if yes, Please let me know how to configure it. I have DeviceNet Universal Controller with Robotiq 2 finger gripper, I want to integrate this with ABB IRB 120 compact controller robot. I don't  have DeviceNet card in my compact controller, instead of this I want to use DSQC652.? will this work? if yes, how to do it? 

@vvenki922

If I'm right, the DSQC652 is a CAN open I/O module with digital input and digital output.  The 2 Finger gripper don't have any digital input or output so you will never be able to control the gripper with this module.  On the other hand, with the Universal Controller, the 2 fingers gripper is itself a DeviceNet I/O module which is based on CAN standard.  We also offer the CAN version of the universal controller.  Because your DSQC652 is a CAN Open I/O device, it's connected to a CAN master card in your controller.  You will have to ask ABB if you can add DeviceNet module on this Fieldbus network or CAN open module.  If it only supports CAN module, you will have to use a CAN Open Universal Controller.

Thank you so much for your reply.
We already bought the Universal controller with DeviceNet communication port and we have limited funds for this project, so we can't buy DeviceNet module.
Can I use DeviceNetlean (X5) in DSQC652? Will they both communicate each other( DeviceNet in Robotiq universal controller to DeviceNet lean in robot controller)? Will this work? I attached the wiring document too. Please review this and give me some suggestions.
Thank you so much.

@vvenki922

They will never communicate with each other, they are both I/O unit.  They only communicate with the master.  If your module DSQC652 is working, it definitively means you have a master module in your robot controller. You will have to ask ABB if you can add DeviceNet module on this Fieldbus network.

Can I use Robotiq EtherNet/IP Universal Controller to communicate with ABB IRB 120? Will this work?

@vvenki922

If the ABB IRB 120 has an Ethernet/IP scanner,  yes.  You will need the Ethernet/IP version of our Universal Controller.