Installation and Commissioning

Installation and CommissioningConnecting SignalsWhen the robot is last in a RIO loop, the loop must be terminated with a terminationresistor according to Allen-Bradley’s specification.This product incorporates a communications link which is licensed under patents and proprietary technology ofAllen-Bradley Company, Inc. Allen-Bradley Company, Inc. does not warrant or support this product. All warrantyand support services for this product are the responsibility of and provided by ABB Flexible Automation.RIO communication conceptAllen Bradleycontrol systemRobot 1 - 128 in / 128 outQuarter 1Quarter 2Quarter 3Quarter 4Rack ID 12 (example)Rack size 4Starting quarter 1128 in / 128 outRobot 2 - 64 in / 64 outQuarter 1Quarter 2Rack ID 13 (example)Rack size 2Starting quarter 164 in / 64 outRobot 3 - 64 in / 64 outQuarter 3 64 in / 64 outQuarter 4Rack ID 13 (example)Rack size 2Starting quarter 3Other systemsQuarter 1Quarter 2Quarter 3Quarter 4Figure 46 RIO communication concept - Principle diagramThe Allen Bradley system can communicate with up to 64 external systems. Each ofthese systems is called a Rack and is given a Rack Address 0-63. Basically, each robotconnected to the Allen Bradley system will occupy 1 rack.Each rack is divided into 4 sections called Quarters. Each quarter provides 32 inputsand 32 outputs and a rack will subsequently provide 128 inputs and 128 outputs.A rack may also be shared by 2, 3 or 4 robots. Each of these robots will then have thesame rack address, but different starting quarters must be specified.The illustration above shows an example where Robot 1 uses a full rack while robot 2and robot 3 share 1 rack.The rack address, starting quarter and other required parameters such as baud rate,LED Status etc. are entered in the configuration parameters.The robot may communicate with the Allen Bradley system only, or be used in combinationwith I/O system in the robot. For example, the inputs to the robot may comefrom the Allen Bradley system while the outputs from the robot control external equipmentvia general I/O addresses and the Allen Bradley system only reads the outputs asstatus signals.Product Manual IRB 1400 73