Hello,
i tried to communicate via Ethernet IP with a Schneider PLC.
The EDS-File from the following link is outdated or wrong:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-ip-guide-18712/
In the Output Assembly of the PLC there are 3 unused Bytes, that are not in the Input Assembly of the robot. The following error is that all following Variables/Date is affected.
By editing the Assembly on the PLC Side (move the 3 Bytes to the End of the assembly) I got it working.
If you use Schneider PLC you need to swap Bytes (Big/Little Endian) in Addition.
Please create a new, working EDS-File.
Best Regards,
Alexander Apostolidis
Hey,
have some one a solution for this problem? I use the robot software 3.7.2.40245 an a CodeSys system. I need the actual TCP and TCP speed in PLC. I want to use Ethernet IP to get this Information or is there a better solution? I think with RTDE it is to complicate to get the information to codesys.
When i scan my Ethernet IP network i found the robot but i think the EDS file from HowTo ist wrong.
Thank you for solutions and ideas
1 Like
Hello,
Just move These 3 Bytes to the end of the Assembly.
As you are in Codesys you also Need to Converter from the endianess?:
Regards,
Alexander
Hi,
I’ve see it some times ago, without reporting.
Yes the file is wrong and the 3 bytes should be removes not to be put at the end: delete the line 2859 in the EDS file (where you can see 24, $pad).
Endianess is given by the protocol specification Volume 1 (definition 1.7.30 indeed !):
The native CIP data types are sent in little endian order
and paragraphe “C-5 CIP Application Transfer Syntax: Compact Encoding”
and that’s we can see with wireshark during UR exchanges. Strange you’ve got problem with a Schneider device.
Bye.
Hi UR team,
In the EDS file the param501 is type 0xD3 (DWORD). So if a tool (like Schneider one it seems) got the size from it, the output assembly is wrong because 3 bytes are added with pad.
If a tool is just looking the output assembly description it can seen this param501 is given with a 8bits size. So for a tool working with it it’s OK because the 3 bytes pads are OK.
option 1:
Param501 =
0, $ reserved, shall equal 0
,, $ Link Path Size, Link Path
0x0200, $ Descriptor
0xD1, $ Data Type <---------changed
1, $ Data Size in bytes <---------- changed
"RobotBits", $ name
option 2 :
Assem2 =
"Output Assembly",
"20 04 24 70 30 03",
,
0x0000,
,,
$ ROBOT
32,Param501, $ <--------- changed
32,Param502,
Bye
1 Like
Hey,
Thank you for your solutions but it doesn’t work for me. I have modify the eds file. Delete line 2859 and change the Param501 type to 0xD1 and size to 1. I don’t make any changes to endianees. But I think the communication should work unheeded the endianees only the interpreation of data gets wrong? I don’t have that much experience with DeviceNet.
Do you have any ideas?
Hi,
EDS modification : option 1 or option 2, not both.
gives Robot_Bits : 4 bytes without padding or Robot_Bits 8 bytes + 3 bytes padding.
Bye.
Yes I think I do i the right way here the 2 relevant extracts from my EDS
> Param501 =
> 0, $ reserved, shall equal 0
> ,, $ Link Path Size, Link Path
> 0x0200, $ Descriptor
> 0xD3, $ Data Type
> 4, $ Data Size in bytes
> "RobotBits", $ name
> "", $ units
> "", $ help string
> ,,0, $ min, max, default data values
> ,,,, $ mult, div, base, offset scaling
> ,,,, $ mult, div, base, offset links
> ;
and
"Output Assembly",
"20 04 24 70 30 03",
,
0x0000,
,,
$ ROBOT
32,Param501,
32,Param502,
$ Outputs
8,Param503,
8,Param504,
8,Param505,
8,Param506,
Thats how i understod your post, thats right?
bye
EDIT
I’m not quiet sure if i had also test option 1 without deleting line 2859. I’ll check this tomorrow
The EDS extracts here do not match the 1.png screenshot where the first field is 1 byte followed by Speed_Slider_Fraction : 3 bytes padding are missing … or DWORD for the first field.
Hey frederic,
sorry you are right th screenshot shows a wrong EDS config. I now check the option 1 and 2 a second time. but it also doesn’t work for me.Maybe in the robot Version 3.7.2.40245 there are other changes in DeviceNet specification from UR? I could also imagine that my PLC system make a fault maybe with cycle time. But when i scan for the Robot i found it. See the screenshot in my first post.
Hi rene.oelsch,
how did you solve the problem?
I find the same with no solution
Best Regards
Gabriel
