Denso RC9 to Rockwell PLC communication setup using Ethernet IP

Modified on Thu, 10 Oct at 8:55 PM

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Overview

This procedure needs to be setup any time you want to connect a Denso RC9 controller to any Rockwell PLC using Ethernet IP

Tools and Parts Needed

Denso RC9 controller with Ethernet IP module and active license. Rockwell PLC (compact or control logix), Ethernet cable and PC.

Note:
If you are not sure which part number you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.

Step by Step Guide

Step 1	While the controller is powered down, remove the front cover of the controller. Run an ethernet cable from your PLC/Hub through the cable slot of the controller and into the Ethernet IP module.
Step 2	Open your Wincaps III project (Upload from controller first if you don't have one already) How to connect and "Receive" a new project file from an RC9 controller
Step 3	Click on Project -> Property
Step 4	Select I/O tab at the top of the window Select "Ethernet I/P Adapter" for Device Select "Standard" for the Mode Select desired robot input size (bytes) Select desired robot output size (bytes) Select desired Ethernet IP address for the I/P module Click "OK" to apply changes
Step 5	Save the Wincaps III Project
Step 6	Download the parameters to the RC9 controller
Step 7	Reboot -> Download safety parameters to the controller (RC9 safety parameter tool) -> Reboot RC9 Safe Motion setting - VM-B, VL
Step 8	Open your Studio 5000 project file
Step 9	In your controller organizer scroll down to Ethernet connections and right click on "Ethernet" and select "New module"
Step 10	Type "Generic Ethernet" into the filter bar and select "Ethernet-module" and click "Create"
Step 11	Enter the name you want to call this connection Enter the data type you want to use for this connection Enter the IP address you set the ethernet IP module to in step 4 Enter the the following assembly instances Input Instance - 129 Output Instance - 130 Configuration Instance - 1
Step 12	For IO data Sizes enter the following values Input Size = (Robot Output size + 4 bytes) Step 4 Output Size = (Robot Input size + 4 bytes) Step 4 Configuration size = 0 Click "OK" to create the connection
Step 13	Once both devices are setup and powered on, you should see communication between the two devices. When accessing the bits on the PLC side you will need to remember there is a 4 byte shift for the input and output sizes so data maps 4 bytes off accordingly.