1768-CNB and Fanuc R30iA

JonHopper · Jun 11, 2015

Hello everyone I am onsite trying to help a customer set-up a Fanuc R30iA controller. They have a CompactLogix PLC (L43) with a CNB (1768-CNB). The Fanuc R30iA only has ControlNet as a communication option.

I understand how to set up the ControlNet network with respect to everything except for this: When adding the remote module in RSL5000, I must use "GENERIC CONTROLNET MODULE" before I can use RSNetworx for Cnet to schedule the network. Does anyone know the input/output/configuration assembly instances that are used for fanuc cnet comm cards?

I really hesitate to call Fanuc because they are usually not very helpful when it comes to used robots... Unless you give them 5k for "licensing fees" then they are VERY willing to help you. This is something the customer does not want to do...

If anyone has the info I need I would be greatly appreciative, I've been scouring the web for a few hours now with no luck (Thanks again Fanuc, for suing everybody with the word "Fanuc" on their site).

The network consists ONLY of the 1768-CNB and the Fanuc robot, nothing else. I have two Y adapters, one on the CNB and one on the Fanuc card, each with a 75 ohm resistor and a ~1m bnc cable running between them.

This is the first time I've used Controlnet with a Fanuc. I've integrated probably 40+ Fanucs, usually with EIP or devnet.

Ken Roach · Jun 11, 2015

What can you tell us about the ControlNet card ? Is it from SST, or IXXAT, or Hilscher ? Can you browse it in RSLinx and get the Vendor/Type/Code information from it ?

The configuration might be similar to how the DeviceNet connection is done.

You may be able to probe the card with MSG instructions, asking it what the size (Attribute 3, I think) of the Assembly Object (Class 0x04) common instances 0x64 and 0x65 are.

JonHopper · Jun 12, 2015

Ken Roach said:
What can you tell us about the ControlNet card ? Is it from SST, or IXXAT, or Hilscher ? Can you browse it in RSLinx and get the Vendor/Type/Code information from it ?

The configuration might be similar to how the DeviceNet connection is done.

You may be able to probe the card with MSG instructions, asking it what the size (Attribute 3, I think) of the Assembly Object (Class 0x04) common instances 0x64 and 0x65 are.

Thanks for the reply, Ken. To the rescue as usual. I'm convinced half the world is running due to your knowledge...

It's an SST card. I'm waiting for the ENBT card to arrive so I can connect to the plc.

In the Fanuc controlnet menus, I get:

Operation mode: ADPTR
Param Change Mode: NET ULK
Input error state: ZERO
Scanner Err sevrty: STOP
Adapter Err sevrty: WARN

MAC-ID: 33
NUT (us): 100000
SMAX: 0
UMAX: 99
Slot (us): 254
Gbpre (10us): 92
Gbstrt (10us): 61
Gbcenter (10us): 45

Thats in the Detail for rack 85.

The Device List (DEV-LST) there is also a device caled RJ_3_Adp with the following settings:

Input Header Words: 2

Status: ON
MAC ID: 33
Name: RJ_3_Adp
Vendor ID: 8
Device Type: 12
Prod Code: 2
Maj Rev: 1
Min Rev: 1
Digital Inputs: 128
Digital outputs: 128
Analog Inputs: 0
Analog Outputs: 0
O-T RPI (us): 0
T-O RPI (us): 0
Path: [20 04 24 01 2C 08 2C 07]

I'm slightly confused by this as normally Device List is used on a master (scanner) and not needed if the card is acting as a slave (adapter). Also I have no idea what the "path" section is, looks like a MAC address..

Once again thanks for all info / input... the ENBT card should be here within two hours so I should be able to provide more info.

Ken Roach · Jun 12, 2015

For the generic ControlNet Module object in the I/O tree of the 1768-CNB, try:

Input Assembly 1, 130 bytes
Output Assembly 2, 128 bytes
Config Assembly 3, 0 bytes

JonHopper · Jun 12, 2015

I used data type INT since thats what fanuc uses.

input instance 1, 8 words
output instance 2, 8 words
config 0, 0

if I set it to 8 words in, 10 words in, when I viewed properties of Node 33 in Cnet it said data was 8 words in, 12 words out, so it must add those 2 header words automatically.

anyway I 'scheduled' the network, and get this error in RSL5000 on the generic controlnet module:

code16#0022 invalid reply was received. reply service code does not match requested service code.

Going to call fanuc

JonHopper · Jun 12, 2015

Well, fanuc is really no help at all, as suspected... They sent me an EDS file for RSNetworx, however this file does not include the information regarding the proper assembly instances.

I've also talked to AB and they gave me a few numbers to try:

input: 10158
output: 15158
config: 10050

those didn't work.

Here's the EDS file, I can't seem to find any assembly instance number in here, I don't think they're usually in here anyways...

[File]
DescText = "5136-CN Simple Adapter";
CreateDate = 05-19-2000;
CreateTime = 14:20:00;
ModDate = 05-19-2000;
ModTime = 14:20:00;
Revision = 1.1;

[Device]
VendCode = 0x08;
VendName = "SST";
ProdType = 0x0C;
ProdTypeStr = "Comm Adapter";
ProdCode = 0x02;
MajRev = 1;
MinRev = 1;
ProdName = "5136-CN Simple Adapter";
Catalog = "5136-CN Simple Adapter";
$ Icon is optional and omitted here
1_Revision_Alpha = Yes;

[Device Classification]
Class1 = 1_RSNetWorx_Adapter;
Class2 = ControlNet;

[Port]
Port2 = ControlNet_Redundant,
"Port A",
"20 F0 24 01",2;

[Modular]

[ParamClass]

[Params]

Param1 =
0, $ first field shall equal 0
,, $ path size,path
0x0000, $ descriptor
2, $ data type : 16-bit Unsigned Integer
2, $ data size in bytes
"Transmit Length", $ name
"", $ units
"", $ help string
2,488,2, $ min,max,default data values
0,0,0,0, $ mult,dev,base,offset scaling not used
0,0,0,0, $ mult,dev,base,offset link not used
0; $ decimal places not used

Param2 =
0, $ first field shall equal 0
,, $ path size,path
0x0000, $ descriptor
2, $ data type : 16-bit Unsigned Integer
2, $ data size in bytes
"Receive Length", $ name
"", $ units
"", $ help string
6,484,6, $ min,max,default data values
0,0,0,0, $ mult,dev,base,offset scaling not used
0,0,0,0, $ mult,dev,base,offset link not used
0; $ decimal places not used

Param3 = 0,,,0x0000,24,1,"Instance","","",1,128,1,,,,,,,,,;

[EnumPar]

[Groups]

[Assembly]

[Connection Manager]

Connection1=
0x04010002, $ trigger & transport
$ 0-15 = supported transport classes (class 1)
$ 16 = cyclic (1 = supported)
$ 17 = change of state (0 = not supported)
$ 18 = on demand (0 = not supported)
$ 19-23 = reserved (must be zero)
$ 24-27 = input only
$ 28-30 = reserved (must be zero)
$ 31 = client 0 (don't care for classes 0 and 1)
0x44240405, $ point/multicast & priority & realtime format
$ 0 = O=>T fixed (1 = supported)
$ 1 = O=>T variable (0 = not supported)
$ 2 = T=>O fixed (1 = supported)
$ 3 = T=>O variable (0 = not supported)
$ 4-7 = reserved (must be zero)
$ 8-11 = O=>T header (4 byte run/idle)
$ 12-15 = T=>O header
$ 16-19 = O=>T point-to-point
$ 20-23 = T=>O multicast
$ 24-27 = O=>T scheduled
$ 28-31 = T=>O scheduled
, Param1,, $ O=>T RPI,Size,Format
, Param2,, $ T=>O RPI,Size,Format
, ,
, ,
"Exclusive Owner",
"",
"20 04 24 [Param3] 2c 08 2c 07";

1_PLC5C_RTD_Format1 = 1_PLC5C_1794_Discrete_RTD_Format;

Connection2 =
0x01010002, $ trigger & transport
$ 0-15 = supported transport classes (class 1)
$ 16 = cyclic (1 = supported)
$ 17 = change of state (0 = not supported)
$ 18 = on demand (0 = not supported)
$ 19-23 = reserved (must be zero)
$ 24-27 = listen only
$ 28-30 = reserved (must be zero)
$ 31 = client 0 (don't care for classes 0 and 1)
0x44240455, $ point/multicast & priority & realtime format
$ 0 = O=>T fixed (1 = supported)
$ 1 = O=>T variable (0 = not supported)
$ 2 = T=>O fixed (1 = supported)
$ 3 = T=>O variable (0 = not supported)
$ 4-5 = 0=>T #ofBytes/slot
$ 6-7 = T=>O #ofBytes/slot
$ 8-10 = O=>T header (4 byte run/idle)
$ 11 = reserved (must be zero)
$ 12-14 = T=>O header
$ 15 = reserved (must be zero)
$ 16-19 = O=>T point-to-point
$ 20-23 = T=>O multicast
$ 24-27 = O=>T scheduled
$ 28-31 = T=>O scheduled
,0,, $ O=>T range,default,description (sizes in bytes)
,Param2,, $ T=>O range,default,description (sizes in bytes)
, , $ config part 1 (private configuration)
, , $ config part 2 (module configuration)
"Listen Only", $ connection name
"", $ Help string
"20 04 24 [Param3] 2C 01 2C 07"; $ listen only path
1_PLC5C_RTD_Format3 = 1_PLC5C_1794_Discrete_RTD_Format;

I'm going to have to call them and badger them again. The first time I called Fanuc they said they "couldn't find" the ControlNet info, two hours later somebody called me back and asked for my email so they could email me the above EDS file. I asked them for the Assembly Instances once again, and again they had no clue. Now I remember why I hate dealing with Fanuc. I wish these were Kukas....

dmargineau · Jun 12, 2015

It really doesn't make any sense...It appears that they sent you an .eds related to a ControlNet PLC5 system?!...

"...1_PLC5C_RTD_Format1 = 1_PLC5C_1794_Discrete_RTD_Format;..."

JonHopper · Jun 22, 2015

dmargineau said:
It really doesn't make any sense...It appears that they sent you an .eds related to a ControlNet PLC5 system?!...

"...1_PLC5C_RTD_Format1 = 1_PLC5C_1794_Discrete_RTD_Format;..."

No kidding. Literally ALL Fanuc has are these two EDS files (the one I posted and another for a scanner). Always get "Well I'm not a PLC guy.." from them.

JonHopper · Jun 23, 2015

Finally got the right info:

Input Instance: 7
Size: 8

Output Instance: 8
Size: 8

Config Instance: 1
Size: 0

Use the IO size that is defined in the Fanuc board's "APRCFG", ignore input/output header words.

1768-CNB and Fanuc R30iA

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