Manual GK473 - Gateway RS485 - DeviceNet Firmware Version 1.01 and up Applicable for: Spindle position display N 140 / N 141 / N 142 / N 150 / N 152 / 153 / N 155 Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 (0)7720 942-0 Fax +49 (0)7720 942-900 [email protected] www.baumer.com 05.11 · 174.02.051/4 Subject to technical and design modifications Errors and omissions excepted. Content Page 1 Introduction 1.1 Scope of delivery 1.2 Product assignment 3 3 3 2 Overview 3 3 Safety remarks and operating instructions 4 4 Commissioning 4.1 Mechanical mounting 4.2 Electrical connection 4.2.1 Electrical commissioning 4.2.2 Supply voltage connection 4.2.3 Shield connection / functional earth 4.2.4 DeviceNet - RS485-bus interface connection 4.3 Device settings 4.3.1 How to open the housing 4.3.2 Setting the DeviceNet user ID (Mac ID) 4.3.3 Setting the Baudrate 4.3.4 Setting the DeviceNet bus termination 4.3.5 EDS file 5 5 5 5 5 5 6 7 7 7 7 8 8 5 DeviceNet interface description 5.1 Data exchange DeviceNet Master <-> Slave 5.2 Data exchange DeviceNet <-> RS485 sub- bus 9 9 10 6 10 DeviceNet CIP Object Implementation 7 GK473 Object, Class 0x64 7.1 Attribute 1: Autoscan SPA 7.2 Attribute 2: Transparent transfer of a SPA command 7.3 Attribute 3: RS485 Sub-bus, full SPA status information 7.4 Attribute 4: Batched information on connected SPAs 7.5 Attribute 5: Batched information: SPAs not in position 7.6 Attribute 6: Batched information SPA in error state 7.7 Attribute 7: Batched information SPA in timeout state 15 16 17 19 21 22 23 24 8 General information 8.1.1 Broadcast commands 8.1.2 Interface documentation 8.2 Automated gateway functions 8.2.1 Automatic SPA recognition 8.2.2 Cyclic scanning of all SPAs connected 8.2.3 Error messages 8.3 Status indicators (LEDs) integrated in the front panel 8.4 Technical data 25 25 25 25 25 25 25 26 28 9 Annex: Rockwell PLC examples for Explicit Messaging 9.1 RSLogix500 examples 29 29 Manual_GK473_DeviceNet_EN.doc 04.05.11 2/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. At any time we should be pleased receiving your comments and proposals for further improvement of the present document. 1 Introduction 1.1 Scope of delivery Please check the delivery upon completeness prior to commissioning. Depending on encoder configuration and part number delivery is including: • Encoder • CD with describing file and manual (also available as download in the Internet) 1.2 Product assignment Product Product code Device Name EDS file Product family GK473.0078PDx 0x2D GK473 DeviceNet GK473_DN.eds multicon 2 Overview GK473 gateway (interface converter) is a connecting device enabling communication between the spindle position displays (SPAs) of the Baumer IVO Multicon system (for example N 140 / N 142 / N 150) and a DeviceNet-capable PLC. The gateway converts the SPA data blocks from RS485 interface into the DeviceNet protocol (and vice-versa). Some gateway functions simplify considerably PLC programming. GK473 gateway enables networking maximum 32 SPAs to DeviceNet bus. The gateway is compatible to all spindle position displays of the multicon system. PLC SPA N 140, N 141, N 142, N 150, N 155 GK473 Manual_GK473_DeviceNet_EN.doc 04.05.11 3/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 3 Safety remarks and operating instructions Supplementary information • This manual is intended as a supplement to already existing documentation (catalogues, product information and mounting instructions). • It is mandatory to read the manual prior to initial commissioning of the equipment. Intended purpose • The gateway is an interface converter enabling communication between RS485 serial interface and DeviceNet. It comprises specific modifications for the Baumer IVO multicon spindle positioning system. • The gateway may only be used for this purpose. Commissioning • The gateway must only be installed and mounted by qualified experts. • Observe the operating instructions of the machine manufacturer. Safety instructions • Prior to commissioning of the equipment, check all electrical connections. • If installation, e-connection or any other work performed at the gateway and at the equipment is not carried out correctly this can result in malfunction or failure of the gateway. • Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating equipment as a result of gateway failure or malfunction by providing corresponding safety precautions. • The gateway must not be operated outside the limits specified in the product information. Failure to comply with the safety remarks can result in malfunctions, personal injury or damage of property. Transport and storage • Transport and storage in the original packaging only. • Never drop the gateway or expose it to major shocks. Mounting • Avoid impacts or shocks on the housing. Disposal • Gateway components are to be disposed of according to the legal regulations prevailing in the respective country. Manual_GK473_DeviceNet_EN.doc 04.05.11 4/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4 Commissioning 4.1 Mechanical mounting The gateway provides a small housing for DIN rail mount. It can easily be opened using a screwdriver and partially pulled out in order to set user ID (MAC ID), Baudrate and bus termination. • Grid width 22,5 mm, height approx. 100 mm, depth approx. 110 mm • For mounting onto 35 mm DIN rails For mounting onto the DIN rail slide the gateway at its rear hinges onto the DIN rail and then press down to lock. 4.2 4.2.1 Electrical connection Electrical commissioning • Do not carry out any electrical modifications at the gateway. • Do not carry out any wiring work when the gateway is live. • Make sure that the entire equipment is installed in line with EMC requirements. Ambient installation and wiring affect the electromagnetic compatibility of the gateway. Install gateway and supply cables in separate rooms or far away from cables with high interference emission (frequency converters, protections, etc). • Provide separate supply voltage for the gateway where working with consumers with high interference emission. • Connect the gateway to protective earth (PE) conductor using shielded cable. The braided shield must be connected to cable gland or plug. Ideally, aim at a bilateral connection to protective earth (PE), i.e. housing via mechanical assembly and cable shield via downstream devices. In case of earth loop problems, earth on one side only as a minimum requirement. Failure to observe these instructions may result in malfunctions, material damage or personal injury. 4.2.2 Supply voltage connection Gateway and SPA are connected to power supply utilizing screw terminals 5 (GNDB) and 6 (UB) or 7 (GNDB) and 8 (UB). Terminals 5 and 7 as well as 6 and 8 are internally connected to each other for looping the operating voltage further to other consumers (for example to the SPA). 4.2.3 Shield connection / functional earth Connection of protective earth is at terminal 1 which at the same time serves for shield connection of the RS485 bus. Pin 1 and the housing of the 9-pin D-Sub connector (DeviceNet) are connected to each other. PE (protective earth) connection is additionally carried out by DIN rail mount. For this purpose the DIN rail must be connected to functional earth utilizing low-impedance. To prevent a bridge from the internal drain circuit to earth the DeviceNet Drain connection respectively the DeviceNet cable shield must not be connected to the SUB-D connector housing. Manual_GK473_DeviceNet_EN.doc 04.05.11 5/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.2.4 DeviceNet - RS485-bus interface connection DeviceNet RS485 utilizing the 9- pin SUB-D female connector utilizing the screw terminals PIN 1 2 3 4 5 6 7 8 9 Terminal 1 2 3 4 5 6 7 8 Function CAN _L CAN_H Drain Function Schutzerde Signal-GND Rx/Tx + Rx/Tx – GNDB UB GNDB UB Connection to protective earth (PE) is additionally provided by the DIN rail mount. Gateway power supply UB = 24 VDC +/-20 %, ca.50 mA; Each spindle position display requires supplementary supply UB = 24 VDC +/-20 %, 30 mA. Gateway supply is provided by UB/GNDB supply of the RS485 interface. 1 2 3 4 5 6 7 8 Manual_GK473_DeviceNet_EN.doc 04.05.11 6/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3 4.3.1 Device settings How to open the housing Snap-lock Setting the DeviceNet user ID (Mac ID) and Baudrate requires partial opening of the gateway housing. Please use a small screw-driver, press-in the snap-locks provided on top and bottom behind the screw terminals and pull out the housing halfway until stop so that the operating elements are accessible. The housing is closed again by pulling it back to its original position until both locks snap in again. 4.3.2 Setting the DeviceNet user ID (Mac ID) The DeviceNet user ID (Mac ID) is set decimally within the range from 00 to 63 using two BCD rotary switches. (Any settings higher than 63 are automatically assigned 63) Default: Mac ID 63 Example: 01 4.3.3 Setting the Baudrate Binary setting of the Baudrate is by utilizing the 3-pole DIP switches 1 to 3. Default : Baudrate 125kBit/s Baudrate 125 kBit/s 250 kBit/s 500 kBit/s 1 OFF OFF OFF DIP switch position 2 OFF OFF ON 3 OFF ON OFF Example: 500KBit/s Manual_GK473_DeviceNet_EN.doc 04.05.11 7/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3.4 Setting the DeviceNet bus termination If GK473 DeviceNet is the final device in the bus line the CAN bus must be terminated by resistor that is activated by setting the one-pole DIP switch to “ON”. Default :OFF. ON 1 ON = final user OFF = user X 4.3.5 EDS file For gateway projecting in the DeviceNet project there is an EDS file available for comfortable importation into the projecting software. (-> Download in the Internet or available as accessory.) GK473_DN.eds Manual_GK473_DeviceNet_EN.doc 04.05.11 8/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 5 DeviceNet interface description 5.1 Data exchange DeviceNet Master <-> Slave DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) as an open fieldbus communication standard based on CAN protocol. DeviceNet is in line with European Standard EN 50325 and specified and administered by ODVA. DeviceNet is an object-oriented bus system operating according to the producer/consumer communication principle. DeviceNet appliances can be client (Master) or server (Slave) or even both. Client and server may be either producer, consumer or both. Layer 2 (Data Link Layer) is based on the Controller Area Network (CAN). The DeviceNet network is a connecting structure for communication between maximum 64 bus users utilizing Baudrates of 125, 250 or 500 kBaud. The DeviceNet topology provides besides the two signals CAN-L and CAN-H for data transmission also two 24 VDC supply lines enabling the DeviceNet users to be directly powered from the bus or from an external source (GK473 external supply only). The maximum length of the DeviceNet depends on the selected cable size and Baudrate. Installation is according to bus topology – trunkline/dropline- with bilateral terminating resistors. The terminating resistors provide 120 Ohm. GK473 DeviceNet gateway operates as a Class 2 Slave in the DeviceNet bus network. The device supports I/O Poll connections and Change-Of-State messages of the predefined Master Slave Connection Set. It does not support "Explicit Unconnected Message Manager" (UCMM). I/O Poll While polling the DeviceNet-Master is transmitting a Poll Request to GK473 replied by the status information stored in the GK473 on the connected RS485 sub bus and users . The 48 Byte data packet comprises the following information: The individual bits represent the respective status at the relating sub bus ID. Byte 0..15 “SPA not in position” Byte 16..31 “SPA in error state” Byte 32..47 “SPA in time out state” COS (Change of State) The data content is according to I/O Poll. GK473 will only produce and transfer data to the DeviceNet master upon any change of state at the RS485 sub bus. Utilizing the Change-of-State messages means a considerable reduction of data volume in the DeviceNet bus. After having implemented the COS connection user data amounting to 48 bytes will be transmitted once. Second the message will only be transmitted (produced) if the previous state changes. Advantage: Normally all bytes are 0 -> all SPA’s are in position, no SPA error and no SPA time out. Input data for the control will be only produced upon change of state. This way the bus load is kept down to a minimum. Manual_GK473_DeviceNet_EN.doc 04.05.11 9/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 5.2 Data exchange DeviceNet <-> RS485 sub- bus The Gateway is enabling communication between the SPA’s RS485 protocol and the DeviceNet fieldbus. The PLC (DeviceNet Master) output data to the gateway comprise all commands relevant for the addressed spindle position display. The command is completed by start and stop token as well as by CRC byte (cyclic redundancy check) and forwarded by the gateway via RS485 interface. In direction vice-versa, start and stop token as well as CRC byte (cyclic redundancy check) will be taken out of the RS485 message, but latter is passed with unchanged content to the data block of a DeviceNet message so that it is available at the PLC as consistent input data. Furthermore, the gateway provides additional functions to relieve the master PLC and to simplify PLC programming. 6 DeviceNet CIP Object Implementation DeviceNet is based on Common Industrial Protocol (CIP) The following CIP objects are implemented in GK473: Mandatory objects: Class Code 0x01 0x03 0x04 0x05 0x2B Object Name Identity DeviceNet Assembly Connection Acknowledge Handler Number of Instances 1 1 1 3 1 Vendor Specific Objects Class Code 0x64 Object Name GK473 Manual_GK473_DeviceNet_EN.doc 04.05.11 Number of Instances 1 10/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Identity Object, Class 0x01 Class Attributes Attribute ID 1 Access Rule Get Class Services Get Attribute Single Name Revision DeviceNet Data type UINT Value 0x0001 Service Code 0x0E Instance Attributes Attribute ID Access Rule 1 2 Get Get 3 Get Name Vendor ID Device Type Product Code DeviceNet Data type UINT UINT 0x01D4 0x000C UINT 0x002D 0x0101 4 Get Revision STRUCT of: USINT:Major fieldbus version USINT: Minor fieldbus version 5 Get Status WORD 6 Get Serial Number UDINT 7 Get Product Name SHORT_STRING 8 Get State USINT Instance Services Get Attribute Single Set Attribute Single RESET Manual_GK473_DeviceNet_EN.doc 04.05.11 Value Refer to Common Industrial Specification 0x00000001 “GK473 DeviceNet” Refer to Common Industrial Specification Service Code 0x0E 0x10 0x05 11/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Message Router Object, Class 0x02 Implemented but no visible attributes or services. DeviceNet Object, Class 0x03 Class Attributes Attribute ID 1 Access Rule Get Class Services Get Attribute Single DeviceNet Data type Name Revision UINT Value 0x0002 Service Code 0x0E Instance Attributes Attribute ID Access Rule 1 2 Get Get 3 Get 4 5 6 7 8 9 DeviceNet Data type Name MAC ID Baud Rate BOI (Bus Off Interrupt) UISNT USINT Get Bus Off Counter Get Allocation Information USINT STRUCT of: Get Get Get Get Allocation choice Byte Master’s MAC ID MAC ID Switch changed Baud Rate Switch changed MAC ID Switch Value Baud Rate Switch Value Byte USINT BOOL BOOL USINT USINT Instance Services Get Attribute Single Set Attribute Single Allocate Master/Slave connection Set Release Master/Slave connection Set Value BOOL Service Code 0x0E 0x10 0x4B 0x4C Assembly Object, Class 0x04 Class Attributes Attribute ID 1 Access Rule Get Class Services Get Attribute Single Name Revision DeviceNet Data type UINT Value 0x0002 Service Code 0x0E Instance Attributes – Instance/Connection 0x65 Attribute ID 3 Access Rule Get Instance Services Get Attribute Single Manual_GK473_DeviceNet_EN.doc 04.05.11 Name RS485 Subbus, SPA status information complete DeviceNet Data type Value ARRAY[48] of USINT Service Code 0x0E 12/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Connection Object, Class 0x05 Class Attributes Attribute ID 1 Access Rule Get DeviceNet Data type Name Revision Class Services Get Attribute Single Create UINT Value 0x0001 Service Code 0x0E 0x08 Instance 1 = Explicit Messaging Connection Instance 2 = I/O Poll Connection Instance 4 = Change of State (COS) Connection Instance 2 IO Poll Connection Attributes Attribute Access ID Rule DeviceNet Data type Name Value USINT 1 Get State 0x01 2 Get Instance type 3 Get Transport Class Trigger 4 Get Produced Connection ID 5 Get 6 Get Consumed Connection ID Initial Comm Characteristics 7 Get 8 Get Produced Connection Size 9 Consumed Connection Size Get/Set Expected Packet Rate 12 Get 13 Get 14 Get 15 Get Consumed connection Path length 16 Get Consumed Connection Path 17 Get/Set Production Inhibit Time USINT BYTE UINT UINT BYTE 0 = Non existent 1 = Configuring 3 = Established 4 = Timeout I/O Connection Defines the behaviour of the connection CAN ID for transmission 0x5FD UINT UINT UINT USINT Produced Connection Path UINT length EPATH Produced Connection Path Manual_GK473_DeviceNet_EN.doc 04.05.11 0x83 0x3FF Watchdog Time out action Instance Services Delete Reset Apply Attributes Get Attribute Single Set Attribute Single 0x01 Description UINT EPATH UINT CAN ID for reception Defines Message Groups to 0x01 consume/produce date Number of bytes transmitted across 0x0030 this connection Number of bytes received across 0x0000 this connection Timing associated with this connection 0 = Transition to the timed out state 1 = Auto Delete 0x00 2 = Auto Reset 3 = Deferred Delete Number of bytes in the produced 0x0006 Connection path attribute Application object producing data 0x200424653003 on this connection Number of bytes in the consumed 0x0006 Connection path length attribute Specifies the application object(s) 0x200424653003 that are to receive the data consumed by this connection object 0x0000 Production Inhibit Time Service Code 0x09 0x05 0x0D 0x0E 0x10 13/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Acknowledge Handler Object, Class 0x2B Class Attributes Attribute ID 1 2 Access Rule Get Get DeviceNet Data type Name Revision Max instance Class Services Get Attribute Single UINT UINT Value 0x0001 0x0001 Service Code 0x0E Instance Attributes Attribute Access ID Rule DeviceNet Data type Name Value UINT 1 Get/Set Acknowledge timer 2 Get/Set Retry Limit 3 Producing Get/Set Connection Instance 4 Get 0x0018 USINT 0x20 USINT 5 Get 6 Get 7 Get Ack List Size Ack List Data with Ack Path List Size Data with Ack Path List Instance Services Get Attribute Single Set Attribute Single Manual_GK473_DeviceNet_EN.doc 04.05.11 0x0004 BYTE 0x01 BYTE Array of UINT BYTE 0x00 0x01 BYTE Array of UINT USINT Padded EPATH 0x01040006206424013005 Description Time (in ms) to wait for acknowledge before resending Number of Ack Timeouts to wait before informing the producing application of a RetryLimit_Reached event. Connection Instance which contains the path of the producing I/O application object which will be notified of Ack Handler events. Maximum number of members in Ack List List of active connection instances which are receiving Acks Maximum number of members in Data with Ack Path List List of connection instance/consuming application object pairs. This attribute is used to forward data received with acknowledgment. Service Code 0x0E 0x10 14/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7 GK473 Object, Class 0x64 Class Attributes Attribute ID 1 2 Access Rule Get Get DeviceNet Data type Name Revision Max instance Class Services Get Attribute Single UINT UINT Value 0x0001 0x0001 Service Code 0x0E Instance Attributes Attribute Access Rule ID 1 Get/Set RWTransfer 2 Service Code 0x32 3 Get Name Autoscan SPA Transfer SPA command transparent DeviceNet Data type BOOL 1 ARRAY[16] of USINT 0x20 RS485 Sub bus, SPA state information complete ARRAY[48] of USINT Get SPA connected ARRAY[16] of USINT 5 Get SPA not in position ARRAY[16] of USINT 6 Get SPA in error state ARRAY[16] of USINT 7 Get SPA in timeout state ARRAY[16] of USINT Manual_GK473_DeviceNet_EN.doc 04.05.11 Description Autoscan of RS485 sub bus ON (0)-/OFF (1) For transparent transfer of all SPA commands to the DeviceNet master“ through“ GK473 and vice-versa Information in binary code on state, number and IDs of the SPAs (spindle position displays) connected to RS485 sub bus Byte 0..15 “SPA not in position” Byte 16..31 “SPA in error states” 4 Instance Services Get Attribute Single Set Attribute Single RWTransfer Value Byte 32..47 “SPA in timeout state” Information in binary code on number and IDs of SPAs connected to RS485 sub bus Information in binary code on number and IDs of SPAs connected to RS485 sub bus being in state not in position Information in binary code on number and IDs of SPAs connected to RS485 sub bus being in error state Information in binary code on number and IDs of SPAs connected to RS485 sub bus being in timeout state Service Code 0x0E 0x10 0x32 Vendor Specific 15/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.1 Attribute 1: Autoscan SPA Class Instance Attribute Access Rule 100 1 1 Get/Set Name Autoscan SPA, Automated scan of the RS485 Sub bus ON/OFF DeviceNet Data type Default Value BOOL 1 Default: 1= ON During operation the gateway is performing automatic and cyclic scanning operations of all SPAs connected to verify whether they are “in position”. Upon request this information is batched under a special command for DeviceNet read-in. The AutoScan function relieves the CANopen master from proceeding cyclic SPA scanning operations itself. This operating mode is necessary to make the batched information objects (GK473 class Attribute 3..7) provide valid data. However, there might be situations where this is not desired Several commands to the SPA are only valid for the time being until another command is received (for example indicate SPA ID in the lower display line). The AutoScan attribute would make these commands ineffective. Furthermore, the scanning procedure keeps the RS485 bus busy and consequently the commands received from the DeviceNet master can be processed by the gateway faster with AutoScan off. Manual_GK473_DeviceNet_EN.doc 04.05.11 16/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.2 Attribute 2: Transparent transfer of a SPA command Class 100 Instance 1 Attribute Access Rule 2 Transparent Transfer Service Code 0x32 (Vendorspecific) DeviceNet Data type Name Default Value ARRAY[16] of USINT Transparent transfer of SPA command This object is for transparent transfer of all commands to the spindle position displays (SPA) utilizing the vendor specific service Code 0x32. Basically there is a transparent transfer of all commands under codes „A“...“z“ from DeviceNet Master to SPA and vice-versa what enables addressing the SPAs individually or collectively by broadcast command. The gateway does not verify whether a registered SPA is connected or not, neither the command code is verified. The gateway replies to every command received by the DeviceNet-Master (PLC). • • Response is by transparent transfer of the SPA reply, if an individual SPA was addressed and duly replied an abort message if the addressed SPA did not reply within the timeout window (approx. 100 ms) Any timeout administered by the DeviceNet Master for monitoring of gateway reply should not be less than 400 ms. The DeviceNet Master transmits to GK473 the transmission data within the limits SOH and EOT out of the complete command to the addressed spindle position display (SPA). Length is always 16 bytes since digits not utilized are filled up with 0. Example: Programming the target (profile no = 17; target = -12,50; SPA identifier 0) Transmission SOH 01h Adr 20h Cmd Profile no. = 17 53h 31h 37h 2Dh 30h Target = -12,50 31h 32h 35h 30h EOT 04h CRC FBh In the other direction (responding SPA) start and stop token as well as CRC byte are taken out of the RS485 message which in its remaining content is transferred unchanged into the data block of a DeviceNet message so that it will be available at the PLC as consistent input data. Example: Programming the target (profile no = 17; target = -12,50; SPA identifier 0) Response SOH 01h Adr 20h Cmd Profile no. = 17 53h 31h 37h 2Dh 30h Target = -12,50 31h 32h 35h 30h EOT 04h CRC FBh For details regarding content and format of SPA commands please refer to the respective user manual. Manual_GK473_DeviceNet_EN.doc 04.05.11 17/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Example for transparent transfer of a SPA command SPA identifier 0 (0x20) command: read current value „R“ (0x52) Excerpt of operating manual SPA N140 : This command is for reading the 6-digit current value (bottom line of the display). Data volume is always 6 Byte. A negative value comes with “-“ sign (2Dh) followed by 5 data Bytes. Positive values are returned as 6 data Bytes less sign. Values of less than 6 (5) digits come with preceding zeroes. Example: Current value = -32,50 Transmission SOH Adr Cmd EOT CRC 01h 20h 52h 04h 40h Response SOH Adr Cmd 01h 20h 52h 2Dh Current value = –32,50 30h 33h 32h 35h 30h EOT CRC 04h 54h More examples in the annex. Manual_GK473_DeviceNet_EN.doc 04.05.11 18/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Batched information : GK473 class Instance Attribute 3..7 These objects are for convenient monitoring of the RS485 sub bus state and consequently the status of all spindle position displays. Prior condition of updated data is active Auto Scan SPA what means cyclic scanning of the RS485 sub bus. Any change of state is saved in the GK473 memory for optional read-in into the PLC by Explicit Message, I/O Poll or Change of State (COS). 7.3 Attribute 3: RS485 Sub-bus, full SPA status information Class Instance Attribute Access Rule 100 1 3 Get DeviceNet Data type Name RS485 sub-bus, full SPA status information Default Value ARRAY[48] of USINT Output are 48 Bytes indicating the complete present status of the spindle position displays (SPAs) on the RS485 sub-bus. SPA identifiers and the respective states provide the following binary codes: The data packet comprises the following information: Byte 0..15 “SPA not in position” Byte 16..31 “SPA in error state” Byte 32..47 “SPA in timeout state” Example below: SPA with identifiers 1,2,7 und 30 are not in position SPA with identifer 5 is in error state (no motor supply) SPA with identifier 58 is in timeout state (cable break, no reply) Manual_GK473_DeviceNet_EN.doc 04.05.11 19/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Example using the RSNetworx class instance editor Byte[0]..[15] 31 62 Byte[16]..[31] binär 93 20 1 0 31 62 Byte[32]..[47] binär binär 93 20 0 31 62 93 20 1 1 32 63 94 2 1 32 63 94 2 1 32 63 94 21 2 33 64 95 22 2 33 64 95 22 2 33 64 95 22 3 34 65 96 23 3 34 65 96 23 3 34 65 96 23 4 4 35 66 97 2 4 35 66 97 2 4 35 66 97 24 5 36 67 98 25 5 36 67 98 25 5 36 67 98 25 6 37 68 bc 26 6 37 68 bc 26 6 37 68 bc 26 7 7 38 69 res. 27 8 39 70 res. 20 7 7 38 69 res. 2 8 39 70 res. 20 1 7 38 69 res. 2 8 39 70 res. 20 1 9 40 71 res. 2 10 41 72 res. 22 11 42 73 res. 23 4 12 43 74 res. 2 13 44 75 res. 25 6 14 45 76 res. 2 15 46 77 res. 27 16 47 78 res. 20 1 17 48 79 res. 2 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 6 9 40 71 res. 2 10 41 72 res. 22 11 42 73 res. 23 4 12 43 74 res. 2 13 44 75 res. 25 6 14 45 76 res. 2 15 46 77 res. 27 16 47 78 res. 20 1 17 48 79 res. 2 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 6 SPA in timeout state , SPA identifier 4 SPA in error state , SPA identifier SPA not in position, SPA identifier 0 9 40 71 res. 21 10 41 72 res. 22 11 42 73 res. 23 12 43 74 res. 24 13 44 75 res. 25 14 45 76 res. 26 15 46 77 res. 27 16 47 78 res. 20 17 48 79 res. 21 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 22 53 84 res. 26 23 54 85 res. 27 22 53 84 res. 2 22 53 84 res. 2 23 54 85 res. 27 23 54 85 res. 27 24 55 86 res. 20 24 55 86 res. 20 24 55 86 res. 20 1 25 56 87 res. 2 1 25 56 87 res. 21 26 57 88 res. 22 26 57 88 res. 22 3 25 56 87 res. 2 26 57 88 res. 22 3 27 58 89 res. 2 27 58 89 res. 2 27 58 89 res. 23 28 59 90 res. 24 28 59 90 res. 24 28 59 90 res. 24 29 60 91 res. 25 29 60 91 res. 25 29 60 91 res. 25 6 30 61 92 res. 2 6 30 61 92 res. 26 31 62 93 res. 27 31 62 93 res. 27 30 61 92 res. 2 31 62 93 res. 27 Manual_GK473_DeviceNet_EN.doc 04.05.11 20/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.4 Attribute 4: Batched information on connected SPAs Class Instance Attribute Access Rule 100 1 4 Get Name connected SPA DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus. They provide the following binary codes: Example: SPAs connected, SPA identifier Byte[0]..[15] Result: SPAs with identifiers 0, 1, 2, 4, 5, 6, 7 and 30 are connected Manual_GK473_DeviceNet_EN.doc 04.05.11 21/31 binär 0 31 62 93 20 1 32 63 94 21 2 33 64 95 22 3 34 65 96 23 4 35 66 97 24 5 36 67 98 25 6 37 68 bc 26 7 38 69 res. 27 8 39 70 res. 20 9 40 71 res. 21 10 41 72 res. 22 11 42 73 res. 23 12 43 74 res. 24 13 44 75 res. 25 14 45 76 res. 26 15 46 77 res. 27 16 47 78 res. 20 17 48 79 res. 21 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 22 53 84 res. 26 23 54 85 res. 27 24 55 86 res. 20 25 56 87 res. 21 26 57 88 res. 22 27 58 89 res. 23 28 59 90 res. 24 29 60 91 res. 25 30 61 92 res. 26 31 62 93 res. 27 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.5 Attribute 5: Batched information: SPAs not in position Class Instance Attribute Access Rule 100 1 5 Get Name connected SPA DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are not in position. They provide the following binary codes: Example SPAs not in position, SPA identifier Byte[0]..[15] Result: SPAs with identifiers 1, 5 and 30 are not in position Manual_GK473_DeviceNet_EN.doc 04.05.11 22/31 binär 0 31 62 93 20 1 32 63 94 21 2 33 64 95 22 3 34 65 96 23 4 35 66 97 24 5 36 67 98 25 6 37 68 bc 26 7 38 69 res. 27 8 39 70 res. 20 9 40 71 res. 21 10 41 72 res. 22 11 42 73 res. 23 12 43 74 res. 24 13 44 75 res. 25 14 45 76 res. 26 15 46 77 res. 27 16 47 78 res. 20 17 48 79 res. 21 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 22 53 84 res. 26 23 54 85 res. 27 24 55 86 res. 20 25 56 87 res. 21 26 57 88 res. 22 27 58 89 res. 23 28 59 90 res. 24 29 60 91 res. 25 30 61 92 res. 26 31 62 93 res. 27 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.6 Attribute 6: Batched information SPA in error state Class Instance Attribute Access Rule 100 1 6 Get Name SPA in error state DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are in error state. They provide the following binary codes: Example SPA in error state, SPA identifier Byte[0]..[15] Result: SPA with identifier 5 is in error state (possible reason: No motor supply of the motive operated SPA) Manual_GK473_DeviceNet_EN.doc 04.05.11 23/31 binär 0 31 62 93 20 1 32 63 94 21 2 33 64 95 22 3 34 65 96 23 4 35 66 97 24 5 5 36 67 98 2 6 37 68 bc 26 7 38 69 res. 27 8 39 70 res. 20 9 40 71 res. 21 10 41 72 res. 22 11 42 73 res. 23 12 43 74 res. 24 13 44 75 res. 25 14 45 76 res. 26 15 46 77 res. 27 16 47 78 res. 20 17 48 79 res. 21 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 22 53 84 res. 26 23 54 85 res. 27 24 55 86 res. 20 25 56 87 res. 21 26 57 88 res. 22 27 58 89 res. 23 28 59 90 res. 24 29 60 91 res. 25 30 61 92 res. 26 31 62 93 res. 27 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.7 Attribute 7: Batched information SPA in timeout state Class Instance Attribute Access Rule 100 1 7 Get Name SPA in Timeout Status DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are in timeout state. They provide the following binary codes: Example SPA in timeout state, SPA identifier Byte[0]..[15] Result: SPAs with identifiers 1, 2, 4, 5 and 6 are in timeout state (possible reason: cable break) Manual_GK473_DeviceNet_EN.doc 04.05.11 24/31 binär 0 31 62 93 20 1 32 63 94 21 2 33 64 95 22 3 34 65 96 23 4 35 66 97 24 5 5 36 67 98 2 6 37 68 bc 26 7 38 69 res. 27 8 39 70 res. 20 9 40 71 res. 21 10 41 72 res. 22 11 42 73 res. 23 12 43 74 res. 24 13 44 75 res. 25 14 45 76 res. 26 15 46 77 res. 27 16 47 78 res. 20 17 48 79 res. 21 18 49 80 res. 22 19 50 81 res. 23 20 51 82 res. 24 21 52 83 res. 25 22 53 84 res. 26 23 54 85 res. 27 24 55 86 res. 20 25 56 87 res. 21 26 57 88 res. 22 27 58 89 res. 23 28 59 90 res. 24 29 60 91 res. 25 30 61 92 res. 26 31 62 93 res. 27 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 8 General information 8.1.1 Broadcast commands Due to the bus conflict, SPAs are generally not in a position to reply via RS485 interface to broadcast commands, i.e. to commands addressed to all SPAs at the same time (identifiers 99, 83h). Therefore, on behalf of the SPA the gateway will reply to the DeviceNet master. The response is only confirming that the broadcast command was transmitted by RS485 interface to all SPAs. It does NOT mean any acknowledgement of acceptance or accomplishment at the end of the SPAs. 8.1.2 Interface documentation The respective SPA’s interface description(s) is giving complete information on the SPA interface. The interface description is mandatory for implementing a gateway application. 8.2 Automated gateway functions 8.2.1 Automatic SPA recognition After switchon the gateway proceeds an AutoScan operation of all SPA identifiers and stores those encountered in the internal memory what takes about 15 seconds and enables later polling the identifiers of all connected SPAs to verify whether they are existing . The function “Automatic SPA recognition” takes for granted that all SPAs have been switched on prior to or together with the gateway. 8.2.2 Cyclic scanning of all SPAs connected During operation the gateway is scanning automatically all SPAs connected to verify whether they are „in position“ or in error state. Polling this information is only by I/O, COS (Change of State) or by Explicit Message. 8.2.3 Error messages There are two kinds of messages: Those of a SPA and a gateway. They are broken down into three groups: 1.) DeviceNet error messages DeviceNet Master <-> GK437 Slave They are processed according to the DeviceNet Specification. 2.) Error messages during read/write operations of a sub bus user The SPA is sending an error message after a transparent command. Regarding the respective content of the message please refer to the SPA interface description. State of the art are messages indicating a “format error” or “CRC error”. 3.) Error messages upon Change of State incident at sub-bus Alterations are output by batched information explicit, immediately by implemented COS connection or by I/O poll. • • SPA in Timeout State. A sub bus user didn’t reply within 120 ms. SPA in Error State. A motive operated spindle position display informs on missing motor supply. Manual_GK473_DeviceNet_EN.doc 04.05.11 25/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 8.3 Status indicators (LEDs) integrated in the front panel The Gateway provides in the front panel four LEDs for indication of the RS485 and DeviceNet operating status. RS485 TX (yellow) Transmitting a token on the RS485 sub-bus RS485 RX (yellow) Receiving a token on the RS485 sub-bus DeviceNet Combined Module/Network Status LED (red and green) Status LED status Significance Device Not Powered/Not On–line Off Device is not on–line. - The device has not completed the Dup_MAC_ID test yet. - The device may not be powered. Device Operational AND On–line, Connected Green Device Operational AND On–line, Not Connected or Device On–line AND Device needs Commissioning Flashing Green Minor Fault and/or Connection Time–Out and/or No Network Power Flashing Red Critical Fault or Critical Link Failure Red Communication Faulted and Received an Identify Comm Fault Request Long Protocol Flashing Red & Green The device is operating in a normal condition and the device is on– line with connections in the established state. - For a Group 2 Only device it means that the device is allocated to a Master. - For a UCMM capable device it means that the device has one or more established connections. The device is operating in a normal condition and the device is on– line with no connections in the established state. - The device has passed the Dup_MAC_ID test, is on–line, but has no established connections to other nodes. - Device is not allocated to a master. - Configuration missing, incomplete or incorrect. Any one or more of the following conditions: - Recoverable fault - One or more I/O Connections are in the Timed-Out state - No network power present The device has an unrecoverable fault; may need replacing. Failed communication device. The device has detected an error that has rendered it incapable of communicating on the network (Duplicate MAC ID, or Bus–off). A specific Communication Faulted device. The device has detected a Network Access error and is in the Communication Faulted state. The device has subsequently received and accepted an Identify Communication Faulted Request - Long Protocol message. Manual_GK473_DeviceNet_EN.doc 04.05.11 26/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany DeviceNet Status Diagram Upon gateway switch-on there will be a pause of 1000 ms (SPA init). Second the gateway will proceed an automatic SPA address (identifier) scan operation and will store all encountered identifiers in the internal memory. The storing operation may take up to 14 seconds maximum. Later the gateway will transmit the DUP MAC ID message on the CAN bus and will be in state Device Operationanal AND on-line, Not Connected. Predefined Master/Slave I/O Connection State Transition Diagram Power On Init, wait for SPA 1000ms Automatic SPA recognition, taking approx. 14 seconds Dup_MAC_ID test Manual_GK473_DeviceNet_EN.doc 04.05.11 27/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 8.4 Technical data Electrical ratings Supply voltage Current consumption Display LED operating states Interfaces Interface to SPA Data memory Programmable parameters Emitted interference Interference immunity Mechanical design Operating temperature Storing temperature Relative humidity Protection DIN EN 60529 E-connection Housing type Dimensions W x H x L Mounting Weight approx. Material Manual_GK473_DeviceNet_EN.doc 04.05.11 12...24 VDC <200 mA 4 LED´s as operating status indicators DP (green) fieldbus operating status DP (red) operating and error status RX / TX (yellow) receiving / transmitting a token (RS485) CANopen, DeviceNet, Profibus-DPV0 EIA RS485 (ASCII -Protocol) >10 years (flash / EEPROM) Auto-Check functions Auto Scan SPA Auto Message SPA Position Auto Message SPA Error DIN EN 61000-6-4 DIN EN 61000-6-2 -10...+50 °C -20...+70 °C 80 % non-condensing IP 20 D-SUB-female connector, 9-pins Plug-in screw terminals DIN rail housing EN 50022 22.6 x 99 x 114.5 mm DIN rail housing EN 50022 120 g Polyamide green, UL 94V-0 28/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 9 Annex: Rockwell PLC examples for Explicit Messaging 9.1 RSLogix500 examples Vendor specific Service 0x32, Class 0x64, Instance 1, Attribute 2 Excerpt of operating manual reference N140 „BA_N140_Schnittst_d.pdf“ Read current value „R“ (52h) This command is for readout of the 6-digit current value (bottom line of display). The amount of data is always 6 bytes. In case of a negative value, the “-“ sign (2Dh) together with 5 data bytes is replied. Positive values are represented by 6 data bytes without sign. Values of less than 6 (5) digits will come with preceding zeroes. Example: Current value = -32,50 Transmitted Response SOH 01h Adr 20h Cmd 52h EOT 04h CRC 40h SOH 01h Adr 20h Cmd 52h 2Dh Current value = –32,50 30h 33h 32h 35h Manual_GK473_DeviceNet_EN.doc 04.05.11 29/31 30h EOT 04h CRC 54h Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Offset N20:10 N20:20 .. N20:50 0 TX ID, Command TxData [5], TxData [6] 1 Port, Size TxData [7], TxData [8] 2 Service Req, Mac ID TxData [9], TxData [10] 3 Class 4 Instance TxData [11], TxData [12] TxData [13], TxData [14] RX ID Status RxData[10], RxData[11] Port, Size RxData[12], RxData[13] Service Rsp, Mac ID RxData[14], RxData[15] RxData[0], RxData[1] RxData[2], RxData[3] 5 Attribute, TxData[0], TxData [15] 6 TxData [1], TxData [2] 7 TxData [3], TxData [4] RxData[4], RxData[5] RxData[6], RxData[7] RxData[8], RxData[9] Vendor specific Service 0x32, Class 0x64, Instance 1, Attribute 2 Example taken from the user manual reference N140 „BA_N140_Schnittst_d.pdf“ Read/write target (profile) „S“ (53h) Example 3: Programming a specific target (profile number = 17; target = -12,50) s Transmitted Response SOH 01h Adr 20h Cmd 53h Profil-Nr. = 17 31h 37h 2Dh 30h Target = -12,50 31h 32h 35h 30h EOT 04h CRC FBh SOH 01h Adr 20h Cmd 53h Profil-Nr. = 17 31h 37h 2Dh 30h Target = -12,50 31h 32h 35h 30h EOT 04h CRC FBh Manual_GK473_DeviceNet_EN.doc 04.05.11 30/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Offset N20:10 N20:20 .. N20:50 0 TX ID, Command TxData [5], TxData [6] 1 Port, Size TxData [7], TxData [8] 2 Service Req, Mac ID TxData [9], TxData [10] 3 Class 4 Instance TxData [11], TxData [12] TxData [13], TxData [14] RX ID Status RxData[10], RxData[11] Port, Size RxData[12], RxData[13] Service Rsp, Mac ID RxData[14], RxData[15] RxData[0], RxData[1] RxData[2], RxData[3] 5 Attribute, TxData[0], TxData [15] 6 TxData [1], TxData [2] 7 TxData [3], TxData [4] RxData[4], RxData[5] RxData[6], RxData[7] RxData[8], RxData[9] p Manual_GK473_DeviceNet_EN.doc 04.05.11 31/31 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany