3.6.7 Speed control
3.6.7.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or earlier)
Preparing the robot system
Required options for system setup
When setting up the system using Installation Manager in RobotStudio, select the
options [3020-2] PROFINET Device, [3023-2] PROFIsafe Device and [3043-3]
SafeMove Collaborative, and the correct robot variant. The option Drive System
IRB Small Robot is selected automatically after the robot type is determined.
Supported parameters for connections to scanner and PLC
Both the laser scanner and the PLC uses a PC-based software tool to configure
the connection parameters that are used to connect to the OmniCore system. The
supported parameters of the OmniCore system are predefined in the configuration
file which could be loaded to after the Collaborative Speed Control add-in is
installed, see Information about Collaborative Speed Control add-in on page 141.
The I/O configuration can be seen using I/O Engineering Tool in RobotStudio.
The following list shows the configuration parameters. They need to be correctly
configured in the software tools to enable communication between the scanner,
PLC, and OmniCore system.
• After the robot system is set up, the default IP address of the WAN port is
automatically configured as 192.168.10.10/24. Make sure the scanner and
PLC are also configured in the 192.168.10.XXX segment.
• In RobotStudio, open the configuration editor: Controller > Configuration >
I/O Engineering Tool, and get the:
- PROFIsafe parameter values
ValueParameterDevice slot
2Source addressSDO
3Destination addressSDO
4Source addressSDI
5Destination addressSDI
- device mapping information
Device slotDeviceCategoryDevice
mapping
(default)
Signal name
SDIOmniCore_InternalProfiSafe64ProtectingArea
SDIOmniCore_InternalProfiSafe65WarningArea
SDIOmniCore_InternalProfiSafe66ProtectingAreaSST
SDIOmniCore_InternalProfiSafe67WarningAreaTSP
SDIOmniCore_InternalProfiSafe68SafetyCommunica-
tionEnable
Continues on next page
142 Product manual - CRB 15000
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.7.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or earlier)
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