consumers] box and set the number
of consumers to an appropriate value.
● Click the [OK] button.

4. Save your program and download it to the processor.

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Procedure F-8 Setting Up the Corresponding Receive or Consumed Connection in the SST
ControlNet Configuration Tool

Step
1. If you have not already done so, create a new network and add a scanner.
Double-click [The Network] and set the network properties. Double-click the
scanner. On the [Scanner] tab, set MAC ID. On the [Connections] tab, set the
[Card Type] to the appropriate type (usually [Standard]).

2. Click the scanner to select it, then drag the appropriate (size and revision)
ControlLogix chassis from the EDS library to the scanner.

3. Click the chassis to select it, then double click on the appropriate ControlLogix
processor from the EDS library to add it to the scanner. Place it in the processor
slot, not the CNB slot.

4. Double-click the ControlLogix processor to edit it. In the dialog box that appears:
● Set the [O=>T RPI] and [T=>O RPI] to the required update time. This time is
shown in microseconds. For example, if you want the receive to update every
30 ms, enter 30000. The default values for the RPIs is the network update
time (NUT).
● Set the [T=>O size] to match the size of the tag in the ControlLogix. This size
is in words whereas the size of the user defined data type shown in RSLogix
5000 is in bytes.
● Click the [ControlLogix Tag Name] button. In the dialog that appears, enter
the tag name you created in RSLogix 5000. Note that this must be the name of
the tag, not the name of the user-defined data type. Click [OK] to accept the
tag name.
● Click [OK] to accept the configuration.

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5. For every consumed or receive from a given ControlLogix processor, you must add
a chassis and processor (repeat steps 2-4)

6. Double-click [The Network] in the configuration to build the schedule. Click [OK]
to close the dialog.

7. Download the configuration to the card (see below) or if there are any Scheduled
Send connections, continue with Procedure F-9 first.

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Procedure F-9 Creating a Consumed Tag in RSLogix 5000

NOTE
You must be offline in RSLogix 5000 to complete this procedure.

Step
1. Expand the [Data Types] item in the tree, right click on [User-Defined], and select
[New Data Type]... In the dialog box that appears:
● Give the new type a name, for example, ConsumedTag, and optionally a
Description.
● Create Members for the data type. Give each one a name, data type (INT,
BOOL, etc), style (HEX, etc. This is how the member is displayed), and
description. Members can be arrays; if you enter a data type of INT[20], the
member is an array of 20 integers.
● Click [Apply] and RSLogix 5000 displays the current size of the structure.
● When you have created the desired members, click [OK].

2. Right-click [I/O Configuration] in the tree and select [New Module].

3. Add a ControlNet bridge module of the appropriate type and revision. In the dialog
box that appears, assign it a name and enter the slot that it occupies in the
ControlLogix chassis. Click [OK] to accept the entry.

4. Right-click the bridge module you just added and select [New Module]. Add a
ControlNet PLC5C. In the dialog box that appears, give it a name, for example,
OurCard, and a node number. The node number is the node number of the card,
which will contain the corresponding scheduled send (produced tag).

5. Click [OK] to accept the new module.

6. Expand the [Controller] in the tree. Right click on [Controller Tags] and select
[Edit Tags]. RSLogix 5000 displays a list of the existing controller tags.

7. Right-click an empty entry in the list and select [Edit Tag Properties]. In the dialog
box that appears:
● Give the tag a Name and optionally a description.
● For [Tag Type], check [Consumed].
● In the [Controller] listbox, select the name you gave the PLC5C, in this
example, OurCard.
● The [Remote Instance] should be the message number you will be assigning
the Scheduled send on the card (see below).
● Select an appropriate RPI for the update time, in ms.
● For the [Data Type], select the user-defined data type you created earlier, in
this example, ConsumedTag.

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● Leave the [Produce this tag for up to xxx consumers] checkbox unchecked.
● Click the [OK] button.

8. Save the program and download it to the processor.

Procedure F-10 Setting Up the Corresponding Send in the SST ControlNet Configuration Tool

Step
1. Create a new network and add a scanner. Double-click [The Network] and set the
network properties. Double-click the scanner. On the [Scanner] tab, set the MAC
ID. On the [Connections] tab, set the [Card Type] to an appropriate type (usually
[Standard]).

2. Click the scanner to select it. Double-click an [SST-CN-104 Send] from the
[Communication Adapter] section of the EDS tree to add it to the scanner.

3. Double-click the send to edit it. In the dialog box that appears:
● On the [General] tab, set the [T=>O size] to the required value. This size is in
words whereas the size of the user defined data type shown in RSLogix 5000
is in bytes. The maximum is approximately 240 words (the exact value
depends on the network schedule.)
● On the [Parameters] tab, double-click the [Produce Buffer ID Value] field and
type the message number you entered in RSLogix 5000. Every scheduled send
on a node must have a unique message number.
● Click [OK] to accept the configuration.

4. Double-click [The Network] in the configuration to build the schedule. Click [OK]
to close the dialog.
5. Download the Configuration to the card.

Perform Network configuration (Chapter 6) to schedule all connections. This needs to

be done whenever any changes are done to any connections.

F.3.4 Setting Up an R-J3 as an Adapter Scanned by ControlLogix 5000

This example shows how to set up an R-J3 as an Adapter scanned by ControlLogix

5000.

Requirements
The requirements for setting up an R-J3 as an Adapter scanned by ControlLogix 5000
are as follows:
● R-J3 System with ControlNet Scanner Interface (Refer Chapter 2 and Chapter 4)
● ControlLogix 5000 with 1756-CNB ControlNet Interface
● PC connected to ControlNet

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● SST ControlNet Configuration Tool installed

● RSNetWorx for ControlNet installed (Version 1.8 or Version 2.0)
● RSLogix 5000 to program ControlLogix 5000 PLC
● If using 1784-KTCX on PC, RSLinx OEM installed.
● If using 5136-CN-ISA or 5136-CN-PCI, Drivers properly configured for RSLinx

Refer to Allen Bradley Technical support for PLC-5, RSNetWorx, RSLogix 5000,
RSLinx OEM and 1784-KTCX. Refer to SS Technologies Technical Support for
5136-CN PC cards, SST ControlNet Configuration Tool, and configuring drivers for
RSLinx.

Setting Up the Personality

Being an adapter to ControlLogix 5000 requires that the R-J3 Adapter use the 5136-
CN-106 Simple Adapter Personality. Refer to Chapter 2 and set the personality. Refer
to Table F-3.

Table F-3. R-J3 ControlNet Generic Module Personality

System Variable
Generic Module
(# = board number)
$CN_ADP_CNF[#].$cn_bd_vndid 8
$CN_ADP_CNF[#].$cn_bd_dtype 12
$CN_ADP_CNF[#].$cn_bd_pcode 2
$CN_ADP_CNF[#].$cn_bd_majrv 1
$CN_ADP_CNF[#].$cn_bd_minrv 1
$CN_ADP_CNF[#].$cn_class 4
$CN_ADP_CNF[#].$cn_inst 1
$CN_ADP_CNF[#].$cn_conpt0 8
$CN_ADP_CNF[#].$cn_conpt1 7

Configuring the R-J3 Adapter

Configure the R-J3 ControlNet interface as an adapter with 8 words of input, 8 words of
output and 0 words of Output Header size. Refer to Chapter 3 on how to do this. It is
very important that the personality of the R-J3 be that of a generic module.

Use Procedure F-11 to set up a generic module in the ControlLogix 5000 processor.

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Procedure F-11 Setting Up a Generic Module in the ControlLogix 5000 Processor

NOTE
You must be offline in RSLogix 5000 to complete this procedure.

Step
1. In RSLogix 5000, Select the 1756-CNB processor connection in the [I/O
Configuration] tab. If it is not already present, add the appropriate ControlNet
module to the [I/O configuration] tab.

2. Right-click the selected 1756-CNB processor and select [New Module].

3. Select [CONTROLNET-MODULE] from the list of devices. This is the generic

ControlNet module.

4. In the configuration screen for the module enter the following values:
● Type the name.
● Type the optional description.
● Select [Comm Format to be Data-Int] in the pull-down menu.
● Set the node value so that it matches the MAC Id of the R-J3 Adapter.
● Set the [Input Assembly Instance] value to 7 and set the size to 8 (words).
● Set the [Output Assembly Instance] value to 8 and set the size to 8 (words).
● Set the [Configuration Assembly Instance] value to 1 and set the size to 0
(words).
● Click [OK] to save these values.

5. Save your program and download it to the processor.

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6. Perform network configuration using RSNetWorx to schedule all the connections.

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B-81584EN/01   INDEX

INDEX
CONTROLNET NETWORK OVERVIEW ........ 3
A
CONTROLNET OVERVIEW ............................. 1
ADAPTER MODE CONFIGURATION........... 17
CONTROLNET SYSTEM VARIABLES.......... 85
ADAPTER MODE CONFIGURATION
D
OUTLINE...................................................... 15
Device List......................................................... 61
B
DIAGNOSTICS ................................................. 55
Board Adapter Configuration .......................... 60
Downloading a Scan List to the R-J3 ControlNet
Board Address Configuration DIP Switch
Interface ........................................................ 37
Settings.......................................................... 51
E
Board Detail...................................................... 57
Board List.......................................................... 55 EDS FILES (ADAPTER AND SCANNER) ... 111

C H

Communications ................................................. 8 Hardware Requirements .................................. 47

CONFIGURATION OVERVIEW..................... 10 HARDWARE, DIAGNOSTICS, AND
CONFIGURING THE 5136-CN CARD ........... 71 TROUBLESHOOTING................................. 46
Connections......................................................... 8
I
CONTROLNET BACKUP AND RESTORE ... 44
Install the RSNetWorx 2.0 Software ............... 70
ControlNet Cable Installation Guidelines ........ 6
Installing the 5136-CN Card............................ 70
ControlNet Device Detail ................................. 61
Installing the 5136-CN Card Firmware and
CONTROLNET DEVICE PERSONALITIES
Utilities .......................................................... 71
....................................................................... 12
Installing the ControlNet Interface Board in
ControlNet Devices............................................. 8
the R-J3 Controller ....................................... 52
CONTROLNET ERROR AND CAUSE
CODES ........................................................ 100 M
CONTROLNET ERROR CODES .................... 99
MAC ID Assignments ......................................... 5
CONTROLNET HARDWARE ......................... 47
N
CONTROLNET HARDWARE PART
NUMBERS .............................................. 83, 84 NETWORK CONFIGURATION...................... 39
CONTROLNET I/O AND ASSIGNMENTS .... 42 NETWORK CONFIGURATION AND
CONTROLNET I/O CONFIGURATION......... 41 SCHEDULING.............................................. 38
ControlNet Interface Description .................... 47 Network Requirements ...................................... 4
ControlNet Interface Network Connections ..... 3 Network Update Time (NUT) ............................ 5
ControlNet LED Descriptions.......................... 49
O
CONTROLNET NETWORK
OVERVIEW..................... 18, 25, 68, 86, 112, 119
INSTALLATION........................................... 11

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INDEX   B-81584EN/01

P Setting Up a Scan List on your Robot ............. 29

Setting Up an R-J3 as a Peer to ControlLogix
PRIO-156 ERROR CODES ............................ 105
5000.............................................................. 139
PROGRAMMING EXAMPLES...................... 121
Setting Up an R-J3 as an Adapter Scanned by
R
ControlLogix 5000....................................... 144
RESPONSE TIME .................................. 108, 109 SETTING UP AN R-J3 SCANNER ................. 26
R-J3 ADAPTER EDS FILE............................ 113 Setting Up an R-J3 Scanner as a Peer to
R-J3 CONTROLNET HARDWARE PLC-5 ........................................................... 135
DESCRIPTION ............................................... 7 SETTING UP YOUR PC .................................. 70
R-J3 CONTROLNET OVERVIEW .................... 2 Setting up Your R-J3 Controller...................... 79
R-J3 CONTROLNET SCANNER MODE SETTING UP YOUR ROBOT .......................... 19
CONFIGURATION OUTLINE .................... 16 SST CCT AND EXAMPLE PROGRAMS....... 118
R-J3 CONTROLNET SOFTWARE SST CONTROLNET CONFIGURATION
DESCRIPTION ............................................... 8 TOOL ........................................................... 120
R-J3 SCANNER EDS FILE ........................... 116 SYSTEM REQUIREMENTS............................ 69
R-J3 Scanner Scanning an R-J3 Adapter ..... 121 SYSTEM SETTINGS AND VARIABLES........ 87

S T

SAFETY PRECAUTIONS............................... s-1 TROUBLESHOOTING..................................... 64

SCANNER MODE CONFIGURATION .......... 24
U
Setting R-J3 ControlNet Adapter Personality
USER PROGRAM ACCESS............................. 43
....................................................................... 13
USING TCP/IP WITH CONTROLNET........... 67
Setting R-J3 ControlNet Scanner Personality
Using the SST Software to Configure the
....................................................................... 14
5136-CN Card................................................ 71
Setting the R-J3 Controller as a Scanner ....... 26
Setting up a ControlNet Network with
Scheduled I/O ................................................ 26

i-2
 Revision Record

FANUC Robot series (R-J3 CONTROLLER) ControlNet Interface OPERATOR’S MANUAL (B-81584EN)

01 Jul.,2001

Edition Date Contents Edition Date Contents