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Rockwell Automation Logix PAC

Overview

Allen Bradley/ Rockwell Automation Logix PACs are powerful devices for automating robotic cells.

This guide walks you through how to configure a Logix PAC in Studio 5000 and in ForgeOS.

Let's get started!


Configuring the PAC

In ForgeOS versions prior to 5.3.0, Rockwell Automation Logix PACs connected to the EtherNet/IP ForgeOS Adapter network device. This provided a generic set of 132 bytes of input/output for you to define. Even though a usable connection was established, it required effort to map all process data and functions.

Now, the READY Robotics AOP (Add On Profile) streamlines this process. The AOP establishes a special Ethernet/IP Adapter connection with a defined data map, creating a deeper integration with Logix PACs than was possible with stand-alone EDS files. For an example of how pre-defined signal mapping can ease setup, see Adding a Remote Control Device.

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The AOP is available for download here.

After you install the READY Robotics AOP in Studio 5000, follow the steps in this section to connect to ForgeOS and create a Rockwell Automation Logix PAC device.

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Before creating a Rockwell Automation Logix PAC device, first add an Ethernet/IP fieldbus interface in the Settings app. See Fieldbus Configuration to learn more.

Once you create the device, you will be able to send and receive data to and from the Logix PAC through Check and Set blocks in Task Canvas.

  1. In Studio 5000, create a new project.

  2. Right-click the Ethernet menu and select New Module.

  3. Select Forge_OS from the module list.

  4. Give the Device a Name. Then type in the IP Address that ForgeOS is running on.

  5. Click Change under the module definition to select a data model type:

    • Data: Transfer integer (INT), unsigned integer (UINT), and float task data.

    • Data + Robot: Do everything that the "Data" type can do, plus transfer robot data (such as robot status, current robot position, TCP translational/ rotational velocities, and joint velocities).

    • Extended Data + 2x Robot: Do everything that the "Data + Robot" type can do, but for two sets of robot data.

  6. Click OK to save your module definition change. Click OK again to save the module.

  7. In the ForgeOS Device Library, select Rockwell Automation Logix PAC (Network device type). Then tap NEXT.

  8. Type in a Device Name. A Description is optional. Then follow the below substeps before tapping NEXT.

    1. In the Fieldbus Interface dropdown, select a configured fieldbus interface.

    2. Select (or leave de-selected) the checkbox labeled "Runtime Fault on Device Error". This checkbox allows you to configure system behavior if the device disconnects. When this checkbox is active and the PAC is not connected, the device enters a “Device is Disconnected” error state. This error state stops the task if it is running or prevents a task from starting. Currently, as long as the fieldbus driver is functioning properly, the device will never go into an error state.

    3. In the Instance dropdown, select the data model type that you chose in Studio 5000.

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Depending on which data model type you choose, you may need to fill in a Robot dropdown(s). This dropdown includes all robot devices on the system. Selecting a robot here automatically pulls data from that device and maps it to the specified Ethernet/IP registers. The units specified in the Settings app will be used when sending this data.

  1. Configure any Input/Output (I/O) signals that you want to view in the Device Control app.

    1. Tap the tabs at the top of the screen to toggle between Input Signals and Output Signals.

    2. (Optional): Enter a Display Name to signify what each configured signal does.

    3. If you want a signal to appear in the device’s Device Control page, tap the DCP checkbox next to that signal.

  2. Tap SAVE to return to the Device Configuration home screen. Make sure the PAC appears on the configured devices list and that it is enabled.


APPENDIX A: Configuring the PAC as an EIP ForgeOS Adapter Device

If you have a ForgeOS version prior to 5.3.0, you can still use your Logix PAC in ForgeOS by following the steps in this section. Because these instructions do not use the READY Robotics AOP, you will be required to manually map all process data and functions.

In Studio 5000, follow these substeps:

  • Create or open a PLC project.

  • Add a new Generic Ethernet Module.

  • Populate the ForgeOS Ethernet/IP Connection Parameters.

  • Once created, you can view the data under Controller Tags.

In the Settings app, follow these substeps:

  • Tap Fieldbus Configuration, then NEW +.

  • Create an interface with a type of Ethernet.

  • Make sure that the new Ethernet/IP fieldbus interface appears in the list of current configurations and is enabled.

In Device Configuration, follow these substeps:

  • Tap NEW+.

  • Select EtherNet/IP ForgeOS Adapter (Network device type).

  • Give the device a name, select the Ethernet/IP fieldbus interface that you created at the beginning of this section, and tap NEXT.

  • Configure any Input/Output (I/O) signals that you want to view in the Device Control app.

  • Tap SAVE.