6. EtherNet/IP Safety Settings This section describes the parameters and global variables that are all defined in this document. The following parameters are required to connect the Safety Controller and the Robot Controller via EtherNet/IP Safety. Safety Controller Robot Controller *1 The bytes of CIP Safety input and output sizes can be set, refer to the robot manual. Connection settings (Target Device to Originator Device) (Originator Device to Target Device) The value of EPI from the originator device to the target device can be set by a multiple of the safety task period (default value: 20 ms). 8 6.1.
Parameters Setting item Setting value EtherNet/IP Port 2 IP address 192.168.250.1 Subnet mask 255.255.255.0 Safety Network Number 0004 00000001 Setting item Setting value Ether port IP address 192.168.250.2 Subnet mask 255.255.255.0 CIP Safety Enable / Bypass Enable CIP Safety input size (byte)*1 Refer to robot manual CIP Safety output size (byte)*1 Refer to robot manual Setting item Setting value Originator Device Connection Type Point to Point Connection Target Device I/O Assembly Refer to robot manual Open Type Open Only (Type2b) Expected Packet Interval (EPI) Refer to robot manual Setting item Setting value Target Device I/O Assembly Refer to robot manual Open Type Open Only (Type2b) Expected Packet Interval (EPI) Refer to robot manual