Fieldbus

Users can configure industrial computer network protocols for real-time distributed control that are acceptable to AuboStudio: EtherNet/IP, Modbus, or PROFINET.

Modbus

Introduction to Modbus

Modbus is an important communication protocol in industrial automation control systems. It has the characteristics of strong debugging ability, large data transmission volume, good real-time performance, etc. External devices (such as PLC) can establish connections with the robot via the Modbus protocol, and the robot can also communicate with the external devices as a Modbus slave.

The Modbus protocol includes Modbus RTU and Modbus TCP versions.

• Modbus RTU: It uses serial communication, represents data in a binary and compact way, and requires a checksum with cyclic redundancy check. Modbus RTU is mainly used in industrial and system automation applications where the communication distance between devices is long.
• Modbus TCP: It uses TCP/IP (such as Ethernet) connections and requires no checksum calculation. Compared with Modbus RTU, Modbus TCP has a faster communication speed and can connect more devices.

You can configure Modbus device information in the system and establish a connection with the Modbus device with a specified IP.

Modbus unit management

1. Connect the Modbus device to the controller communication interface.
2. Click "Configure > Fieldbus > Modbus > Units." Click [Add Modbus Unit], select the Modbus unit mode, customize the device name and slave number, and set the relevant parameters of the Modbus device.
3. Select the device to be deleted and click [Delete Modbus Unit] to delete the device.

Modbus signals management

1. After adding a Modbus device, click "Configure > Fieldbus > Modbus > Signals." Click [Add Modbus Signal], customize the signal name, and set the device name, type, and signal address.
2. This system provides batch addition of Modbus signals. Click [Batch Add Modbus Signals], customize the signal names, and set the parameters such as device name and type.
3. The added Modbus signals can have custom functions. Please refer to "I/O Setup" for details.
4. Select the signal to be deleted and click [Delete Modbus Signal] to delete the signal.

Modbus slave management

The robot can also be used as a Modbus slave. Please refer to the ARCS Modbus User Guide for more details.

PROFINET

PROFINET is a network protocol that allows you to enable or disable the robot's link to the PROFINET controller.

EtherNet/IP

EtherNet/IP Introduction

EtherNet/IP is an industrial Ethernet protocol based on the TCP/IP protocol stack, established by ODVA (Open DeviceNet Vendor Association) and widely used for real-time data exchange between industrial automation devices. Its core advantages include:

• Strong Compatibility: Supports interconnection with various industrial devices such as PLCs, robot arms, and sensors, and is compatible with devices from mainstream manufacturers (Inovance, Omron, Siemens, etc.);
• High Real-time Performance: Adopts a "producer-consumer" communication model, enabling millisecond-level data transmission to meet real-time control requirements in industrial scenarios;
• Flexible Configuration: Standardizes device descriptions through EDS (Electronic Data Sheet) files, simplifying the adaptation process between different devices.

Usage

1. Hardware Connection

1. Connect the ARCS controller to the industrial network via an Ethernet cable.
2. Ensure network parameters are configured correctly.
3. Verify that the physical connection status is correct.

2. EIP Service Configuration

On the teach pendant home page, navigate to "Configure > Fieldbus > EtherNet/IP" to configure the EIP service.

EIP Service Page Functions:

• EtherNet/IP Service: Turn the EIP service on/off.
• Status: Displays service closed / master disconnected / master connected.
• Network Port: Defaults to the currently active network port; can be manually selected when the service is closed.
• IP Address: Displays the IP address of the currently active network port.
• Slave Version: Displays the EIP software version number (displayed after the master connects).

EIP Signal Page Functions:

• Signal List: EIP signal list.
• Add: Add an EIP signal.
• Delete: Delete an EIP signal.
• Name: Supports Chinese/English names.
• Signal Type:
  • Input: Input signals used to receive control commands or status feedback signals sent by external devices (such as PLCs and sensors).
  • Output: Output signals used to send robot status, execution results, or control command signals to external devices.
• Address Offset.Bit Offset:
  • Offset Address:
    • Input: 88-150 (even numbers only).
    • Output: 182-244 (even numbers only).
  • Bit Offset: Binary Boolean type bit offset (0~15).
• Type: Boolean, signed integer, unsigned integer, float, swapped float, binary, hexadecimal.

3. Programming Usage

Use EIP signals directly in programs without the need for indirect read/write through server registers or Modbus:

Program Node	EIP Usage
Assignment	EIP input/output signals can be used as variables
Set	EIP output signal values can be set (register and Boolean types)
Wait	Wait for EIP signal conditions to be met (e.g., EIP_1=88, EIP_2=true)
Until	EIP condition judgment; if met, skip the direction node
Loop	EIP conditions as loop conditions
If/Else If	EIP conditions as branch judgments
Switch	EIP conditions as branch expressions
Subprogram	Call EIP subprogram signals

4. IO Monitoring

Monitor EIP signal values directly on the IO interface, in the same format as the data types configured for the signals.