Operating
Instructions
RI FB/i IGM V1.0
RI MOD/i CC EtherCAT
RI MOD/i CC DeviceNet
EN-US
Operating instructions
42,0426,0236,EA 022-21092022
Table of contents
General 5
Safety 5
Device Concept 5
Block Diagram 6
Scope of Supply 6
Required Tools and Materials 6
Installation Requirements 6
Connection Sockets and Indicators on the Robot Interface 7
Connections on the Robot Interface 7
LEDs on Robot Interface PCB 7
LEDs for Power Supply Diagnosis 8
LEDs for Network Connection Diagnosis 9
Connections and Indicators on the Bus Module - EtherCAT 10
Connections and Indicators 10
Connections and Indicators on the Bus Module - DeviceNet 12
Connections and Indicators 12
Technical Data EtherCAT 13
Environmental Conditions 13
Robot Interface Technical Data 13
Data Transfer Properties 13
Configuration Parameters 13
Technical Data DeviceNet 15
Environmental Conditions 15
Robot Interface Technical Data 15
Data Transfer Properties 15
Configuration Parameters 15
Configuring the Robot Interface - EtherCAT 17
Function of the Dip Switch on the Interface 17
Setting the Process Data Width 17
Assigning the EtherCAT Address 17
Configuring the Robot Interface - DeviceNet 18
Function of the Dip Switch on the Interface 18
Setting the Process Data Width 18
Set node address with dip switch(example) 19
Configuring the Node Address 20
The Website of the Power Source 20
Opening and Logging into the SmartManager for the Power Source 20
Installing the Robot Interface 21
Safety 21
Preparation 21
Routing the Data Cable 22
Installing the Robot Interface 23
Final Tasks 23
Installing the Bus Module 24
Safety 24
Installing the Bus Module 24
Input and Output Signals Standard Image IGM V1.0 - EtherCat 25
Data types 25
Availability of input signals 25
Input signals (from robot to power source) 25
Value range for Working mode 33
Value Range for TWIN Mode 33
Value Range for Documentation Mode 33
Value range for Process controlled correction 34
Value Range for Cooling Unit Operating Mode 34
Value range for Process controlled correction 2 34
Availability of the output signals 35
Output signals (from power source to robot) 35
Assignment of Sensor Statuses 1–4 40
Value Range for Function status 40
EN-US
3
Value range Safety status 41
Value Range for Process Bit 41
Input and Output Signals - DeviceNet 42
Data types 42
Availability of input signals 42
Input signals (from robot to power source) 42
Value Range for Working Mode 48
Value range Process line selection 49
Value Range for TWIN Mode 49
Value Range for Documentation Mode 49
Value range for Process controlled correction 49
Availability of the output signals 50
Output Signals (from Power Source to Robot) 50
Assignment of Sensor Statuses 1–4 53
Value range Safety status 53
Value Range for Process Bit 54
4
General
(3)(1) (2) (5)(4)
Robot
Control
(6) (7) (8)
EN-US
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried
▶
out by technically trained and qualified personnel.
Read and understand this document in full.
▶
Read and understand all safety rules and user documentation for this equip-
▶
ment and all system components.
WARNING!
Danger from electrical current.
This can result in serious personal injury and damage to property.
Before starting work, switch off all the devices and components involved and
▶
disconnect them from the grid.
Secure all devices and components involved so they cannot be switched back
▶
on.
WARNING!
Danger from unplanned signal transmission.
This can result in serious personal injury and damage to property.
Do not transfer safety signals via the interface.
▶
Device Concept The robot interface serves as an interface between the power source and stand-
ardized bus modules supporting a wide range of communication protocols.
Fronius may factory-fit the robot interface in the power source but it can also be
retrofitted by appropriately trained and qualified personnel.
(1) Robot control system
(2) SpeedNet data cable
(3) Robot interface
5
Block Diagram
Spider NT241
RI FB/i IGM V1.0
Data
24 V
Module
(1)
(2)
(3)
(4) Power source
(5) Cooling unit
(6) Interconnecting hosepack
(7) Wirefeeder
(8) Robot
Scope of Supply
Required Tools
and Materials
Screwdriver TX8
-
Screwdriver TX20
-
Screwdriver TX25
-
Diagonal cutting pliers
-
(1) RI FB/i IGM V1.0
(2) Data cable
4-pin
(3) Cable ties
(4) These Operating Instructions
(not pictured)
Installation Requirements
The robot interface may only be installed in the designated opening on the rear
of the power source.
6
Connection Sockets and Indicators on the Robot
(2) (3)
(1)
(14)
(13)
(12)
(11)
(2)
(1)
(9)
(10)
(8)
(7)
(3) (4)
(5) (6)
Interface
Connections on
the Robot Interface
LEDs on Robot
Interface PCB
EN-US
(1) Power supply connection
2-pin
(2) SpeedNet data cableconnec-
tion
4-pin
(3) Bus module connection
7
(1) ETH1 LED Green For diagnosing the network connec-
tion.
(2) ETH2 LED Orange
For details, see section below titled
"LEDs for Network Connection Diagnosis"
(3) LED 3 Green
(4) LED 4 Green
(5) LED 5 Green
(6) LED 6 Red
(7) +3V3 LED Green For diagnosing the power supply.
(8) +24V LED Green
(9) DIG OUT 2 LED Green
(10) DIG OUT 1 LED Green
(11) LED 11 Green
No function
Flashes at 4 Hz = No SpeedNet
-
connection
Flashes at 20 Hz = Establishing
-
SpeedNet connection
Flashes at 1 Hz = SpeedNet con-
-
nection established
Lights up when an internal error occurs.
Remedy: Restart the robot interface.
If this does not resolve the issue, inform the service team.
For details, see section below titled
"LEDs for Power Supply Diagnosis"
Digital output 2. LED lights up when
active
Digital output 1. LED lights up when
active
LEDs for Power
Supply Diagnosis
(12) LED 12 Green
(13) LED 13 Green
(14) LED 14 Green
LED Indicat-orMeaning Cause
Off
+24V
Lights up
Off
+3V3
Lights up
No supply voltage available
for interface
24 VDC supply voltage
present on robot interface
No operating voltage
present on robot interface
3 VDC operating voltage
present on robot interface
No function
Robot interface power
-
supply not established
Power supply cable
-
faulty
24 VDC supply voltage
-
not present
Robot interface power
-
supply unit is faulty
8
LEDs for Network Connection
Diagnosis
LED Indicat-orMeaning Cause
No network connection
-
established for interface
Network cable faulty
-
ETH1
Off No network connection
Lights up
Flashes Data transfer in progress
Network connection established
EN-US
ETH2
Off
Lights up
Transmission speed
10 Mbit/s
Transmission speed
100 Mbit/s
9
Connections and Indicators on the Bus Module -
(12)(11)(10)
(14)(13)
(9)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
EtherCAT
Connections and
Indicators
(1) TX+
(2) TX-
(3) RX+
(6) RX-
(4),
Not normally used; to ensure
(5)
signal completeness, these
pins must be interconnected
and, after passing through a
filter circuit, must terminate at
the ground conductor (PE).
(7),
Not normally used; to ensure
(8)
signal completeness, these
pins must be interconnected
and, after passing through a
filter circuit, must terminate at
the ground conductor (PE).
(9) Connection/Activity LED - EtherCAToutput
(10) ERR LED (error)
(11) EtherCAToutput
(12) EtherCATinput
(13) Connection/Activity LED - EtherCATinput
(14) RUN LED (operation)
RUN LED (operation)
This indicates the status of the CoE communication.
(CoE = CANopen over EtherCAT)
Status Meaning
Off EtherCAT device in 'init' status (or no supply voltage)
Lights up green EtherCAT device in 'operational' status
Flashes green EtherCAT device in 'pre-operational' status
Flashes green
(briefly)
Lights up red If the Run LED and Error LED light up red, this indic-
ERR LED (error)
Status Meaning
EtherCAT device in 'safe-operational' status
ates a serious event which places the interface in an exception state. Contact the service team
10
Off No error (or no supply voltage)
ERR LED (error)
Status Meaning
Flashes red Incorrect configuration
The status change received from the master is not possible due to invalid register or object settings.
Flashes red (twice) Application watchdog timeout
Sync manager watchdog timeout
Lights up red Application controller failure
Anybus module in EXCEPTION
Connection/Activity LED
Status Meaning
Off No connection (or no supply voltage)
Lights up green Connection detected, no activity
Flickers green Connection detected, activity present
EN-US
11
Connections and Indicators on the Bus Module -
(1)
(2)
(3)
(4)
(5)
(6)
(7)
DeviceNet
Connections and
Indicators
Pin Signal Description
(1) V - Supply voltage
(2) CAN_LCAN low bus line
(3) SHIELDCable shield
(4) CAN_HCAN high bus line
(5) V + Supply voltage
Indicators
(6) LED MS (Module Status)
(7) LED NS (Network Status)
LED MS (Module Status)
Status Meaning
Off No supply voltage
Lights up green Normal operation
Flashes green Missing or incomplete configuration, commissioning re-
quired
Lights up red Non-correctable error
Flashes red Correctable error
Alternates between
red and green
LED NS (Network Status)
Status Meaning
Off Not online or no supply voltage
Lights up green Online, one or more connections established
Flashes green Online, no connections established
Lights up red Critical connection error
Flashes red Timeout for one or more of the connections
Alternates between
red and green
Self-test is running
Self-test is running
12
Technical Data EtherCAT
EN-US
Environmental
Conditions
Robot Interface
Technical Data
CAUTION!
A risk is posed by prohibited environmental conditions.
This can result in severe damage to equipment.
Only store and operate the device under the following environmental condi-
▶
tions.
Temperature range of ambient air:
During operation: -10 °C to +40 °C (14 °F to 104 °F)
-
During transport and storage: -20 °C to +55 °C (-4 °F to 131 °F)
-
Relative humidity:
Up to 50% at 40 °C (104 °F)
-
Up to 90% at 20 °C (68 °F)
-
Ambient air: free of dust, acids, corrosive gases or substances, etc.
Altitude above sea level: up to 2000 m (6500 ft).
Power supply Internal (24 V)
Degree of protection IP 23
Data Transfer
Properties
Configuration
Parameters
Transfer technology:
EtherCAT
Medium:
When selecting the cable, plug, and terminating resistors, the IEC 61784‑5‑12
for the planning and installation of EtherCAT systems must be observed.
The EMC tests were carried out by the manufacturer with an original Beckhoff
cable (ZK1090-9191-xxxx).
Transmission speed:
100 Mbit/s
Bus connection:
RJ45 Ethernet
Application layer:
CANopen
In some robot control systems, it may be necessary to state the configuration
parameters described here so that the bus module can communicate with the robot.
13
Parameters Value Description
Vendor ID 0000 02C1
Product Code 0001 0341
(66369
dec
)
hex
hex
(705
dec
Device name Fronius FB-IGM-1-0-
EtherCAT
) Fronius International GmbH
Standard image
Fronius-FB-Inside-EtherCAT
14
Technical Data DeviceNet
EN-US
Environmental
Conditions
Robot Interface
Technical Data
CAUTION!
A risk is posed by prohibited environmental conditions.
This can result in severe damage to equipment.
Only store and operate the device under the following environmental condi-
▶
tions.
Temperature range of ambient air:
During operation: -10 °C to +40 °C (14 °F to 104 °F)
-
During transport and storage: -20 °C to +55 °C (-4 °F to 131 °F)
-
Relative humidity:
Up to 50% at 40 °C (104 °F)
-
Up to 90% at 20 °C (68 °F)
-
Ambient air: free of dust, acids, corrosive gases or substances, etc.
Altitude above sea level: up to 2000 m (6500 ft).
Power supply Internal (24 V)
Degree of protection IP 23
Data Transfer
Properties
Configuration
Parameters
Network topology
Linear bus, bus termination on both ends (121 Ohm), stub cables are possible
Medium and maximum bus length
When selecting the cable, plug, and terminating resistors, the ODVA recommendation for the planning and installation of DeviceNet systems must be observed
Number of stations
Max. 64 participants
Transmission speed
500 kbit/s, 250 kbit/s, 125 kbit/s
Process data width
Can be configured in the robot interface
see following section "Configuration of robot interface"
In some robot control systems, it may be necessary to state the configuration
parameters described here so that the bus module can communicate with the robot.
Parameters Value Description
Vendor ID 0534
hex
(1332
) Fronius International GmbH
dec
15
Parameters Value Description
Device Type 000C
Product Code 0440
hex
hex
(12
dec
(1088
) Communication adapter
) Fronius FB IGM 1.0 DeviceNet
dec
Product Name Fronius FB-IGM-1-0-DeviceNet
16
Configuring the Robot Interface - EtherCAT
(1)
(2)
EN-US
Function of the
Dip Switch on
the Interface
The dip switch on the robot interface
is used to set the process image
(standard image).
Default setting for process image:
Positions 7 and 8 of DIP switch set
to OFF (1) = standard image = IGM
V1.0
NOTE!
Risk due to non-effective DIP switch setting.
This may result in malfunctions.
Every time you change the DIP switch settings, re-start the interface after-
▶
wards. This is essential for the changes to take effect.
Interface re-start = disconnect and reconnect the power supply or execute
▶
the corresponding function on the power source website (SmartManager).
Setting the Process Data Width
Assigning the
EtherCAT Address
Dip switch
8 7 6 5 4 3 2 1 Configuration
OFF OFF
OFF ON
ON OFF
ON ON
The process data width defines the scope of the transferred data volume.
The kind of data volume that can be transferred depends on
the robot controls
-
the number of power sources
-
the type of power sources
-
-
-
The EtherCAT address is assigned by the master.
- - - - - - IGM image
832 Bit
- - - - - - Fronius standard image
320 Bit
- - - - - - Not used
- - - - - - Not used
"Intelligent Revolution"
"Digital Revolution" (Retro Fit)
17
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