This page provides detailed information about EtherNet/IP.
- Summary of Assemblies
- Assembly Data Tables
- State Flags Definitions
- Data Addressing and Format
Please refer to Fieldbus Devices for instructions on how to enable the EtherNet/IP protocol.
The data tables in this document describe the format and byte addressing of the EtherNet/IP Assemblies defined in the EDS (Electronic Data Sheet) for Intera. Multiple connection options are available with the various Assemblies including a different mix of variable types and numbers, so the best option can be chosen for each application.
Default Connection – Standard Assemblies
The default EtherNet/IP connection defines a Standard To-Robot Assembly and a Standard From-Robot Assembly, each of which include a fixed number of general purpose variables of each data type (Booleans, Integers, Floats, and Strings). For the Assembly sent from the robot, there are additional, automatically filled-in data fields related to the robot status, task status, and the state of the safety signals. More information on these status fields can be found under the State Flags Definitions section of this document.
- The Rethink Intera EDS will be necessary to setup the Intera Adapter Device on the PLC.
- The EDS can be downloaded directly from the robot via a link in the Device Editor, or by clicking here.
- The Device Editor also provides helpful address lookups when creating signals.
- EtherNet/IP will also need to be enabled on the controller and the network properly configured from the Field-Service-Menu (FSM) on the robot.
- The Fieldbus network cable must be connected to the Inside Port of the Controller, identified by the number 2 in the diagram.
Summary of Assemblies
From-Robot Assemblies Summary
To-Robot Assemblies Summary
Assembly Data Tables
From-Robot Standard Assembly (112)
Robot Output data (from Intera to PLC) is formatted with the following byte offsets
To-Robot Standard Assembly (113)
Robot Input data (from PLC to Intera) is formatted with the following byte offsets
Small Assembly (114: From-Robot | 115: To-Robot)
Large Assembly (116: From-Robot | 117: To-Robot)
Floats+ (118: From-Robot | 119: To-Robot)
Strings+ (120: From-Robot | 121: To-Robot)
State Flags Definitions
Bit Definitions for State Flags
Robot State Flags Meaning
Data Addressing and Format
- Data is sent/received in Little-Endian byte-order between Intera and the PLC.
- Boolean and String Variables are considered arrays of bytes.
Example: Boolean Variables Addressing
Using example offset addresses Byte 40 - Byte 47
(Adjust for the memory offsets of the Intera Assemblies in your PLC program).
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